Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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021715,000002: ## Copyright: Public domain.
021716,000003: ## Filename: P20-P25.agc
021717,000004: ## Purpose: A section of Luminary revision 163.
021718,000005: ## It is part of the reconstructed source code for the first
021719,000006: ## (unflown) release of the flight software for the Lunar
021720,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
021721,000008: ## The code has been recreated from a reconstructed copy of
021722,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
021723,000010: ## It has been adapted such that the resulting bugger words
021724,000011: ## exactly match those specified for Luminary 163 in NASA
021725,000012: ## drawing 2021152N, which gives relatively high confidence
021726,000013: ## that the reconstruction is correct.
021727,000014: ## Reference: pp. 500-611
021728,000015: ## Assembler: yaYUL
021729,000016: ## Contact: Ron Burkey <info@sandroid.org>.
021730,000017: ## Website: www.ibiblio.org/apollo/index.html
021731,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173. Removed setting and
021732,000019: ## clearing of R12RDFLG from R12READ.
021733,000020:
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021735,000022: # RENDEZVOUS NAVIGATION PROGRAM 20
021736,000023: # PROGRAM DESCRIPTION
021737,000024: # MOD NO - 2
021738,000025: # BY P. VOLANTE
021739,000026: # FUNCTIONAL DESCRIPTION
021740,000027:
021741,000028: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021742,000029: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021743,000030: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021744,000031: # ON THE BASIS OF THE RR TRACKING DATA.
021745,000032: # CALLING SEQUENCE -
021746,000033:
021747,000034: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021748,000035: # SUBROUTINES CALLED
021749,000036: # R02BOTH (IMU STATUS CHECK) FLAGUP
021750,000037: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021751,000038: # R23LEM (MANUAL ACQUISITION) BANKCALL
021752,000039: # LS201 (LOS DETERMINATION) TASKOVER
021753,000040: # LS202 (RANGE LIMIT TEST)
021754,000041: # R61LEM (PREFERRED TRACKING ATTITUDE)
021755,000042: # R21LEM (RR DESIGNATE) ENDOFJOB
021756,000043: # R22LEM (DATA READ) GOPERF1
021757,000044: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021758,000045: # PRIOLARM (PRIORITY DISPLAY)
021759,000046: # NORMAL EXIT MODES-
021760,000047: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
021761,000048: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021762,000049: # ALARM OR ABORT EXIT MODES-
021763,000050: # RANGE GREATER THAN 400 NM DISPLAY
021764,000051: # OUTPUT
021765,000052: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021766,000053: # ERASABLE INITIALIZATION REQUIRED
021767,000054: # FLAGS SET + RESET
021768,000055: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
021769,000056: # DEBRIS
021770,000057: # CENTRALS-A,Q,L
021771,000058: 25,2073 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021772,000059:
021773,000060: 33,2117 BANK 33
021774,000061: 24,2000 SETLOC P20S
021775,000062: 24,2000 BANK
021776,000063:
021777,000064: 24,2000 E7,1456 EBANK= LOSCOUNT
021778,000065: 24,2000 COUNT* $$/P20
021779,000066: 24,2000 24,2000 PROG22 = PROG20
021780,000067: 24,2000 05340 PROG20 TC 2PHSCHNG
021781,000068: 24,2001 00004 OCT 4
021782,000069: 24,2002 05022 OCT 05022
021783,000070: 24,2003 26000 OCT 26000 # PRIORITY 26
021784,000071: 24,2004 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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021786,000073: 24,2005 02007 TC ORBCHGO # YES
021787,000074: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021788,000075: 24,2007 05515 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021789,000076: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021790,000077: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021791,000078: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
021792,000079: 24,2013 34363 CAF OCT00012
021793,000080: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021794,000081: 24,2015 20634 CADR GOPERF4
021795,000082: 24,2016 06001 TC GOTOPOOH # TERMINATE
021796,000083: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021797,000084: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021798,000085: 24,2021 44753 ORBCHG1 CS ONE
021799,000086: 24,2022 61144 AD OPTION2
021800,000087: 24,2023 00006 EXTEND
021801,000088: 24,2024 12040 BZF PROG20A
021802,000089: 24,2025 32367 CAF V06N33*
021803,000090: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021804,000091: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
021805,000092: 24,2030 06001 TC GOTOPOOH # TERMINATE
021806,000093: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021807,000094: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021808,000095: 24,2033 06042 ORBCHG2 TC INTPRET
021809,000096: 24,2034 77650 GOTO
021810,000097: 24,2035 64217 ORBCHG3
021811,000098: 32,2217 BANK 32
021812,000099: 32,2000 SETLOC P20S4
021813,000100: 32,2000 BANK
021814,000101: 32,2217 COUNT* $$/P20
021815,000102:
021816,000103: 32,2217 77624 ORBCHG3 CALL
021817,000104: 32,2220 27410 INTSTALL
021818,000105: 32,2221 77745 DLOAD
021819,000106: 32,2222 03442 TIG
021820,000107: 32,2223 03661 STORE LNCHTM
021821,000108: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021822,000109: 32,2225 43014 CLEAR CLEAR
021823,000110: 32,2226 01674 VINTFLAG # LM INTEGRATION
021824,000111: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021825,000112: 32,2230 43014 CLEAR CLEAR
021826,000113: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021827,000114: 32,2232 01675 D6OR9FLG
021828,000115: 32,2233 77624 CALL
021829,000116: 32,2234 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION
021830,000117: 32,2235 77624 CALL
021831,000118: 32,2236 11216 GRP2PC
021832,000119: 32,2237 77775 VLOAD
021833,000120: 32,2240 00017 RATT1
021834,000121: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021835,000122: 32,2242 00015 TAT
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021837,000124: 32,2243 34041 STCALL TDEC1
021838,000125: 32,2244 27410 INTSTALL
021839,000126: 32,2245 43014 SET CLEAR
021840,000127: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021841,000128: 32,2247 01673 INTYPFLG
021842,000129: 32,2250 43014 CLEAR BOFF
021843,000130: 32,2251 01676 DIM0FLAG
021844,000131: 32,2252 02756 RENDWFLG # W MATRIX VALID
021845,000132: 32,2253 64257 NOWMATX # NO
021846,000133: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021847,000134: 32,2255 01476 DIM0FLAG
021848,000135: 32,2256 01475 D6OR9FLG
021849,000136: 32,2257 77624 NOWMATX CALL
021850,000137: 32,2260 27133 INTEGRV # CSM INTEGRATION
021851,000138: 32,2261 77624 CALL
021852,000139: 32,2262 11216 GRP2PC
021853,000140: 32,2263 77775 VLOAD
021854,000141: 32,2264 00025 VATT1
021855,000142: 32,2265 25757 STOVL VSUBC # SAVE CSM VELOCITY
021856,000143: 32,2266 00017 RATT1
021857,000144: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
021858,000145: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021859,000146: 32,2271 01757 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021860,000147: 32,2272 24025 STOVL 20D # SAVE NSUB1
021861,000148: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021862,000149: 32,2274 53435 VXV UNIT # PLANE CHANGE
021863,000150: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021864,000151: 32,2276 27637 STOVL UCSM
021865,000152: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021866,000153: 32,2300 50256 UNIT DOT # AND RSUBC
021867,000154: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021868,000155: 32,2302 77752 SL1
021869,000156: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021870,000157: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021871,000158: 32,2305 06510 ONEB-2
021872,000159: 32,2306 77766 SQRT
021873,000160: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021874,000161: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
021875,000162: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021876,000163: 32,2312 01757 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021877,000164: 32,2313 77676 VCOMP
021878,000165: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021879,000166: 32,2315 45014 CLEAR CALL
021880,000167: 32,2316 03666 RVSW
021881,000168: 32,2317 24732 TIMETHET
021882,000169: 32,2320 77676 VCOMP
021883,000170: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021884,000171: 32,2322 77745 DLOAD
021885,000172: 32,2323 00037 T
021886,000173: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021888,000175: 32,2325 03645 NEWVEL
021889,000176: 32,2326 77646 ABVAL
021890,000177: 32,2327 24025 STOVL 20D
021891,000178: 32,2330 00001 0D
021892,000179: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021893,000180: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021894,000181: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021895,000182: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021896,000183: 32,2335 03653 NEWPOS # ORBITAL PLANE
021897,000184: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021898,000185: 32,2337 00025 20D
021899,000186: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021900,000187: 32,2341 11216 GRP2PC
021901,000188: 32,2342 77624 CALL
021902,000189: 32,2343 27410 INTSTALL
021903,000190: 32,2344 44345 DLOAD BDSU
021904,000191: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021905,000192: 32,2346 03661 LNCHTM
021906,000193: 32,2347 25517 STOVL TET
021907,000194: 32,2350 03653 NEWPOS
021908,000195: 32,2351 01535 STORE RCV
021909,000196: 32,2352 25503 STOVL RRECT
021910,000197: 32,2353 03665 NCSMVEL
021911,000198: 32,2354 35511 STCALL VRECT
021912,000199: 32,2355 27705 MINIRECT
021913,000200: 32,2356 45174 AXT,2 CALL
021914,000201: 32,2357 00002 2
021915,000202: 32,2360 26660 ATOPCSM
021916,000203: 32,2361 77624 CALL
021917,000204: 32,2362 27417 INTWAKE0
021918,000205: 32,2363 77776 EXIT
021919,000206: 32,2364 04616 TC BANKCALL
021920,000207: 32,2365 50040 CADR PROG20A
021921,000208: 24,2036 BANK 24
021922,000209: 24,2000 SETLOC P20S
021923,000210: 24,2000 BANK
021924,000211: 24,2036 COUNT* $$/P20
021925,000212:
021926,000213: 24,2036 05527 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
021927,000214: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021928,000215: 24,2040 04616 PROG20A TC BANKCALL
021929,000216: 24,2041 11241 CADR R02BOTH
021930,000217: 24,2042 05515 TC UPFLAG
021931,000218: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021932,000219: 24,2044 05515 TC UPFLAG
021933,000220: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021934,000221: 24,2046 05515 TC UPFLAG
021935,000222: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021936,000223: 24,2050 05527 TC DOWNFLAG
021937,000224: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021939,000226: 24,2052 05527 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021940,000227: 24,2053 00040 ADRES ACMODFLG
021941,000228: 24,2054 05527 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021942,000229: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021943,000230: 24,2056 05527 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021944,000231: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021945,000232: 24,2060 05527 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021946,000233: 24,2061 00041 ADRES LOSCMFLG
021947,000234: 24,2062 06011 TC CLRADMOD
021948,000235: 24,2063 05515 TC UPFLAG
021949,000236: 24,2064 00005 ADRES FSPASFLG # SET FIRST PASS FLAG FOR ALARM
021950,000237: 24,2065 05364 P20LEM1 TC PHASCHNG
021951,000238: 24,2066 04022 OCT 04022
021952,000239: 24,2067 34755 CAF ZERO # ZERO MARK COUNTER
021953,000240: 24,2070 55462 TS MARKCTR
021954,000241: 24,2071 06042 P20LEM2 TC INTPRET # LOS DETERMINATION ROUTINE
021955,000242: 24,2072 77634 RTB
021956,000243: 24,2073 21574 LOADTIME
021957,000244: 24,2074 34041 STCALL TDEC1
021958,000245: 24,2075 51340 LPS20.1
021959,000246: 24,2076 77624 CALL
021960,000247: 24,2077 53640 LPS20.2 # TEST RANGE R/UTINE
021961,000248: 24,2100 77776 EXIT
021962,000249: 24,2101 50154 INDEX MPAC
021963,000250: 24,2102 02103 TC +1
021964,000251: 24,2103 02167 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021965,000252: 24,2104 06042 526ALARM TC INTPRET
021966,000253: 24,2105 53575 VLOAD UNIT
021967,000254: 24,2106 00025 RRANGE
021968,000255: 24,2107 72441 DOT SL1
021969,000256: 24,2110 00017 VELLOS
021970,000257: 24,2111 16203 STODL RRATE # RANGE RATE FOR NOUN 54 B-7
021971,000258: 24,2112 00045 36D
021972,000259: 24,2113 51025 DSU BPL # IF RANGE>999.99,DISPLAY 999.99
021973,000260: 24,2114 10372 999.99NM
021974,000261: 24,2115 50142 TOOBIG
021975,000262: 24,2116 77745 DLOAD
021976,000263: 24,2117 00045 36D
021977,000264: 24,2120 16201 526ALRM1 STODL RANGE # RANGE FOR NOUN 54 B-29
021978,000265: 24,2121 06520 ZEROVECS
021979,000266: 24,2122 02205 STORE RTHETA # ZERO THETA FOR NOUN 54
021980,000267: 24,2123 43014 BOFF BOFF
021981,000268: 24,2124 00345 FSPASFLG # FIRST PASS
021982,000269: 24,2125 50155 P20LEMC5 # NO
021983,000270: 24,2126 04347 SURFFLAG # ON LUNAR SURFACE
021984,000271: 24,2127 50147 ALRMLT # NO
021985,000272: 24,2130 51145 DLOAD BPL
021986,000273: 24,2131 02203 RRATE
021987,000274: 24,2132 50145 ENDRN
021988,000275: 24,2133 77776 EXIT # YES
021989,000276:
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021991,000278: 24,2134 05364 TC PHASCHNG # IN CASE OF RESTART
021992,000279: 24,2135 04022 OCT 04022 # REACTIVATE DISPLAY
021993,000280: 24,2136 32373 CAF V16N5420
021994,000281: 24,2137 04616 TC BANKCALL # TURN ON V16N54 - DISPLAY
021995,000282: 24,2140 20452 CADR GODSPR # RANGE AND RANGE RATE
021996,000283: 24,2141 02156 TC P20LEM5
021997,000284:
021998,000285:
021999,000286: 24,2142 52145 TOOBIG DLOAD GOTO
022000,000287: 24,2143 10372 999.99NM
022001,000288: 24,2144 50120 526ALRM1
022002,000289:
022003,000290: 24,2145 77776 ENDRN EXIT
022004,000291: 24,2146 06025 TC GOTOV56
022005,000292:
022006,000293: 24,2147 77776 ALRMLT EXIT
022007,000294: 24,2150 05364 TC PHASCHNG
022008,000295: 24,2151 04022 OCT 04022
022009,000296: 24,2152 05600 TC ALARM # TURN ON ALARM LIGHT P20
022010,000297: 24,2153 00526 OCT 526
022011,000298: 24,2154 02156 TC P20LEM5
022012,000299: 24,2155 77776 P20LEMC5 EXIT
022013,000300: 24,2156 05527 P20LEM5 TC DOWNFLAG
022014,000301: 24,2157 00005 ADRES FSPASFLG
022015,000302: 24,2160 32370 CAF 500DEC # WAIT 5SECS
022016,000303: 24,2161 04616 TC BANKCALL
022017,000304: 24,2162 01736 CADR DELAYJOB
022018,000305: 24,2163 02071 TC P20LEM2
022019,000306:
022020,000307:
022021,000308: 24,2164 04616 P20LEM3 TC BANKCALL
022022,000309: 24,2165 20457 CADR CLEANDSP
022023,000310:
022024,000311:
022025,000312: 24,2166 02175 TC P20LEMB
022026,000313: 24,2167 05364 P20LEMA TC PHASCHNG
022027,000314: 24,2170 04022 OCT 04022
022028,000315: 24,2171 02752 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
022029,000316: 24,2172 02164 TC P20LEM3
022030,000317: 24,2173 04616 TC BANKCALL
022031,000318: 24,2174 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
022032,000319: 24,2175 05364 P20LEMB TC PHASCHNG
022033,000320: 24,2176 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
022034,000321: 24,2177 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
022035,000322: 24,2200 37717 CAF PRIO26 # RESTORE PRIORITY 26
022036,000323: 24,2201 05146 TC PRIOCHNG
022037,000324: 24,2202 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
022038,000325: 24,2203 74747 MASK TRACKBIT
022039,000326: 24,2204 00006 EXTEND
022040,000327: 24,2205 12310 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
022041,000328:
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022043,000330: 24,2206 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
022044,000331: 24,2207 00006 EXTEND
022045,000332: 24,2210 02033 RAND CHAN33
022046,000333: 24,2211 00006 EXTEND
022047,000334: 24,2212 12246 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
022048,000335:
022049,000336:
022050,000337: 24,2213 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
022051,000338: 24,2214 61010 AD MODREG # MAJOR MODE IS 20
022052,000339: 24,2215 00006 EXTEND
022053,000340: 24,2216 12231 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
022054,000341:
022055,000342:
022056,000343: 24,2217 67751 AD NEG2 # ALSO CHECK FOR P22
022057,000344: 24,2220 00006 EXTEND
022058,000345: 24,2221 12231 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
022059,000346: 24,2222 32365 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
022060,000347: 24,2223 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
022061,000348: 24,2224 21563 CADR PRIOLARM
022062,000349: 24,2225 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
022063,000350: 24,2226 02175 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
022064,000351: 24,2227 02175 TC P20LEMB # TO CHECK AUTO MODE AGAIN
022065,000352: 24,2230 05155 TC ENDOFJOB
022066,000353: 24,2231 32364 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
022067,000354: 24,2232 04616 TC BANKCALL
022068,000355: 24,2233 20624 CADR GOPERF1
022069,000356: 24,2234 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022070,000357: 24,2235 02175 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022071,000358: 24,2236 02752 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
022072,000359: 24,2237 02244 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
022073,000360: 24,2240 03221 TC R23LEM # NO - DO MANUAL ACQUISITION
022074,000361:
022075,000362:
022076,000363: 24,2241 05515 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
022077,000364: 24,2242 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
022078,000365: 24,2243 02175 TC P20LEMB # RR AUTO MODE
022079,000366:
022080,000367:
022081,000368: 24,2244 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
022082,000369: 24,2245 02175 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
022083,000370:
022084,000371:
022085,000372: 24,2246 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
022086,000373: 24,2247 74737 MASK RCDU0BIT
022087,000374: 24,2250 00006 EXTEND
022088,000375: 24,2251 12263 BZF P20LEMB4 # BRANCH - YES - WAIT
022089,000376: 24,2252 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
022090,000377: 24,2253 70076 MASK FLAGWRD2
022091,000378: 24,2254 00006 EXTEND
022092,000379: 24,2255 12267 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
|
|
Page 507
|
022094,000381: 24,2256 05527 TC DOWNFLAG # RESET TO AUTO MODE
022095,000382: 24,2257 00037 ADRES SRCHOPTN
022096,000383: 24,2260 05527 TC DOWNFLAG
022097,000384: 24,2261 00040 ADRES ACMODFLG
022098,000385: 24,2262 02310 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022099,000386:
022100,000387:
022101,000388: 24,2263 32362 P20LEMB4 CAF 250DEC
022102,000389: 24,2264 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022103,000390: 24,2265 01736 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
022104,000391: 24,2266 02246 TC P20LEMB3
022105,000392:
022106,000393:
022107,000394: 24,2267 06042 P20LEMC3 TC INTPRET
022108,000395: 24,2270 77634 RTB
022109,000396: 24,2271 21574 LOADTIME
022110,000397: 24,2272 34041 STCALL TDEC1
022111,000398: 24,2273 50374 UPPSV
022112,000399: 24,2274 77776 P20LEMC4 EXIT
022113,000400: 24,2275 05364 P20LEMC TC PHASCHNG
022114,000401: 24,2276 04022 OCT 04022
022115,000402: 24,2277 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
022116,000403: 24,2300 74745 MASK RNDVZBIT
022117,000404: 24,2301 00006 EXTEND
022118,000405: 24,2302 15155 BZF ENDOFJOB # NO - EXIT P20
022119,000406: 24,2303 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
022120,000407: 24,2304 74747 MASK TRACKBIT
022121,000408: 24,2305 00006 EXTEND
022122,000409: 24,2306 12342 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
022123,000410: 24,2307 02757 P20LEMF TC R21LEM
022124,000411:
022125,000412:
022126,000413: 24,2310 32362 P20LEMWT CAF 250DEC
022127,000414: 24,2311 05204 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
022128,000415: 24,2312 02322 ADRES P20LEMC1 # WAIT 2.5 SECONDS
022129,000416: 24,2313 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022130,000417: 24,2314 74747 MASK TRACKBIT
022131,000418: 24,2315 00006 EXTEND
022132,000419: 24,2316 15155 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
022133,000420: 24,2317 05364 P20LMWT1 TC PHASCHNG
022134,000421: 24,2320 40072 OCT 40072
022135,000422: 24,2321 05155 TC ENDOFJOB
022136,000423:
022137,000424:
022138,000425: 24,2322 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
022139,000426: 24,2323 74745 MASK RNDVZBIT
022140,000427: 24,2324 00006 EXTEND
022141,000428: 24,2325 15272 BZF TASKOVER # NO - EXIT P20/R22
022142,000429: 24,2326 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022143,000430: 24,2327 74747 MASK TRACKBIT
|
|
Page 508
|
022145,000432: 24,2330 00006 EXTEND
022146,000433: 24,2331 12337 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
022147,000434: 24,2332 37717 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
022148,000435: 24,2333 05105 TC FINDVAC
022149,000436: 24,2334 E7,1456 EBANK= LOSCOUNT
022150,000437: 24,2334 02713 50067 2CADR R22LEM42
022151,000438:
022152,000439: 24,2336 05272 TC TASKOVER
022153,000440:
022154,000441:
022155,000442: 24,2337 05232 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
022156,000443: 24,2340 02734 DEC 1500 B-14 # AND CHECK AGAIN
022157,000444:
022158,000445: 24,2341 02322 TC P20LEMC1
022159,000446:
022160,000447: 24,2342 32751 P20LEMD CAF 1500DEC
022161,000448: 24,2343 05204 TC TWIDDLE # WAITLIST FOR 15 SECONDS
022162,000449: 24,2344 02346 ADRES P20LEMD1
022163,000450: 24,2345 05155 TC ENDOFJOB
022164,000451:
022165,000452:
022166,000453: 24,2346 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
022167,000454: 24,2347 74747 MASK TRACKBIT
022168,000455: 24,2350 10000 CCS A
022169,000456: 24,2351 12355 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
022170,000457: 24,2352 05232 TC FIXDELAY # NO-WAIT 15 SECONDS
022171,000458: 24,2353 02734 DEC 1500 B-14
022172,000459: 24,2354 02346 TC P20LEMD1
022173,000460:
022174,000461:
022175,000462: 24,2355 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
022176,000463: 24,2356 05105 TC FINDVAC
022177,000464: 24,2357 E7,1456 EBANK= LOSCOUNT
022178,000465: 24,2357 02267 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
022179,000466:
022180,000467: 24,2361 05272 TC TASKOVER
022181,000468:
022182,000469:
022183,000470: 24,2362 00372 250DEC DEC 250 B-14
022184,000471: 24,2363 00526 ALRM526 OCT 00526
022185,000472: 24,2364 00201 OCT201 OCT 00201
022186,000473: 24,2365 00514 ALRM514 OCT 514
022187,000474: 24,2366 00074 MAXTRIES DEC 60 B-14
022188,000475: 24,2367 4363 OCT00012 EQUALS BINCON
022189,000476: 24,2367 23,2507 ONEB-2 EQUALS DP1/4TH
022190,000477: 24,2367 01441 V06N33* VN 0633
022191,000478: 24,2370 00764 500DEC DEC 500 B-14
022192,000479: 24,2371 00070 20447 999.99NM 2DEC 1851982 B-29
022193,000480:
022194,000481: 24,2373 04066 V16N5420 VN 1654
022195,000482:
|
|
Page 509
|
022197,000484: 24,2374 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
022198,000485: 24,2375 01755 LS21X # TO PRESENT TIME
022199,000486: 24,2376 27410 INTSTALL
022200,000487: 24,2377 77624 CALL
022201,000488: 24,2400 26643 SETIFLGS
022202,000489: 24,2401 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
022203,000490: 24,2402 02756 RENDWFLG
022204,000491: 24,2403 50414 UPPSV1
022205,000492: 24,2404 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
022206,000493: 24,2405 43014 BON SET
022207,000494: 24,2406 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
022208,000495: 24,2407 50411 UPPSV5
022209,000496: 24,2410 01475 D6OR9FLG # OTHERWISE 9X9
022210,000497: 24,2411 77614 UPPSV5 BOF
022211,000498: 24,2412 00747 VEHUPFLG
022212,000499: 24,2413 50446 UPPSV3
022213,000500: 24,2414 77614 UPPSV1 SET
022214,000501: 24,2415 01474 VINTFLAG
022215,000502: 24,2416 77624 CALL
022216,000503: 24,2417 27133 INTEGRV
022217,000504: 24,2420 77624 CALL # GROUP 2 PHASE CHANGE
022218,000505: 24,2421 11216 GRP2PC # TO PROTECT INTEGRATION
022219,000506: 24,2422 77624 CALL
022220,000507: 24,2423 27410 INTSTALL
022221,000508: 24,2424 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
022222,000509: 24,2425 01571 TETCSM
022223,000510: 24,2426 01674 VINTFLAG
022224,000511: 24,2427 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
022225,000512: 24,2430 26643 SETIFLGS # WITHOUT W-MATRIX
022226,000513: 24,2431 34041 STCALL TDEC1
022227,000514: 24,2432 27133 INTEGRV
022228,000515: 24,2433 77214 BOFF VLOAD
022229,000516: 24,2434 04347 SURFFLAG
022230,000517: 24,2435 50274 P20LEMC4
022231,000518: 24,2436 01661 RCVLEM
022232,000519: 24,2437 77742 VSR2
022233,000520: 24,2440 26352 STOVL LMPOS
022234,000521: 24,2441 01667 VCVLEM
022235,000522: 24,2442 77742 VSR2
022236,000523: 24,2443 02360 STORE LMVEL
022237,000524: 24,2444 77650 GOTO
022238,000525: 24,2445 01755 LS21X
022239,000526:
022240,000527:
022241,000528: 24,2446 45014 UPPSV3 CLEAR CALL
022242,000529: 24,2447 01674 VINTFLAG
022243,000530: 24,2450 27133 INTEGRV
022244,000531: 24,2451 77624 CALL
022245,000532: 24,2452 11216 GRP2PC
022246,000533: 24,2453 77624 CALL
|
|
Page 510
|
022248,000535: 24,2454 27410 INTSTALL
022249,000536: 24,2455 71214 SET DLOAD
022250,000537: 24,2456 01474 VINTFLAG
022251,000538: 24,2457 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
022252,000539: 24,2460 77650 GOTO
022253,000540: 24,2461 50427 UPPSV4
022254,000541:
022255,000542:
022256,000543: 24,2462 E7,1456 EBANK= LOSCOUNT
022257,000544: 24,2462 COUNT* $$/P22
022258,000545:
|
|
Page 511
|
022260,000547: # PROGRAM DESCRIPTION
022261,000548: # PREFERRED TRACKING ATTITUDE PROGRAM P25
022262,000549: # MOD NO - 3
022263,000550: # BY P. VOLANTE
022264,000551: # FUNCTIONAL DESCRIPTION
022265,000552:
022266,000553: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022267,000554: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022268,000555: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022269,000556: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022270,000557: # CALLING SEQUENCE -
022271,000558: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
022272,000559: # SUBROUTINES CALLED -
022273,000560: # BANKCALL FLAGUP
022274,000561: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
022275,000562: # R61LEM (PREF TRK ATT ROUT) WAITLIST
022276,000563: # TASKOVER FINDVAC
022277,000564: # NORMAL EXIT MODES -
022278,000565: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022279,000566: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
022280,000567: # ALARM OR ABORT EXIT MODES -
022281,000568: # NONE
022282,000569: # OUTPUT
022283,000570: # ERASABLE INITIALIZATION REQUIRED
022284,000571: # FLAGS SET + RESET
022285,000572: # TRACKFLG,P25FLAG
022286,000573: # DEBRIS
022287,000574: # NONE
022288,000575: 24,2462 E7,1456 EBANK= LOSCOUNT
022289,000576: 24,2462 COUNT* $$/P25
022290,000577: 24,2462 05340 PROG25 TC 2PHSCHNG
022291,000578: 24,2463 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
022292,000579: 24,2464 05022 OCT 05022
022293,000580: 24,2465 26000 OCT 26000 # PRIORITY 26
022294,000581:
022295,000582: 24,2466 04616 TC BANKCALL
022296,000583: 24,2467 11241 CADR R02BOTH # IMU STATUS CHECK
022297,000584: 24,2470 05515 TC UPFLAG
022298,000585: 24,2471 00031 ADRES TRACKFLG # SET TRACK FLAG
022299,000586: 24,2472 05515 TC UPFLAG
022300,000587: 24,2473 00006 ADRES P25FLAG # SET P25FLAG
022301,000588: 24,2474 05527 TC DOWNFLAG
022302,000589: 24,2475 00010 ADRES RNDVZFLG
022303,000590: 24,2476 05364 P25LEM1 TC PHASCHNG
022304,000591: 24,2477 04022 OCT 04022
022305,000592: 24,2500 34743 CAF P25FLBIT
022306,000593: 24,2501 70074 MASK STATE # IS P25FLAG SET
022307,000594: 24,2502 00006 EXTEND
022308,000595: 24,2503 15155 BZF ENDOFJOB
022309,000596: 24,2504 34747 CAF TRACKBIT # IS TRACKFLAG SET?
|
|
Page 512
|
022311,000598: 24,2505 70075 MASK STATE +1
022312,000599: 24,2506 00006 EXTEND
022313,000600: 24,2507 12515 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
022314,000601: 24,2510 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
022315,000602: 24,2511 55745 TS R65CNTR
022316,000603: 24,2512 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
022317,000604: 24,2513 46123 CADR R65LEM
022318,000605: 24,2514 02476 TC P25LEM1 # THEN GO CHECK FLAGS
022319,000606: 24,2515 32526 P25LMWT1 CAF 60SCNDS
022320,000607: 24,2516 05204 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
022321,000608: 24,2517 02521 ADRES P25LEM2
022322,000609: 24,2520 05155 TC ENDOFJOB
022323,000610: 24,2521 35024 P25LEM2 CAF PRIO14
022324,000611: 24,2522 05105 TC FINDVAC
022325,000612: 24,2523 E7,1456 EBANK= LOSCOUNT
022326,000613: 24,2523 02476 50067 2CADR P25LEM1
022327,000614:
022328,000615: 24,2525 05272 TC TASKOVER
022329,000616: 24,2526 13560 60SCNDS DEC 6000 B-14
022330,000617:
|
|
Page 513
|
022332,000619: # DATA READ ROUTINE 22 (LEM)
022333,000620: # PROGRAM DESCRIPTION
022334,000621: # MOD NO - 2
022335,000622: # BY P VOLANTE
022336,000623: # FUNCTIONAL DESCRIPTION
022337,000624:
022338,000625: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022339,000626: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022340,000627: # CALLING SEQUENCE -
022341,000628: # TC BANKCALL
022342,000629: # CADR R22LEM
022343,000630: # SUBROUTINES CALLED -
022344,000631: # LSR22.1 GOFLASH WAITLIST
022345,000632: # LSR22.2 PRIOLARM BANKCALL
022346,000633: # LSR22.3 R61LEM
022347,000634: # NORMAL EXIT MODES-
022348,000635: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
022349,000636: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022350,000637: # R22 WILL TERMINATE SELF.
022351,000638: # ALARM OR ABORT EXIT MODES-
022352,000639: # PRIORITY ALARM
022353,000640: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022354,000641: # OUTPUT
022355,000642: # SEE OUTPUT FROM LSR22.3
022356,000643: # ERASABLE INITIALIZATION REQUIRED
022357,000644: # SEE LSR22.1,LSR22.2,LSR22.3
022358,000645: # FLAGS SET + RESET
022359,000646: # NOANGFLG
022360,000647: # DEBRIS
022361,000648: # SEE LSR22.1,LSR22.2,LSR22.3
022362,000649: 24,2527 E7,1737 EBANK= LRS22.1X
022363,000650: 24,2527 COUNT* $$/R22
022364,000651: 24,2527 05364 R22LEM TC PHASCHNG
022365,000652: 24,2530 04022 OCT 04022
022366,000653: 24,2531 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
022367,000654: 24,2532 70074 MASK STATE
022368,000655: 24,2533 00006 EXTEND
022369,000656: 24,2534 15155 BZF ENDOFJOB # NO-EXIT R22 AND P20
022370,000657: 24,2535 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022371,000658: 24,2536 70075 MASK STATE +1
022372,000659: 24,2537 00006 EXTEND
022373,000660: 24,2540 12722 BZF R22WAIT # NO WAIT
022374,000661: 24,2541 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
022375,000662: 24,2542 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
022376,000663: 24,2543 02012 RAND CHAN12
022377,000664: 24,2544 00006 EXTEND
022378,000665: 24,2545 12167 BZF P20LEMA # NO - RETURN TO P20
022379,000666: 24,2546 34752 CAF BIT2 # YES
022380,000667: 24,2547 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
022381,000668: 24,2550 02033 RAND CHAN33
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|
Page 514
|
022383,000670: 24,2551 00006 EXTEND
022384,000671: 24,2552 12554 BZF +2 # YES CONTINUE
022385,000672: 24,2553 02213 TC P20LEMB5 # NO - SET IT
022386,000673: 24,2554 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
022387,000674: 24,2555 74737 MASK RCDU0BIT
022388,000675: 24,2556 00006 EXTEND
022389,000676: 24,2557 12713 BZF R22LEM42 # CDUS BEING ZEROED
022390,000677: 24,2560 05364 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
022391,000678: 24,2561 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
022392,000679: 24,2562 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
022393,000680: 24,2563 64366 CADR LRS22.1 # DATA READ SUBROUTINE
022394,000681: 24,2564 50154 INDEX MPAC
022395,000682: 24,2565 02566 TC +1
022396,000683: 24,2566 02607 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
022397,000684: 24,2567 02275 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
022398,000685: 24,2570 32746 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
022399,000686: 24,2571 04616 TC BANKCALL
022400,000687: 24,2572 21563 CADR PRIOLARM
022401,000688: 24,2573 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022402,000689: 24,2574 02577 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
022403,000690: 24,2575 02570 TC -5 # ENTER(ILLEGAL OPTION)
022404,000691: 24,2576 05155 TC ENDOFJOB
022405,000692:
022406,000693:
022407,000694: 24,2577 05364 R22LEM1 TC PHASCHNG
022408,000695: 24,2600 04022 OCT 04022
022409,000696: 24,2601 32747 CAF V06N05 # DISPLAY DELTA THETA
022410,000697: 24,2602 04616 TC BANKCALL
022411,000698: 24,2603 20510 CADR PRIODSP
022412,000699: 24,2604 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022413,000700: 24,2605 02607 TC R22LEM2 # PROC (OK CONTINUE)
022414,000701: 24,2606 02275 TC P20LEMC # ENTER(RECYCLE)
022415,000702: 24,2607 05364 R22LEM2 TC PHASCHNG
022416,000703: 24,2610 04022 OCT 04022
022417,000704: 24,2611 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022418,000705: 24,2612 02627 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
022419,000706: 24,2613 30075 CA FLAGWRD1 # IS TRACK FLAG SET
022420,000707: 24,2614 74747 MASK TRACKBIT
022421,000708: 24,2615 00006 EXTEND
022422,000709: 24,2616 12722 BZF R22WAIT # NO - WAIT
022423,000710: 24,2617 04616 TC BANKCALL # YES
022424,000711: 24,2620 51415 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022425,000712: 24,2621 50154 INDEX MPAC
022426,000713: 24,2622 02623 TC +1
022427,000714: 24,2623 02627 TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
022428,000715: 24,2624 04616 TC BANKCALL
022429,000716: 24,2625 46116 CADR R61LEM
022430,000717: 24,2626 02722 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
022431,000718: 24,2627 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
022432,000719: 24,2630 74746 MASK NOUPFBIT # (IS NOUPDATE FLAG SET?)
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|
Page 515
|
022434,000721: 24,2631 00006 EXTEND
022435,000722: 24,2632 12713 BZF R22LEM42 # BRANCH-YES
022436,000723: 24,2633 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
022437,000724: 24,2634 74745 MASK UPDATBIT
022438,000725: 24,2635 00006 EXTEND
022439,000726: 24,2636 12713 BZF R22LEM42 # UPDATE FLAG NOT SET
022440,000727: 24,2637 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
022441,000728: 24,2640 55055 TS PHSPRDT2
022442,000729:
022443,000730: 24,2641 06042 TC INTPRET
022444,000731: 24,2642 77650 GOTO
022445,000732: 24,2643 54420 LSR22.3
022446,000733: 24,2644 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
022447,000734: 24,2645 05364 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
022448,000735: 24,2646 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
022449,000736: 24,2647 12706 TCF R22LEM44
022450,000737: 24,2650 77776 R22LEM96 EXIT
022451,000738: 24,2651 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
022452,000739: 24,2652 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
022453,000740: 24,2653 05364 TC PHASCHNG
022454,000741: 24,2654 04022 OCT 04022 # TO PROTECT DISPLAY
022455,000742: 24,2655 37720 CAF PRIO27 # PROTECT DISPLAY
022456,000743: 24,2656 05072 TC NOVAC
022457,000744: 24,2657 E7,1746 EBANK= N49FLAG
022458,000745: 24,2657 02727 50067 2CADR N49DSP
022459,000746:
022460,000747: 24,2661 06042 TC INTPRET
022461,000748: 24,2662 77735 SLOAD
022462,000749: 24,2663 03747 N49FLAG
022463,000750: 24,2664 50054 BZE BMN # LOOP TO CHECK IF FLAG
022464,000751: 24,2665 50662 -3 # SETTING CHANGED-BRANCH - NO
022465,000752: 24,2666 50674 R22LEM7 # PROCEED
022466,000753: 24,2667 77650 GOTO # DISPLAY ANSWERED BY RECYCLE-INCORPORATE
022467,000754: 24,2670 03675 LGRET # NEXT MEASUREMENT
022468,000755: 24,2671 44752 V34TON49 CS TWO
022469,000756: 24,2672 55746 TS N49FLAG
022470,000757: 24,2673 05155 TC ENDOFJOB
022471,000758: 24,2674 77776 R22LEM7 EXIT
022472,000759: 24,2675 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
022473,000760: 24,2676 64752 AD TWO
022474,000761: 24,2677 00006 EXTEND
022475,000762: 24,2700 12527 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
022476,000763: 24,2701 06042 TC INTPRET
022477,000764: 24,2702 77624 CALL
022478,000765: 24,2703 11216 GRP2PC # PHASE CHANGE AND
022479,000766: 24,2704 77650 GOTO # GO TO INCORPORATE DATA.
022480,000767: 24,2705 55433 ASTOK
022481,000768: 24,2706 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
022482,000769: 24,2707 02752 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022483,000770: 24,2710 02724 TC R22LEM46 # YES - WAIT 2 SECONDS
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Page 516
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022485,000772: 24,2711 34756 CA FIVE # NOT ON LUNAR SURFACE
022486,000773: 24,2712 02716 TC R22LEM45 # R65COUNTER = 5
022487,000774: 24,2713 02752 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022488,000775: 24,2714 02724 TC R22LEM46 # YES - WAIT 2 SECONDS
022489,000776: 24,2715 34752 CA TWO # NO-SET R65COUNTER = 2
022490,000777: 24,2716 55745 R22LEM45 TS R65CNTR
022491,000778: 24,2717 04616 TC BANKCALL
022492,000779: 24,2720 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
022493,000780: 24,2721 02527 TC R22LEM
022494,000781: 24,2722 32751 R22WAIT CAF 1500DEC
022495,000782: 24,2723 02311 TC P20LEMWT +1
022496,000783:
022497,000784:
022498,000785: 24,2724 04616 R22LEM46 TC BANKCALL
022499,000786: 24,2725 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
022500,000787: 24,2726 02527 TC R22LEM
022501,000788:
022502,000789: 24,2727 32750 N49DSP CAF V06N49NB
022503,000790: 24,2730 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
022504,000791: 24,2731 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
022505,000792: 24,2732 02671 TC V34TON49 # TERMINATE - SET N49FLAG = -2
022506,000793: 24,2733 44753 CS ONE # PROCEED - N49FLAG = -1
022507,000794: 24,2734 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
022508,000795: 24,2735 05155 TC ENDOFJOB
022509,000796: 24,2736 05364 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
022510,000797: 24,2737 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
022511,000798: 24,2740 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
022512,000799: 24,2741 53112 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
022513,000800: 24,2742 04616 TC BANKCALL # BAD DATA
022514,000801: 24,2743 17720 CADR RADSTALL # WAIT FOR READ COMPLETE
022515,000802: 24,2744 02275 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
022516,000803: 24,2745 02527 TC R22LEM # READ SUCCESSFUL-CONTINUE AT R22
022517,000804:
022518,000805:
022519,000806: 24,2746 00525 ALRM525 OCT 00525
022520,000807: 24,2747 01405 V06N05 VN 00605
022521,000808: 24,2750 01461 V06N49NB VN 00649
022522,000809: 24,2751 02734 1500DEC DEC 1500 B-14
022523,000810: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022524,000811: # RETURNS TO CALLER +1 IF P22FLAG SET
022525,000812: # TO CALLER +2 IF P22FLAG NOT SET
022526,000813:
022527,000814:
022528,000815: 24,2752 COUNT* $$/P22
022529,000816: 24,2752 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
022530,000817: 24,2753 74744 MASK SURFFBIT # IS SURFFLAG SET?
022531,000818: 24,2754 10000 CCS A # BRANCH - P22FLAG SET
022532,000819: 24,2755 24002 INCR Q # NOT SET
022533,000820: 24,2756 00002 TC Q # RETURN
022534,000821:
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Page 517
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022536,000823: # RR DESIGNATE ROUTINE (R21LEM)
022537,000824: # PROGRAM DESCRIPTION
022538,000825: # MOD NO - 2
022539,000826: # BY P VOLANTE
022540,000827: # FUNCTIONAL DESCRIPTION
022541,000828:
022542,000829: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022543,000830: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
022544,000831: # CALLING SEQUENCE -
022545,000832: # TC BANKCALL
022546,000833: # CADR R21LEM
022547,000834: # SUBROUTINES CALLED -
022548,000835: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
022549,000836: # NOVAC INTPRET LPS20.1 PHASCHNG
022550,000837: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
022551,000838: # TASKOVER BANKCALL RADSTALL RRDESSM
022552,000839: # NORMAL EXIT MODES
022553,000840: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022554,000841: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
022555,000842: # ALARM OR ABORT EXIT MODES-
022556,000843: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022557,000844: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022558,000845: # ACQUISITION
022559,000846: # OUTPUT
022560,000847: # SEE LPS20.1,RRDESSM
022561,000848: # ERASABLE INITIALIZATION REQUIRED
022562,000849: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
022563,000850: # FLAGS SET + RESET
022564,000851: # LOSCMFLG LOKONSW
022565,000852: # DEBRIS
022566,000853: # SEE LPS20.1,RRDESSM
022567,000854: 24,2757 E7,1456 EBANK= LOSCOUNT
022568,000855: 24,2757 COUNT* $$/R21
022569,000856: 24,2757 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
022570,000857: 24,2760 00006 EXTEND
022571,000858: 24,2761 03012 WAND CHAN12
022572,000859: 24,2762 02752 TC LUNSFCHK
022573,000860: 24,2763 02770 TC R21LEM5
022574,000861: 24,2764 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
022575,000862: 24,2765 55106 TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
022576,000863: 24,2766 55107 TS TANG +1
022577,000864: 24,2767 03000 TC R21LEM6
022578,000865: 24,2770 34740 R21LEM5 CAF BIT12
022579,000866: 24,2771 70110 MASK RADMODES
022580,000867: 24,2772 10000 CCS A
022581,000868: 24,2773 03010 TC R21LEM10
022582,000869: 24,2774 34735 CAF BIT15
022583,000870: 24,2775 55106 TS TANG
022584,000871: 24,2776 44736 CS HALF
022585,000872: 24,2777 55107 TS TANG +1
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Page 518
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022587,000874: 24,3000 05527 R21LEM6 TC DOWNFLAG
022588,000875: 24,3001 00012 ADRES LOKONSW
022589,000876: 24,3002 04616 TC BANKCALL
022590,000877: 24,3003 52506 CADR RRDESNB
022591,000878: 24,3004 03005 TC +1
022592,000879: 24,3005 04616 TC BANKCALL
022593,000880: 24,3006 17720 CADR RADSTALL
022594,000881: 24,3007 03043 TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
022595,000882: 24,3010 05515 R21LEM10 TC UPFLAG
022596,000883: 24,3011 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
022597,000884: 24,3012 32366 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
022598,000885: 24,3013 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
022599,000886: 24,3014 36250 R21LEM2 CAF THREE
022600,000887: 24,3015 55456 TS LOSCOUNT
022601,000888: 24,3016 06042 R21LEM1 TC INTPRET
022602,000889: 24,3017 43234 RTB DAD
022603,000890: 24,3020 21574 LOADTIME
022604,000891: 24,3021 11204 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022605,000892: 24,3022 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
022606,000893: 24,3023 51340 LPS20.1
022607,000894: 24,3024 77776 EXIT
022608,000895: 24,3025 05515 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
022609,000896: 24,3026 00012 ADRES LOKONSW
022610,000897: 24,3027 05527 TC DOWNFLAG
022611,000898: 24,3030 00126 ADRES NORRMON
022612,000899: 24,3031 06042 TC INTPRET
022613,000900: 24,3032 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
022614,000901: 24,3033 52404 RRDESSM # DESIGNATE ROUTINE
022615,000902: 24,3034 77776 EXIT
022616,000903: 24,3035 03064 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
022617,000904: # ON LUNAR SURFACE
022618,000905: 24,3036 02167 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
022619,000906: 24,3037 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
022620,000907: 24,3040 17720 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022621,000908: 24,3041 03043 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
022622,000909: 24,3042 03052 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022623,000910: 24,3043 33062 R21-503 CAF ALRM503 # ISSUE ALARM 503
022624,000911: 24,3044 04616 TC BANKCALL
022625,000912: 24,3045 21563 CADR PRIOLARM
022626,000913: 24,3046 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022627,000914: 24,3047 03057 TC R21SRCH # PROC
022628,000915: 24,3050 02267 TC P20LEMC3
022629,000916: 24,3051 05155 TC ENDOFJOB
022630,000917: 24,3052 05527 R21END TC DOWNFLAG
022631,000918: 24,3053 00041 ADRES LOSCMFLG # RESET LOSCMFLG
022632,000919: 24,3054 02752 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022633,000920: 24,3055 02310 TC P20LEMWT # YES - BYPASS V 50 N 72 DISPLAY
022634,000921: 24,3056 03205 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022635,000922: 24,3057 05364 R21SRCH TC PHASCHNG
022636,000923: 24,3060 04022 OCT 04022
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Page 519
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022638,000925: 24,3061 03272 TC R24LEM # SEARCH ROUTINE
022639,000926: 24,3062 00503 ALRM503 OCT 00503
022640,000927: 24,3063 00527 ALRM527 OCT 527
022641,000928:
022642,000929:
022643,000930: 24,3064 32366 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
022644,000931: 24,3065 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
022645,000932: 24,3066 05515 TC UPFLAG
022646,000933: 24,3067 00005 ADRES FSPASFLG # SET FIRST TIME FLAG
022647,000934: 24,3070 05527 TC DOWNFLAG # RESET LOS BEING
022648,000935: 24,3071 00041 ADRES LOSCMFLG # COMPUTED FLAG
022649,000936: 24,3072 06042 TC INTPRET
022650,000937: 24,3073 77634 R21LEM12 RTB
022651,000938: 24,3074 21574 LOADTIME
022652,000939: 24,3075 77615 R21LEM00 DAD
022653,000940: 24,3076 11202 TENSEC # TIME T = T + 10 SECS.
022654,000941: 24,3077 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022655,000942: 24,3100 34041 STCALL TDEC1
022656,000943: 24,3101 51340 LPS20.1 # COMPUTE LOS AT TIME T
022657,000944: 24,3102 77624 CALL
022658,000945: 24,3103 52404 RRDESSM
022659,000946: 24,3104 77776 EXIT
022660,000947: 24,3105 03117 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022661,000948: 24,3106 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022662,000949: 24,3107 06032 TC KILLTASK
022663,000950: 24,3110 52604 CADR BEGDES
022664,000951: 24,3111 06042 TC INTPRET
022665,000952: 24,3112 43014 BOF CLRGO
022666,000953: 24,3113 00345 FSPASFLG # FIRST TIME THRU REPOSITION
022667,000954: 24,3114 51127 R21LEM8 # NO-GO TO CONTINUOUS DESIGNATE
022668,000955: 24,3115 00225 FSPASFLG # YES-RESET FIRST TIME FLAG
022669,000956: 24,3116 51124 R21LEM50
022670,000957: 24,3117 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022671,000958: 24,3120 03122 TC R21LEM7 # NO-ADD 10 SECS. RECOMPUTE LOS
022672,000959: 24,3121 03171 TC R21LEM11 # YES-PUT OUT ALARM 530
022673,000960: 24,3122 55423 R21LEM7 TS REPOSCNT
022674,000961: 24,3123 06042 TC INTPRET
022675,000962: 24,3124 52145 R21LEM50 DLOAD GOTO
022676,000963: 24,3125 03425 REPOSTM
022677,000964: 24,3126 51075 R21LEM00
022678,000965: 24,3127 77745 R21LEM8 DLOAD
022679,000966: 24,3130 03425 REPOSTM
022680,000967: 24,3131 34041 STCALL TDEC1
022681,000968: 24,3132 50374 UPPSV
022682,000969: 24,3133 77776 EXIT
022683,000970: 24,3134 05515 TC UPFLAG # SET RADMODES BIT 15 FOR
022684,000971: 24,3135 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022685,000972: 24,3136 05527 TC DOWNFLAG
022686,000973: 24,3137 00012 ADRES LOKONSW
022687,000974: 24,3140 05515 TC UPFLAG
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Page 520
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022689,000976: 24,3141 00126 ADRES NORRMON
022690,000977: 24,3142 04616 TC BANKCALL
022691,000978: 24,3143 52506 CADR RRDESNB
022692,000979: 24,3144 03145 TC +1
022693,000980: 24,3145 06042 TC INTPRET
022694,000981: 24,3146 44234 RTB BDSU
022695,000982: 24,3147 21574 LOADTIME # COMPUTE DELTA TIME
022696,000983: 24,3150 03425 REPOSTM # FOR LONGCALL
022697,000984: 24,3151 03427 STORE DELTATM
022698,000985: 24,3152 77776 EXIT
022699,000986: 24,3153 00006 EXTEND
022700,000987: 24,3154 31427 DCA DELTATM
022701,000988: 24,3155 05310 TC LONGCALL
022702,000989: 24,3156 E7,1456 EBANK= LOSCOUNT
022703,000990: 24,3156 03161 50067 2CADR R21LEM9
022704,000991:
022705,000992: 24,3160 05155 TC ENDOFJOB
022706,000993: 24,3161 06032 R21LEM9 TC KILLTASK
022707,000994: 24,3162 52613 CADR STDESIG
022708,000995: 24,3163 06011 TC CLRADMOD
022709,000996: 24,3164 37717 CAF PRIO26
022710,000997: 24,3165 05105 TC FINDVAC
022711,000998: 24,3166 E7,1456 EBANK= LOSCOUNT
022712,000999: 24,3166 03010 50067 2CADR R21LEM10
022713,001000:
022714,001001: 24,3170 05272 TC TASKOVER
022715,001002: 24,3171 33200 R21LEM11 CAF ALRM530 # ALARM 530-LOS NOT IN COVERAGE
022716,001003: 24,3172 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022717,001004: 24,3173 21563 CADR PRIOLARM # 600 SECS.
022718,001005: 24,3174 06025 TC GOTOV56
022719,001006: 24,3175 06025 TC GOTOV56
022720,001007: 24,3176 06025 TC GOTOV56
022721,001008: 24,3177 05155 TC ENDOFJOB
022722,001009: 24,3200 00530 ALRM530 OCT 00530
022723,001010: 24,3201 00000 01750 TENSEC 2DEC 1000 B-28
022724,001011:
022725,001012: 24,3203 00000 00062 HALFSEC 2DEC 50 B-28
022726,001013:
022727,001014: 24,3205 05364 R21DISP TC PHASCHNG
022728,001015: 24,3206 04022 OCT 04022
022729,001016: 24,3207 33220 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022730,001017: 24,3210 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022731,001018: 24,3211 20711 CADR GOPERF2R
022732,001019: 24,3212 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
022733,001020: 24,3213 02310 TC P20LEMWT # PROCEED CONTINUES TO R22
022734,001021: 24,3214 03207 TC -5 # ENTER ILLEGAL
022735,001022: 24,3215 34745 CAF BIT7
022736,001023: 24,3216 05475 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022737,001024: 24,3217 05155 TC ENDOFJOB
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Page 521
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022739,001026: 24,3220 01510 V06N72PV VN 00672
022740,001027:
|
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Page 522
|
022742,001029: # MANUAL ACQUISITION ROUTINE R23LEM
022743,001030: # PROGRAM DESCRIPTION
022744,001031: # MOD NO - 2
022745,001032: # BY P VOLANTE
022746,001033: # FUNCTIONAL DESCRIPTION
022747,001034:
022748,001035: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022749,001036: # CALLING SEQUENCE -
022750,001037: # TC R23LEM
022751,001038: # SUBROUTINES CALLED
022752,001039: # BANKCALL R61LEM
022753,001040: # SETMINDB GOPERF1
022754,001041: # NORMAL EXIT MODES -
022755,001042: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022756,001043: # ,SELECTION OF PROC WILL CONTINUE R23
022757,001044: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
022758,001045: # ALARM OR ABORT EXIT MODES -
022759,001046: # SEE NORMAL EXIT MODES ABOVE
022760,001047: # OUTPUT
022761,001048: # N.A.
022762,001049: # ERASABLE INITIALIZATION REQUIRED-
022763,001050: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022764,001051: 24,3221 1142 EBANK= GENRET
022765,001052: 24,3221 COUNT* $$/R23
022766,001053: 24,3221 05515 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022767,001054: 24,3222 00126 ADRES NORRMON
022768,001055: 24,3223 00004 INHINT
022769,001056: 24,3224 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022770,001057: 24,3225 40141 CADR SETMINDB
022771,001058: 24,3226 00003 RELINT
022772,001059: 24,3227 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022773,001060: 24,3230 00006 EXTEND
022774,001061: 24,3231 05012 WOR CHAN12
022775,001062: 24,3232 33271 CAF OCT205
022776,001063: 24,3233 04616 TC BANKCALL
022777,001064: 24,3234 20624 CADR GOPERF1
022778,001065: 24,3235 03262 TC R23LEM2 # TERMINATE
022779,001066: 24,3236 03240 TC R23LEM11 # PROCEDE
022780,001067: 24,3237 03265 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
022781,001068: 24,3240 00004 R23LEM11 INHINT
022782,001069: 24,3241 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022783,001070: 24,3242 00035 ADRES CDUT
022784,001071: 24,3243 03252 TC OUTOFLIM # NOT WITHIN LIMITS
022785,001072: 24,3244 04674 TC IBNKCALL # RESTORE DEADBAND TO
022786,001073: 24,3245 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022787,001074: 24,3246 00003 RELINT
022788,001075: 24,3247 05527 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022789,001076: 24,3250 00126 ADRES NORRMON
022790,001077: 24,3251 02241 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022791,001078: 24,3252 00003 OUTOFLIM RELINT
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Page 523
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022793,001080: 24,3253 33270 CAF OCT501PV
022794,001081: 24,3254 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022795,001082: 24,3255 21563 CADR PRIOLARM # LIMITS
022796,001083: 24,3256 03262 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022797,001084: 24,3257 03253 TC OUTOFLIM +1 # PROCEED ILLEGAL
022798,001085: 24,3260 03265 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
022799,001086: 24,3261 05155 TC ENDOFJOB
022800,001087: 24,3262 05527 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022801,001088: 24,3263 00126 ADRES NORRMON
022802,001089: 24,3264 06025 TC GOTOV56 # AND EXIT VIA V56
022803,001090: 24,3265 04616 R23LEM3 TC BANKCALL
022804,001091: 24,3266 46116 CADR R61LEM
022805,001092: 24,3267 03227 TC R23LEM1
022806,001093:
022807,001094:
022808,001095: 24,3270 00501 OCT501PV OCT 501
022809,001096: 24,3271 00205 OCT205 OCT 205
022810,001097:
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Page 524
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022812,001099: # SEARCH ROUTINE R24LEM
022813,001100: # PROGRAM DESCRIPTION
022814,001101: # MOD NO - 2
022815,001102: # BY P. VOLANTE
022816,001103: # FUNCTIONAL DESCRIPTION
022817,001104:
022818,001105: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022819,001106: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022820,001107: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022821,001108: # CALLING SEQUENCE
022822,001109: # CAF PRIONN
022823,001110: # TC FINDVAC
022824,001111: # EBANK= DATAGOOD
022825,001112: # 2CADR R24LEM
022826,001113: # SUBROUTINES CALLED
022827,001114: # FLAGUP FLAGDOWN BANKCALL
022828,001115: # R61LEM GOFLASHR FINDVAC
022829,001116: # ENDOFJOB NOVAC LSR24.1
022830,001117: # NORMAL EXIT MODES-
022831,001118: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
022832,001119: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022833,001120: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022834,001121: # ALARM OR ABORT EXIT MODES-
022835,001122: # SEE NORMAL EXIT MODES ABOVE
022836,001123: # OUTPUT -
022837,001124: # SEE OUTPUT FROM LSR24.1 + R61LEM
022838,001125: # ERASABLE INITIALIZATION REQUIRED
022839,001126: # SEE INPUT FOR LSR24.1
022840,001127: # FLAGS SET + RESET
022841,001128: # SRCHOPT,ACMODFLG
022842,001129: 24,3272 E7,1733 EBANK= DATAGOOD
022843,001130: 24,3272 COUNT* $$/R24
022844,001131: 24,3272 05515 R24LEM TC UPFLAG
022845,001132: 24,3273 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022846,001133: 24,3274 05527 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022847,001134: 24,3275 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022848,001135: 24,3276 34755 R24LEM1 CAF ZERO
022849,001136: 24,3277 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022850,001137: 24,3300 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022851,001138: 24,3301 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022852,001139: 24,3302 05364 R24LEM2 TC PHASCHNG
022853,001140: 24,3303 04022 OCT 04022
022854,001141: 24,3304 33337 CAF V16N80
022855,001142: 24,3305 04616 TC BANKCALL
022856,001143: 24,3306 20505 CADR PRIODSPR
022857,001144: 24,3307 06025 TC GOTOV56
022858,001145: 24,3310 03314 TC R24END # PROCEED EXIT R24 TO P20LEM1
022859,001146:
022860,001147:
022861,001148: 24,3311 03320 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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022863,001150: 24,3312 04616 TC BANKCALL
022864,001151: 24,3313 55444 CADR LRS24.1
022865,001152: 24,3314 06032 R24END TC KILLTASK
022866,001153: 24,3315 55645 CADR CALLDGCH
022867,001154: 24,3316 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022868,001155: 24,3317 12065 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022869,001156:
022870,001157: 6011 BLOCK 3
022871,001158: 6000 SETLOC FFTAG6
022872,001159: 6000 BANK
022873,001160: 6011 COUNT* $$/R24
022874,001161:
022875,001162: 6011 46021 CLRADMOD CS BIT10+15
022876,001163: 6012 00004 INHINT
022877,001164: 6013 70110 MASK RADMODES
022878,001165: 6014 54110 TS RADMODES
022879,001166: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022880,001167: 6016 00006 EXTEND
022881,001168: 6017 03012 WAND CHAN12 # USER WILL RELINT
022882,001169:
022883,001170: 6020 00002 TC Q
022884,001171:
022885,001172:
022886,001173: 6021 41000 BIT10+15 OCT 41000
022887,001174: 24,3320 BANK 24
022888,001175: 24,2000 SETLOC P20S
022889,001176: 24,2000 BANK
022890,001177: 24,3320 COUNT* $$/R24
022891,001178:
022892,001179: 24,3320 05364 R24LEM3 TC PHASCHNG
022893,001180: 24,3321 04022 OCT 04022
022894,001181: 24,3322 06032 TC KILLTASK
022895,001182: 24,3323 55645 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022896,001183: 24,3324 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
022897,001184: 24,3325 34774 CAF .5SEC
022898,001185: 24,3326 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022899,001186: 24,3327 01736 CADR DELAYJOB
022900,001187: 24,3330 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022901,001188: 24,3331 03334 TC R24LEM4 # YES-DONT DO ATTITUDE MANEUVER
022902,001189: 24,3332 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022903,001190: 24,3333 46116 CADR R61LEM # ATTITUDE MANEUVER
022904,001191: 24,3334 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022905,001192: 24,3335 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022906,001193: # RRDESSM WILL RETURN TO CALLER
022907,001194: 24,3336 03302 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022908,001195:
022909,001196:
022910,001197: 24,3337 04120 V16N80 VN 01680
022911,001198:
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022913,001200: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022914,001201: # PROGRAM DESCRIPTION
022915,001202: # MOD NO : 3 DATE : 4-11-67
022916,001203: # MOD BY : P VOLANTE SDC
022917,001204:
022918,001205:
022919,001206: # FUNCTIONAL DESCRIPTION-
022920,001207: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022921,001208: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022922,001209: # ATTITUDE.
022923,001210: # CALLING SEQUENCE-
022924,001211: # TC BANKCALL
022925,001212: # CADR R61LEM
022926,001213: # SUBROUTINES CALLED
022927,001214: # LPS20.1 VECPOINT
022928,001215: # KALCMAN3
022929,001216:
022930,001217:
022931,001218: # NORMAL EXIT MODES-
022932,001219: # NORMAL RETURN IS TO CALLER + 1
022933,001220: # ALARM OR ABORT EXIT MODES-
022934,001221: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022935,001222: # RENDEZVOUS FLAG ARE NOT SET.
022936,001223: # OUTPUT -
022937,001224: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022938,001225: # ERASABLE INITIALIZATION REQUIRED
022939,001226: # GENRET USED TO SAVE Q FOR RETURN
022940,001227: # FLAGS SET + RESET
022941,001228: # 3AXISFLG
022942,001229: # DEBRIS
022943,001230: # SEE SUBROUTINES
022944,001231: 23,2000 SETLOC R61
022945,001232: 23,2000 BANK
022946,001233: 23,2116 E7,1456 EBANK= LOSCOUNT
022947,001234: 23,2116 COUNT* $$/R61
022948,001235: 23,2116 04645 R61LEM TC MAKECADR
022949,001236: 23,2117 55142 TS GENRET
022950,001237: 23,2120 05515 TC UPFLAG # SET R61 FLAG
022951,001238: 23,2121 00024 ADRES R61FLAG
022952,001239: 23,2122 02146 TC R61C+L02
022953,001240: 23,2123 04645 R65LEM TC MAKECADR
022954,001241: 23,2124 55142 TS GENRET
022955,001242: 23,2125 05527 TC DOWNFLAG # RESET R61 FLAG
022956,001243: 23,2126 00024 ADRES R61FLAG
022957,001244: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
022958,001245: 23,2130 00006 EXTEND # GOOD NOT PRESENT
022959,001246: 23,2131 02033 RAND CHAN33
022960,001247: 23,2132 10000 CCS A
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022962,001249: 23,2133 12146 TCF R61C+L02 # NO DATA GOOD
022963,001250: 23,2134 04616 TC BANKCALL # READ RR RANGE AND RDOT
022964,001251: 23,2135 53112 CADR RRRDOT # EVERY R65 PASS (3 TIMES
022965,001252: 23,2136 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
022966,001253: 23,2137 17720 CADR RADSTALL # DURING ANY MARK PROCESSING,
022967,001254: 23,2140 12141 NOOP
022968,001255: 23,2141 04616 TC BANKCALL
022969,001256: 23,2142 53114 CADR RRRANGE
022970,001257: 23,2143 04616 TC BANKCALL
022971,001258: 23,2144 17720 CADR RADSTALL
022972,001259: 23,2145 12146 NOOP
022973,001260: 23,2146 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
022974,001261: 23,2147 70075 MASK STATE +1
022975,001262: 23,2150 00006 EXTEND
022976,001263: 23,2151 12310 BZF R65WAIT # NOT SET
022977,001264: 23,2152 06042 R61C+L03 TC INTPRET
022978,001265: 23,2153 77775 VLOAD
022979,001266: 23,2154 06512 HIUNITZ
022980,001267: 23,2155 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022981,001268: 23,2156 43234 R61LEM1 RTB DAD
022982,001269: 23,2157 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022983,001270: 23,2160 15714 3SECONDS # SIX SECOND PERIOD.
022984,001271: 23,2161 34041 STCALL TDEC1
022985,001272: 23,2162 51340 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022986,001273: 23,2163 77775 VLOAD
022987,001274: 23,2164 01101 RRTARGET
022988,001275: 23,2165 03773 STORE POINTVSM
022989,001276: 23,2166 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022990,001277: 23,2167 46316 READCDUD
022991,001278: 23,2170 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022992,001279: 23,2171 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
022993,001280: 23,2172 77776 EXIT
022994,001281: 23,2173 05364 TC PHASCHNG
022995,001282: 23,2174 04022 OCT 04022
022996,001283: 23,2175 34747 CAF TRACKBIT # IS TRACK FLAG SET
022997,001284: 23,2176 70075 MASK FLAGWRD1
022998,001285: 23,2177 00006 EXTEND
022999,001286: 23,2200 12310 BZF R65WAIT
023000,001287: 23,2201 04616 TC BANKCALL
023001,001288: 23,2202 54263 CADR G+N,AUTO # CHECK FOR AUTO MODE
023002,001289: 23,2203 10000 CCS A
023003,001290: 23,2204 02276 TC R61C+L04 # NOT IN AUTO
023004,001291: 23,2205 06042 TC INTPRET
023005,001292: 23,2206 45175 VLOAD CALL
023006,001293: 23,2207 01101 RRTARGET
023007,001294: 23,2210 47653 CDU*SMNB
023008,001295: 23,2211 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
023009,001296: 23,2212 00162 MPAC +5
023010,001297: 23,2213 06314 COS15DEG
023011,001298: 23,2214 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
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023013,001300: 23,2215 46232 R61C+L05 # PHI GRE 10DEG
023014,001301: 23,2216 E6,1634 EBANK= CDUXD
023015,001302: 23,2216 35015 CAF EBANK6
023016,001303: 23,2217 54003 TS EBANK
023017,001304: 23,2220 00004 INHINT
023018,001305: 23,2221 00006 EXTEND
023019,001306: 23,2222 30322 DCA CPHI
023020,001307: 23,2223 53635 DXCH CDUXD
023021,001308: 23,2224 30323 CA CPSI
023022,001309: 23,2225 55636 TS CDUZD
023023,001310: 23,2226 00003 RELINT
023024,001311: 23,2227 E7,1456 EBANK= LOSCOUNT
023025,001312: 23,2227 35016 CAF EBANK7
023026,001313: 23,2230 54003 TS EBANK
023027,001314: 23,2231 02255 TC R61C+L06
023028,001315: 23,2232 77776 R61C+L05 EXIT
023029,001316: 23,2233 00004 INHINT
023030,001317: 23,2234 04674 TC IBNKCALL
023031,001318: 23,2235 40154 FCADR ZATTEROR
023032,001319: 23,2236 04674 TC IBNKCALL
023033,001320: 23,2237 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
023034,001321: 23,2240 05527 TC DOWNFLAG
023035,001322: 23,2241 00124 ADRES 3AXISFLG
023036,001323: 23,2242 05515 TC UPFLAG
023037,001324: 23,2243 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
023038,001325: 23,2244 04616 TC BANKCALL
023039,001326: 23,2245 54125 CADR R60LEM
023040,001327: 23,2246 00004 INHINT
023041,001328: 23,2247 04674 TC IBNKCALL
023042,001329: 23,2250 40115 FCADR RESTORDB
023043,001330: 23,2251 05364 TC PHASCHNG
023044,001331: 23,2252 04022 OCT 04022
023045,001332: 23,2253 05527 TC DOWNFLAG
023046,001333: 23,2254 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
023047,001334: 23,2255 30075 R61C+L06 CA FLAGWRD1
023048,001335: 23,2256 74742 MASK R61FLBIT
023049,001336: 23,2257 10000 CCS A
023050,001337: 23,2260 02301 TC R61C+L4
023051,001338: 23,2261 11745 CCS R65CNTR
023052,001339: 23,2262 02264 TC +2
023053,001340: 23,2263 02301 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
023054,001341: 23,2264 55745 TS R65CNTR
023055,001342: 23,2265 32315 CAF 06SEC
023056,001343: 23,2266 05204 TC TWIDDLE
023057,001344: 23,2267 02271 ADRES R61C+L2
023058,001345: 23,2270 05155 TC ENDOFJOB
023059,001346: 23,2271 37717 R61C+L2 CAF PRIO26
023060,001347: 23,2272 05105 TC FINDVAC
023061,001348: 23,2273 E7,1456 EBANK= LOSCOUNT
023062,001349: 23,2273 02127 46067 2CADR R61C+L01
023063,001350:
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023065,001352: 23,2275 05272 TC TASKOVER
023066,001353: 23,2276 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
023067,001354: 23,2277 54274 CADR BALLANGS
023068,001355: 23,2300 02255 TC R61C+L06
023069,001356: 23,2301 31142 R61C+L4 CAE GENRET
023070,001357: 23,2302 14640 TCF BANKJUMP # EXIT R61
023071,001358: 23,2303 32312 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
023072,001359: 23,2304 70074 MASK STATE
023073,001360: 23,2305 00006 EXTEND
023074,001361: 23,2306 15155 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
023075,001362: 23,2307 02255 TC R61C+L06 # YES EXIT ROUTINE
023076,001363: 23,2310 04635 R65WAIT TC POSTJUMP
023077,001364: 23,2311 50310 CADR P20LEMWT
023078,001365:
023079,001366:
023080,001367: 23,2312 00500 BIT7+9PV OCT 00500
023081,001368: 23,2313 17350 34602 COS15DEG 2DEC 0.96593 B-1
023082,001369:
023083,001370: 23,2315 01130 06SEC DEC 600 B-14
023084,001371: 23,2316 PHI EQUALS 20D
023085,001372: 23,2316 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
023086,001373: 23,2317 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
023087,001374: 23,2320 56003 XCH EBANK
023088,001375: 23,2321 54070 TS RUPTREG1
023089,001376: 23,2322 E6,1634 EBANK= CDUXD
023090,001377: 23,2322 31634 CA CDUXD
023091,001378: 23,2323 54154 TS MPAC
023092,001379: 23,2324 00006 EXTEND
023093,001380: 23,2325 31636 DCA CDUYD
023094,001381: 23,2326 52156 DXCH MPAC +1
023095,001382: 23,2327 30070 CA RUPTREG1
023096,001383: 23,2330 54003 TS EBANK
023097,001384: 23,2331 00003 RELINT
023098,001385: 23,2332 16502 TCF TMODE
023099,001386: 4512 BLOCK 02
023100,001387: 4000 SETLOC RADARFF
023101,001388: 4000 BANK
023102,001389:
023103,001390: 4512 E7,1456 EBANK= LOSCOUNT
023104,001391: 4512 COUNT* $$/RRSUB
023105,001392:
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023107,001394: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023108,001395: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023109,001396:
023110,001397: 4512 00006 MAGSUB EXTEND
023111,001398: 4513 64515 BZMF +2
023112,001399: 4514 14516 TCF +2
023113,001400: 4515 40000 COM
023114,001401:
023115,001402: 4516 50002 INDEX Q
023116,001403: 4517 60000 AD 0
023117,001404: 4520 00006 EXTEND
023118,001405: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
023119,001406: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
023120,001407:
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023122,001409: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
023123,001410:
023124,001411: # FUNCTIONAL DESCRIPTION_
023125,001412: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023126,001413: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023127,001414: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023128,001415: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023129,001416: # MODE 1 AND =1 FOR MODE 2.
023130,001417: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023131,001418: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023132,001419: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023133,001420: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023134,001421: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023135,001422: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023136,001423: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023137,001424: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023138,001425: # TO L +3.
023139,001426:
023140,001427: # CALLING SEQUENCE:
023141,001428: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
023142,001429: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
023143,001430:
023144,001431: # ERASABLE INITIALIZATION REQUIRED:
023145,001432: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023146,001433: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023147,001434: # CURRENT EBANK).
023148,001435:
023149,001436: # SUBROUTINES CALLED_ MAGSUB
023150,001437:
023151,001438: # JOBS OR TASKS INITIATED_ NONE
023152,001439:
023153,001440: # ALARMS_ NONE
023154,001441:
023155,001442: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023156,001443: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023157,001444:
023158,001445: 4523 00006 RRLIMCHK EXTEND
023159,001446: 4524 50002 INDEX Q
023160,001447: 4525 50000 INDEX 0
023161,001448: 4526 30001 DCA 0
023162,001449: 4527 24002 INCR Q
023163,001450: 4530 52062 DXCH ITEMP1
023164,001451: 4531 22002 LXCH Q # L(CALLER +2) TO L.
023165,001452:
023166,001453: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023167,001454: 4533 70110 MASK RADMODES
023168,001455: 4534 10000 CCS A
023169,001456: 4535 14550 TCF MODE2CHK
023170,001457:
023171,001458: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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023173,001460: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
023174,001461: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023175,001462: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
023176,001463:
023177,001464: 4542 34562 CAF 5.5DEGS
023178,001465: 4543 60062 AD ITEMP2 # S
023179,001466: 4544 04512 TC MAGSUB
023180,001467: 4545 64420 DEC -.35833 # 64.5 DEGS
023181,001468: 4546 00001 TC L
023182,001469: 4547 04560 TC RRLIMOK # IN LIMITS.
023183,001470:
023184,001471: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
023185,001472: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
023186,001473: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
023187,001474: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
023188,001475: 4554 00001 TC L
023189,001476:
023190,001477: 4555 30061 CA ITEMP1
023191,001478: 4556 04512 TC MAGSUB
023192,001479: 4557 51615 DEC -.69444 # 125 DEGS
023193,001480:
023194,001481: 4560 50001 RRLIMOK INDEX L
023195,001482: 4561 00001 TC L # ( = TC 1)
023196,001483:
023197,001484: 4562 00765 5.5DEGS DEC .03056
023198,001485: 4563 16450 82DEGS DEC .45556
023199,001486:
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023201,001488: # PROGRAM NAME_ SETTRKF . IF EITHER:
023202,001489:
023203,001490: # FUNCTIONAL DESCRIPTION_
023204,001491: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
023205,001492: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023206,001493: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023207,001494: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023208,001495: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023209,001496: # AUTO MODE (RADMODES BITS 13, 7, 2).
023210,001497: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023211,001498: # 8,5)
023212,001499: # 3) NO RR DATA (RADMODES BIT 4)
023213,001500: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023214,001501: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023215,001502: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023216,001503: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023217,001504: # TRACKER FAIL LAMP IS TURNED ON IF_
023218,001505: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023219,001506: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023220,001507: # EITHER THE ALT OR VEL INFORMATION
023221,001508: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023222,001509: # WITH EITHER THE AL
023223,001510:
023224,001511: # CALLING SEQUENCE:
023225,001512: # L TC SETTRKF
023226,001513:
023227,001514: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023228,001515: # SUBROUTINES CALLED_ NONE
023229,001516:
023230,001517: # JOBS OR TASKS INITIATED_ NONE
023231,001518:
023232,001519: # ALARMS_ TRACKER FAIL LAMP
023233,001520:
023234,001521: # EXIT_ L +1 (ALWAYS) ED.
023235,001522:
023236,001523: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
023237,001524: 4565 71300 MASK IMODES33
023238,001525: 4566 10000 CCS A
023239,001526: 4567 00002 TC Q
023240,001527:
023241,001528: 4570 34744 RRTRKF CA BIT8
023242,001529: 4571 54001 TS L
023243,001530:
023244,001531: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
023245,001532: 4573 70110 MASK RADMODES
023246,001533: 4574 00006 EXTEND
023247,001534: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
023248,001535:
023249,001536: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
023250,001537: 4577 70110 MASK RADMODES
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|
Page 534
|
023252,001539: 4600 10000 CCS A
023253,001540: 4601 30001 TRKFLON CA L
023254,001541: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
023255,001542: 4603 70001 MASK L
023256,001543: 4604 00006 EXTEND
023257,001544: 4605 16745 BZF TCQ # NO CHANGE.
023258,001545:
023259,001546: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
023260,001547: 4607 00006 EXTEND
023261,001548: 4610 06001 RXOR LCHAN
023262,001549: 4611 74733 MASK POSMAX
023263,001550: 4612 64735 AD BIT15
023264,001551: 4613 55035 TS DSPTAB +11D
023265,001552: 4614 00002 TC Q
023266,001553:
023267,001554: 4615 10102 13,7,2 OCT 10102
023268,001555: 4616 ENDRMODF EQUALS
023269,001556:
|
|
Page 535
|
023271,001558: # PROGRAM NAME_ RRTURNON
023272,001559:
023273,001560: # FUNCTIONAL DESCRIPTION_
023274,001561:
023275,001562: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023276,001563: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023277,001564: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023278,001565: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023279,001566: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023280,001567: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023281,001568: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023282,001569: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023283,001570: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023284,001571: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023285,001572: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023286,001573: # TO TASKOVER.
023287,001574:
023288,001575: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023289,001576: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023290,001577: # THE RR (STATE BIT 7).
023291,001578:
023292,001579: # ERASABLE INITIALIZATION REQUIRED:
023293,001580: # RADMODES, STATE
023294,001581:
023295,001582: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023296,001583:
023297,001584: # JOBS OR TASKS INITIATED_
023298,001585: # NONE
023299,001586:
023300,001587: # ALARMS_ NONE (SEE RRZEROSB)
023301,001588:
023302,001589: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
023303,001590:
023304,001591: 24,3340 BANK 24
023305,001592: 25,2000 SETLOC P20S1
023306,001593: 25,2000 BANK
023307,001594:
023308,001595: 25,2073 E7,1456 EBANK= LOSCOUNT
023309,001596: 25,2073 COUNT* $$/RSUB
023310,001597: 25,2073 02102 RRTURNON TC RRZEROSB
023311,001598: 25,2074 05232 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023312,001599: 25,2075 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
023313,001600: 25,2076 44753 CS TURNONBT
023314,001601: 25,2077 70110 MASK RADMODES
023315,001602: 25,2100 54110 TS RADMODES
023316,001603: 25,2101 15272 TCF TASKOVER
023317,001604:
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|
Page 536
|
023319,001606: # PROGRAM NAME_ RRZEROSB
023320,001607:
023321,001608: # FUNCTIONAL DESCRIPTION_
023322,001609: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023323,001610: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023324,001611: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023325,001612: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023326,001613: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023327,001614: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023328,001615: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023329,001616: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023330,001617: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023331,001618: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023332,001619: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023333,001620: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023334,001621: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023335,001622: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023336,001623: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023337,001624:
023338,001625: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
023339,001626: # ERASABLE INITIALIZATION REQUIRED:
023340,001627: # RADMODES (BIT 13 SET), DSPTAB +11D
023341,001628:
023342,001629: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
023343,001630:
023344,001631: # JOBS OR TASKS INITIATED_
023345,001632: # NONE
023346,001633:
023347,001634: # ALARMS_ TRACKER FAIL
023348,001635:
023349,001636: # EXIT_ L +1 (ALWAYS)
023350,001637:
023351,001638: 25,2102 00006 RRZEROSB EXTEND
023352,001639: 25,2103 23312 QXCH RRRET
023353,001640: 25,2104 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
023354,001641: 25,2105 00006 EXTEND # COMING HERE.
023355,001642: 25,2106 05012 WOR CHAN12 # TURN ON ZERO RR CDU
023356,001643: 25,2107 05232 TC FIXDELAY
023357,001644: 25,2110 00002 DEC 2 B-14
023358,001645:
023359,001646: 25,2111 34755 CAF ZERO
023360,001647: 25,2112 54035 TS CDUT
023361,001648: 25,2113 54036 TS CDUS
023362,001649: 25,2114 44753 CS ONE # REMOVE ZEROING BIT.
023363,001650: 25,2115 00006 EXTEND
023364,001651: 25,2116 03012 WAND CHAN12
023365,001652: 25,2117 05232 TC FIXDELAY
023366,001653: 25,2120 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
023367,001654:
023368,001655: 25,2121 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 537
|
023370,001657: 25,2122 70110 MASK RADMODES
023371,001658: 25,2123 54110 TS RADMODES
023372,001659:
023373,001660: 25,2124 30035 CA CDUT
023374,001661: 25,2125 04512 TC MAGSUB
023375,001662: 25,2126 57777 DEC -.5
023376,001663: 25,2127 12132 TCF +3 # IF MODE 2.
023377,001664:
023378,001665: 25,2130 34755 CAF ZERO
023379,001666: 25,2131 12133 TCF +2
023380,001667: 25,2132 34740 CAF ANTENBIT
023381,001668: 25,2133 56110 XCH RADMODES
023382,001669: 25,2134 77744 MASK -BIT12
023383,001670: 25,2135 26110 ADS RADMODES
023384,001671:
023385,001672: 25,2136 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
023386,001673:
023387,001674: 25,2137 01312 TC RRRET # DONE.
023388,001675:
023389,001676: 25,2140 7744 -BIT12 EQUALS -1/8 # IN SPROOT
023390,001677:
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|
Page 538
|
023392,001679: # PROGRAM NAME_ DORREPOS
023393,001680: # FUNCTIONAL DESCRIPTION_
023394,001681: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023395,001682: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
023396,001683: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023397,001684: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023398,001685: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
023399,001686: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023400,001687: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
023401,001688: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023402,001689: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
023403,001690: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023404,001691: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
023405,001692: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
023406,001693: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023407,001694: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
023408,001695: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023409,001696: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023410,001697: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
023411,001698: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023412,001699: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
023413,001700: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023414,001701: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023415,001702: # TASKOVER.
023416,001703:
023417,001704: # CALLING SEQUENCE:
023418,001705: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023419,001706: # NOT WITHIN LIMITS OF CURRENT MODE.
023420,001707:
023421,001708: # ERASABLE INITIALIZATION REQUIRED:
023422,001709: # RADMODES
023423,001710:
023424,001711: # SUBROUTINES CALLED_
023425,001712: # RRTONLY, RRSONLY, BEGDES (EXIT)
023426,001713:
023427,001714: # JOBS OR TASKS INITIATED_
023428,001715: # NONE
023429,001716:
023430,001717: # ALARMS- NONE
023431,001718:
023432,001719: # EXIT_ TASKOVER, BEGDES
023433,001720:
023434,001721: 25,2140 02167 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
023435,001722:
023436,001723: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023437,001724:
023438,001725: 25,2141 05232 TC FIXDELAY
023439,001726: 25,2142 00002 DEC 2 B-14
023440,001727:
023441,001728: 25,2143 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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|
Page 539
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023443,001730: 25,2144 70110 MASK RADMODES
023444,001731: 25,2145 10000 CCS A
023445,001732: 25,2146 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
023446,001733: 25,2147 02252 TC RRTONLY
023447,001734:
023448,001735: 25,2150 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
023449,001736: 25,2151 70110 MASK RADMODES
023450,001737: 25,2152 10000 CCS A
023451,001738: 25,2153 44736 CS HALF # -90 FOR MODE 2.
023452,001739: 25,2154 02255 TC RRSONLY
023453,001740:
023454,001741: 25,2155 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023455,001742: # REQUESTED DURING REPOSITION.
023456,001743: 25,2156 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023457,001744: 25,2157 54110 TS RADMODES
023458,001745: 25,2160 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023459,001746: 25,2161 10000 CCS A
023460,001747: 25,2162 12604 TCF BEGDES
023461,001748: 25,2163 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023462,001749: 25,2164 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023463,001750: 25,2165 03012 WAND CHAN12
023464,001751: 25,2166 15272 TCF TASKOVER
023465,001752:
023466,001753: 25,2167 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023467,001754: 25,2170 00006 EXTEND
023468,001755: 25,2171 02012 RAND CHAN12
023469,001756: 25,2172 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023470,001757: 25,2173 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023471,001758:
023472,001759: 25,2174 54112 TS LASTYCMD
023473,001760: 25,2175 54113 TS LASTXCMD
023474,001761: 25,2176 34752 CAF BIT2
023475,001762: 25,2177 00006 EXTEND
023476,001763: 25,2200 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023477,001764: 25,2201 00002 TC Q
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|
Page 540
|
023479,001766: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023480,001767:
023481,001768: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023482,001769: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023483,001770: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023484,001771: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023485,001772: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023486,001773: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023487,001774: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023488,001775: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023489,001776: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023490,001777: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023491,001778: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023492,001779: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023493,001780: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023494,001781: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023495,001782: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023496,001783: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023497,001784: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023498,001785: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023499,001786: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023500,001787: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023501,001788:
023502,001789: # CALLING SEQUENCE:
023503,001790: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023504,001791: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023505,001792: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023506,001793: # OTHER MODE.
023507,001794:
023508,001795: # ERASABLE INITIALIZATION REQUIRED:
023509,001796: # RADMODES
023510,001797:
023511,001798: # SUBROUTINES CALLED_
023512,001799: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023513,001800:
023514,001801: # JOBS OR TASKS INITIATED_
023515,001802: # NONE
023516,001803:
023517,001804: # ALARMS_ NONE
023518,001805:
023519,001806: # EXIT_ STDESIG
023520,001807:
023521,001808: 25,2202 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
023522,001809: 25,2203 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023523,001810: 25,2204 10000 CCS A
023524,001811: 25,2205 34735 CAF BIT15
023525,001812: 25,2206 02252 TC RRTONLY
023526,001813:
023527,001814: 25,2207 37743 CAF -45DEGSR
023528,001815: 25,2210 02255 TC RRSONLY
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Page 541
|
023530,001817: 25,2211 40110 CS RADMODES
023531,001818: 25,2212 74740 MASK ANTENBIT
023532,001819: 25,2213 10000 CCS A
023533,001820: 25,2214 32243 CAF -80DEGSR # GO TO T = -130 (-50).
023534,001821: 25,2215 62242 AD -50DEGSR
023535,001822: 25,2216 02252 TC RRTONLY
023536,001823:
023537,001824: 25,2217 40110 CS RADMODES
023538,001825: 25,2220 74740 MASK ANTENBIT
023539,001826: 25,2221 10000 CCS A
023540,001827: 25,2222 34735 CAF BIT15 # GO TO T = -180 (+0).
023541,001828: 25,2223 02252 TC RRTONLY
023542,001829:
023543,001830: 25,2224 40110 CS RADMODES # GO TO S = -90 (+0).
023544,001831: 25,2225 74740 MASK ANTENBIT
023545,001832: 25,2226 10000 CCS A
023546,001833: 25,2227 44736 CS HALF
023547,001834: 25,2230 02255 TC RRSONLY
023548,001835:
023549,001836: 25,2231 02244 TC RMODINV
023550,001837:
023551,001838: 25,2232 44736 CS REMODBIT # END OF REMODE.
023552,001839: 25,2233 70110 MASK RADMODES
023553,001840: 25,2234 54110 TS RADMODES
023554,001841:
023555,001842: 25,2235 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
023556,001843: 25,2236 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023557,001844: 25,2237 00006 EXTEND
023558,001845: 25,2240 13630 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
023559,001846: 25,2241 02613 TC STDESIG # YES - RETURN TO DESIGNATE
023560,001847: 25,2242 7743 -45DEGSR = 13,14,15
023561,001848: 25,2242 67070 -50DEGSR DEC -.27778
023562,001849: 25,2243 61615 -80DEGSR DEC -.44444
023563,001850:
023564,001851: 25,2244 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023565,001852: 25,2245 34740 CAF ANTENBIT
023566,001853: 25,2246 00006 EXTEND
023567,001854: 25,2247 06001 RXOR LCHAN
023568,001855: 25,2250 54110 TS RADMODES
023569,001856: 25,2251 00002 TC Q
023570,001857:
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Page 542
|
023572,001859: # PROGRAM NAMES_ RRTONLY, RRSONLY
023573,001860:
023574,001861: # FUNCTIONAL DESCRIPTION_
023575,001862: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023576,001863: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023577,001864: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023578,001865: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023579,001866: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023580,001867: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023581,001868: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023582,001869: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023583,001870: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023584,001871: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023585,001872: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023586,001873: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023587,001874: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023588,001875: # REPEATED.
023589,001876:
023590,001877: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023591,001878: # L TC RRTONLY (TRUNNION ONLY)
023592,001879: # RRSONLY (SHAFT ONLY)
023593,001880: # RRTONLY IS CALLED BY PREPOS29;
023594,001881: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023595,001882:
023596,001883: # ERASABLE INITIALIZATION REQUIRED:
023597,001884: # C(A) = DESIRED ANGLE, RADMODES
023598,001885:
023599,001886: # SUBROUTINES CALLED_
023600,001887: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023601,001888:
023602,001889: # JOBS OR TASKS INITIATED_
023603,001890: # NONE
023604,001891:
023605,001892: # ALARMS_ NONE
023606,001893:
023607,001894: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023608,001895: # BITS 14, 11)
023609,001896: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023610,001897:
023611,001898: 25,2252 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023612,001899: 25,2253 34755 CAF ZERO
023613,001900: 25,2254 12257 TCF RR1AXIS
023614,001901:
023615,001902: 25,2255 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023616,001903: 25,2256 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023617,001904:
023618,001905: 25,2257 55314 RR1AXIS TS RRINDEX
023619,001906: 25,2260 00006 EXTEND
023620,001907: 25,2261 23312 QXCH RRRET
023621,001908: 25,2262 12265 TCF RR1AX2
023622,001909:
|
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Page 543
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023624,001911: 25,2263 05232 NXTRR1AX TC FIXDELAY
023625,001912: 25,2264 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023626,001913:
023627,001914: 25,2265 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023628,001915: 25,2266 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023629,001916: 25,2267 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023630,001917: 25,2270 12155 BZF REPOSRPT # REMODE IMMEDIATELY.
023631,001918:
023632,001919: 25,2271 31313 CA RDES
023633,001920: 25,2272 00006 EXTEND
023634,001921: 25,2273 51314 INDEX RRINDEX
023635,001922: 25,2274 20035 MSU CDUT
023636,001923: 25,2275 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023637,001924: 25,2276 00006 EXTEND
023638,001925: 25,2277 72316 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023639,001926: 25,2300 54001 TS L
023640,001927: 25,2301 30110 CA RADMODES
023641,001928: 25,2302 74752 MASK AUTOMBIT
023642,001929: 25,2303 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023643,001930: 25,2304 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023644,001931: 25,2305 77644 DEC -.00555 # SCALED IN HALF-REVS.
023645,001932:
023646,001933: 25,2306 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023647,001934: 25,2307 01312 TC RRRET # RETURN TO CALLER.
023648,001935:
023649,001936: 25,2310 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023650,001937: 25,2311 12313 TCF +2 # SETTING A TO 0.
023651,001938: 25,2312 56001 XCH L
023652,001939: 25,2313 53352 DXCH TRUNNCMD
023653,001940: 25,2314 02317 TC RROUT
023654,001941:
023655,001942: 25,2315 12263 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023656,001943:
023657,001944: 25,2316 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023658,001945:
|
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Page 544
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023660,001947: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023661,001948:
023662,001949: # FUNCTIONAL DESCRIPTION_
023663,001950: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023664,001951: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023665,001952: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023666,001953: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023667,001954: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023668,001955: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023669,001956: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023670,001957: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023671,001958: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023672,001959: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023673,001960: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023674,001961: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023675,001962: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023676,001963:
023677,001964: # CALLING SEQUENCE:
023678,001965: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023679,001966: # RRTONLY, RRSONLY, AND DODES
023680,001967:
023681,001968: # ERASABLE INITIALIZATION REQUIRED:
023682,001969: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023683,001970: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023684,001971:
023685,001972: # SUBROUTINES CALLED_
023686,001973: # MAGSUB
023687,001974:
023688,001975: # JOBS OR TASKS INITIATED_
023689,001976: # NONE
023690,001977:
023691,001978: # ALARMS_ NONE
023692,001979:
023693,001980: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023694,001981:
023695,001982: 25,2317 22002 RROUT LXCH Q # SAVE RETURN.
023696,001983: 25,2320 34753 CAF ONE # LOOP TWICE.
023697,001984: 25,2321 54062 RROUT2 TS ITEMP2
023698,001985: 25,2322 50000 INDEX A
023699,001986: 25,2323 31351 CA TRUNNCMD
023700,001987: 25,2324 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023701,001988:
023702,001989: 25,2325 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023703,001990: 25,2326 77177 -RRLIMIT DEC -384 B-14
023704,001991: 25,2327 12346 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023705,001992:
023706,001993: 25,2330 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023707,001994: 25,2331 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023708,001995: 25,2332 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023709,001996: 25,2333 40000 COM
|
|
Page 545
|
023711,001998: 25,2334 60061 AD ITEMP1
023712,001999: 25,2335 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023713,002000: 25,2336 50062 INDEX ITEMP2
023714,002001: 25,2337 54053 TS CDUTCMD
023715,002002:
023716,002003: 25,2340 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023717,002004: 25,2341 12321 TCF RROUT2
023718,002005:
023719,002006: 25,2342 35020 CAF PRIO6 # ENABLE COUNTERS.
023720,002007: 25,2343 00006 EXTEND
023721,002008: 25,2344 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023722,002009: 25,2345 00001 TC L # RETURN.
023723,002010:
023724,002011: 25,2346 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023725,002012: 25,2347 42326 CS -RRLIMIT
023726,002013: 25,2350 12352 TCF +2
023727,002014: 25,2351 32326 CA -RRLIMIT
023728,002015: 25,2352 54061 TS ITEMP1
023729,002016: 25,2353 12331 TCF SETRRCTR +1
023730,002017:
|
|
Page 546
|
023732,002019: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023733,002020:
023734,002021: 25,2354 32403 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023735,002022: 25,2355 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023736,002023: 25,2356 10000 CCS A
023737,002024: 25,2357 13544 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023738,002025:
023739,002026: 25,2360 00004 INHINT
023740,002027: 25,2361 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023741,002028: 25,2362 70110 MASK RADMODES
023742,002029: 25,2363 64737 AD RCDU0BIT
023743,002030: 25,2364 54110 TS RADMODES
023744,002031:
023745,002032: 25,2365 34753 CAF ONE
023746,002033: 25,2366 05214 TC WAITLIST
023747,002034: 25,2367 E7,1456 EBANK= LOSCOUNT
023748,002035: 25,2367 02401 52067 2CADR RRZ2
023749,002036:
023750,002037:
023751,002038: 25,2371 40110 CS RADMODES # SEE IF IN AUTO MODE.
023752,002039: 25,2372 74752 MASK AUTOMBIT
023753,002040: 25,2373 10000 CCS A
023754,002041: 25,2374 12377 TCF ROADBACK
023755,002042: 25,2375 05600 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023756,002043: 25,2376 00510 OCT 510
023757,002044: 25,2377 00003 ROADBACK RELINT
023758,002045: 25,2400 14631 TCF SWRETURN
023759,002046:
023760,002047: 25,2401 02102 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023761,002048: 25,2402 13621 TCF ENDRADAR
023762,002049:
023763,002050: 25,2403 02001 BIT11+1 OCT 02001
023764,002051:
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|
Page 547
|
023766,002053: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023767,002054:
023768,002055: # FUNCTIONAL DESCRIPTION_
023769,002056: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023770,002057: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023771,002058: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023772,002059: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023773,002060: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023774,002061: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023775,002062: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023776,002063: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023777,002064: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023778,002065: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023779,002066: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023780,002067: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023781,002068: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023782,002069: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023783,002070: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023784,002071: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023785,002072: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023786,002073: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023787,002074: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023788,002075: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023789,002076: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023790,002077: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023791,002078:
023792,002079: # CALLING SEQUENCE:
023793,002080: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023794,002081: # L+1 RRDESSM
023795,002082: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023796,002083: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023797,002084:
023798,002085: # ERASABLE INITIALIZATION REQUIRED:
023799,002086: # RRTARGET, RADMODES
023800,002087:
023801,002088: # SUBROUTINES CALLED_
023802,002089: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023803,002090: # PART OF), RMODINV
023804,002091:
023805,002092: # JOBS OR TASKS INITIATED_
023806,002093: # NONE
023807,002094:
023808,002095: # ALARMS_ NONE
023809,002096:
023810,002097: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023811,002098: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023812,002099: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023813,002100:
023814,002101: 25,2404 43020 RRDESSM STQ CLEAR
023815,002102: 25,2405 01112 DESRET
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|
Page 548
|
023817,002104: 25,2406 00271 RRNBSW
023818,002105: 25,2407 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023819,002106: 25,2410 47535 CDUTRIG
023820,002107: 25,2411 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023821,002108: 25,2412 01101 RRTARGET
023822,002109: 25,2413 47676 *SMNB*
023823,002110:
023824,002111: 25,2414 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023825,002112: 25,2415 26133 RRANGLES # ALTERNATE MODE.
023826,002113: 25,2416 77776 EXIT
023827,002114:
023828,002115: 25,2417 00004 INHINT
023829,002116: 25,2420 04523 TC RRLIMCHK
023830,002117: 25,2421 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023831,002118: 25,2422 02425 TC +3 # NOT IN CURRENT MODE
023832,002119: 25,2423 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023833,002120: 25,2424 02443 TC STARTDES # SHOW DESIGNATE REQUIRED
023834,002121: 25,2425 40104 CS FLAGWRD8
023835,002122: 25,2426 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023836,002123: 25,2427 00006 EXTEND
023837,002124: 25,2430 12467 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
023838,002125: 25,2431 02472 TC TRYSWS
023839,002126:
023840,002127:
023841,002128: 25,2432 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023842,002129: 25,2433 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023843,002130: 25,2434 00006 EXTEND
023844,002131: 25,2435 12467 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
023845,002132: 25,2436 30074 CA STATE
023846,002133: 25,2437 74745 MASK RNDVZBIT
023847,002134: 25,2440 10000 CCS A # TEST RNDVZFLG.
023848,002135: 25,2441 02502 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
023849,002136: 25,2442 15155 TCF ENDOFJOB # ...BUT NOT IN R29.
023850,002137:
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|
Page 549
|
023852,002139: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023853,002140:
023854,002141: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023855,002142: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023856,002143: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023857,002144: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023858,002145: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023859,002146: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023860,002147: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023861,002148: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023862,002149: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023863,002150: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023864,002151: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023865,002152: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023866,002153: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023867,002154: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023868,002155: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023869,002156: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023870,002157: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023871,002158: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023872,002159: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023873,002160: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023874,002161: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023875,002162:
023876,002163: # CALLING SEQUENCE:
023877,002164: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023878,002165:
023879,002166: # ERASABLE INITIALIZATION REQUIRED:
023880,002167: # RADMODES, (SEE DODES)
023881,002168:
023882,002169: # SUBROUTINES CALLED_
023883,002170: # SETRRECR, WAITLIST
023884,002171:
023885,002172: # JOBS OR TASKS INITIATED_
023886,002173: # BEGDES
023887,002174:
023888,002175: # ALARMS_ NONE
023889,002176:
023890,002177: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023891,002178: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023892,002179:
023893,002180: 25,2443 25112 STARTDES INCR DESRET
023894,002181: 25,2444 40110 CS RADMODES
023895,002182: 25,2445 74742 MASK DESIGBIT
023896,002183: 25,2446 26110 ADS RADMODES
023897,002184: 25,2447 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023898,002185: 25,2450 10000 CCS A
023899,002186: 25,2451 12457 TCF DESRETRN # ECTR ALREADY SET UP.
023900,002187:
023901,002188: 25,2452 02167 TC SETRRECR # SET UP ERROR COUNTERS.
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Page 550
|
023903,002190: 25,2453 34752 CAF TWO
023904,002191: 25,2454 05214 TC WAITLIST
023905,002192: 25,2455 E7,1456 EBANK= LOSCOUNT
023906,002193: 25,2455 02604 52067 2CADR BEGDES
023907,002194:
023908,002195:
023909,002196: 25,2457 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023910,002197: 25,2460 00006 EXTEND
023911,002198: 25,2461 12463 BZF DESRTRN # YES SET EXIT
023912,002199: 25,2462 05155 TC ENDOFJOB # NO
023913,002200: 25,2463 00003 DESRTRN RELINT
023914,002201: 25,2464 25112 INCR DESRET
023915,002202: 25,2465 31112 CA DESRET
023916,002203: 25,2466 14640 TCF BANKJUMP
023917,002204:
023918,002205:
023919,002206: 25,2467 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023920,002207: 25,2470 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023921,002208: 25,2471 12463 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023922,002209:
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|
Page 551
|
023924,002211: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023925,002212:
023926,002213: 25,2472 02244 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023927,002214: 25,2473 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023928,002215: 25,2474 01110 ADRES MODEB
023929,002216: 25,2475 12502 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023930,002217:
023931,002218: 25,2476 02244 TC RMODINV # RESET BIT12
023932,002219: 25,2477 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023933,002220: 25,2500 26110 ADS RADMODES
023934,002221:
023935,002222: 25,2501 12423 TCF OKDESSM
023936,002223:
023937,002224: 25,2502 02244 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023938,002225: 25,2503 25112 INCR DESRET # TO CALLER +2
023939,002226: 25,2504 12467 TCF NORDSTAL
023940,002227:
023941,002228: 25,2505 00074 MAXTRYS DEC 60 B-14
023942,002229:
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|
Page 552
|
023944,002231: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023945,002232: # TANG AND TANG +1.
023946,002233:
023947,002234: 25,2506 04645 RRDESNB TC MAKECADR
023948,002235: 25,2507 55112 TS DESRET
023949,002236:
023950,002237: 25,2510 05527 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023951,002238: 25,2511 00041 ADRES LOSCMFLG # BACK TO R21
023952,002239: 25,2512 32505 CA MAXTRYS # SET TIME LIMIT COUNTER
023953,002240: 25,2513 55113 TS DESCOUNT # FOR DESIGNATE
023954,002241: 25,2514 00004 INHINT # SEE IF CURRENT MODE OK.
023955,002242: 25,2515 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023956,002243: 25,2516 01106 ADRES TANG
023957,002244: 25,2517 12534 TCF TRYSWN # SEE IF IN OTHER MODE.
023958,002245:
023959,002246: 25,2520 00003 OKDESNB RELINT
023960,002247: 25,2521 00006 EXTEND
023961,002248: 25,2522 31107 DCA TANG
023962,002249: 25,2523 53753 DXCH TANGNB
023963,002250: 25,2524 06042 TC INTPRET
023964,002251:
023965,002252: 25,2525 77624 CALL # GET LOS IN NB COORDS.
023966,002253: 25,2526 46041 RRNB
023967,002254: 25,2527 01101 STORE RRTARGET
023968,002255:
023969,002256: 25,2530 77414 SET EXIT
023970,002257: 25,2531 00071 RRNBSW
023971,002258:
023972,002259: 25,2532 00004 INHINT
023973,002260: 25,2533 12444 TCF STARTDES +1
023974,002261: 25,2534 02244 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023975,002262: 25,2535 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023976,002263: 25,2536 01106 ADRES TANG
023977,002264: 25,2537 12544 TCF NODESNB # NOT POSSIBLE.
023978,002265:
023979,002266: 25,2540 02244 TC RMODINV
023980,002267: 25,2541 34736 CAF REMODBIT # CALL FOR REMODE.
023981,002268: 25,2542 26110 ADS RADMODES
023982,002269: 25,2543 12520 TCF OKDESNB
023983,002270:
023984,002271: 25,2544 02244 NODESNB TC RMODINV # REINVERT MODE BIT.
023985,002272: 25,2545 05600 TC ALARM # BAD INPUT ANGLES.
023986,002273: 25,2546 00502 OCT 502
023987,002274: 25,2547 06011 TC CLRADMOD
023988,002275: 25,2550 05155 TC ENDOFJOB # AVOID 503 ALARM.
023989,002276:
023990,002277: 25,2551 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023991,002278: 25,2552 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023992,002279: 25,2553 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023993,002280: 25,2554 00006 EXTEND
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Page 553
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023995,002282: 25,2555 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023996,002283: 25,2556 30001 DCA 0
023997,002284: 25,2557 52062 DXCH ITEMP1
023998,002285: 25,2560 22002 LXCH Q # L(CALLER +2) TO L
023999,002286:
024000,002287: 25,2561 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
024001,002288: 25,2562 70110 MASK RADMODES
024002,002289: 25,2563 10000 CCS A
024003,002290: 25,2564 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
024004,002291: 25,2565 30061 CA ITEMP1
024005,002292: 25,2566 04512 TC MAGSUB # MODE 1 IS DEFINED AS
024006,002293: 25,2567 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
024007,002294: 25,2570 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
024008,002295:
024009,002296: 25,2571 30062 CA ITEMP2 # LOAD SHAFT ANGLE
024010,002297: 25,2572 00006 EXTEND
024011,002298: 25,2573 62601 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024012,002299: 25,2574 64562 AD 5.5DEGS
024013,002300: 25,2575 04512 SHAFTLIM TC MAGSUB
024014,002301: 25,2576 64420 DEC -.35833 # 64.5 DEGREES
024015,002302: 25,2577 00001 TC L # NOT IN LIMITS
024016,002303: 25,2600 04560 TC RRLIMOK # IN LIMITS
024017,002304: 25,2601 62603 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024018,002305: 25,2602 12575 TCF SHAFTLIM
024019,002306:
024020,002307:
024021,002308: 25,2603 03512 20.5DEGS DEC .11389
024022,002309:
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Page 554
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024024,002311: # PROGRAM NAME_ BEGDES
024025,002312:
024026,002313: # FUNCTIONAL DESCRIPTION_
024027,002314: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024028,002315: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024029,002316: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024030,002317: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024031,002318: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024032,002319: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024033,002320: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024034,002321: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024035,002322: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024036,002323: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024037,002324: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024038,002325: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024039,002326: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024040,002327: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024041,002328: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024042,002329: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024043,002330: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024044,002331: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024045,002332: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024046,002333: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024047,002334: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024048,002335: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024049,002336: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024050,002337: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024051,002338: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024052,002339:
024053,002340: # CALLING SEQUENCE:
024054,002341: # WAITLIST CALL FROM STARTDES
024055,002342: # TCF BEGDES FROM DORREPOS
024056,002343: # TC STDESIG RETURNING, FROM REMODE
024057,002344:
024058,002345: # ERASABLE INITIALIZATION REQUIRED:
024059,002346: # DESCOUNT, RADMODES
024060,002347:
024061,002348: # SUBROUTINES CALLED_
024062,002349: # ENDRADAR, FINDVAC
024063,002350:
024064,002351: # JOBS OR TASKS INITIATED_ DODES
024065,002352:
024066,002353: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024067,002354: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024068,002355:
024069,002356: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024070,002357: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024071,002358: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024072,002359:
024073,002360: 25,2604 40110 BEGDES CS RADMODES
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Page 555
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024075,002362: 25,2605 74736 MASK REMODBIT
024076,002363: 25,2606 10000 CCS A
024077,002364: 25,2607 02613 TC STDESIG
024078,002365: 25,2610 02202 TC REMODE
024079,002366: 25,2611 05232 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
024080,002367: 25,2612 00062 DEC 50 B-14
024081,002368:
024082,002369: 25,2613 34741 STDESIG CAF REPOSBIT
024083,002370: 25,2614 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024084,002371: 25,2615 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024085,002372: 25,2616 12634 TCF BADDES # REPOSITION TO BE IN PROGRESS.
024086,002373:
024087,002374: 25,2617 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
024088,002375: 25,2620 12623 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
024089,002376: 25,2621 12623 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024090,002377: 25,2622 12640 TCF MOREDES +1
024091,002378:
024092,002379: 25,2623 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
024093,002380: 25,2624 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024094,002381: 25,2625 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024095,002382: 25,2626 13621 TCF ENDRADAR # CHECKING RR CDU FAIL.
024096,002383:
024097,002384: 25,2627 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
024098,002385: 25,2630 12637 TCF MOREDES
024099,002386:
024100,002387: 25,2631 42645 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024101,002388: 25,2632 00006 EXTEND
024102,002389: 25,2633 03012 WAND CHAN12
024103,002390: 25,2634 05527 BADDES TC DOWNFLAG
024104,002391: 25,2635 00271 ADRES DESIGFLG
024105,002392: 25,2636 13635 TCF RDBADEND
024106,002393:
024107,002394: 25,2637 55113 MOREDES TS DESCOUNT
024108,002395: 25,2640 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
024109,002396: 25,2641 05105 TC FINDVAC
024110,002397: 25,2642 E7,1456 EBANK= LOSCOUNT
024111,002398: 25,2642 02646 52067 2CADR DODES
024112,002399:
024113,002400:
024114,002401: 25,2644 12611 TCF DESLOOP
024115,002402:
024116,002403: 25,2645 20002 B14+B2 OCT 20002
024117,002404:
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Page 556
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024119,002406: # PROGRAM NAME_ DODES
024120,002407:
024121,002408: # FUNCTIONAL DESCRIPTION_
024122,002409: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024123,002410: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024124,002411: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024125,002412: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024126,002413: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024127,002414: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
024128,002415: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
024129,002416: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024130,002417: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024131,002418: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024132,002419: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024133,002420: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024134,002421: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024135,002422: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024136,002423: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024137,002424: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024138,002425: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024139,002426: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024140,002427: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024141,002428: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024142,002429: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024143,002430: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024144,002431: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024145,002432: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024146,002433: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024147,002434: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024148,002435: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024149,002436: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024150,002437: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024151,002438: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024152,002439: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024153,002440: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024154,002441: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024155,002442: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024156,002443: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024157,002444: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024158,002445: # VIA ENDOFJOB.
024159,002446:
024160,002447: # CALLING SEQUENCE:
024161,002448: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024162,002449:
024163,002450: # ERASABLE INITIALIZATION REQUIRED:
024164,002451: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024165,002452: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024166,002453:
024167,002454: # SUBROUTINES CALLED_
024168,002455: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
024169,002456:
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Page 557
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024171,002458: # JOBS OR TASKS INITIATED_
024172,002459: # NONE
024173,002460:
024174,002461: # ALARMS_ NONE
024175,002462:
024176,002463: # EXIT_ ENDOFJOB (ALWAYS)
024177,002464:
024178,002465: 25,2646 00006 DODES EXTEND
024179,002466: 25,2647 30036 DCA CDUT
024180,002467: 25,2650 53107 DXCH TANG
024181,002468:
024182,002469: 25,2651 06042 TC INTPRET
024183,002470:
024184,002471: 25,2652 77201 SETPD VLOAD
024185,002472: 25,2653 00001 0
024186,002473: 25,2654 01101 RRTARGET
024187,002474: 25,2655 74214 BON VXSC
024188,002475: 25,2656 00311 RRNBSW
024189,002476: 25,2657 52671 DONBRD # TARGET IN NAV-BASE COORDINATES
024190,002477: 25,2660 01765 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
024191,002478: 25,2661 63372 VSL1 PDVL
024192,002479: 25,2662 01757 LOSVEL
024193,002480: 25,2663 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
024194,002481: 25,2664 13101 MCTOMS
024195,002482: 25,2665 45056 UNIT CALL
024196,002483: 25,2666 47535 CDUTRIG
024197,002484: 25,2667 77624 CALL
024198,002485: 25,2670 47676 *SMNB*
024199,002486:
024200,002487: 25,2671 14041 DONBRD STODL 32D
024201,002488: 25,2672 01110 TANG +1
024202,002489: 25,2673 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
024203,002490: 25,2674 21577 CDULOGIC # (-SIN(S)).
024204,002491: 25,2675 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
024205,002492: 25,2676 41546 COS PUSH
024206,002493: 25,2677 65205 DMP PDDL
024207,002494: 25,2700 00041 32D
024208,002495: 25,2701 00045 36D
024209,002496: 25,2702 44205 DMP BDSU
024210,002497: 25,2703 00001 0
024211,002498: 25,2704 77626 STADR
024212,002499: 25,2705 76667 STORE TANG +1 # SHAFT COMMAND
024213,002500:
024214,002501: 25,2706 47135 SLOAD RTB
024215,002502: 25,2707 01107 TANG
024216,002503: 25,2710 21577 CDULOGIC
024217,002504: 25,2711 71406 PUSH COS # COS(T) TO 4.
024218,002505: 25,2712 73525 PDDL SIN
024219,002506: 25,2713 41206 PUSH DMP # SIN(T) TO 6.
024220,002507: 25,2714 00003 2
024221,002508: 25,2715 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
024222,002509: 25,2716 00005 4 # (COS(T) )
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Page 558
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024224,002511: 25,2717 41325 PDDL DMP # (SIN(T)COS(S))
024225,002512: 25,2720 00007 6
024226,002513: 25,2721 00001 0
024227,002514: 25,2722 55552 SL1 VDEF
024228,002515: 25,2723 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
024229,002516: 25,2724 00041 32D
024230,002517:
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Page 559
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024232,002519: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024233,002520: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024234,002521:
024235,002522: 25,2725 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
024236,002523: 25,2726 00006 EXTEND
024237,002524: 25,2727 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024238,002525: 25,2730 55351 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
024239,002526: 25,2731 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
024240,002527: 25,2732 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
024241,002528: 25,2733 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
024242,002529: 25,2734 12737 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
024243,002530: 25,2735 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024244,002531: 25,2736 12740 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
024245,002532: 25,2737 41107 +3 CS TANG +1
024246,002533: 25,2740 00006 EXTEND
024247,002534: 25,2741 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024248,002535: 25,2742 55352 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
024249,002536: 25,2743 06042 TC INTPRET
024250,002537:
024251,002538: 25,2744 41345 DLOAD DMP
024252,002539: 25,2745 00003 2 # COS(S).
024253,002540: 25,2746 00005 4 # COS(T).
024254,002541: 25,2747 65352 SL1 PDDL # Z COMPONENT OF URR.
024255,002542: 25,2750 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
024256,002543: 25,2751 00001 0 # SIN(S).
024257,002544: 25,2752 72405 DMP SL1
024258,002545: 25,2753 00005 4 # COS(T).
024259,002546: 25,2754 43066 VDEF BON # FORM URR IN NB AXES.
024260,002547: 25,2755 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
024261,002548: 25,2756 52761 +3
024262,002549: 25,2757 77624 CALL
024263,002550: 25,2760 47700 *NBSM* # GET URR IN SM AXES.
024264,002551: 25,2761 77441 DOT EXIT
024265,002552: 25,2762 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
024266,002553:
024267,002554: 25,2763 00006 EXTEND
024268,002555: 25,2764 43077 DCS COS1/2DG
024269,002556: 25,2765 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
024270,002557: 25,2766 10154 CCS MPAC
024271,002558: 25,2767 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
024272,002559: 25,2770 12772 TCF +2
024273,002560: 25,2771 34753 CA ONE
024274,002561: 25,2772 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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Page 560
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024276,002563: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024277,002564:
024278,002565: 25,2773 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024279,002566: 25,2774 12777 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
024280,002567: 25,2775 12777 TCF SIGNLCHK # ERROR SIGNALS
024281,002568: 25,2776 13027 TCF DORROUT
024282,002569: 25,2777 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024283,002570: 25,3000 13010 TCF DGOODCHK
024284,002571: 25,3001 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024285,002572: 25,3002 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
024286,002573: 25,3003 10000 CCS A
024287,002574: 25,3004 13015 TCF RRDESDUN
024288,002575:
024289,002576: 25,3005 34736 CAF BIT14 # ENABLE THE TRACKER.
024290,002577: 25,3006 00006 EXTEND
024291,002578: 25,3007 05012 WOR CHAN12
024292,002579:
024293,002580: 25,3010 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
024294,002581: 25,3011 00006 EXTEND
024295,002582: 25,3012 02033 RAND CHAN33
024296,002583: 25,3013 10000 CCS A
024297,002584: 25,3014 13027 TCF DORROUT
024298,002585:
024299,002586: 25,3015 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024300,002587: 25,3016 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
024301,002588: 25,3017 00004 INHINT
024302,002589: 25,3020 54110 TS RADMODES
024303,002590:
024304,002591: 25,3021 05527 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
024305,002592: 25,3022 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
024306,002593: 25,3023 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
024307,002594: 25,3024 00006 EXTEND
024308,002595: 25,3025 03012 WAND CHAN12
024309,002596: 25,3026 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
024310,002597:
024311,002598: 25,3027 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
024312,002599: 25,3030 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
024313,002600: 25,3031 00006 EXTEND
024314,002601: 25,3032 13051 BZF NOTP20
024315,002602: 25,3033 06042 TC INTPRET
024316,002603: 25,3034 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
024317,002604: 25,3035 01101 RRTARGET
024318,002605: 25,3036 01765 MLOSV
024319,002606: 25,3037 41572 VSL1 PUSH
024320,002607: 25,3040 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
024321,002608: 25,3041 01757 LOSVEL # TO LOS VECTOR
024322,002609: 25,3042 13101 MCTOMS
024323,002610: 25,3043 53362 VSR1 VAD
024324,002611: 25,3044 77656 UNIT
024325,002612: 25,3045 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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Page 561
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024327,002614: 25,3046 00045 36D
024328,002615: 25,3047 01765 STORE MLOSV # AND STORE MAGNITUDE
024329,002616: 25,3050 77776 EXIT
024330,002617: 25,3051 00004 NOTP20 INHINT
024331,002618: 25,3052 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
024332,002619: 25,3053 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
024333,002620: 25,3054 10000 CCS A
024334,002621: 25,3055 02317 TC RROUT
024335,002622:
024336,002623: 25,3056 30076 CA FLAGWRD2
024337,002624: 25,3057 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
024338,002625: 25,3060 00006 EXTEND # LOS COUNTER
024339,002626: 25,3061 15155 BZF ENDOFJOB
024340,002627: 25,3062 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
024341,002628: 25,3063 03073 TC DODESEND # A NEW LOS
024342,002629: 25,3064 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
024343,002630: 25,3065 52613 CADR DESLOOP +2
024344,002631: 25,3066 00003 RELINT
024345,002632: 25,3067 10067 CCS NEWJOB
024346,002633: 25,3070 05122 TC CHANG1
024347,002634: 25,3071 04616 TC BANKCALL
024348,002635: 25,3072 51014 CADR R21LEM2
024349,002636:
024350,002637:
024351,002638: 25,3073 55456 DODESEND TS LOSCOUNT
024352,002639: 25,3074 05155 TC ENDOFJOB
024353,002640:
024354,002641:
024355,002642: 25,3075 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
024356,002643: 25,3076 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
024357,002644: 25,3076 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
024358,002645:
024359,002646: 25,3100 00310 00000 MCTOMS 2DEC 100 B-13
024360,002647:
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|
Page 562
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024362,002649: # RADAR READ INITIALIZATION
024363,002650:
024364,002651: # THE FOLLOWING ROUTINES MUST BE CALLED BY BANKCALL
024365,002652:
024366,002653: 25,3102 03116 LRALT TC INITREAD
024367,002654: 25,3103 00017 ALLREAD OCT 17
024368,002655:
024369,002656: 25,3104 03116 LRVELZ TC INITREAD
024370,002657: 25,3105 00016 OCT 16
024371,002658:
024372,002659: 25,3106 03116 LRVELY TC INITREAD
024373,002660: 25,3107 00015 OCT 15
024374,002661:
024375,002662: 25,3110 03116 LRVELX TC INITREAD
024376,002663: 25,3111 00014 OCT 14
024377,002664:
024378,002665: 25,3112 03116 RRRDOT TC INITREAD
024379,002666: 25,3113 00012 OCT 12
024380,002667:
024381,002668: 25,3114 03116 RRRANGE TC INITREAD
024382,002669: 25,3115 00011 OCT 11
024383,002670:
024384,002671:
024385,002672: 25,3116 00004 INITREAD INHINT
024386,002673: 25,3117 50002 INDEX Q
024387,002674: 25,3120 30000 CA 0
024388,002675: 25,3121 03130 TC PRERADAR
024389,002676: 25,3122 34751 CA BIT3
024390,002677: 25,3123 55105 TS TIMEHOLD +1 # MIDPOINT OF READ IS ABOUT 40 MS AFTER
024391,002678: 25,3124 00006 EXTEND # START OF READ
024392,002679: 25,3125 30025 DCA TIME2
024393,002680: 25,3126 21105 DAS TIMEHOLD
024394,002681:
024395,002682: 25,3127 12377 TCF ROADBACK
024396,002683:
024397,002684:
024398,002685: 25,3130 55077 PRERADAR TS RADUSE # INDICATE RADAR READ ROUTINES IN USE.
024399,002686: 25,3131 34755 CA ZERO
024400,002687: 25,3132 55110 TS NSAMP
024401,002688: 25,3133 55100 TS SAMPLSUM
024402,002689: 25,3134 55101 TS SAMPLSUM +1
024403,002690: 25,3135 55104 TS TIMEHOLD
024404,002691:
024405,002692: 25,3136 33156 CA DGBITS
024406,002693: 25,3137 00006 EXTEND
024407,002694: 25,3140 02033 RAND CHAN33
024408,002695: 25,3141 55112 TS OLDATAGD
024409,002696:
024410,002697: 25,3142 43156 CS DGBITS # RESET DATA GOOD BITS OF RADMODES
024411,002698: 25,3143 70110 MASK RADMODES
|
|
Page 563
|
024413,002700: 25,3144 54110 TS RADMODES
024414,002701:
024415,002702: 25,3145 43103 CS ALLREAD
024416,002703: 25,3146 00006 EXTEND
024417,002704: 25,3147 03013 WAND CHAN13 # CLEAR ALL RADAR BITS PRIOR TO READ
024418,002705:
024419,002706: 25,3150 00006 EXTEND
024420,002707: 25,3151 22070 QXCH RUPTREG1
024421,002708:
024422,002709: 25,3152 31077 CA RADUSE
024423,002710: 25,3153 04674 TC IBNKCALL
024424,002711: 25,3154 36000 CADR RADSTART
024425,002712: 25,3155 00070 TC RUPTREG1
024426,002713:
024427,002714:
024428,002715: 25,3156 00230 DGBITS OCT 230 # POSITION OF DATA GOOD BITS IN CHANNEL 33
024429,002716: 25,3157 00014 VBITS OCT 14 # VSELECT = 0 BEFORE X READ
024430,002717: 25,3160 00016 OCT 16 # VSELECT = 1 BEFORE Z READ
024431,002718: 25,3161 00015 OCT 15 # VSELECT = 2 BEFORE Y READ
024432,002719:
024433,002720:
024434,002721: 25,3162 40107 R12READ CS FLGWRD11
024435,002722: 25,3163 74742 MASK NOLRRBIT # IF NOLRREAD FLAG IS SET , BYPASS R12
024436,002723: 25,3164 00006 EXTEND
024437,002724: 25,3165 15272 BZF TASKOVER
024438,002725:
024439,002726: 25,3166 51462 INDEX VSELECT
024440,002727: 25,3167 33157 CA VBITS
024441,002728: 25,3170 03130 TC PRERADAR
024442,002729: 25,3171 36245 CA SIX # RADAR RUPT USES THIS FOR R12 READ
024443,002730: 25,3172 55110 TS NSAMP
024444,002731: 25,3173 05272 TC TASKOVER
024445,002732:
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|
Page 564
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024447,002734: # RADAR RUPT READER (R20)
024448,002735:
024449,002736: # THIS ROUTINE, WHICH IS INITIATED BY A RADAR RUPT, PROCESSES THE RADAR DATA AND UPDATES THE APPROPRIATE
024450,002737: # DSKY LIGHTS.
024451,002738:
024452,002739: 25,2000 SETLOC RADARUPT
024453,002740: 25,2000 BANK
024454,002741:
024455,002742: 25,3174 COUNT* $$/RRUPT
024456,002743:
024457,002744: 25,3174 E7,1453 EBANK= TTOGO
024458,002745:
024459,002746: 25,3174 00006 RADAREAD EXTEND # CONTINUATION OF INTERRUPT LEAD-IN.
024460,002747: 25,3175 04007 ROR SUPERBNK # SUPERBNK MUST BE SAVED BECAUSE RUPT
024461,002748: 25,3176 54016 TS BANKRUPT # MAY EXIT VIA TASKOVER.
024462,002749: 25,3177 00006 EXTEND
024463,002750: 25,3200 22012 QXCH QRUPT
024464,002751:
024465,002752:
024466,002753: 25,3201 34757 CA SEVEN # READ AND STORE RADAR SELECT BITS
024467,002754: 25,3202 00006 EXTEND
024468,002755: 25,3203 02013 RAND CHAN13
024469,002756: 25,3204 55332 TS RADBITS
024470,002757:
024471,002758: 25,3205 00006 EXTEND # IF RADAR SELECT BITS ARE ZERO, ALARM
024472,002759: 25,3206 13214 BZF BADRUPT # WITHOUT READING DATA
024473,002760:
024474,002761: 25,3207 30046 CA RNRAD # STORE RAW DATA FOR DOWNLINK.
024475,002762: 25,3210 51332 INDEX RADBITS
024476,002763: 25,3211 55327 TS DNRRANGE -1
024477,002764:
024478,002765: 25,3212 11077 CCS RADUSE # IF RADUSE IS ZERO, THIS IS A BAD RUPT
024479,002766: 25,3213 13220 TCF WHICHRAD
024480,002767:
024481,002768: 25,3214 55077 BADRUPT TS RADUSE
024482,002769: 25,3215 05600 TC ALARM
024483,002770: 25,3216 00520 OCT 520
024484,002771: 25,3217 05301 TC RESUME
024485,002772:
024486,002773: 25,3220 46250 WHICHRAD CS THREE # IF RADBITS IS LESS THAN THREE,
024487,002774: 25,3221 61332 AD RADBITS # THE RENDEZVOUS RADAR IS BEING READ.
024488,002775: 25,3222 00006 EXTEND
024489,002776: 25,3223 63310 BZMF RENDRAD
024490,002777:
024491,002778: 25,3224 40101 LANDRAD CS FLAGWRD5 # THE LANDING RADAR IS BEING READ
024492,002779: 25,3225 74741 MASK R77FLBIT
024493,002780: 25,3226 00006 EXTEND # IF R77 IS RUNNING, EXIT HERE
024494,002781: 25,3227 13270 BZF R77EXIT
024495,002782:
024496,002783: 25,3230 44757 CS SEVEN # IF RADBITS IS SEVEN, THE LANDING
|
|
Page 565
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024498,002785: 25,3231 61332 AD RADBITS # RADAR ALITUDE IS BEING READ
024499,002786: 25,3232 00006 EXTEND
024500,002787: 25,3233 13304 BZF LRHEIGHT
024501,002788:
024502,002789: 25,3234 34733 LRSPEED CA POSMAX # DECODE THE 15 BIT READING AND
024503,002790: 25,3235 70046 MASK RNRAD # SUBTRACT THE BIAS.
024504,002791: 25,3236 62000 AD LVELBIAS
024505,002792: 25,3237 54064 TS ITEMP4
024506,002793: 25,3240 54001 TS L
024507,002794: 25,3241 30046 CA RNRAD
024508,002795: 25,3242 60000 DOUBLE
024509,002796: 25,3243 74753 MASK BIT1
024510,002797: 25,3244 54063 TS ITEMP3
024511,002798: 25,3245 21101 DAS SAMPLSUM # ACCUMULATE THE READING
024512,002799:
024513,002800: 25,3246 34744 CA BIT8 # VOLOCITY DATA GOOD BIT
024514,002801: 25,3247 54061 DGCHECK TS ITEMP1
024515,002802: 25,3250 33156 DGCHECK2 CA DGBITS # UPDATE THE STATUS OF THE DATA GOOD BITS
024516,002803: 25,3251 00006 EXTEND
024517,002804: 25,3252 02033 RAND CHAN33
024518,002805: 25,3253 57112 XCH OLDATAGD
024519,002806: 25,3254 70061 MASK ITEMP1
024520,002807: 25,3255 54001 TS L # OLD STATUS
024521,002808: 25,3256 30061 CA ITEMP1
024522,002809: 25,3257 71112 MASK OLDATAGD # CURRENT STATUS
024523,002810: 25,3260 60001 AD L
024524,002811: 25,3261 10000 CCS A # BOTH SHOULD BE ZERO
024525,002812: 25,3262 13273 TCF BADRAD # DATA GOOD NOT PRESENT
024526,002813:
024527,002814: 25,3263 11110 GOODRAD CCS NSAMP # TEST FOR R12
024528,002815: 25,3264 13420 TCF R12EXIT
024529,002816:
024530,002817: 25,3265 52064 DXCH ITEMP3 # STORE DATA FOR CALLING ROUTINE
024531,002818: 25,3266 53101 DXCH SAMPLSUM
024532,002819: 25,3267 03654 TC RADLITES # UPDATE DSKY LIGHTS.
024533,002820:
024534,002821: 25,3270 34755 R77EXIT CA ZERO # ZERO RADUSE
024535,002822: 25,3271 55077 TS RADUSE
024536,002823: 25,3272 03626 TC RGOODEND -2
024537,002824:
024538,002825:
024539,002826: 25,3273 40110 BADRAD CS RADMODES # UPDATE RADMODES BIT ONLY IF DATA BAD
024540,002827: 25,3274 70061 MASK ITEMP1
024541,002828: 25,3275 26110 ADS RADMODES
024542,002829:
024543,002830: 25,3276 11110 CCS NSAMP # TEST FOR R12
024544,002831: 25,3277 13420 TCF R12EXIT
024545,002832:
024546,002833: 25,3300 03654 TC RADLITES # UPDATE DSKY LIGHTS
024547,002834: 25,3301 34755 RRBADEND CA ZERO # ZERO RADUSE
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Page 566
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024549,002836: 25,3302 55077 TS RADUSE
024550,002837: 25,3303 03633 TC RDBADEND -2
024551,002838:
024552,002839:
024553,002840: 25,3304 34747 LRHEIGHT CA BIT5 # DATA GOOD BIT FOR ALTITUDE
024554,002841: 25,3305 54061 TS ITEMP1
024555,002842: 25,3306 34743 CA BIT9 # LO SCALE BIT FOR LR
024556,002843: 25,3307 03333 TC SCALECHK
024557,002844:
024558,002845: 25,3310 00006 RENDRAD EXTEND
024559,002846: 25,3311 31454 DCA TTOGO # LOAD TIME TO TIG
024560,002847: 25,3312 53272 DXCH TTOTIG # FOR R65 RADAR READING.
024561,002848:
024562,002849: 25,3313 34741 CA REPOSBIT # MAKE SURE ANTENNA HAS NOT
024563,002850: 25,3314 70110 MASK RADMODES # GONE OUT OF LIMITS.
024564,002851: 25,3315 10000 CCS A
024565,002852: 25,3316 13301 TCF RRBADEND
024566,002853:
024567,002854: 25,3317 40110 CS RADMODES # BE SURE RR CDU HASN'T FAILED.
024568,002855: 25,3320 74745 MASK RCDUFBIT
024569,002856: 25,3321 10000 CCS A
024570,002857: 25,3322 13301 TCF RRBADEND
024571,002858:
024572,002859: 25,3323 34750 CA BIT4 # DATA GOOD BIT FOR RR
024573,002860: 25,3324 54061 TS ITEMP1
024574,002861:
024575,002862: 25,3325 34753 CA BIT1 # TEST FOR RANGE OR RANGE RATE
024576,002863: 25,3326 71332 MASK RADBITS
024577,002864: 25,3327 54002 TS Q # SAVE FOR LATER TESTING
024578,002865: 25,3330 00006 EXTEND
024579,002866: 25,3331 13342 BZF RADIN # IF ROOT, READ DATA
024580,002867:
024581,002868: 25,3332 34751 CA BIT3 # LO SCALE BIT FOR RR.
024582,002869: 25,3333 54001 SCALECHK TS L
024583,002870: 25,3334 30110 CA RADMODES # TEST THE SCALE BIT SPECIFIED IN L
024584,002871: 25,3335 00006 EXTEND # TO SEE IF IT IS THE SMAE AS LAST
024585,002872: 25,3336 06033 RXOR CHAN33 # TIME.
024586,002873: 25,3337 70001 MASK L # IF BIT IS THE SMAE IN RADMODES AND
024587,002874: 25,3340 10000 CCS A # CHAN33, THEN A WILL BE ZERO
024588,002875: 25,3341 03401 TC SCALCHNG # SCALE CHANGED
024589,002876:
024590,002877: 25,3342 34733 RADIN CA POSMAX # UNPACK 15 BIT RADAR READING
024591,002878: 25,3343 70046 MASK RNRAD
024592,002879: 25,3344 54064 TS ITEMP4
024593,002880:
024594,002881: 25,3345 30046 CA RNRAD
024595,002882: 25,3346 60000 DOUBLE
024596,002883: 25,3347 74753 MASK BIT1
024597,002884: 25,3350 54063 TS ITEMP3
024598,002885:
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Page 567
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024600,002887: 25,3351 10002 CCS Q # TEST FOR RR RANGE RATE (Q = 0)
024601,002888: 25,3352 13357 TCF SCALADJ # RANGE OR LR HEIGHT . TEST SCALE
024602,002889:
024603,002890: 25,3353 00006 EXTEND # RR RANGE RATE - SUBTRACT BIAS
024604,002891: 25,3354 42002 DCS RDOTBIAS
024605,002892: 25,3355 20064 DASAMPL DAS ITEMP3
024606,002893: 25,3356 13250 TCF DGCHECK2 # TEST DATA GOOD
024607,002894:
024608,002895: 25,3357 30110 SCALADJ CA RADMODES # TEST SCALE BIT
024609,002896: 25,3360 70001 MASK L
024610,002897: 25,3361 00006 EXTEND
024611,002898: 25,3362 13250 BZF DGCHECK2 # LO SCALE
024612,002899:
024613,002900: 25,3363 74751 MASK BIT3 # HI SCALE - TEST FOR LR
024614,002901: 25,3364 00006 EXTEND # IF BIT3 = 0,THEN IT IS LR
024615,002902: 25,3365 13374 BZF LRSCK
024616,002903:
024617,002904: 25,3366 52064 DXCH ITEMP3 # RESCALE RR DATA TO LO SCALING
024618,002905: 25,3367 20001 DDOUBL # MULTIPLY BY 8.
024619,002906: 25,3370 20001 DDOUBL
024620,002907: 25,3371 20001 DDOUBL
024621,002908: 25,3372 52064 DXCH ITEMP3
024622,002909: 25,3373 13250 TCF DGCHECK2
024623,002910:
024624,002911: 25,3374 00006 LRSCK EXTEND # RESCALE LR DATA TO LO SCALING
024625,002912: 25,3375 30064 DCA ITEMP3 # MULTIPLY BY 5.
024626,002913: 25,3376 20001 DDOUBL
024627,002914: 25,3377 20001 DDOUBL
024628,002915: 25,3400 13355 TCF DASAMPL
024629,002916:
024630,002917:
024631,002918: 25,3401 30110 SCALCHNG CA RADMODES
024632,002919: 25,3402 00006 EXTEND # INVERT SCALE BIT IN RADMODES
024633,002920: 25,3403 06001 RXOR LCHAN
024634,002921: 25,3404 54110 TS RADMODES
024635,002922:
024636,002923: 25,3405 11110 CCS NSAMP # TEST FOR R12
024637,002924: 25,3406 13416 TCF R12SCHNG
024638,002925:
024639,002926: 25,3407 05515 TC UPFLAG # SET RNGSCFLG FOR LRS24.1
024640,002927: 25,3410 00120 ADRES RNGSCFLG
024641,002928:
024642,002929: 25,3411 33156 CA DGBITS # UPDATE DATA GOOD BITS
024643,002930: 25,3412 00006 EXTEND
024644,002931: 25,3413 02033 RAND CHAN33
024645,002932: 25,3414 55112 TS OLDATAGD
024646,002933: 25,3415 13301 TCF RRBADEND
024647,002934:
024648,002935:
024649,002936: 25,3416 55110 R12SCHNG TS NSAMP # UPDATE NSAMP AND IGNORE READING.
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Page 568
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024651,002938: 25,3417 13431 TCF READVEL
024652,002939:
024653,002940: 25,3420 55110 R12EXIT TS NSAMP # UPDATE NSAMP
024654,002941: 25,3421 00006 EXTEND
024655,002942: 25,3422 13462 BZF STORVEL
024656,002943:
024657,002944: 25,3423 67750 AD NEG3
024658,002945: 25,3424 00006 EXTEND
024659,002946: 25,3425 13442 BZF STORALT
024660,002947:
024661,002948: 25,3426 67752 AD NEGONE
024662,002949: 25,3427 00006 EXTEND
024663,002950: 25,3430 13440 BZF READALT
024664,002951: 25,3431 44757 READVEL CS SEVEN
024665,002952: 25,3432 00006 EXTEND
024666,002953: 25,3433 03013 WAND CHAN13
024667,002954: 25,3434 31077 CA RADUSE
024668,002955: 25,3435 04674 READALT2 TC IBNKCALL
024669,002956: 25,3436 36000 CADR RADSTART
024670,002957: 25,3437 05301 TC RESUME
024671,002958:
024672,002959:
024673,002960: 25,3440 33103 READALT CA ALLREAD # SET UP LR ALTITUDE READ
024674,002961: 25,3441 13435 TCF READALT2
024675,002962:
024676,002963: 25,3442 52064 STORALT DXCH ITEMP3
024677,002964: 25,3443 53655 DXCH HMEAS # STORE ALT IN HMEAS
024678,002965:
024679,002966: 25,3444 40110 CS RADMODES # TEST DATA GOOD
024680,002967: 25,3445 74747 MASK BIT5
024681,002968: 25,3446 00006 EXTEND
024682,002969: 25,3447 13457 BZF HBAD # DATA GOOD NOT PRESENT
024683,002970:
024684,002971: 25,3450 11674 CCS STILBADH # IF DATA JUST GOOD,OR IG RESTART JUST
024685,002972: 25,3451 13460 TCF HSTILBAD # OCCURRED,WAIT
024686,002973:
024687,002974: 25,3452 40107 CS FLGWRD11 # SET FLAG FORR12.
024688,002975: 25,3453 74750 MASK RNGEDBIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
024689,002976: 25,3454 26107 ADS FLGWRD11 # DESTROYED)
024690,002977: 25,3455 03654 ALTEXIT TC RADLITES
024691,002978: 25,3456 13431 TCF READVEL
024692,002979:
024693,002980: 25,3457 34752 HBAD CA TWO # SET STILBADH FOR FOUR SECOND DELAY
024694,002981: 25,3460 55674 HSTILBAD TS STILBADH
024695,002982: 25,3461 13455 TCF ALTEXIT
024696,002983:
024697,002984: 25,3462 40110 STORVEL CS RADMODES # TEST DATA GOOD
024698,002985: 25,3463 74744 MASK BIT8
024699,002986: 25,3464 00006 EXTEND
024700,002987: 25,3465 13520 BZF VBAD # DATA GOOD NOT PRESENT
024701,002988:
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Page 569
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024703,002990: 25,3466 11675 CCS STILBADV
024704,002991: 25,3467 13521 TCF VSTILBAD
024705,002992:
024706,002993: 25,3470 40107 CS FLGWRD11 # DATA IS GOOD, SET FLAG FOR R12
024707,002994: 25,3471 74745 MASK VELDABIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
024708,002995: 25,3472 26107 ADS FLGWRD11 # DESTROYED)
024709,002996: 25,3473 11462 R12DL CCS VSELECT # UPDATE VSELECT
024710,002997: 25,3474 13476 TCF +2
024711,002998: 25,3475 34752 CA TWO
024712,002999: 25,3476 55462 TS VSELECT
024713,003000:
024714,003001: 25,3477 53101 DXCH SAMPLSUM # STORE VEL DATA IN VMEAS
024715,003002: 25,3500 53653 DXCH VMEAS
024716,003003:
024717,003004: 25,3501 00006 EXTEND
024718,003005: 25,3502 31655 DCA HMEAS # STORE HMEAS FOR DOWNLINK
024719,003006: 25,3503 53777 DXCH HMEASDL
024720,003007:
024721,003008: 25,3504 00006 EXTEND
024722,003009: 25,3505 31561 DCA PIPTIME1 # STORE TIME FOR DOWNLINK
024723,003010: 25,3506 53755 DXCH MKTIME
024724,003011:
024725,003012: 25,3507 00006 EXTEND
024726,003013: 25,3510 31156 DCA CDUTEMPY # STORE CDUY,CDUZ FOR DOWNLINK
024727,003014: 25,3511 53460 DXCH AIG
024728,003015:
024729,003016: 25,3512 31154 CA CDUTEMPX # STORE CDUX FOR LINK
024730,003017: 25,3513 55461 TS AOG
024731,003018:
024732,003019: 25,3514 03654 TC RADLITES # UPDATE DSKY VEL LIGHT
024733,003020: 25,3515 34755 CA ZERO
024734,003021: 25,3516 55077 TS RADUSE
024735,003022:
024736,003023: 25,3517 05301 TC RESUME
024737,003024:
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Page 570
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024739,003026: 25,3520 34752 VBAD CA TWO
024740,003027: 25,3521 55675 VSTILBAD TS STILBADV
024741,003028: 25,3522 13473 TCF R12DL
024742,003029:
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Page 571
|
024744,003031: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024745,003032:
024746,003033:
024747,003034: 17,2000 SETLOC C13BANK
024748,003035: 17,2000 BANK
024749,003036:
024750,003037: 17,2000 54002 RADSTART TS Q
024751,003038: 17,2001 00006 +1 EXTEND
024752,003039: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
024753,003040: 17,2003 54001 TS L
024754,003041:
024755,003042: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
024756,003043: 17,2005 40000 COM
024757,003044: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
024758,003045: 17,2007 74346 MASK LOW5
024759,003046: 17,2010 55270 TS RADDEL
024760,003047:
024761,003048: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024762,003049: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
024763,003050: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
024764,003051:
024765,003052: 17,2014 30002 CA Q
024766,003053: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
024767,003054: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
024768,003055:
024769,003056: 17,2017 40001 CS L
024770,003057: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
024771,003058: 17,2021 04707 TC ISWRETRN
024772,003059:
024773,003060:
024774,003061: 17,2022 55266 C13STAL1 TS C13FSAV
024775,003062:
024776,003063: 17,2023 34750 CA BIT4
024777,003064: 17,2024 00006 EXTEND
024778,003065: 17,2025 02013 RAND CHAN13
024779,003066: 17,2026 00006 EXTEND
024780,003067: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
024781,003068:
024782,003069: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
024783,003070: 17,2031 00006 EXTEND
024784,003071: 17,2032 00004 READ LOSCALAR
024785,003072: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
024786,003073: 17,2034 64736 AD HALF
024787,003074: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
024788,003075: 17,2036 56001 XCH L
024789,003076:
024790,003077: 17,2037 32053 CA 90MSCALR
024791,003078: 17,2040 61270 AD RADDEL
024792,003079: 17,2041 00006 EXTEND
024793,003080: 17,2042 60001 SU L
|
|
Page 572
|
024795,003082: 17,2043 00006 EXTEND
024796,003083: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
024797,003084:
024798,003085: 17,2045 62054 AD -DTSCALR
024799,003086: 17,2046 00006 EXTEND
024800,003087: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024801,003088:
024802,003089: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
024803,003090: 17,2051 31266 CA C13FSAV
024804,003091: 17,2052 52005 DTCF
024805,003092:
024806,003093: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
024807,003094: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
024808,003095:
024809,003096: 6000 SETLOC FFTAG6
024810,003097: 6000 BANK
024811,003098:
024812,003099: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
024813,003100: 6023 56004 XCH FBANK
024814,003101: 6024 12022 TCF C13STAL1
024815,003102:
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|
Page 573
|
024817,003104: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024818,003105:
024819,003106: 25,3523 BANK 25
024820,003107: 25,2000 SETLOC P20S1
024821,003108: 25,2000 BANK
024822,003109: 25,3523 COUNT* $$/RSUB
024823,003110: 25,3523 00004 LRPOS2 INHINT
024824,003111:
024825,003112: 25,3524 40110 CS RADMODES
024826,003113: 25,3525 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024827,003114: 25,3526 26110 ADS RADMODES
024828,003115:
024829,003116: 25,3527 34745 CAF BIT7
024830,003117: 25,3530 00006 EXTEND
024831,003118: 25,3531 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024832,003119: 25,3532 00006 EXTEND
024833,003120: 25,3533 13544 BZF RADNOOP
024834,003121:
024835,003122: 25,3534 34737 CAF BIT13
024836,003123: 25,3535 00006 EXTEND
024837,003124: 25,3536 05012 WOR CHAN12 # COMMAND TO POSITION 2
024838,003125: 25,3537 33577 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024839,003126: 25,3540 05214 TC WAITLIST
024840,003127: 25,3541 E7,1456 EBANK= LOSCOUNT
024841,003128: 25,3541 03575 52067 2CADR LRPOSCAN
024842,003129:
024843,003130: 25,3543 02377 TC ROADBACK
024844,003131:
024845,003132: 25,3544 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED
024846,003133: 25,3545 05214 TC WAITLIST
024847,003134: 25,3546 E7,1456 EBANK= LOSCOUNT
024848,003135: 25,3546 03630 52067 2CADR RGOODEND
024849,003136:
024850,003137: 25,3550 02377 TC ROADBACK
024851,003138:
024852,003139: 25,3551 55077 LRPOSNXT TS SAMPLIM
024853,003140: 25,3552 05232 TC FIXDELAY # SCAN ONCE PER SECOND 5 TIMES MAX AFTER
024854,003141: 25,3553 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024855,003142:
024856,003143: 25,3554 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024857,003144: 25,3555 00006 EXTEND
024858,003145: 25,3556 02033 RAND CHAN33
024859,003146: 25,3557 00006 EXTEND
024860,003147: 25,3560 13567 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024861,003148:
024862,003149: 25,3561 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
024863,003150: 25,3562 13551 TCF LRPOSNXT
024864,003151:
024865,003152: 25,3563 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024866,003153: 25,3564 00006 EXTEND
|
|
Page 574
|
024868,003155: 25,3565 03012 WAND CHAN12
024869,003156: 25,3566 13635 TCF RDBADEND
024870,003157:
024871,003158: 25,3567 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024872,003159: 25,3570 05235 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024873,003160:
024874,003161: 25,3571 44737 CS BIT13 # REMOVE COMMAND
024875,003162: 25,3572 00006 EXTEND
024876,003163: 25,3573 03012 WAND CHAN12
024877,003164: 25,3574 13630 TCF RGOODEND
024878,003165:
024879,003166: 25,3575 34751 LRPOSCAN CAF FOUR
024880,003167: 25,3576 13551 TCF LRPOSNXT
024881,003168: 25,3577 01130 6SECS DEC 600 B-14
024882,003169:
024883,003170: 25,3600 04616 LRP2COMM TC BANKCALL
024884,003171: 25,3601 53523 CADR LRPOS2
024885,003172: 25,3602 04616 TC BANKCALL
024886,003173: 25,3603 17720 CADR RADSTALL
024887,003174: 25,3604 03606 TC LP2ALM
024888,003175: 25,3605 13617 TCF GOPINNER
024889,003176:
024890,003177: 25,3606 05600 LP2ALM TC ALARM
024891,003178: 25,3607 00523 OCT 523
024892,003179: 25,3610 13617 TCF GOPINNER
024893,003180:
024894,003181: 25,3611 35016 V59GP63 CA EBANK7
024895,003182: 25,3612 54003 TS EBANK
024896,003183: 25,3613 E7,1427 EBANK= RPCRTIME
024897,003184: 25,3613 34733 CA POSMAX
024898,003185: 25,3614 55427 TS RPCRTIME
024899,003186: 25,3615 44736 CS BIT14
024900,003187: 25,3616 55430 TS RPCRTQSW
024901,003188: 25,3617 04635 GOPINNER TC POSTJUMP
024902,003189: 25,3620 21051 CADR PINBRNCH
024903,003190:
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|
Page 575
|
024905,003192: # SEQUENCES TO TERMINATE RR OPERATIONS.
024906,003193:
024907,003194: 25,3621 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024908,003195: 25,3622 70110 MASK RADMODES
024909,003196: 25,3623 10000 CCS A
024910,003197: 25,3624 13630 TCF RGOODEND
024911,003198: 25,3625 13635 TCF RDBADEND
024912,003199: 25,3626 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024913,003200: 25,3627 54332 TS RUPTAGN
024914,003201:
024915,003202: 25,3630 34752 RGOODEND CAF TWO
024916,003203: 25,3631 04635 TC POSTJUMP
024917,003204: 25,3632 17671 CADR GOODEND
024918,003205:
024919,003206: 25,3633 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024920,003207: 25,3634 54332 TS RUPTAGN
024921,003208: 25,3635 34752 RDBADEND CAF TWO
024922,003209: 25,3636 04635 TC POSTJUMP
024923,003210: 25,3637 17666 CADR BADEND
024924,003211:
024925,003212: 25,3640 6250 BIN3 EQUALS THREE
024926,003213:
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|
Page 576
|
024928,003215: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024929,003216: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024930,003217:
024931,003218:
024932,003219: # FUNCTIONAL DESCRIPTION_
024933,003220:
024934,003221: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024935,003222: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024936,003223: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024937,003224:
024938,003225:
024939,003226: # CALLING SEQUENCE CALL
024940,003227: # LPS20.1
024941,003228:
024942,003229: # SUBROUTINES CALLED_
024943,003230:
024944,003231: # LEMPREC,CSMPREC
024945,003232:
024946,003233:
024947,003234: # NORMAL EXIT_ RETURN TO CALLER + 2
024948,003235:
024949,003236:
024950,003237: # ERROR EXITS_ NONE
024951,003238:
024952,003239:
024953,003240: # ALARMS_ NONE
024954,003241:
024955,003242:
024956,003243: # OUTPUT_
024957,003244:
024958,003245: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024959,003246: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024960,003247: # RRNBSW CLEARED
024961,003248:
024962,003249:
024963,003250: # INITIALIZED ERASEABLE
024964,003251:
024965,003252: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024966,003253: # SEE ORBITAL INTEGRATION ROUTINE
024967,003254:
024968,003255:
024969,003256: # DEBRIS_
024970,003257:
024971,003258: # MPAC DESTROYED BY THIS ROUTINE
024972,003259:
024973,003260: 23,2333 BANK 23
024974,003261: 24,2000 SETLOC P20S
024975,003262: 24,2000 BANK
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|
Page 577
|
024977,003264: 24,3340 COUNT* $$/LPS20
024978,003265:
024979,003266: 24,3340 43020 LPS20.1 STQ BOFF
024980,003267: 24,3341 01755 LS21X
024981,003268: 24,3342 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024982,003269: 24,3343 51347 LMINT # SO CALL LEMCONIC TO GET LM STATE
024983,003270: 24,3344 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024984,003271: 24,3345 04307 SURFFLAG # DON'T CALL LEMCONIC
024985,003272: 24,3346 51357 CSMINT
024986,003273: 24,3347 77624 LMINT CALL
024987,003274: 24,3350 27077 LEMCONIC # EXTRAPOLATE LEM
024988,003275: 24,3351 77775 VLOAD
024989,003276: 24,3352 00001 RATT
024990,003277: 24,3353 26352 STOVL LMPOS # SAVE LM POSITION B-29
024991,003278: 24,3354 00007 VATT
024992,003279: 24,3355 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024993,003280: 24,3356 00015 TAT
024994,003281: 24,3357 34041 CSMINT STCALL TDEC1
024995,003282: 24,3360 27065 CSMCONIC # EXTRAPOLATE CSM
024996,003283: 24,3361 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024997,003284: 24,3362 00007 VATT
024998,003285: 24,3363 02360 LMVEL
024999,003286: 24,3364 00017 STORE VELLOS
025000,003287: 24,3365 76521 MXV VSL1
025001,003288: 24,3366 01732 REFSMMAT
025002,003289: 24,3367 77776 EXIT
025003,003290: 24,3370 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
025004,003291: 24,3371 52613 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
025005,003292: 24,3372 06042 TC INTPRET
025006,003293: 24,3373 25757 STOVL LOSVEL
025007,003294: 24,3374 00001 RATT
025008,003295: 24,3375 77651 VSU
025009,003296: 24,3376 02352 LMPOS
025010,003297: 24,3377 00025 STORE RRANGE # RANGE FOR POSSIBLE ALARM B-29
025011,003298: 24,3400 54204 BOVB VSL
025012,003299: 24,3401 57760 TCDANZIG
025013,003300: 24,3402 20212 9D
025014,003301: 24,3403 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW , RANGE MUST BE GREATER
025015,003302: 24,3404 50104 526ALARM # THAN 400 N. M.
025016,003303: 24,3405 76521 MXV VSL1
025017,003304: 24,3406 01732 REFSMMAT # CONVERT TO STABLE MEMBER
025018,003305: 24,3407 15101 STODL RRTARGET
025019,003306: 24,3410 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
025020,003307: 24,3411 01765 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
025021,003308: 24,3412 77614 CLRGO
025022,003309: 24,3413 00231 RRNBSW
025023,003310: 24,3414 01755 LS21X
025024,003311: 24,3415 RRANGE EQUALS 20D
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|
Page 578
|
025026,003313: 24,3415 VELLOS EQUALS 14D
025027,003314:
|
|
Page 579
|
025029,003316: # PROGRAM NAME : LPS20.2 400 N. MI. RANGE CHECK
025030,003317: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025031,003318:
025032,003319:
025033,003320: # FUNCTIONAL DESCRIPTION_
025034,003321:
025035,003322: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
025036,003323:
025037,003324:
025038,003325: # CALLING SEQUENCE CALL
025039,003326: # LPS20.2
025040,003327:
025041,003328:
025042,003329: # SUBROUTINES CALLED_ NONE
025043,003330:
025044,003331:
025045,003332: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
025046,003333:
025047,003334:
025048,003335: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
025049,003336:
025050,003337:
025051,003338: # ALARMS_ NONE
025052,003339:
025053,003340:
025054,003341: # OUTPUT_ NONE
025055,003342:
025056,003343:
025057,003344: # INITIALIZED ERASEABLE_
025058,003345:
025059,003346: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
025060,003347: # DEBRIS
025061,003348:
025062,003349: # MPAC DESTROYED BY THIS ROUTINE
025063,003350:
025064,003351: 25,2000 SETLOC P20S1
025065,003352: 25,2000 BANK
025066,003353: 25,3640 COUNT* $$/LPS20
025067,003354:
025068,003355: 25,3640 45345 LPS20.2 DLOAD DSU
025069,003356: 25,3641 01765 MLOSV # MAGNITUDE OF LOS
025070,003357: 25,3642 13653 FHNM # OVER 400NM _
025071,003358: 25,3643 77644 BPL
025072,003359: 25,3644 53647 TOFAR
025073,003360: 25,3645 43535 SLOAD RVQ
025074,003361: 25,3646 06520 ZERO/SP
025075,003362: 25,3647 43535 TOFAR SLOAD RVQ
025076,003363: 25,3650 13652 ONE/SP
025077,003364: 25,3651 00001 ONE/SP DEC 1 B-14
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|
Page 580
|
025079,003366: 25,3652 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
025080,003367:
|
|
Page 581
|
025082,003369: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
025083,003370: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
025084,003371:
025085,003372:
025086,003373: # FUNCTIONAL DESCRIPTION
025087,003374:
025088,003375: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
025089,003376: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
025090,003377: # RR REPOSITION AND RR CDU FAIL
025091,003378:
025092,003379: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
025093,003380:
025094,003381:
025095,003382: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
025096,003383:
025097,003384:
025098,003385: # SUBROUTINES CALLED:
025099,003386:
025100,003387: # RRRDOT LPS20.1
025101,003388: # RRRANGE BANKCALL
025102,003389: # RADSTALL CDULOGIC
025103,003390: # RRNB SMNB
025104,003391: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
025105,003392:
025106,003393:
025107,003394: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
025108,003395:
025109,003396: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
025110,003397: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
025111,003398:
025112,003399:
025113,003400: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
025114,003401: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
025115,003402:
025116,003403:
025117,003404: # OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
025118,003405: # RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
025119,003406:
025120,003407: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
025121,003408:
025122,003409: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
025123,003410: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
025124,003411: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
025125,003412: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
025126,003413: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
025127,003414:
025128,003415:
025129,003416: # ERASABLE INITIALIZATION REQUIRED:
025130,003417:
025131,003418: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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|
Page 582
|
025133,003420: # 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
025134,003421: # 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
025135,003422:
025136,003423: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
025137,003424:
025138,003425:
025139,003426: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
025140,003427:
025141,003428:
025142,003429: 32,2366 BANK 32
025143,003430: 32,2000 SETLOC LRS22
025144,003431: 32,2000 BANK
025145,003432: 32,2366 COUNT* $$/LRS22
025146,003433:
025147,003434: 32,2366 04645 LRS22.1 TC MAKECADR
025148,003435: 32,2367 55737 TS LRS22.1X
025149,003436: 32,2370 05527 TC DOWNFLAG
025150,003437: 32,2371 00120 ADRES RNGSCFLG
025151,003438: 32,2372 00004 INHINT
025152,003439: 32,2373 34751 CAF BIT3
025153,003440: 32,2374 00006 EXTEND # GET RR RANGE SCALE
025154,003441: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
025155,003442: 32,2376 54001 TS L
025156,003443: 32,2377 44751 CS RRRSBIT
025157,003444: 32,2400 70110 MASK RADMODES
025158,003445: 32,2401 60001 AD L
025159,003446: 32,2402 54110 TS RADMODES
025160,003447: 32,2403 00003 RELINT
025161,003448: 32,2404 04616 READRDOT TC BANKCALL
025162,003449: 32,2405 53112 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
025163,003450: 32,2406 04616 TC BANKCALL
025164,003451: 32,2407 17720 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
025165,003452: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
025166,003453:
025167,003454: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
025168,003455: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
025169,003456: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
025170,003457: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
025171,003458: 32,2415 53747 DXCH RDOTMSAV
025172,003459: 32,2416 00006 EXTEND
025173,003460: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
025174,003461: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
025175,003462: 32,2421 30032 CA CDUX
025176,003463: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
025177,003464: 32,2423 00006 EXTEND
025178,003465: 32,2424 30025 DCA TIME2 # SAVE TIME
025179,003466: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
025180,003467: 32,2426 00006 EXTEND
025181,003468: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025182,003469: 32,2430 53107 DXCH TANG
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|
Page 583
|
025184,003471: 32,2431 00003 RELINT
025185,003472: 32,2432 04616 TC BANKCALL
025186,003473: 32,2433 53114 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
025187,003474: 32,2434 04616 TC BANKCALL
025188,003475: 32,2435 17720 CADR RADSTALL # WAIT FOR READ COMPLETE
025189,003476: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
025190,003477: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
025191,003478: 32,2440 00006 EXTEND
025192,003479: 32,2441 31331 DCA DNRRANGE # RANGE,RANGE RATE (RAW DATA)
025193,003480: 32,2442 53761 DXCH RANGRDOT
025194,003481: 32,2443 52162 DXCH MPAC +5
025195,003482: 32,2444 53755 DXCH MKTIME # MARK TIME
025196,003483: 32,2445 52160 DXCH MPAC +3
025197,003484: 32,2446 53460 DXCH AIG # CDUY, CDUZ
025198,003485: 32,2447 00006 EXTEND
025199,003486: 32,2450 31107 DCA TANG # PRESERVE TANG
025200,003487: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
025201,003488: 32,2452 30156 CA MPAC +2
025202,003489: 32,2453 55461 TS AOG # CDUX
025203,003490: 32,2454 06042 TC INTPRET
025204,003491: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
025205,003492: 32,2456 03747 RDOTMSAV # CONVERT ROOT UNITS AND SCALING
025206,003493: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
025207,003494: 32,2460 20217 14D # FT./SECOND PER BIT
025208,003495: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
025209,003496: 32,2462 03751 STORE RDOTM
025210,003497: 32,2463 47135 SLOAD RTB
025211,003498: 32,2464 01107 TANG # GET TRUNION ANGLE
025212,003499: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
025213,003500: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
025214,003501: 32,2467 47135 SLOAD RTB
025215,003502: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
025216,003503: 32,2471 21577 CDULOGIC
025217,003504: 32,2472 17736 STODL RRSHAFT
025218,003505: 32,2473 01101 SAMPLSUM
025219,003506: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
025220,003507: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS,SCALED -29
025221,003508: 32,2476 37757 STCALL RM
025222,003509: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
025223,003510: 32,2500 17741 STODL RRBORSIT # AND SAVE
025224,003511: 32,2501 00025 20D
025225,003512: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
025226,003513: 32,2503 51340 LPS20.1
025227,003514: 32,2504 77776 EXIT
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Page 584
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025229,003516: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
025230,003517: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
025231,003518: 32,2507 31460 CA AMG
025232,003519: 32,2510 54767 TS CDUSPOT +2
025233,003520: 32,2511 31461 CA AOG
025234,003521: 32,2512 54771 TS CDUSPOT +4
025235,003522: 32,2513 06042 TC INTPRET
025236,003523: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
025237,003524: 32,2515 01101 RRTARGET
025238,003525: 32,2516 47656 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
025239,003526: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
025240,003527: 32,2520 03741 RRBORSIT
025241,003528: 32,2521 65552 SL1 ACOS # BETWEEN THEM
025242,003529: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
025243,003530: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
025244,003531: 32,2524 24547 THREEDEG
025245,003532: 32,2525 64532 NORMEXIT # YES-NORMAL EXIT
025246,003533:
025247,003534: 32,2526 77776 EXIT # ERROR EXIT 2
025248,003535: 32,2527 34752 CAF BIT2 # SET ERROR CODE
025249,003536: 32,2530 54154 TS MPAC
025250,003537: 32,2531 12535 TCF OUT22.1
025251,003538:
025252,003539: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
025253,003540: 32,2533 34755 CAF ZERO
025254,003541: 32,2534 54154 TS MPAC
025255,003542: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
025256,003543: 32,2536 04640 TC BANKJUMP
025257,003544: 32,2537 30101 CHEXERR CAE FLAGWRD5
025258,003545: 32,2540 74742 MASK RNGSCBIT
025259,003546: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
025260,003547: 32,2542 12404 TCF READRDOT # YES-TAKE ANOTHER READING
025261,003548:
025262,003549: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
025263,003550: 32,2544 54154 TS MPAC
025264,003551: 32,2545 02535 TC OUT22.1
025265,003552: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
025266,003553:
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Page 585
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025268,003555: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025269,003556:
025270,003557:
025271,003558: # MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
025272,003559:
025273,003560: # FUNCTIONAL DESCRIPTION-
025274,003561:
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|
(Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003)
|
025276,003563: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025277,003564:
025278,003565:
025279,003566: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
025280,003567:
025281,003568:
025282,003569: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
025283,003570: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025284,003571:
025285,003572:
025286,003573: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025287,003574:
025288,003575:
025289,003576: # ALARMS - NONE IN THE AUTO MODE
025290,003577:
025291,003578:
025292,003579: # ERASABLE INITIALIZATION REQUIRED -
025293,003580: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
025294,003581: # RM - RR RANGE, METERS B-29, FROM LRS22.1
025295,003582: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
025296,003583:
025297,003584:
025298,003585: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025299,003586:
025300,003587:
025301,003588: 24,2000 SETLOC P20S
025302,003589: 24,2000 BANK
025303,003590: 24,3415 04645 LRS22.2 TC MAKECADR
025304,003591: 24,3416 55737 TS LRS22.1X
025305,003592: 24,3417 06042 TC INTPRET
025306,003593: # CHECK IF RR LOS IS WITHIN 30 DEG OF
025307,003594: 24,3420 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
025308,003595: 24,3421 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
025309,003596: # LOS VECTOR,A HALF UNIT VECTOR
025310,003597: # IN NAV BASE AXES)
025311,003598: 24,3422 50025 DSU BMN
025312,003599: 24,3423 11437 30DEG
025313,003600: 24,3424 51431 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
025314,003601: 24,3425 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
025315,003602: 24,3426 34753 CAF BIT1 # SET ERROR CODE IN MPAC
025316,003603: 24,3427 54154 TS MPAC
025317,003604: 24,3430 13434 TCF OUT22.2
025318,003605: 24,3431 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
025319,003606:
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Page 586
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025321,003608: 24,3432 34755 CAF ZERO
025322,003609: 24,3433 54154 TS MPAC
025323,003610: 24,3434 31737 OUT22.2 CAE LRS22.1X
025324,003611: 24,3435 04640 TC BANKJUMP
025325,003612:
025326,003613:
025327,003614: 24,3436 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
025328,003615:
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Page 587
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025330,003617: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
025331,003618: # MOD. NO 3 LOG SECTION - P20-25
025332,003619: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
025333,003620:
025334,003621: # FUNCTIONAL DESCRIPTION
025335,003622:
025336,003623: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025337,003624: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025338,003625: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025339,003626:
025340,003627: # CALLING SEQUENCE
025341,003628: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
025342,003629: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
025343,003630: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
025344,003631: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
025345,003632: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025346,003633: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
025347,003634:
025348,003635:
025349,003636: # SUBROUTINES CALLED
025350,003637: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
025351,003638: # GETULC RARARANG INCORP2 NBSM INTSTALL
025352,003639:
025353,003640: # OUTPUT
025354,003641: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025355,003642: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025356,003643: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025357,003644: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025358,003645: # UPDATED W-MATRIX
025359,003646:
025360,003647:
025361,003648: # ERASABLE INITIALIZATION REQUIRED
025362,003649: # LM AND CSM STATE VECTORS
025363,003650: # W-MATRIX
025364,003651: # MARK TIME IN MKTIME
025365,003652: # RADAR RANGE IN RM METERS B-29
025366,003653: # RANGE RATE IN RDOTM METERS/CSES B-7
025367,003654: # SHAFT ANGLE IN RRSHAFT REVS.B0
025368,003655: # TRUNNION ANGLE IN RRTRUN REVS. B0
025369,003656: # GIMBAL ANGLES INNER IN AIG
025370,003657: # MIDDLE IN AMG
025371,003658: # OUTER IN AOG
025372,003659: # REFSMMAT
025373,003660: # RENDWFLG
025374,003661: # NOANGFLG
025375,003662: # VEHUPFLG
025376,003663:
025377,003664: # DEBRIS
025378,003665: # PUSHLIST--ALL
025379,003666: # MX, MY, MZ (VECTORS)
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Page 588
|
025381,003668: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
025382,003669:
025383,003670:
025384,003671: 13,2207 BANK 13
025385,003672: 26,2000 SETLOC P20S3
025386,003673: 26,2000 BANK
025387,003674:
025388,003675: 26,2420 E7,1456 EBANK= LOSCOUNT
025389,003676: 26,2420 COUNT* $$/LSR22
025390,003677: 26,2420 77624 LSR22.3 CALL
025391,003678: 26,2421 11216 GRP2PC
025392,003679: 26,2422 43014 BON SET
025393,003680: 26,2423 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
025394,003681: 26,2424 55202 LSR22.4 # YES
025395,003682: 26,2425 02466 DMENFLG
025396,003683: 26,2426 45014 BOFF CALL
025397,003684: 26,2427 00747 VEHUPFLG
025398,003685: 26,2430 54462 DOLEM
025399,003686: 26,2431 27410 INTSTALL
025400,003687: 26,2432 45014 CLEAR CALL # LM PRECISION INTEGRATION
025401,003688: 26,2433 01674 VINTFLAG
025402,003689: 26,2434 26643 SETIFLGS
025403,003690: 26,2435 77624 CALL
025404,003691: 26,2436 55244 INTGRCAL
025405,003692: 26,2437 77624 CALL
025406,003693: 26,2440 11216 GRP2PC
025407,003694: 26,2441 77624 CALL
025408,003695: 26,2442 27410 INTSTALL
025409,003696: 26,2443 43014 CLEAR BOFF
025410,003697: 26,2444 01676 DIM0FLAG
025411,003698: 26,2445 02756 RENDWFLG
025412,003699: 26,2446 54452 NOTWCSM
025413,003700: 26,2447 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
025414,003701: 26,2450 01476 DIM0FLAG
025415,003702: 26,2451 01475 D6OR9FLG
025416,003703: 26,2452 43014 NOTWCSM SET CLEAR
025417,003704: 26,2453 01474 VINTFLAG
025418,003705: 26,2454 01673 INTYPFLG
025419,003706: 26,2455 45014 SET CALL
025420,003707: 26,2456 01472 STATEFLG
025421,003708: 26,2457 55244 INTGRCAL
025422,003709: 26,2460 77650 GOTO
025423,003710: 26,2461 54512 MARKTEST
025424,003711: 26,2462 77624 DOLEM CALL
025425,003712: 26,2463 27410 INTSTALL
025426,003713: 26,2464 45014 SET CALL
025427,003714: 26,2465 01474 VINTFLAG
025428,003715: 26,2466 26643 SETIFLGS
025429,003716: 26,2467 77624 CALL
025430,003717: 26,2470 55244 INTGRCAL
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|
Page 589
|
025432,003719: 26,2471 77624 CALL
025433,003720: 26,2472 11216 GRP2PC
025434,003721: 26,2473 77624 CALL
025435,003722: 26,2474 27410 INTSTALL
025436,003723: 26,2475 43014 CLEAR BOFF
025437,003724: 26,2476 01676 DIM0FLAG
025438,003725: 26,2477 02756 RENDWFLG
025439,003726: 26,2500 54504 NOTWLEM
025440,003727: 26,2501 43014 SET SET # LM WITH W-MATRIX INTEGRATION
025441,003728: 26,2502 01476 DIM0FLAG
025442,003729: 26,2503 01475 D6OR9FLG
025443,003730: 26,2504 43014 NOTWLEM CLEAR CLEAR
025444,003731: 26,2505 01673 INTYPFLG
025445,003732: 26,2506 01674 VINTFLAG
025446,003733: 26,2507 45014 SET CALL
025447,003734: 26,2510 01472 STATEFLG
025448,003735: 26,2511 55244 INTGRCAL
025449,003736: 26,2512 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
025450,003737: 26,2513 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
025451,003738: 26,2514 54516 RANGEBQ
025452,003739: 26,2515 55253 WLINIT # YES-REINITIALIZE
025453,003740: 26,2516 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
025454,003741: 26,2517 04307 SURFFLAG
025455,003742: 26,2520 54526 RANGEBQ1
025456,003743: 26,2521 34755 CA ZERO
025457,003744: 26,2522 55745 TS R65CNTR
025458,003745: 26,2523 04616 TC BANKCALL
025459,003746: 26,2524 46123 CADR R65LEM
025460,003747: 26,2525 06042 TC INTPRET
025461,003748: 26,2526 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
025462,003749: 26,2527 00000 0
025463,003750: 26,2530 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
025464,003751: 26,2531 54534 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
025465,003752: 26,2532 77714 INCR,2
025466,003753: 26,2533 00002 2
025467,003754: 26,2534 45134 SETX2 SXA,2 CALL
025468,003755: 26,2535 03720 SCALSHFT # 0-MOON. 2-EARTH
025469,003756: 26,2536 11216 GRP2PC
025470,003757: 26,2537 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
025471,003758: 26,2540 00001 1
025472,003759: 26,2541 01353 WHCHREAD
025473,003760: 26,2542 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
025474,003761: 26,2543 01773 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
025475,003762: 26,2544 20635 28D
025476,003763: 26,2545 77634 RTB
025477,003764: 26,2546 21634 TPMODE # AND SAVE IN 20D
025478,003765: 26,2547 00025 STORE 20D
025479,003766: 26,2550 77624 CALL # BEGIN COMPUTING THE B-VECTORS,DELTAQ
025480,003767: 26,2551 55335 GETULC # B-VECTORS FOR RANGE
025481,003768: 26,2552 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
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Page 590
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025483,003770: 26,2553 00707 VEHUPFLG
025484,003771: 26,2554 54555 +1
025485,003772: 26,2555 27525 STOVL BVECTOR
025486,003773: 26,2556 06520 ZEROVECS
025487,003774: 26,2557 03533 STORE BVECTOR +6 # B1
025488,003775: 26,2560 17541 STODL BVECTOR +12D # B2
025489,003776: 26,2561 00045 36D
025490,003777: 26,2562 44257 SRR* BDSU
025491,003778: 26,2563 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
025492,003779: 26,2564 03757 RM # RM - (MAGNITUDE RCSM-RLM)
025493,003780: 26,2565 77657 SLR*
025494,003781: 26,2566 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
025495,003782: 26,2567 17547 STODL DELTAQ # EARTH B-29. MOON B-27
025496,003783: 26,2570 00045 36D # RLC B-29/B-27
025497,003784: 26,2571 63501 NORM DSQ # NORMALIZE AND SQUARE
025498,003785: 26,2572 00047 X1
025499,003786: 26,2573 53605 DMP SR*
025500,003787: 26,2574 01767 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
025501,003788: 26,2575 20577 0 -2,1 # UNNORMALIZE
025502,003789: 26,2576 53657 SR* SR*
025503,003790: 26,2577 20601 0,1
025504,003791: 26,2600 57176 0,2
025505,003792: 26,2601 47057 SR* RTB
025506,003793: 26,2602 57176 0,2
025507,003794: 26,2603 21634 TPMODE
025508,003795: 26,2604 02707 STORE VARIANCE # B-40
025509,003796: 26,2605 76276 DCOMP TAD
025510,003797: 26,2606 00025 20D # B-40
025511,003798: 26,2607 72240 BMN TLOAD
025512,003799: 26,2610 54613 QOK
025513,003800: 26,2611 00025 20D # B-40
025514,003801: 26,2612 02707 STORE VARIANCE
025515,003802: 26,2613 77624 QOK CALL
025516,003803: 26,2614 55403 LGCUPDTE
025517,003804:
025518,003805: 26,2615 45131 SSP CALL
025519,003806: 26,2616 01354 WHCHREAD
025520,003807: 26,2617 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
025521,003808: 26,2620 11216 GRP2PC
025522,003809: 26,2621 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
025523,003810: 26,2622 55335 GETULC
025524,003811: 26,2623 53725 PDDL SR* # GET RLC SCALED B-29/B-27
025525,003812: 26,2624 00045 36D # AND SHIFT TO B-23
025526,003813: 26,2625 57202 0 -4,2
025527,003814: 26,2626 24045 STOVL 36D # THEN STORE BACK IN 36D
025528,003815: 26,2627 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
025529,003816: 26,2630 00707 VEHUPFLG
025530,003817: 26,2631 54632 +1
025531,003818: 26,2632 77761 VXSC
025532,003819: 26,2633 00045 36D # B1 = RLC (B-24/B-22)
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Page 591
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025534,003821: 26,2634 27533 STOVL BVECTOR +6
025535,003822: 26,2635 01653 NUVLEM
025536,003823: 26,2636 53257 VSR* VAD
025537,003824: 26,2637 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025538,003825: 26,2640 01667 VCVLEM # EARTH B-7. MOON B-5
025539,003826: 26,2641 53715 PDVL VSR* # VL TO PD6
025540,003827: 26,2642 01601 NUVCSM
025541,003828: 26,2643 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025542,003829: 26,2644 52255 VAD VSU
025543,003830: 26,2645 01615 VCVCSM
025544,003831: 26,2646 50315 PDVL DOT # VC - VL = VLC TO PD6
025545,003832: 26,2647 00001 0
025546,003833: 26,2650 00007 6
025547,003834: 26,2651 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
025548,003835: 26,2652 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
025549,003836: 26,2653 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
025550,003837: 26,2654 01771 RATEVAR
025551,003838: 26,2655 02707 STORE VARIANCE
025552,003839: 26,2656 54335 SLOAD SR
025553,003840: 26,2657 01774 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
025554,003841: 26,2660 20621 16D # SHIFT TO DP (B -4)
025555,003842: 26,2661 00031 STORE 24D # AND SAVE IN 24D
025556,003843: 26,2662 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
025557,003844: 26,2663 02707 VARIANCE
025558,003845: 26,2664 54670 VOK # BRANCH - NO
025559,003846: 26,2665 77745 DLOAD # YES - USE MINIMUM VARIANCE
025560,003847: 26,2666 00031 24D
025561,003848: 26,2667 02707 STORE VARIANCE
025562,003849: 26,2670 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
025563,003850: 26,2671 53725 PDDL SLR* # TO B-10/B-8
025564,003851: 26,2672 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
025565,003852: 26,2673 56577 0 -1,2 # B-7 TO B-10/B-8
025566,003853: 26,2674 77625 DSU
025567,003854: 26,2675 77675 DMPR
025568,003855: 26,2676 00045 36D
025569,003856: 26,2677 27547 STOVL DELTAQ # B-33
025570,003857: 26,2700 00001 0 # NOW GET B0
025571,003858: 26,2701 47235 VXV VXV # (ULC X VLC) X ULC
025572,003859: 26,2702 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025573,003860: 26,2703 00707 VEHUPFLG
025574,003861: 26,2704 54705 +1
025575,003862: 26,2705 77657 VSR*
025576,003863: 26,2706 57200 0 -2,2 # SCALED B-5
025577,003864: 26,2707 27525 STOVL BVECTOR
025578,003865: 26,2710 06520 ZEROVECS
025579,003866: 26,2711 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
025580,003867: 26,2712 27541 STOVL BVECTOR +12D
025581,003868: 26,2713 03525 BVECTOR
025582,003869: 26,2714 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
025583,003870: 26,2715 00025 20D # SHIFT COUNT IN 20D
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Page 592
|
025585,003872: 26,2716 51575 VLOAD ABVAL
025586,003873: 26,2717 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
025587,003874: 26,2720 71301 NORM DLOAD
025588,003875: 26,2721 00027 22D # SHIFT COUNT IN 22D
025589,003876: 26,2722 00027 22D # FIND WHICH SHIFT IS SMALLER
025590,003877: 26,2723 50025 DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
025591,003878: 26,2724 00025 20D
025592,003879: 26,2725 54731 VOK1
025593,003880: 26,2726 52150 LXA,1 GOTO
025594,003881: 26,2727 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
025595,003882: 26,2730 54733 VOK2
025596,003883: 26,2731 77750 VOK1 LXA,1
025597,003884: 26,2732 00024 20D
025598,003885: 26,2733 53775 VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
025599,003886: 26,2734 03525 BVECTOR # WITH THIS SHIFT COUNT
025600,003887: 26,2735 20201 0,1
025601,003888: 26,2736 27525 STOVL BVECTOR
025602,003889: 26,2737 03533 BVECTOR +6
025603,003890: 26,2740 77657 VSL*
025604,003891: 26,2741 20201 0,1
025605,003892: 26,2742 17533 STODL BVECTOR +6
025606,003893: 26,2743 03547 DELTAQ
025607,003894: 26,2744 77657 SL*
025608,003895: 26,2745 20201 0,1
025609,003896: 26,2746 03547 STORE DELTAQ
025610,003897: 26,2747 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
025611,003898: 26,2750 00045 36D
025612,003899: 26,2751 20200 0 -1,1
025613,003900: 26,2752 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
025614,003901: 26,2753 02707 VARIANCE
025615,003902: 26,2754 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025616,003903: 26,2755 21634 TPMODE
025617,003904: 26,2756 36707 STCALL VARIANCE # AND STORE TP VARIANCE
025618,003905: 26,2757 55403 LGCUPDTE
025619,003906:
025620,003907: 26,2760 77624 CALL
025621,003908: 26,2761 11216 GRP2PC
025622,003909: 26,2762 77414 BON EXIT # ARE ANGLES TO BE DONE
025623,003910: 26,2763 04307 SURFFLAG
025624,003911: 26,2764 55200 RENDEND # NO
025625,003912: 26,2765 E7,1457 EBANK= AIG
025626,003913: 26,2765 33334 MXMYMZ CAF AIGBANK
025627,003914: 26,2766 54006 TS BBANK
025628,003915: 26,2767 31457 CA AIG # YES, COMPUTE MX, MY, MZ
025629,003916: 26,2770 54765 TS CDUSPOT
025630,003917: 26,2771 31460 CA AMG
025631,003918: 26,2772 54767 TS CDUSPOT +2
025632,003919: 26,2773 31461 CA AOG
025633,003920: 26,2774 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025634,003921: 26,2775 06042 TC INTPRET
|
|
Page 593
|
025636,003923: 26,2776 45175 VLOAD CALL
025637,003924: 26,2777 06516 UNITX
025638,003925: 26,3000 47671 TRG*NBSM
025639,003926: 26,3001 76505 VXM VSL1
025640,003927: 26,3002 01732 REFSMMAT
025641,003928: 26,3003 27677 STOVL MX
025642,003929: 26,3004 06514 UNITY
025643,003930: 26,3005 77624 CALL
025644,003931: 26,3006 47700 *NBSM*
025645,003932: 26,3007 76505 VXM VSL1
025646,003933: 26,3010 01732 REFSMMAT
025647,003934: 26,3011 27705 STOVL MY
025648,003935: 26,3012 06512 UNITZ
025649,003936: 26,3013 77624 CALL
025650,003937: 26,3014 47700 *NBSM*
025651,003938: 26,3015 76505 VXM VSL1
025652,003939: 26,3016 01732 REFSMMAT
025653,003940: 26,3017 37713 SHAFTBQ STCALL MZ
025654,003941: 26,3020 55363 RADARANG
025655,003942: 26,3021 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025656,003943: 26,3022 01354 WHCHREAD
025657,003944: 26,3023 00003 DEC 3 B-14
025658,003945: 26,3024 03724 ULC
025659,003946: 26,3025 72441 DOT SL1
025660,003947: 26,3026 03677 MX
025661,003948: 26,3027 24023 STOVL SINTH # 18D
025662,003949: 26,3030 03724 ULC
025663,003950: 26,3031 72441 DOT SL1
025664,003951: 26,3032 03713 MZ
025665,003952: 26,3033 34021 STCALL COSTH # 16D
025666,003953: 26,3034 26506 ARCTAN
025667,003954: 26,3035 41221 BDSU DMP
025668,003955: 26,3036 03736 RRSHAFT
025669,003956: 26,3037 15443 2PI/8
025670,003957: 26,3040 41472 SL3R PUSH
025671,003958: 26,3041 52545 DLOAD SL3
025672,003959: 26,3042 01701 X789
025673,003960: 26,3043 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025674,003961: 26,3044 56176 0,2
025675,003962: 26,3045 53605 DMP SRR*
025676,003963: 26,3046 03722 RXZ
025677,003964: 26,3047 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025678,003965: 26,3050 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
025679,003966: 26,3051 03724 ULC
025680,003967: 26,3052 76435 VXV VSL1
025681,003968: 26,3053 03705 MY
025682,003969: 26,3054 77656 UNIT
025683,003970: 26,3055 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025684,003971: 26,3056 00747 VEHUPFLG
025685,003972: 26,3057 55060 +1
|
|
Page 594
|
025687,003974: 26,3060 27525 STOVL BVECTOR
025688,003975: 26,3061 06520 ZEROVECS
025689,003976: 26,3062 03533 STORE BVECTOR +6
025690,003977: 26,3063 17541 STODL BVECTOR +12D
025691,003978: 26,3064 03722 RXZ
025692,003979: 26,3065 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025693,003980: 26,3066 20577 0 -2,1
025694,003981: 26,3067 56176 0,2
025695,003982: 26,3070 03541 STORE BVECTOR +12D
025696,003983: 26,3071 77735 SLOAD
025697,003984: 26,3072 02011 SHAFTVAR
025698,003985: 26,3073 41215 DAD DMP
025699,003986: 26,3074 15440 IMUVAR # RAD**2 B12
025700,003987: 26,3075 03722 RXZ
025701,003988: 26,3076 41257 SRR* DMP
025702,003989: 26,3077 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025703,003990: 26,3100 03722 RXZ
025704,003991: 26,3101 53657 SR* SR*
025705,003992: 26,3102 20577 0 -2,1
025706,003993: 26,3103 57176 0,2
025707,003994: 26,3104 47057 SR* RTB
025708,003995: 26,3105 57176 0,2
025709,003996: 26,3106 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025710,003997: 26,3107 36707 STCALL VARIANCE # B-40
025711,003998: 26,3110 55403 LGCUPDTE
025712,003999:
025713,004000: 26,3111 77624 CALL
025714,004001: 26,3112 11216 GRP2PC
025715,004002: 26,3113 77624 TRUNBQ CALL
025716,004003: 26,3114 55363 RADARANG
025717,004004: 26,3115 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
025718,004005: 26,3116 01354 WHCHREAD
025719,004006: 26,3117 00004 DEC 4 B-14
025720,004007: 26,3120 03724 ULC
025721,004008: 26,3121 76435 VXV VSL1
025722,004009: 26,3122 03705 MY
025723,004010: 26,3123 76435 VXV VSL1 # (ULC X MY) X ULC
025724,004011: 26,3124 03724 ULC
025725,004012: 26,3125 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025726,004013: 26,3126 00747 VEHUPFLG
025727,004014: 26,3127 55130 +1
025728,004015: 26,3130 27525 STOVL BVECTOR
025729,004016: 26,3131 06520 ZEROVECS
025730,004017: 26,3132 03533 STORE BVECTOR +6
025731,004018: 26,3133 17541 STODL BVECTOR +12D
025732,004019: 26,3134 03722 RXZ
025733,004020: 26,3135 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025734,004021: 26,3136 20577 0 -2,1
025735,004022: 26,3137 56176 0,2
025736,004023: 26,3140 03543 STORE BVECTOR +14D
|
|
Page 595
|
025738,004025: 26,3141 77735 SLOAD
025739,004026: 26,3142 02012 TRUNVAR
025740,004027: 26,3143 41215 DAD DMP
025741,004028: 26,3144 15440 IMUVAR
025742,004029: 26,3145 03722 RXZ
025743,004030: 26,3146 41257 SRR* DMP
025744,004031: 26,3147 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025745,004032: 26,3150 03722 RXZ
025746,004033: 26,3151 53657 SR* SR*
025747,004034: 26,3152 20577 0 -2,1
025748,004035: 26,3153 57176 0,2
025749,004036: 26,3154 47057 SR* RTB
025750,004037: 26,3155 57176 0,2
025751,004038: 26,3156 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025752,004039: 26,3157 16707 STODL VARIANCE
025753,004040: 26,3160 03732 SINTHETA
025754,004041: 26,3161 44336 ASIN BDSU # SIN THETA IN PD6
025755,004042: 26,3162 03734 RRTRUN
025756,004043: 26,3163 56405 DMP SL3R
025757,004044: 26,3164 15443 2PI/8
025758,004045: 26,3165 52525 PDDL SL3
025759,004046: 26,3166 01703 X789 +2
025760,004047: 26,3167 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025761,004048: 26,3170 56176 0,2
025762,004049: 26,3171 53605 DMP SRR*
025763,004050: 26,3172 03722 RXZ
025764,004051: 26,3173 21601 0,1
025765,004052: 26,3174 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025766,004053: 26,3175 55403 LGCUPDTE
025767,004054: 26,3176 77624 CALL
025768,004055: 26,3177 11216 GRP2PC
025769,004056: 26,3200 77650 RENDEND GOTO
025770,004057: 26,3201 50644 R22LEM93
025771,004058: # FUNCTIONAL DESCRIPTION
025772,004059:
025773,004060: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025774,004061: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025775,004062: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025776,004063:
025777,004064: # SUBROUTINES CALLED
025778,004065: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025779,004066: # INTEGRV GETULC INCORP2
025780,004067:
025781,004068: # OUTPUT
025782,004069: # CORRECTED CSM STATE VECTOR (PERMANENT)
025783,004070: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025784,004071: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025785,004072: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025786,004073: # UPDATED W-MATRIX
025787,004074:
|
|
Page 596
|
025789,004076: # ERASABLE INITIALIZATION REQUIRED
025790,004077: # LM AND CSM STATE VECTORS
025791,004078: # W-MATRIX
025792,004079: # MARK TIME IN MKTIME
025793,004080: # RADAR RANGE IN RM METERS B-29
025794,004081: # RANGE RATE IN RDOTM METERS/CSEC B-7
025795,004082: # VEHUPFLG
025796,004083:
025797,004084:
025798,004085: 26,3202 77624 LSR22.4 CALL
025799,004086: 26,3203 27410 INTSTALL
025800,004087: 26,3204 43014 SET CLEAR
025801,004088: 26,3205 01472 STATEFLG
025802,004089: 26,3206 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025803,004090: 26,3207 77624 CALL
025804,004091: 26,3210 55244 INTGRCAL
025805,004092: 26,3211 77624 CALL
025806,004093: 26,3212 11216 GRP2PC
025807,004094: 26,3213 45014 CLEAR CALL
025808,004095: 26,3214 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025809,004096: 26,3215 27410 INTSTALL
025810,004097: 26,3216 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025811,004098: 26,3217 03463 MARKCTR
025812,004099: 26,3220 55233 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025813,004100: 26,3221 43014 CLEAR SET
025814,004101: 26,3222 01675 D6OR9FLG
025815,004102: 26,3223 01476 DIM0FLAG
025816,004103: 26,3224 43014 SET CLEAR
025817,004104: 26,3225 01474 VINTFLAG
025818,004105: 26,3226 01673 INTYPFLG
025819,004106: 26,3227 77624 CALL
025820,004107: 26,3230 55244 INTGRCAL
025821,004108: 26,3231 77650 GOTO
025822,004109: 26,3232 54516 RANGEBQ
025823,004110:
025824,004111: 26,3233 77624 INITWMX6 CALL
025825,004112: 26,3234 55253 WLINIT # INITIALIZE W-MATRIX
025826,004113: 26,3235 45014 SET CALL
025827,004114: 26,3236 01474 VINTFLAG
025828,004115: 26,3237 26643 SETIFLGS
025829,004116: 26,3240 77624 CALL
025830,004117: 26,3241 55244 INTGRCAL
025831,004118: 26,3242 77650 GOTO
025832,004119: 26,3243 54516 RANGEBQ
025833,004120:
025834,004121: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025835,004122:
025836,004123: 26,3244 71220 INTGRCAL STQ DLOAD
025837,004124: 26,3245 03675 IGRET
025838,004125: 26,3246 03755 MKTIME
|
|
Page 597
|
025840,004127: 26,3247 34041 STCALL TDEC1
025841,004128: 26,3250 27133 INTEGRV
025842,004129: 26,3251 77650 GOTO
025843,004130: 26,3252 03675 IGRET
025844,004131:
025845,004132: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025846,004133: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025847,004134:
025848,004135: 26,3253 E5,1400 EBANK= W
025849,004136: 26,3253 77776 WLINIT EXIT
025850,004137: 26,3254 33333 CAF WBANK
025851,004138: 26,3255 54006 TS BBANK
025852,004139: 26,3256 33441 CAF WSIZE
025853,004140: 26,3257 55256 TS W.IND
025854,004141: 26,3260 34755 CAF ZERO
025855,004142: 26,3261 51256 INDEX W.IND
025856,004143: 26,3262 55400 TS W
025857,004144: 26,3263 11256 CCS W.IND
025858,004145: 26,3264 03257 TC -5
025859,004146: 26,3265 33334 CAF AIGBANK # RESTORE EBANK 7
025860,004147: 26,3266 54006 TS BBANK
025861,004148: 26,3267 06042 TC INTPRET
025862,004149: 26,3270 67214 BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
025863,004150: 26,3271 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025864,004151: 26,3272 55276 WLSRFPOS # WRENDPOS AND WRENDVEL
025865,004152: 26,3273 02001 WRENDPOS
025866,004153: 26,3274 77650 GOTO
025867,004154: 26,3275 55300 WPOSTORE
025868,004155: 26,3276 77735 WLSRFPOS SLOAD
025869,004156: 26,3277 02007 WSURFPOS
025870,004157: 26,3300 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025871,004158: 26,3301 20606 5
025872,004159: 26,3302 02401 STORE W
025873,004160: 26,3303 02411 STORE W +8D
025874,004161: 26,3304 02421 STORE W +16D
025875,004162: 26,3305 67214 BON SLOAD
025876,004163: 26,3306 04307 SURFFLAG
025877,004164: 26,3307 55313 WLSRFVEL
025878,004165: 26,3310 02002 WRENDVEL
025879,004166: 26,3311 77650 GOTO
025880,004167: 26,3312 55315 WVELSTOR
025881,004168: 26,3313 77735 WLSRFVEL SLOAD
025882,004169: 26,3314 02010 WSURFVEL
025883,004170: 26,3315 02511 WVELSTOR STORE W +72D
025884,004171: 26,3316 02521 STORE W +80D
025885,004172: 26,3317 02531 STORE W +88D
025886,004173: 26,3320 77735 SLOAD
025887,004174: 26,3321 02003 WSHAFT
025888,004175: 26,3322 02621 STORE W +144D
025889,004176: 26,3323 77735 SLOAD
|
|
Page 598
|
025891,004178: 26,3324 02004 WTRUN
025892,004179: 26,3325 02631 STORE W +152D
025893,004180: 26,3326 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025894,004181: 26,3327 02476 RENDWFLG
025895,004182: 26,3330 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025896,004183: 26,3331 00000 0
025897,004184: 26,3332 77616 RVQ
025898,004185:
025899,004186: 26,3333 E5,1400 EBANK= W
025900,004187: 26,3333 54065 WBANK BBCON WLINIT
025901,004188: 26,3334 E7,1457 EBANK= AIG
025902,004189: 26,3334 54067 AIGBANK BBCON LSR22.3
025903,004190:
025904,004191: # GETULC
025905,004192:
025906,004193: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025907,004194: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025908,004195: # MAGNITUDE IN 36D.
025909,004196:
025910,004197: 26,3335 77201 GETULC SETPD VLOAD
025911,004198: 26,3336 00001 0
025912,004199: 26,3337 01645 DELTALEM
025913,004200: 26,3340 77754 LXA,2
025914,004201: 26,3341 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025915,004202: 26,3342 53257 VSR* VAD
025916,004203: 26,3343 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025917,004204: 26,3344 01661 RCVLEM
025918,004205: 26,3345 53715 PDVL VSR*
025919,004206: 26,3346 01573 DELTACSM
025920,004207: 26,3347 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025921,004208: 26,3350 52255 VAD VSU
025922,004209: 26,3351 01607 RCVCSM
025923,004210: 26,3352 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025924,004211: 26,3353 21725 NORMUNX1
025925,004212: 26,3354 17724 STODL ULC
025926,004213: 26,3355 00045 36D
025927,004214: 26,3356 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025928,004215: 26,3357 20201 0,1
025929,004216: 26,3360 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025930,004217: 26,3361 03724 ULC
025931,004218: 26,3362 77616 RVQ
025932,004219: # RADARANG
025933,004220:
025934,004221: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025935,004222: # RXZ = (SQRT (1-SINTHETA**2))RLC
025936,004223: # OUTPUT
025937,004224: # ULC IN ULC, PD0
025938,004225: # RLC IN PD36D
025939,004226: # SIN THETA IN SINTHETA AND PD6
025940,004227: # RXZ NORM IN RXZ (N IN X1)
|
|
Page 599
|
025942,004229: 26,3363 45020 RADARANG STQ CALL
025943,004230: 26,3364 03675 RDRET
025944,004231: 26,3365 55335 GETULC
025945,004232: 26,3366 50276 VCOMP DOT
025946,004233: 26,3367 03705 MY
025947,004234: 26,3370 41572 SL1R PUSH # SIN THETA TO PD6
025948,004235: 26,3371 03732 STORE SINTHETA
025949,004236: 26,3372 44316 DSQ BDSU
025950,004237: 26,3373 06510 DP1/4TH # 1 - (SIN THETA)**2
025951,004238: 26,3374 41366 SQRT DMP
025952,004239: 26,3375 00045 36D
025953,004240: 26,3376 60352 SL1 NORM
025954,004241: 26,3377 00047 X1 # SET SHIFT COUNTER IN X1
025955,004242: 26,3400 03722 STORE RXZ
025956,004243: 26,3401 77650 GOTO # EXIT
025957,004244: 26,3402 03675 RDRET
025958,004245: 26,3403 45020 LGCUPDTE STQ CALL
025959,004246: 26,3404 03675 LGRET
025960,004247: 26,3405 46527 INCORP1
025961,004248: 26,3406 51575 VLOAD ABVAL
025962,004249: 26,3407 02673 DELTAX +6
025963,004250: 26,3410 53754 LXA,2 SRR*
025964,004251: 26,3411 03720 SCALSHFT # 0-MOON. 2-EARTH
025965,004252: 26,3412 56174 2,2 # SET VEL DISPLAY TO B-7
025966,004253: 26,3413 24317 STOVL R22DISP +2
025967,004254: 26,3414 02665 DELTAX
025968,004255: 26,3415 53646 ABVAL SRR*
025969,004256: 26,3416 56174 2,2 # SET POS DISPLAY TO B-29
025970,004257: 26,3417 00315 STORE R22DISP
025971,004258: 26,3420 54335 SLOAD SR
025972,004259: 26,3421 02005 RMAX
025973,004260: 26,3422 20613 10D
025974,004261: 26,3423 50025 DSU BMN
025975,004262: 26,3424 00315 R22DISP
025976,004263: 26,3425 50650 R22LEM96 # GO DISPLAY
025977,004264: 26,3426 45335 SLOAD DSU
025978,004265: 26,3427 02006 VMAX
025979,004266: 26,3430 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025980,004267: 26,3431 77640 BMN
025981,004268: 26,3432 50650 R22LEM96 # GO DISPLAY
025982,004269: 26,3433 77624 ASTOK CALL
025983,004270: 26,3434 46741 INCORP2
025984,004271: 26,3435 77650 GOTO
025985,004272: 26,3436 03675 LGRET
025986,004273: 26,3437 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
025987,004274:
025988,004275: 26,3441 00241 WSIZE DEC 161 B-14
025989,004276: 26,3442 31103 36652 2PI/8 2DEC 3.141592653 B-2
025990,004277:
025991,004278: 26,3444 E7,1456 EBANK= LOSCOUNT
025992,004279:
|
|
Page 600
|
025994,004281: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025995,004282: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025996,004283:
025997,004284:
025998,004285: # FUNCTIONAL DESCRIPTION
025999,004286:
026000,004287: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
026001,004288: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
026002,004289: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
026003,004290: # ATTITUDE MANEUVER.
026004,004291:
026005,004292:
026006,004293: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
026007,004294:
026008,004295:
026009,004296: # SUBROUTINES CALLED
026010,004297:
026011,004298: # LEMCONIC R61LEM
026012,004299: # CSMCONIC RRDESSM
026013,004300: # JOBDELAY FLAGDOWN
026014,004301: # WAITLIST FLAGUP
026015,004302: # RRNB BANKCALL
026016,004303:
026017,004304:
026018,004305: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
026019,004306:
026020,004307:
026021,004308: # OUTPUT
026022,004309:
026023,004310: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
026024,004311: # 11111 INDICATES LOCKON ACHIEVED
026025,004312: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
026026,004313:
026027,004314: # ERASABLE INITIALIZATION REQUIRED
026028,004315: # SEARCH FLAG MUST BE SET
026029,004316: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
026030,004317: # DEBRIS
026031,004318:
026032,004319: # RLMSRCH UXVECT
026033,004320: # VXRLM UYVECT
026034,004321: # LOSDESRD NSRCHPNT
026035,004322: # DATAGOOD OMEGAD
026036,004323: # MPAC PUSHLIST
026037,004324:
026038,004325:
026039,004326: 26,3444 COUNT* $$/LRS24
026040,004327: 26,3444 34755 LRS24.1 CAF ZERO
026041,004328: 26,3445 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
026042,004329: 26,3446 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
026043,004330: 26,3447 00006 EXTEND
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|
Page 601
|
026045,004332: 26,3450 05012 WOR CHAN12
026046,004333: 26,3451 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
026047,004334: 26,3452 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
026048,004335: 26,3453 00006 EXTEND
026049,004336: 26,3454 15155 BZF ENDOFJOB # NO-TERMINATE JOB
026050,004337:
026051,004338:
026052,004339: 26,3455 33715 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
026053,004340: 26,3456 00004 INHINT
026054,004341: 26,3457 05214 TC WAITLIST # IN 6 SECONDS
026055,004342: 26,3460 E7,1456 EBANK= LOSCOUNT
026056,004343: 26,3460 03645 54067 2CADR CALLDGCH
026057,004344:
026058,004345: 26,3462 00003 RELINT
026059,004346: 26,3463 40110 CS RADMODES # IS REMODE IN PROGRESS
026060,004347: 26,3464 74736 MASK REMODBIT
026061,004348: 26,3465 00006 EXTEND
026062,004349: 26,3466 15155 BZF ENDOFJOB # YES- WAIT SIX SECONDS
026063,004350: 26,3467 06042 TC INTPRET
026064,004351:
026065,004352: 26,3470 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
026066,004353: 26,3471 21574 LOADTIME
026067,004354: 26,3472 15717 1.5SECS
026068,004355: 26,3473 34041 LRS24.11 STCALL TDEC1
026069,004356: 26,3474 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
026070,004357: 26,3475 77775 VLOAD
026071,004358: 26,3476 00001 RATT
026072,004359: 26,3477 27676 STOVL RLMSRCH # SAVE LEM POSITION
026073,004360: 26,3500 00007 VATT
026074,004361: 26,3501 17740 STODL SAVLEMV # SAVE LEM VELOCITY
026075,004362: 26,3502 00015 TAT
026076,004363: 26,3503 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
026077,004364: 26,3504 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
026078,004365: 26,3505 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
026079,004366: 26,3506 00001 RATT
026080,004367: 26,3507 03676 RLMSRCH
026081,004368: 26,3510 77656 UNIT
026082,004369: 26,3511 27712 STOVL LOSDESRD # STORE DESIRED LOS
026083,004370: 26,3512 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
026084,004371: 26,3513 47256 UNIT VXV
026085,004372: 26,3514 00001 RATT
026086,004373: 26,3515 77656 UNIT
026087,004374: 26,3516 03704 STORE VXRCM
026088,004375: 26,3517 52375 VLOAD VSU
026089,004376: 26,3520 00007 VATT
026090,004377: 26,3521 03740 SAVLEMV
026091,004378: 26,3522 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
026092,004379: 26,3523 01732 REFSMMAT
026093,004380: 26,3524 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
026094,004381: 26,3525 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 602
|
026096,004383: 26,3526 03737 NSRCHPNT
026097,004384: 26,3527 55640 DESGLOS # YES-DESIGNATE ALONG LOS
026098,004385: 26,3530 53025 DSU BZE # IS N=1
026099,004386: 26,3531 15713 ONEOCT # YES-CALCULATE X AND Y AXES OF
026100,004387: 26,3532 55625 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
026101,004388: 26,3533 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
026102,004389: 26,3534 03720 UXVECT
026103,004390: 26,3535 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
026104,004391: 26,3536 03726 UYVECT # UXPRIME = ORIGINAL UX
026105,004392: 26,3537 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
026106,004393: 26,3540 77761 VXSC
026107,004394: 26,3541 15707 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
026108,004395: 26,3542 27720 STOVL UXVECT
026109,004396: 26,3543 00015 UXVECTPR
026110,004397: 26,3544 53361 VXSC VAD
026111,004398: 26,3545 06516 COS60DEG
026112,004399: 26,3546 03720 UXVECT
026113,004400: 26,3547 77656 UNIT
026114,004401: 26,3550 27720 STOVL UXVECT
026115,004402: 26,3551 00015 UXVECTPR # UY=(-SIN60)UXPR +(COS 60)UYPR
026116,004403: 26,3552 77761 VXSC
026117,004404: 26,3553 15707 SIN60DEG
026118,004405: 26,3554 27726 STOVL UYVECT
026119,004406: 26,3555 00023 UYVECTPR
026120,004407: 26,3556 52361 VXSC VSU
026121,004408: 26,3557 06516 COS60DEG
026122,004409: 26,3560 03726 UYVECT
026123,004410: 26,3561 77656 UNIT
026124,004411: 26,3562 03726 STORE UYVECT
026125,004412: 26,3563 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
026126,004413: 26,3564 15711 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
026127,004414: 26,3565 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
026128,004415: 26,3566 64256 UNIT MXV
026129,004416: 26,3567 01732 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
026130,004417: 26,3570 77772 VSL1
026131,004418: 26,3571 25101 CONTDESG STOVL RRTARGET
026132,004419: 26,3572 03740 SAVLEMV
026133,004420: 26,3573 01757 STORE LOSVEL
026134,004421: 26,3574 77776 EXIT
026135,004422: 26,3575 00004 INHINT
026136,004423: 26,3576 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
026137,004424: 26,3577 52613 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
026138,004425: # POINT IN THE PATTERN
026139,004426: 26,3600 44735 CONTDES2 CS CDESBIT
026140,004427: 26,3601 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
026141,004428: 26,3602 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
026142,004429: 26,3603 54110 TS RADMODES
026143,004430: 26,3604 06042 TC INTPRET
026144,004431:
026145,004432: 26,3605 77624 CALL
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|
Page 603
|
026147,004434: 26,3606 52404 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
026148,004435:
026149,004436: 26,3607 77776 EXIT
026150,004437: 26,3610 03677 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
026151,004438: 26,3611 03677 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
026152,004439:
026153,004440:
026154,004441: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
026155,004442: # SPACECRAFT +Z AXIS
026156,004443: 26,3612 00006 OMEGCALC EXTEND
026157,004444: 26,3613 30036 DCA CDUT
026158,004445: 26,3614 53753 DXCH TANGNB
026159,004446: 26,3615 06042 TC INTPRET
026160,004447: 26,3616 77624 CALL
026161,004448: 26,3617 46041 RRNB
026162,004449: 26,3620 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026163,004450: 26,3621 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026164,004451: 26,3622 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
026165,004452: 26,3623 77776 EXIT
026166,004453: 26,3624 05155 TC ENDOFJOB
026167,004454:
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|
Page 604
|
026169,004456: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026170,004457:
026171,004458:
026172,004459: 26,3625 47375 CALCXY VLOAD VXV
026173,004460: 26,3626 03704 VXRCM
026174,004461: 26,3627 03712 LOSDESRD
026175,004462: 26,3630 77656 UNIT
026176,004463: 26,3631 27720 STOVL UXVECT # UX = (VLM X RLM)X LOS
026177,004464: 26,3632 03712 LOSDESRD
026178,004465: 26,3633 53435 VXV UNIT
026179,004466: 26,3634 03720 UXVECT
026180,004467: 26,3635 03726 STORE UYVECT # UY = LOS X UX
026181,004468: 26,3636 77650 GOTO
026182,004469: 26,3637 55563 OFFCALC
026183,004470:
026184,004471:
026185,004472: 26,3640 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
026186,004473: 26,3641 03712 LOSDESRD
026187,004474: 26,3642 01732 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
026188,004475: 26,3643 52172 VSL1 GOTO
026189,004476: 26,3644 55571 CONTDESG
026190,004477:
026191,004478:
026192,004479: 26,3645 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
026193,004480: 26,3646 74745 MASK RNDVZBIT
026194,004481: 26,3647 00006 EXTEND
026195,004482: 26,3650 15272 BZF TASKOVER # NO-EXIT R24
026196,004483: 26,3651 37716 CAF PRIO25 # YES -SCHEDULE JOB TO DRIVE RADAR TO NEXT
026197,004484: 26,3652 05105 TC FINDVAC # POINT IN SEARCH PATTERN
026198,004485: 26,3653 E7,1675 EBANK= RLMSRCH
026199,004486: 26,3653 03656 54067 2CADR DATGDCHK
026200,004487:
026201,004488: 26,3655 05272 TC TASKOVER
026202,004489:
026203,004490:
026204,004491: 26,3656 34750 DATGDCHK CAF BIT4
026205,004492: 26,3657 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
026206,004493: 26,3660 02033 RAND CHAN33
026207,004494: 26,3661 00006 EXTEND
026208,004495: 26,3662 13671 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
026209,004496: 26,3663 46245 CS SIX
026210,004497: 26,3664 61736 AD NSRCHPNT # IS N GREATER THAN 6
026211,004498: 26,3665 00006 EXTEND
026212,004499: 26,3666 13444 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
026213,004500: 26,3667 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
026214,004501: 26,3670 13446 TCF CHKSRCH # NEXT POINT IN PATTERN
026215,004502:
026216,004503:
026217,004504: 26,3671 33705 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
026218,004505: 26,3672 55733 TS DATAGOOD
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Page 605
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026220,004507: 26,3673 00004 INHINT
026221,004508: 26,3674 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
026222,004509: 26,3675 52613 CADR DESLOOP +2 # WAITLIST USING KILLTASK
026223,004510: 26,3676 05155 TC ENDOFJOB
026224,004511:
026225,004512: 26,3677 05600 LIMALARM TC ALARM # ISSUE ALARM 527-LOS NOT IN MODE2
026226,004513: 26,3700 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
026227,004514: 26,3701 00004 INHINT # REQUIRED IN P20
026228,004515: 26,3702 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
026229,004516: 26,3703 55645 CADR CALLDGCH # POINT IN SEARCH PATTERN
026230,004517: 26,3704 05155 TC ENDOFJOB
026231,004518:
026232,004519:
026233,004520: 26,3705 25547 ALL1S DEC 11111 B-14
026234,004521: 26,3706 33555 01106 SIN60DEG 2DEC .86603
026235,004522:
026236,004523: 26,3710 23,2515 COS60DEG = DPHALF # (2DEC .50)
026237,004524: 26,3710 UXVECTPR EQUALS 12D # PREVIOUS
026238,004525: 26,3710 UYVECTPR EQUALS 18D
026239,004526: 26,3710 RLMUNIT EQUALS 12D
026240,004527: 26,3710 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
026241,004528:
026242,004529: 26,3712 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
026243,004530: 26,3713 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
026244,004531:
026245,004532: # **** ONEOCT NEEDS A LOWER ORDER ****
026246,004533: # **** WORD OF ZEROES ****
026247,004534: 26,3715 01130 6SECONDS DEC 600 B-14
026248,004535: 26,3716 00000 00226 1.5SECS 2DEC 150 B-28
026249,004536:
026250,004537: 26,3720 23,2517 ZERO/SP EQUALS HI6ZEROS
026251,004538: 4616 BLOCK 02
026252,004539: 6000 SETLOC FFTAG5
026253,004540: 6000 BANK
026254,004541: 6025 COUNT* $$/P20
026255,004542: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
026256,004543: 6026 36031 DCA VB56CADR # GOTOPOOH
026257,004544: 6027 15176 TCF SUPDXCHZ
026258,004545: 6030 E7,1471 EBANK= WHOCARES
026259,004546: 6030 03047 66107 VB56CADR 2CADR TRMTRACK
026260,004547:
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|
Page 606
|
026262,004549: # W-MATRIX MONITOR
026263,004550:
026264,004551: 31,2007 BANK 31
026265,004552: 31,2000 SETLOC VB67
026266,004553: 31,2000 BANK
026267,004554: 31,2007 COUNT* $$/EXTVB
026268,004555:
026269,004556: 31,2007 E4,1600 EBANK= WWPOS
026270,004557:
026271,004558: 31,2007 06042 V67CALL TC INTPRET
026272,004559: 31,2010 77624 CALL
026273,004560: 31,2011 62120 V67WW
026274,004561: 31,2012 77776 EXIT
026275,004562: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026276,004563: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026277,004564: 31,2015 53607 DXCH WWBIAS +2
026278,004565: 31,2016 00006 EXTEND
026279,004566: 31,2017 31603 DCA WWVEL
026280,004567: 31,2020 53611 DXCH WWBIAS +4
026281,004568: 31,2021 00006 EXTEND
026282,004569: 31,2022 31605 DCA WWBIAS
026283,004570: 31,2023 53613 DXCH WWBIAS +6
026284,004571: 31,2024 32143 V06N99DS CAF V06N99
026285,004572: 31,2025 04616 TC BANKCALL
026286,004573: 31,2026 20334 CADR GOXDSPF
026287,004574: 31,2027 15503 TCF ENDEXT
026288,004575: 31,2030 12032 TCF V6N99PRO
026289,004576: 31,2031 12024 TCF V06N99DS
026290,004577: 31,2032 22007 V6N99PRO ZL
026291,004578: 31,2033 34756 CA FIVE
026292,004579: 31,2034 54002 N99LOOP TS Q
026293,004580: 31,2035 50002 INDEX Q
026294,004581: 31,2036 41600 CS WWPOS
026295,004582: 31,2037 50002 INDEX Q
026296,004583: 31,2040 61606 AD WWPOS +6
026297,004584: 31,2041 26001 ADS L
026298,004585: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026299,004586: 31,2043 12034 TCF N99LOOP
026300,004587: 31,2044 22000 LXCH A
026301,004588: 31,2045 00006 EXTEND
026302,004589: 31,2046 12051 BZF V06N9933
026303,004590: 31,2047 05515 TC UPFLAG
026304,004591: 31,2050 00160 ADRES V67FLAG
026305,004592:
026306,004593: 31,2051 06042 V06N9933 TC INTPRET
026307,004594: 31,2052 77414 BON EXIT
026308,004595: 31,2053 03707 V67FLAG
026309,004596: 31,2054 62056 +2
026310,004597: 31,2055 15503 TCF ENDEXT
026311,004598: 31,2056 77745 DLOAD
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|
Page 607
|
026313,004600: 31,2057 02201 WWPOS
026314,004601: 31,2060 72412 SL4 SL1
026315,004602: 31,2061 14001 STODL 0D
026316,004603: 31,2062 02203 WWVEL
026317,004604: 31,2063 14003 STODL 2D
026318,004605: 31,2064 02205 WWBIAS
026319,004606: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026320,004607: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026321,004608: 31,2067 00005 STORE 4D
026322,004609: 31,2070 72014 BON LXA,1
026323,004610: 31,2071 04307 SURFFLAG
026324,004611: 31,2072 62102 V67SURF
026325,004612: 31,2073 00000 0D
026326,004613: 31,2074 72130 SXA,1 LXA,1
026327,004614: 31,2075 02000 WRENDPOS
026328,004615: 31,2076 00002 2D
026329,004616: 31,2077 52130 SXA,1 GOTO
026330,004617: 31,2100 02001 WRENDVEL
026331,004618: 31,2101 62110 V67CLRF
026332,004619: 31,2102 66150 V67SURF LXA,1 SXA,1
026333,004620: 31,2103 00000 0D
026334,004621: 31,2104 02006 WSURFPOS
026335,004622: 31,2105 66150 LXA,1 SXA,1
026336,004623: 31,2106 00002 2D
026337,004624: 31,2107 02007 WSURFVEL
026338,004625: 31,2110 66150 V67CLRF LXA,1 SXA,1
026339,004626: 31,2111 00004 4D
026340,004627: 31,2112 02003 WTRUN
026341,004628: 31,2113 77730 SXA,1
026342,004629: 31,2114 02002 WSHAFT
026343,004630: 31,2115 77414 CLEAR EXIT
026344,004631: 31,2116 02676 RENDWFLG
026345,004632: 31,2117 15503 TCF ENDEXT
026346,004633: 31,2120 40020 V67WW STQ BOV
026347,004634: 31,2121 00051 S2
026348,004635: 31,2122 62123 +1
026349,004636: 31,2123 45014 CLEAR CALL
026350,004637: 31,2124 03667 V67FLAG
026351,004638: 31,2125 27410 INTSTALL
026352,004639: 31,2126 71331 SSP DLOAD
026353,004640: 31,2127 00051 S1
026354,004641: 31,2130 00006 DEC 6 B-14
026355,004642: 31,2131 06520 ZEROVECS
026356,004643: 31,2132 02201 STORE WWPOS
026357,004644: 31,2133 02203 STORE WWVEL
026358,004645: 31,2134 02205 STORE WWBIAS
026359,004646: 31,2135 77770 AXT,1
026360,004647: 31,2136 00066 DEC 54 B-14
026361,004648: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026362,004649: 31,2140 02467 W +54D,1
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|
Page 608
|
026364,004651: 31,2141 77650 GOTO
026365,004652: 31,2142 60002 ADDPOS
026366,004653: 31,2143 01543 V06N99 VN 0699
026367,004654:
026368,004655: 30,2000 SETLOC VB67A
026369,004656: 30,2000 BANK
026370,004657: 30,2002 COUNT* $$/EXTVB
026371,004658:
026372,004659: 30,2002 77615 ADDPOS DAD
026373,004660: 30,2003 02201 WWPOS
026374,004661: 30,2004 02201 STORE WWPOS
026375,004662: 30,2005 47573 VLOAD* VSQ
026376,004663: 30,2006 02555 W +108D,1
026377,004664: 30,2007 77615 DAD
026378,004665: 30,2010 02203 WWVEL
026379,004666: 30,2011 02203 STORE WWVEL
026380,004667: 30,2012 47573 VLOAD* VSQ
026381,004668: 30,2013 02643 W +162D,1
026382,004669: 30,2014 77615 DAD
026383,004670: 30,2015 02205 WWBIAS
026384,004671: 30,2016 02205 STORE WWBIAS
026385,004672: 30,2017 75500 TIX,1 SQRT
026386,004673: 30,2020 62137 NXPOSVEL
026387,004674: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026388,004675: 30,2022 20613 10D # NOUN SCALING (B-5)
026389,004676: 30,2023 16205 STODL WWBIAS
026390,004677: 30,2024 02203 WWVEL
026391,004678: 30,2025 77766 SQRT
026392,004679: 30,2026 16203 STODL WWVEL
026393,004680: 30,2027 02201 WWPOS
026394,004681: 30,2030 77766 SQRT
026395,004682: 30,2031 02201 STORE WWPOS
026396,004683: 30,2032 52000 BOV GOTO
026397,004684: 30,2033 60035 +2
026398,004685: 30,2034 60042 V67XXX
026399,004686: 30,2035 77745 DLOAD
026400,004687: 30,2036 06526 DPPOSMAX
026401,004688: 30,2037 02201 STORE WWPOS
026402,004689: 30,2040 02203 STORE WWVEL
026403,004690: 30,2041 02205 STORE WWBIAS
026404,004691: 30,2042 45345 V67XXX DLOAD DSU
026405,004692: 30,2043 02201 WWPOS
026406,004693: 30,2044 20060 FT99999
026407,004694: 30,2045 71240 BMN DLOAD
026408,004695: 30,2046 60051 +3
026409,004696: 30,2047 20060 FT99999
026410,004697: 30,2050 02201 STORE WWPOS
026411,004698: 30,2051 66150 LXA,1 SXA,1
026412,004699: 30,2052 00051 S2
026413,004700: 30,2053 00052 QPRET
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Page 609
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026415,004702: 30,2054 77776 EXIT
026416,004703: 30,2055 04635 TC POSTJUMP
026417,004704: 30,2056 27421 CADR INTWAKE
026418,004705:
026419,004706: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026420,004707:
|
|
Page 610
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026422,004709: 25,3654 BANK 25
026423,004710: 25,2000 SETLOC RADARUPT
026424,004711: 25,2000 BANK
026425,004712: 25,3654 COUNT* $$/RRUPT
026426,004713:
026427,004714: 25,3654 E7,1456 EBANK= LOSCOUNT
026428,004715:
026429,004716: 25,3654 44747 RADLITES CS BIT5
026430,004717: 25,3655 60061 AD ITEMP1
026431,004718: 25,3656 10000 CCS A
026432,004719: 25,3657 44753 CS ONE
026433,004720: 25,3660 13710 TCF VLIGHT
026434,004721:
026435,004722: 25,3661 14570 TCF RRTRKF
026436,004723:
026437,004724: 25,3662 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026438,004725:
026439,004726: 25,3663 34747 CA HLITE
026440,004727: 25,3664 54001 TS L
026441,004728:
026442,004729: 25,3665 34747 CA LRALTBIT
026443,004730: 25,3666 70110 BOTHLITS MASK RADMODES
026444,004731: 25,3667 10000 CCS A
026445,004732: 25,3670 13702 TCF ONLITES
026446,004733:
026447,004734: 25,3671 30107 CA FLGWRD11
026448,004735: 25,3672 50065 INDEX ITEMP5
026449,004736: 25,3673 74753 MASK HFLSHBIT
026450,004737: 25,3674 10000 CCS A
026451,004738: 25,3675 14570 TCF RRTRKF
026452,004739:
026453,004740: 25,3676 00006 LITIT EXTEND
026454,004741: 25,3677 22066 QXCH ITEMP6
026455,004742: 25,3700 04602 TC TRKFLON +1
026456,004743:
026457,004744: 25,3701 00066 TC ITEMP6
026458,004745:
026459,004746: 25,3702 50065 ONLITES INDEX ITEMP5
026460,004747: 25,3703 44753 CS HFLSHBIT
026461,004748: 25,3704 70107 MASK FLGWRD11
026462,004749: 25,3705 54107 TS FLGWRD11
026463,004750:
026464,004751: 25,3706 30001 CA L
026465,004752: 25,3707 13676 TCF LITIT
026466,004753: 25,3710 54065 VLIGHT TS ITEMP5
026467,004754: 25,3711 34751 CA VLITE
026468,004755: 25,3712 54001 TS L
026469,004756: 25,3713 34744 CA BIT8
026470,004757: 25,3714 13666 TCF BOTHLITS
026471,004758:
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Page 611
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026473,004760: 25,3715 4747 HLITE EQUALS BIT5
026474,004761: 25,3715 4751 VLITE EQUALS BIT3
End of include-file P20-P25.agc. Parent file is MAIN.agc