Source Code
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These source-code files are part of a reconstructed copy of Luminary 173, the
second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 178. Changes
between revision 173 and 178 were backed out, as described by Luminary memo 167
(revision 1). 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 173 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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021710,000002: ## Copyright: Public domain.
021711,000003: ## Filename: P20-P25.agc
021712,000004: ## Purpose: A section of Luminary revision 173.
021713,000005: ## It is part of the reconstructed source code for the second
021714,000006: ## (unflown) release of the flight software for the Lunar
021715,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
021716,000008: ## The code has been recreated from a reconstructed copy of
021717,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
021718,000010: ## It has been adapted such that the resulting bugger words
021719,000011: ## exactly match those specified for Luminary 173 in NASA
021720,000012: ## drawing 2021152N, which gives relatively high confidence
021721,000013: ## that the reconstruction is correct.
021722,000014: ## Reference: pp. 500-611
021723,000015: ## Assembler: yaYUL
021724,000016: ## Contact: Ron Burkey <info@sandroid.org>.
021725,000017: ## Website: www.ibiblio.org/apollo/index.html
021726,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
021727,000019:
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021729,000021: # RENDEZVOUS NAVIGATION PROGRAM 20
021730,000022: # PROGRAM DESCRIPTION
021731,000023: # MOD NO - 2
021732,000024: # BY P. VOLANTE
021733,000025: # FUNCTIONAL DESCRIPTION
021734,000026:
021735,000027: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021736,000028: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021737,000029: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021738,000030: # ON THE BASIS OF THE RR TRACKING DATA.
021739,000031: # CALLING SEQUENCE -
021740,000032:
021741,000033: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021742,000034: # SUBROUTINES CALLED
021743,000035: # R02BOTH (IMU STATUS CHECK) FLAGUP
021744,000036: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021745,000037: # R23LEM (MANUAL ACQUISITION) BANKCALL
021746,000038: # LS201 (LOS DETERMINATION) TASKOVER
021747,000039: # LS202 (RANGE LIMIT TEST)
021748,000040: # R61LEM (PREFERRED TRACKING ATTITUDE)
021749,000041: # R21LEM (RR DESIGNATE) ENDOFJOB
021750,000042: # R22LEM (DATA READ) GOPERF1
021751,000043: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021752,000044: # PRIOLARM (PRIORITY DISPLAY)
021753,000045: # NORMAL EXIT MODES-
021754,000046: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
021755,000047: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021756,000048: # ALARM OR ABORT EXIT MODES-
021757,000049: # RANGE GREATER THAN 400 NM DISPLAY
021758,000050: # OUTPUT
021759,000051: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021760,000052: # ERASABLE INITIALIZATION REQUIRED
021761,000053: # FLAGS SET + RESET
021762,000054: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
021763,000055: # DEBRIS
021764,000056: # CENTRALS-A,Q,L
021765,000057: 25,2053 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021766,000058:
021767,000059: 33,2117 BANK 33
021768,000060: 24,2000 SETLOC P20S
021769,000061: 24,2000 BANK
021770,000062:
021771,000063: 24,2000 E7,1456 EBANK= LOSCOUNT
021772,000064: 24,2000 COUNT* $$/P20
021773,000065: 24,2000 24,2000 PROG22 = PROG20
021774,000066: 24,2000 05340 PROG20 TC 2PHSCHNG
021775,000067: 24,2001 00004 OCT 4
021776,000068: 24,2002 05022 OCT 05022
021777,000069: 24,2003 26000 OCT 26000 # PRIORITY 26
021778,000070: 24,2004 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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021780,000072: 24,2005 02007 TC ORBCHGO # YES
021781,000073: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021782,000074: 24,2007 05515 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021783,000075: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021784,000076: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021785,000077: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
021786,000078: 24,2013 34363 CAF OCT00012
021787,000079: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021788,000080: 24,2015 20634 CADR GOPERF4
021789,000081: 24,2016 06001 TC GOTOPOOH # TERMINATE
021790,000082: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021791,000083: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021792,000084: 24,2021 44753 ORBCHG1 CS ONE
021793,000085: 24,2022 61144 AD OPTION2
021794,000086: 24,2023 00006 EXTEND
021795,000087: 24,2024 12040 BZF PROG20A
021796,000088: 24,2025 32367 CAF V06N33*
021797,000089: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021798,000090: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
021799,000091: 24,2030 06001 TC GOTOPOOH # TERMINATE
021800,000092: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021801,000093: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021802,000094: 24,2033 06042 ORBCHG2 TC INTPRET
021803,000095: 24,2034 77650 GOTO
021804,000096: 24,2035 64217 ORBCHG3
021805,000097: 32,2217 BANK 32
021806,000098: 32,2000 SETLOC P20S4
021807,000099: 32,2000 BANK
021808,000100: 32,2217 COUNT* $$/P20
021809,000101:
021810,000102: 32,2217 77624 ORBCHG3 CALL
021811,000103: 32,2220 27410 INTSTALL
021812,000104: 32,2221 77745 DLOAD
021813,000105: 32,2222 03442 TIG
021814,000106: 32,2223 03661 STORE LNCHTM
021815,000107: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021816,000108: 32,2225 43014 CLEAR CLEAR
021817,000109: 32,2226 01674 VINTFLAG # LM INTEGRATION
021818,000110: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021819,000111: 32,2230 43014 CLEAR CLEAR
021820,000112: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021821,000113: 32,2232 01675 D6OR9FLG
021822,000114: 32,2233 77624 CALL
021823,000115: 32,2234 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION
021824,000116: 32,2235 77624 CALL
021825,000117: 32,2236 11216 GRP2PC
021826,000118: 32,2237 77775 VLOAD
021827,000119: 32,2240 00017 RATT1
021828,000120: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021829,000121: 32,2242 00015 TAT
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021831,000123: 32,2243 34041 STCALL TDEC1
021832,000124: 32,2244 27410 INTSTALL
021833,000125: 32,2245 43014 SET CLEAR
021834,000126: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021835,000127: 32,2247 01673 INTYPFLG
021836,000128: 32,2250 43014 CLEAR BOFF
021837,000129: 32,2251 01676 DIM0FLAG
021838,000130: 32,2252 02756 RENDWFLG # W MATRIX VALID
021839,000131: 32,2253 64257 NOWMATX # NO
021840,000132: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021841,000133: 32,2255 01476 DIM0FLAG
021842,000134: 32,2256 01475 D6OR9FLG
021843,000135: 32,2257 77624 NOWMATX CALL
021844,000136: 32,2260 27133 INTEGRV # CSM INTEGRATION
021845,000137: 32,2261 77624 CALL
021846,000138: 32,2262 11216 GRP2PC
021847,000139: 32,2263 77775 VLOAD
021848,000140: 32,2264 00025 VATT1
021849,000141: 32,2265 25757 STOVL VSUBC # SAVE CSM VELOCITY
021850,000142: 32,2266 00017 RATT1
021851,000143: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
021852,000144: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021853,000145: 32,2271 01757 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021854,000146: 32,2272 24025 STOVL 20D # SAVE NSUB1
021855,000147: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021856,000148: 32,2274 53435 VXV UNIT # PLANE CHANGE
021857,000149: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021858,000150: 32,2276 27637 STOVL UCSM
021859,000151: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021860,000152: 32,2300 50256 UNIT DOT # AND RSUBC
021861,000153: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021862,000154: 32,2302 77752 SL1
021863,000155: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021864,000156: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021865,000157: 32,2305 06510 ONEB-2
021866,000158: 32,2306 77766 SQRT
021867,000159: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021868,000160: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
021869,000161: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021870,000162: 32,2312 01757 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021871,000163: 32,2313 77676 VCOMP
021872,000164: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021873,000165: 32,2315 45014 CLEAR CALL
021874,000166: 32,2316 03666 RVSW
021875,000167: 32,2317 24732 TIMETHET
021876,000168: 32,2320 77676 VCOMP
021877,000169: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021878,000170: 32,2322 77745 DLOAD
021879,000171: 32,2323 00037 T
021880,000172: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021882,000174: 32,2325 03645 NEWVEL
021883,000175: 32,2326 77646 ABVAL
021884,000176: 32,2327 24025 STOVL 20D
021885,000177: 32,2330 00001 0D
021886,000178: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021887,000179: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021888,000180: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021889,000181: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021890,000182: 32,2335 03653 NEWPOS # ORBITAL PLANE
021891,000183: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021892,000184: 32,2337 00025 20D
021893,000185: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021894,000186: 32,2341 11216 GRP2PC
021895,000187: 32,2342 77624 CALL
021896,000188: 32,2343 27410 INTSTALL
021897,000189: 32,2344 44345 DLOAD BDSU
021898,000190: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021899,000191: 32,2346 03661 LNCHTM
021900,000192: 32,2347 25517 STOVL TET
021901,000193: 32,2350 03653 NEWPOS
021902,000194: 32,2351 01535 STORE RCV
021903,000195: 32,2352 25503 STOVL RRECT
021904,000196: 32,2353 03665 NCSMVEL
021905,000197: 32,2354 35511 STCALL VRECT
021906,000198: 32,2355 27705 MINIRECT
021907,000199: 32,2356 45174 AXT,2 CALL
021908,000200: 32,2357 00002 2
021909,000201: 32,2360 26660 ATOPCSM
021910,000202: 32,2361 77624 CALL
021911,000203: 32,2362 27417 INTWAKE0
021912,000204: 32,2363 77776 EXIT
021913,000205: 32,2364 04616 TC BANKCALL
021914,000206: 32,2365 50040 CADR PROG20A
021915,000207: 24,2036 BANK 24
021916,000208: 24,2000 SETLOC P20S
021917,000209: 24,2000 BANK
021918,000210: 24,2036 COUNT* $$/P20
021919,000211:
021920,000212: 24,2036 05527 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
021921,000213: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021922,000214: 24,2040 04616 PROG20A TC BANKCALL
021923,000215: 24,2041 11241 CADR R02BOTH
021924,000216: 24,2042 05515 TC UPFLAG
021925,000217: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021926,000218: 24,2044 05515 TC UPFLAG
021927,000219: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021928,000220: 24,2046 05515 TC UPFLAG
021929,000221: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021930,000222: 24,2050 05527 TC DOWNFLAG
021931,000223: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021933,000225: 24,2052 05527 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021934,000226: 24,2053 00040 ADRES ACMODFLG
021935,000227: 24,2054 05527 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021936,000228: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021937,000229: 24,2056 05527 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021938,000230: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021939,000231: 24,2060 05527 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021940,000232: 24,2061 00041 ADRES LOSCMFLG
021941,000233: 24,2062 06011 TC CLRADMOD
021942,000234: 24,2063 05515 TC UPFLAG
021943,000235: 24,2064 00005 ADRES FSPASFLG # SET FIRST PASS FLAG FOR ALARM
021944,000236: 24,2065 05364 P20LEM1 TC PHASCHNG
021945,000237: 24,2066 04022 OCT 04022
021946,000238: 24,2067 34755 CAF ZERO # ZERO MARK COUNTER
021947,000239: 24,2070 55462 TS MARKCTR
021948,000240: 24,2071 06042 P20LEM2 TC INTPRET # LOS DETERMINATION ROUTINE
021949,000241: 24,2072 77634 RTB
021950,000242: 24,2073 21574 LOADTIME
021951,000243: 24,2074 34041 STCALL TDEC1
021952,000244: 24,2075 51340 LPS20.1
021953,000245: 24,2076 77624 CALL
021954,000246: 24,2077 53626 LPS20.2 # TEST RANGE R/UTINE
021955,000247: 24,2100 77776 EXIT
021956,000248: 24,2101 50154 INDEX MPAC
021957,000249: 24,2102 02103 TC +1
021958,000250: 24,2103 02167 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021959,000251: 24,2104 06042 526ALARM TC INTPRET
021960,000252: 24,2105 53575 VLOAD UNIT
021961,000253: 24,2106 00025 RRANGE
021962,000254: 24,2107 72441 DOT SL1
021963,000255: 24,2110 00017 VELLOS
021964,000256: 24,2111 16203 STODL RRATE # RANGE RATE FOR NOUN 54 B-7
021965,000257: 24,2112 00045 36D
021966,000258: 24,2113 51025 DSU BPL # IF RANGE>999.99,DISPLAY 999.99
021967,000259: 24,2114 10372 999.99NM
021968,000260: 24,2115 50142 TOOBIG
021969,000261: 24,2116 77745 DLOAD
021970,000262: 24,2117 00045 36D
021971,000263: 24,2120 16201 526ALRM1 STODL RANGE # RANGE FOR NOUN 54 B-29
021972,000264: 24,2121 06520 ZEROVECS
021973,000265: 24,2122 02205 STORE RTHETA # ZERO THETA FOR NOUN 54
021974,000266: 24,2123 43014 BOFF BOFF
021975,000267: 24,2124 00345 FSPASFLG # FIRST PASS
021976,000268: 24,2125 50155 P20LEMC5 # NO
021977,000269: 24,2126 04347 SURFFLAG # ON LUNAR SURFACE
021978,000270: 24,2127 50147 ALRMLT # NO
021979,000271: 24,2130 51145 DLOAD BPL
021980,000272: 24,2131 02203 RRATE
021981,000273: 24,2132 50145 ENDRN
021982,000274: 24,2133 77776 EXIT # YES
021983,000275:
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021985,000277: 24,2134 05364 TC PHASCHNG # IN CASE OF RESTART
021986,000278: 24,2135 04022 OCT 04022 # REACTIVATE DISPLAY
021987,000279: 24,2136 32373 CAF V16N5420
021988,000280: 24,2137 04616 TC BANKCALL # TURN ON V16N54 - DISPLAY
021989,000281: 24,2140 20452 CADR GODSPR # RANGE AND RANGE RATE
021990,000282: 24,2141 02156 TC P20LEM5
021991,000283:
021992,000284:
021993,000285: 24,2142 52145 TOOBIG DLOAD GOTO
021994,000286: 24,2143 10372 999.99NM
021995,000287: 24,2144 50120 526ALRM1
021996,000288:
021997,000289: 24,2145 77776 ENDRN EXIT
021998,000290: 24,2146 06025 TC GOTOV56
021999,000291:
022000,000292: 24,2147 77776 ALRMLT EXIT
022001,000293: 24,2150 05364 TC PHASCHNG
022002,000294: 24,2151 04022 OCT 04022
022003,000295: 24,2152 05600 TC ALARM # TURN ON ALARM LIGHT P20
022004,000296: 24,2153 00526 OCT 526
022005,000297: 24,2154 02156 TC P20LEM5
022006,000298: 24,2155 77776 P20LEMC5 EXIT
022007,000299: 24,2156 05527 P20LEM5 TC DOWNFLAG
022008,000300: 24,2157 00005 ADRES FSPASFLG
022009,000301: 24,2160 32370 CAF 500DEC # WAIT 5SECS
022010,000302: 24,2161 04616 TC BANKCALL
022011,000303: 24,2162 01736 CADR DELAYJOB
022012,000304: 24,2163 02071 TC P20LEM2
022013,000305:
022014,000306:
022015,000307: 24,2164 04616 P20LEM3 TC BANKCALL
022016,000308: 24,2165 20457 CADR CLEANDSP
022017,000309:
022018,000310:
022019,000311: 24,2166 02175 TC P20LEMB
022020,000312: 24,2167 05364 P20LEMA TC PHASCHNG
022021,000313: 24,2170 04022 OCT 04022
022022,000314: 24,2171 02752 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
022023,000315: 24,2172 02164 TC P20LEM3
022024,000316: 24,2173 04616 TC BANKCALL
022025,000317: 24,2174 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
022026,000318: 24,2175 05364 P20LEMB TC PHASCHNG
022027,000319: 24,2176 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
022028,000320: 24,2177 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
022029,000321: 24,2200 37717 CAF PRIO26 # RESTORE PRIORITY 26
022030,000322: 24,2201 05146 TC PRIOCHNG
022031,000323: 24,2202 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
022032,000324: 24,2203 74747 MASK TRACKBIT
022033,000325: 24,2204 00006 EXTEND
022034,000326: 24,2205 12310 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
022035,000327:
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022037,000329: 24,2206 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
022038,000330: 24,2207 00006 EXTEND
022039,000331: 24,2210 02033 RAND CHAN33
022040,000332: 24,2211 00006 EXTEND
022041,000333: 24,2212 12246 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
022042,000334:
022043,000335:
022044,000336: 24,2213 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
022045,000337: 24,2214 61010 AD MODREG # MAJOR MODE IS 20
022046,000338: 24,2215 00006 EXTEND
022047,000339: 24,2216 12231 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
022048,000340:
022049,000341:
022050,000342: 24,2217 67751 AD NEG2 # ALSO CHECK FOR P22
022051,000343: 24,2220 00006 EXTEND
022052,000344: 24,2221 12231 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
022053,000345: 24,2222 32365 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
022054,000346: 24,2223 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
022055,000347: 24,2224 21563 CADR PRIOLARM
022056,000348: 24,2225 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
022057,000349: 24,2226 02175 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
022058,000350: 24,2227 02175 TC P20LEMB # TO CHECK AUTO MODE AGAIN
022059,000351: 24,2230 05155 TC ENDOFJOB
022060,000352: 24,2231 32364 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
022061,000353: 24,2232 04616 TC BANKCALL
022062,000354: 24,2233 20624 CADR GOPERF1
022063,000355: 24,2234 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022064,000356: 24,2235 02175 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022065,000357: 24,2236 02752 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
022066,000358: 24,2237 02244 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
022067,000359: 24,2240 03221 TC R23LEM # NO - DO MANUAL ACQUISITION
022068,000360:
022069,000361:
022070,000362: 24,2241 05515 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
022071,000363: 24,2242 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
022072,000364: 24,2243 02175 TC P20LEMB # RR AUTO MODE
022073,000365:
022074,000366:
022075,000367: 24,2244 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
022076,000368: 24,2245 02175 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
022077,000369:
022078,000370:
022079,000371: 24,2246 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
022080,000372: 24,2247 74737 MASK RCDU0BIT
022081,000373: 24,2250 00006 EXTEND
022082,000374: 24,2251 12263 BZF P20LEMB4 # BRANCH - YES - WAIT
022083,000375: 24,2252 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
022084,000376: 24,2253 70076 MASK FLAGWRD2
022085,000377: 24,2254 00006 EXTEND
022086,000378: 24,2255 12267 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
|
|
Page 507
|
022088,000380: 24,2256 05527 TC DOWNFLAG # RESET TO AUTO MODE
022089,000381: 24,2257 00037 ADRES SRCHOPTN
022090,000382: 24,2260 05527 TC DOWNFLAG
022091,000383: 24,2261 00040 ADRES ACMODFLG
022092,000384: 24,2262 02310 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022093,000385:
022094,000386:
022095,000387: 24,2263 32362 P20LEMB4 CAF 250DEC
022096,000388: 24,2264 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022097,000389: 24,2265 01736 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
022098,000390: 24,2266 02246 TC P20LEMB3
022099,000391:
022100,000392:
022101,000393: 24,2267 06042 P20LEMC3 TC INTPRET
022102,000394: 24,2270 77634 RTB
022103,000395: 24,2271 21574 LOADTIME
022104,000396: 24,2272 34041 STCALL TDEC1
022105,000397: 24,2273 50374 UPPSV
022106,000398: 24,2274 77776 P20LEMC4 EXIT
022107,000399: 24,2275 05364 P20LEMC TC PHASCHNG
022108,000400: 24,2276 04022 OCT 04022
022109,000401: 24,2277 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
022110,000402: 24,2300 74745 MASK RNDVZBIT
022111,000403: 24,2301 00006 EXTEND
022112,000404: 24,2302 15155 BZF ENDOFJOB # NO - EXIT P20
022113,000405: 24,2303 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
022114,000406: 24,2304 74747 MASK TRACKBIT
022115,000407: 24,2305 00006 EXTEND
022116,000408: 24,2306 12342 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
022117,000409: 24,2307 02757 P20LEMF TC R21LEM
022118,000410:
022119,000411:
022120,000412: 24,2310 32362 P20LEMWT CAF 250DEC
022121,000413: 24,2311 05204 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
022122,000414: 24,2312 02322 ADRES P20LEMC1 # WAIT 2.5 SECONDS
022123,000415: 24,2313 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022124,000416: 24,2314 74747 MASK TRACKBIT
022125,000417: 24,2315 00006 EXTEND
022126,000418: 24,2316 15155 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
022127,000419: 24,2317 05364 P20LMWT1 TC PHASCHNG
022128,000420: 24,2320 40072 OCT 40072
022129,000421: 24,2321 05155 TC ENDOFJOB
022130,000422:
022131,000423:
022132,000424: 24,2322 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
022133,000425: 24,2323 74745 MASK RNDVZBIT
022134,000426: 24,2324 00006 EXTEND
022135,000427: 24,2325 15272 BZF TASKOVER # NO - EXIT P20/R22
022136,000428: 24,2326 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022137,000429: 24,2327 74747 MASK TRACKBIT
|
|
Page 508
|
022139,000431: 24,2330 00006 EXTEND
022140,000432: 24,2331 12337 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
022141,000433: 24,2332 37717 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
022142,000434: 24,2333 05105 TC FINDVAC
022143,000435: 24,2334 E7,1456 EBANK= LOSCOUNT
022144,000436: 24,2334 02713 50067 2CADR R22LEM42
022145,000437:
022146,000438: 24,2336 05272 TC TASKOVER
022147,000439:
022148,000440:
022149,000441: 24,2337 05232 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
022150,000442: 24,2340 02734 DEC 1500 B-14 # AND CHECK AGAIN
022151,000443:
022152,000444: 24,2341 02322 TC P20LEMC1
022153,000445:
022154,000446: 24,2342 32751 P20LEMD CAF 1500DEC
022155,000447: 24,2343 05204 TC TWIDDLE # WAITLIST FOR 15 SECONDS
022156,000448: 24,2344 02346 ADRES P20LEMD1
022157,000449: 24,2345 05155 TC ENDOFJOB
022158,000450:
022159,000451:
022160,000452: 24,2346 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
022161,000453: 24,2347 74747 MASK TRACKBIT
022162,000454: 24,2350 10000 CCS A
022163,000455: 24,2351 12355 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
022164,000456: 24,2352 05232 TC FIXDELAY # NO-WAIT 15 SECONDS
022165,000457: 24,2353 02734 DEC 1500 B-14
022166,000458: 24,2354 02346 TC P20LEMD1
022167,000459:
022168,000460:
022169,000461: 24,2355 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
022170,000462: 24,2356 05105 TC FINDVAC
022171,000463: 24,2357 E7,1456 EBANK= LOSCOUNT
022172,000464: 24,2357 02267 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
022173,000465:
022174,000466: 24,2361 05272 TC TASKOVER
022175,000467:
022176,000468:
022177,000469: 24,2362 00372 250DEC DEC 250 B-14
022178,000470: 24,2363 00526 ALRM526 OCT 00526
022179,000471: 24,2364 00201 OCT201 OCT 00201
022180,000472: 24,2365 00514 ALRM514 OCT 514
022181,000473: 24,2366 00074 MAXTRIES DEC 60 B-14
022182,000474: 24,2367 4363 OCT00012 EQUALS BINCON
022183,000475: 24,2367 23,2507 ONEB-2 EQUALS DP1/4TH
022184,000476: 24,2367 01441 V06N33* VN 0633
022185,000477: 24,2370 00764 500DEC DEC 500 B-14
022186,000478: 24,2371 00070 20447 999.99NM 2DEC 1851982 B-29
022187,000479:
022188,000480: 24,2373 04066 V16N5420 VN 1654
022189,000481:
|
|
Page 509
|
022191,000483: 24,2374 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
022192,000484: 24,2375 01755 LS21X # TO PRESENT TIME
022193,000485: 24,2376 27410 INTSTALL
022194,000486: 24,2377 77624 CALL
022195,000487: 24,2400 26643 SETIFLGS
022196,000488: 24,2401 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
022197,000489: 24,2402 02756 RENDWFLG
022198,000490: 24,2403 50414 UPPSV1
022199,000491: 24,2404 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
022200,000492: 24,2405 43014 BON SET
022201,000493: 24,2406 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
022202,000494: 24,2407 50411 UPPSV5
022203,000495: 24,2410 01475 D6OR9FLG # OTHERWISE 9X9
022204,000496: 24,2411 77614 UPPSV5 BOF
022205,000497: 24,2412 00747 VEHUPFLG
022206,000498: 24,2413 50446 UPPSV3
022207,000499: 24,2414 77614 UPPSV1 SET
022208,000500: 24,2415 01474 VINTFLAG
022209,000501: 24,2416 77624 CALL
022210,000502: 24,2417 27133 INTEGRV
022211,000503: 24,2420 77624 CALL # GROUP 2 PHASE CHANGE
022212,000504: 24,2421 11216 GRP2PC # TO PROTECT INTEGRATION
022213,000505: 24,2422 77624 CALL
022214,000506: 24,2423 27410 INTSTALL
022215,000507: 24,2424 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
022216,000508: 24,2425 01571 TETCSM
022217,000509: 24,2426 01674 VINTFLAG
022218,000510: 24,2427 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
022219,000511: 24,2430 26643 SETIFLGS # WITHOUT W-MATRIX
022220,000512: 24,2431 34041 STCALL TDEC1
022221,000513: 24,2432 27133 INTEGRV
022222,000514: 24,2433 77214 BOFF VLOAD
022223,000515: 24,2434 04347 SURFFLAG
022224,000516: 24,2435 50274 P20LEMC4
022225,000517: 24,2436 01661 RCVLEM
022226,000518: 24,2437 77742 VSR2
022227,000519: 24,2440 26352 STOVL LMPOS
022228,000520: 24,2441 01667 VCVLEM
022229,000521: 24,2442 77742 VSR2
022230,000522: 24,2443 02360 STORE LMVEL
022231,000523: 24,2444 77650 GOTO
022232,000524: 24,2445 01755 LS21X
022233,000525:
022234,000526:
022235,000527: 24,2446 45014 UPPSV3 CLEAR CALL
022236,000528: 24,2447 01674 VINTFLAG
022237,000529: 24,2450 27133 INTEGRV
022238,000530: 24,2451 77624 CALL
022239,000531: 24,2452 11216 GRP2PC
022240,000532: 24,2453 77624 CALL
|
|
Page 510
|
022242,000534: 24,2454 27410 INTSTALL
022243,000535: 24,2455 71214 SET DLOAD
022244,000536: 24,2456 01474 VINTFLAG
022245,000537: 24,2457 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
022246,000538: 24,2460 77650 GOTO
022247,000539: 24,2461 50427 UPPSV4
022248,000540:
022249,000541:
022250,000542: 24,2462 E7,1456 EBANK= LOSCOUNT
022251,000543: 24,2462 COUNT* $$/P22
022252,000544:
|
|
Page 511
|
022254,000546: # PROGRAM DESCRIPTION
022255,000547: # PREFERRED TRACKING ATTITUDE PROGRAM P25
022256,000548: # MOD NO - 3
022257,000549: # BY P. VOLANTE
022258,000550: # FUNCTIONAL DESCRIPTION
022259,000551:
022260,000552: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022261,000553: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022262,000554: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022263,000555: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022264,000556: # CALLING SEQUENCE -
022265,000557: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
022266,000558: # SUBROUTINES CALLED -
022267,000559: # BANKCALL FLAGUP
022268,000560: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
022269,000561: # R61LEM (PREF TRK ATT ROUT) WAITLIST
022270,000562: # TASKOVER FINDVAC
022271,000563: # NORMAL EXIT MODES -
022272,000564: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022273,000565: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
022274,000566: # ALARM OR ABORT EXIT MODES -
022275,000567: # NONE
022276,000568: # OUTPUT
022277,000569: # ERASABLE INITIALIZATION REQUIRED
022278,000570: # FLAGS SET + RESET
022279,000571: # TRACKFLG,P25FLAG
022280,000572: # DEBRIS
022281,000573: # NONE
022282,000574: 24,2462 E7,1456 EBANK= LOSCOUNT
022283,000575: 24,2462 COUNT* $$/P25
022284,000576: 24,2462 05340 PROG25 TC 2PHSCHNG
022285,000577: 24,2463 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
022286,000578: 24,2464 05022 OCT 05022
022287,000579: 24,2465 26000 OCT 26000 # PRIORITY 26
022288,000580:
022289,000581: 24,2466 04616 TC BANKCALL
022290,000582: 24,2467 11241 CADR R02BOTH # IMU STATUS CHECK
022291,000583: 24,2470 05515 TC UPFLAG
022292,000584: 24,2471 00031 ADRES TRACKFLG # SET TRACK FLAG
022293,000585: 24,2472 05515 TC UPFLAG
022294,000586: 24,2473 00006 ADRES P25FLAG # SET P25FLAG
022295,000587: 24,2474 05527 TC DOWNFLAG
022296,000588: 24,2475 00010 ADRES RNDVZFLG
022297,000589: 24,2476 05364 P25LEM1 TC PHASCHNG
022298,000590: 24,2477 04022 OCT 04022
022299,000591: 24,2500 34743 CAF P25FLBIT
022300,000592: 24,2501 70074 MASK STATE # IS P25FLAG SET
022301,000593: 24,2502 00006 EXTEND
022302,000594: 24,2503 15155 BZF ENDOFJOB
022303,000595: 24,2504 34747 CAF TRACKBIT # IS TRACKFLAG SET?
|
|
Page 512
|
022305,000597: 24,2505 70075 MASK STATE +1
022306,000598: 24,2506 00006 EXTEND
022307,000599: 24,2507 12515 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
022308,000600: 24,2510 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
022309,000601: 24,2511 55745 TS R65CNTR
022310,000602: 24,2512 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
022311,000603: 24,2513 46123 CADR R65LEM
022312,000604: 24,2514 02476 TC P25LEM1 # THEN GO CHECK FLAGS
022313,000605: 24,2515 32526 P25LMWT1 CAF 60SCNDS
022314,000606: 24,2516 05204 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
022315,000607: 24,2517 02521 ADRES P25LEM2
022316,000608: 24,2520 05155 TC ENDOFJOB
022317,000609: 24,2521 35024 P25LEM2 CAF PRIO14
022318,000610: 24,2522 05105 TC FINDVAC
022319,000611: 24,2523 E7,1456 EBANK= LOSCOUNT
022320,000612: 24,2523 02476 50067 2CADR P25LEM1
022321,000613:
022322,000614: 24,2525 05272 TC TASKOVER
022323,000615: 24,2526 13560 60SCNDS DEC 6000 B-14
022324,000616:
|
|
Page 513
|
022326,000618: # DATA READ ROUTINE 22 (LEM)
022327,000619: # PROGRAM DESCRIPTION
022328,000620: # MOD NO - 2
022329,000621: # BY P VOLANTE
022330,000622: # FUNCTIONAL DESCRIPTION
022331,000623:
022332,000624: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022333,000625: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022334,000626: # CALLING SEQUENCE -
022335,000627: # TC BANKCALL
022336,000628: # CADR R22LEM
022337,000629: # SUBROUTINES CALLED -
022338,000630: # LSR22.1 GOFLASH WAITLIST
022339,000631: # LSR22.2 PRIOLARM BANKCALL
022340,000632: # LSR22.3 R61LEM
022341,000633: # NORMAL EXIT MODES-
022342,000634: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
022343,000635: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022344,000636: # R22 WILL TERMINATE SELF.
022345,000637: # ALARM OR ABORT EXIT MODES-
022346,000638: # PRIORITY ALARM
022347,000639: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022348,000640: # OUTPUT
022349,000641: # SEE OUTPUT FROM LSR22.3
022350,000642: # ERASABLE INITIALIZATION REQUIRED
022351,000643: # SEE LSR22.1,LSR22.2,LSR22.3
022352,000644: # FLAGS SET + RESET
022353,000645: # NOANGFLG
022354,000646: # DEBRIS
022355,000647: # SEE LSR22.1,LSR22.2,LSR22.3
022356,000648: 24,2527 E7,1737 EBANK= LRS22.1X
022357,000649: 24,2527 COUNT* $$/R22
022358,000650: 24,2527 05364 R22LEM TC PHASCHNG
022359,000651: 24,2530 04022 OCT 04022
022360,000652: 24,2531 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
022361,000653: 24,2532 70074 MASK STATE
022362,000654: 24,2533 00006 EXTEND
022363,000655: 24,2534 15155 BZF ENDOFJOB # NO-EXIT R22 AND P20
022364,000656: 24,2535 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022365,000657: 24,2536 70075 MASK STATE +1
022366,000658: 24,2537 00006 EXTEND
022367,000659: 24,2540 12722 BZF R22WAIT # NO WAIT
022368,000660: 24,2541 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
022369,000661: 24,2542 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
022370,000662: 24,2543 02012 RAND CHAN12
022371,000663: 24,2544 00006 EXTEND
022372,000664: 24,2545 12167 BZF P20LEMA # NO - RETURN TO P20
022373,000665: 24,2546 34752 CAF BIT2 # YES
022374,000666: 24,2547 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
022375,000667: 24,2550 02033 RAND CHAN33
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|
Page 514
|
022377,000669: 24,2551 00006 EXTEND
022378,000670: 24,2552 12554 BZF +2 # YES CONTINUE
022379,000671: 24,2553 02213 TC P20LEMB5 # NO - SET IT
022380,000672: 24,2554 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
022381,000673: 24,2555 74737 MASK RCDU0BIT
022382,000674: 24,2556 00006 EXTEND
022383,000675: 24,2557 12713 BZF R22LEM42 # CDUS BEING ZEROED
022384,000676: 24,2560 05364 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
022385,000677: 24,2561 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
022386,000678: 24,2562 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
022387,000679: 24,2563 64366 CADR LRS22.1 # DATA READ SUBROUTINE
022388,000680: 24,2564 50154 INDEX MPAC
022389,000681: 24,2565 02566 TC +1
022390,000682: 24,2566 02607 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
022391,000683: 24,2567 02275 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
022392,000684: 24,2570 32746 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
022393,000685: 24,2571 04616 TC BANKCALL
022394,000686: 24,2572 21563 CADR PRIOLARM
022395,000687: 24,2573 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022396,000688: 24,2574 02577 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
022397,000689: 24,2575 02570 TC -5 # ENTER(ILLEGAL OPTION)
022398,000690: 24,2576 05155 TC ENDOFJOB
022399,000691:
022400,000692:
022401,000693: 24,2577 05364 R22LEM1 TC PHASCHNG
022402,000694: 24,2600 04022 OCT 04022
022403,000695: 24,2601 32747 CAF V06N05 # DISPLAY DELTA THETA
022404,000696: 24,2602 04616 TC BANKCALL
022405,000697: 24,2603 20510 CADR PRIODSP
022406,000698: 24,2604 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022407,000699: 24,2605 02607 TC R22LEM2 # PROC (OK CONTINUE)
022408,000700: 24,2606 02275 TC P20LEMC # ENTER(RECYCLE)
022409,000701: 24,2607 05364 R22LEM2 TC PHASCHNG
022410,000702: 24,2610 04022 OCT 04022
022411,000703: 24,2611 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022412,000704: 24,2612 02627 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
022413,000705: 24,2613 30075 CA FLAGWRD1 # IS TRACK FLAG SET
022414,000706: 24,2614 74747 MASK TRACKBIT
022415,000707: 24,2615 00006 EXTEND
022416,000708: 24,2616 12722 BZF R22WAIT # NO - WAIT
022417,000709: 24,2617 04616 TC BANKCALL # YES
022418,000710: 24,2620 51415 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022419,000711: 24,2621 50154 INDEX MPAC
022420,000712: 24,2622 02623 TC +1
022421,000713: 24,2623 02627 TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
022422,000714: 24,2624 04616 TC BANKCALL
022423,000715: 24,2625 46116 CADR R61LEM
022424,000716: 24,2626 02722 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
022425,000717: 24,2627 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
022426,000718: 24,2630 74746 MASK NOUPFBIT # (IS NOUPDATE FLAG SET?)
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|
Page 515
|
022428,000720: 24,2631 00006 EXTEND
022429,000721: 24,2632 12713 BZF R22LEM42 # BRANCH-YES
022430,000722: 24,2633 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
022431,000723: 24,2634 74745 MASK UPDATBIT
022432,000724: 24,2635 00006 EXTEND
022433,000725: 24,2636 12713 BZF R22LEM42 # UPDATE FLAG NOT SET
022434,000726: 24,2637 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
022435,000727: 24,2640 55055 TS PHSPRDT2
022436,000728:
022437,000729: 24,2641 06042 TC INTPRET
022438,000730: 24,2642 77650 GOTO
022439,000731: 24,2643 54420 LSR22.3
022440,000732: 24,2644 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
022441,000733: 24,2645 05364 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
022442,000734: 24,2646 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
022443,000735: 24,2647 12706 TCF R22LEM44
022444,000736: 24,2650 77776 R22LEM96 EXIT
022445,000737: 24,2651 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
022446,000738: 24,2652 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
022447,000739: 24,2653 05364 TC PHASCHNG
022448,000740: 24,2654 04022 OCT 04022 # TO PROTECT DISPLAY
022449,000741: 24,2655 37720 CAF PRIO27 # PROTECT DISPLAY
022450,000742: 24,2656 05072 TC NOVAC
022451,000743: 24,2657 E7,1746 EBANK= N49FLAG
022452,000744: 24,2657 02727 50067 2CADR N49DSP
022453,000745:
022454,000746: 24,2661 06042 TC INTPRET
022455,000747: 24,2662 77735 SLOAD
022456,000748: 24,2663 03747 N49FLAG
022457,000749: 24,2664 50054 BZE BMN # LOOP TO CHECK IF FLAG
022458,000750: 24,2665 50662 -3 # SETTING CHANGED-BRANCH - NO
022459,000751: 24,2666 50674 R22LEM7 # PROCEED
022460,000752: 24,2667 77650 GOTO # DISPLAY ANSWERED BY RECYCLE-INCORPORATE
022461,000753: 24,2670 03675 LGRET # NEXT MEASUREMENT
022462,000754: 24,2671 44752 V34TON49 CS TWO
022463,000755: 24,2672 55746 TS N49FLAG
022464,000756: 24,2673 05155 TC ENDOFJOB
022465,000757: 24,2674 77776 R22LEM7 EXIT
022466,000758: 24,2675 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
022467,000759: 24,2676 64752 AD TWO
022468,000760: 24,2677 00006 EXTEND
022469,000761: 24,2700 12527 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
022470,000762: 24,2701 06042 TC INTPRET
022471,000763: 24,2702 77624 CALL
022472,000764: 24,2703 11216 GRP2PC # PHASE CHANGE AND
022473,000765: 24,2704 77650 GOTO # GO TO INCORPORATE DATA.
022474,000766: 24,2705 55433 ASTOK
022475,000767: 24,2706 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
022476,000768: 24,2707 02752 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022477,000769: 24,2710 02724 TC R22LEM46 # YES - WAIT 2 SECONDS
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Page 516
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022479,000771: 24,2711 34756 CA FIVE # NOT ON LUNAR SURFACE
022480,000772: 24,2712 02716 TC R22LEM45 # R65COUNTER = 5
022481,000773: 24,2713 02752 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022482,000774: 24,2714 02724 TC R22LEM46 # YES - WAIT 2 SECONDS
022483,000775: 24,2715 34752 CA TWO # NO-SET R65COUNTER = 2
022484,000776: 24,2716 55745 R22LEM45 TS R65CNTR
022485,000777: 24,2717 04616 TC BANKCALL
022486,000778: 24,2720 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
022487,000779: 24,2721 02527 TC R22LEM
022488,000780: 24,2722 32751 R22WAIT CAF 1500DEC
022489,000781: 24,2723 02311 TC P20LEMWT +1
022490,000782:
022491,000783:
022492,000784: 24,2724 04616 R22LEM46 TC BANKCALL
022493,000785: 24,2725 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
022494,000786: 24,2726 02527 TC R22LEM
022495,000787:
022496,000788: 24,2727 32750 N49DSP CAF V06N49NB
022497,000789: 24,2730 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
022498,000790: 24,2731 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
022499,000791: 24,2732 02671 TC V34TON49 # TERMINATE - SET N49FLAG = -2
022500,000792: 24,2733 44753 CS ONE # PROCEED - N49FLAG = -1
022501,000793: 24,2734 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
022502,000794: 24,2735 05155 TC ENDOFJOB
022503,000795: 24,2736 05364 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
022504,000796: 24,2737 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
022505,000797: 24,2740 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
022506,000798: 24,2741 53072 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
022507,000799: 24,2742 04616 TC BANKCALL # BAD DATA
022508,000800: 24,2743 17720 CADR RADSTALL # WAIT FOR READ COMPLETE
022509,000801: 24,2744 02275 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
022510,000802: 24,2745 02527 TC R22LEM # READ SUCCESSFUL-CONTINUE AT R22
022511,000803:
022512,000804:
022513,000805: 24,2746 00525 ALRM525 OCT 00525
022514,000806: 24,2747 01405 V06N05 VN 00605
022515,000807: 24,2750 01461 V06N49NB VN 00649
022516,000808: 24,2751 02734 1500DEC DEC 1500 B-14
022517,000809: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022518,000810: # RETURNS TO CALLER +1 IF P22FLAG SET
022519,000811: # TO CALLER +2 IF P22FLAG NOT SET
022520,000812:
022521,000813:
022522,000814: 24,2752 COUNT* $$/P22
022523,000815: 24,2752 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
022524,000816: 24,2753 74744 MASK SURFFBIT # IS SURFFLAG SET?
022525,000817: 24,2754 10000 CCS A # BRANCH - P22FLAG SET
022526,000818: 24,2755 24002 INCR Q # NOT SET
022527,000819: 24,2756 00002 TC Q # RETURN
022528,000820:
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Page 517
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022530,000822: # RR DESIGNATE ROUTINE (R21LEM)
022531,000823: # PROGRAM DESCRIPTION
022532,000824: # MOD NO - 2
022533,000825: # BY P VOLANTE
022534,000826: # FUNCTIONAL DESCRIPTION
022535,000827:
022536,000828: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022537,000829: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
022538,000830: # CALLING SEQUENCE -
022539,000831: # TC BANKCALL
022540,000832: # CADR R21LEM
022541,000833: # SUBROUTINES CALLED -
022542,000834: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
022543,000835: # NOVAC INTPRET LPS20.1 PHASCHNG
022544,000836: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
022545,000837: # TASKOVER BANKCALL RADSTALL RRDESSM
022546,000838: # NORMAL EXIT MODES
022547,000839: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022548,000840: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
022549,000841: # ALARM OR ABORT EXIT MODES-
022550,000842: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022551,000843: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022552,000844: # ACQUISITION
022553,000845: # OUTPUT
022554,000846: # SEE LPS20.1,RRDESSM
022555,000847: # ERASABLE INITIALIZATION REQUIRED
022556,000848: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
022557,000849: # FLAGS SET + RESET
022558,000850: # LOSCMFLG LOKONSW
022559,000851: # DEBRIS
022560,000852: # SEE LPS20.1,RRDESSM
022561,000853: 24,2757 E7,1456 EBANK= LOSCOUNT
022562,000854: 24,2757 COUNT* $$/R21
022563,000855: 24,2757 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
022564,000856: 24,2760 00006 EXTEND
022565,000857: 24,2761 03012 WAND CHAN12
022566,000858: 24,2762 02752 TC LUNSFCHK
022567,000859: 24,2763 02770 TC R21LEM5
022568,000860: 24,2764 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
022569,000861: 24,2765 55106 TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
022570,000862: 24,2766 55107 TS TANG +1
022571,000863: 24,2767 03000 TC R21LEM6
022572,000864: 24,2770 34740 R21LEM5 CAF BIT12
022573,000865: 24,2771 70110 MASK RADMODES
022574,000866: 24,2772 10000 CCS A
022575,000867: 24,2773 03010 TC R21LEM10
022576,000868: 24,2774 34735 CAF BIT15
022577,000869: 24,2775 55106 TS TANG
022578,000870: 24,2776 44736 CS HALF
022579,000871: 24,2777 55107 TS TANG +1
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Page 518
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022581,000873: 24,3000 05527 R21LEM6 TC DOWNFLAG
022582,000874: 24,3001 00012 ADRES LOKONSW
022583,000875: 24,3002 04616 TC BANKCALL
022584,000876: 24,3003 52466 CADR RRDESNB
022585,000877: 24,3004 03005 TC +1
022586,000878: 24,3005 04616 TC BANKCALL
022587,000879: 24,3006 17720 CADR RADSTALL
022588,000880: 24,3007 03043 TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
022589,000881: 24,3010 05515 R21LEM10 TC UPFLAG
022590,000882: 24,3011 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
022591,000883: 24,3012 32366 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
022592,000884: 24,3013 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
022593,000885: 24,3014 36250 R21LEM2 CAF THREE
022594,000886: 24,3015 55456 TS LOSCOUNT
022595,000887: 24,3016 06042 R21LEM1 TC INTPRET
022596,000888: 24,3017 43234 RTB DAD
022597,000889: 24,3020 21574 LOADTIME
022598,000890: 24,3021 11204 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022599,000891: 24,3022 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
022600,000892: 24,3023 51340 LPS20.1
022601,000893: 24,3024 77776 EXIT
022602,000894: 24,3025 05515 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
022603,000895: 24,3026 00012 ADRES LOKONSW
022604,000896: 24,3027 05527 TC DOWNFLAG
022605,000897: 24,3030 00126 ADRES NORRMON
022606,000898: 24,3031 06042 TC INTPRET
022607,000899: 24,3032 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
022608,000900: 24,3033 52364 RRDESSM # DESIGNATE ROUTINE
022609,000901: 24,3034 77776 EXIT
022610,000902: 24,3035 03064 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
022611,000903: # ON LUNAR SURFACE
022612,000904: 24,3036 02167 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
022613,000905: 24,3037 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
022614,000906: 24,3040 17720 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022615,000907: 24,3041 03043 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
022616,000908: 24,3042 03052 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022617,000909: 24,3043 33062 R21-503 CAF ALRM503 # ISSUE ALARM 503
022618,000910: 24,3044 04616 TC BANKCALL
022619,000911: 24,3045 21563 CADR PRIOLARM
022620,000912: 24,3046 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022621,000913: 24,3047 03057 TC R21SRCH # PROC
022622,000914: 24,3050 02267 TC P20LEMC3
022623,000915: 24,3051 05155 TC ENDOFJOB
022624,000916: 24,3052 05527 R21END TC DOWNFLAG
022625,000917: 24,3053 00041 ADRES LOSCMFLG # RESET LOSCMFLG
022626,000918: 24,3054 02752 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022627,000919: 24,3055 02310 TC P20LEMWT # YES - BYPASS V 50 N 72 DISPLAY
022628,000920: 24,3056 03205 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022629,000921: 24,3057 05364 R21SRCH TC PHASCHNG
022630,000922: 24,3060 04022 OCT 04022
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Page 519
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022632,000924: 24,3061 03272 TC R24LEM # SEARCH ROUTINE
022633,000925: 24,3062 00503 ALRM503 OCT 00503
022634,000926: 24,3063 00527 ALRM527 OCT 527
022635,000927:
022636,000928:
022637,000929: 24,3064 32366 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
022638,000930: 24,3065 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
022639,000931: 24,3066 05515 TC UPFLAG
022640,000932: 24,3067 00005 ADRES FSPASFLG # SET FIRST TIME FLAG
022641,000933: 24,3070 05527 TC DOWNFLAG # RESET LOS BEING
022642,000934: 24,3071 00041 ADRES LOSCMFLG # COMPUTED FLAG
022643,000935: 24,3072 06042 TC INTPRET
022644,000936: 24,3073 77634 R21LEM12 RTB
022645,000937: 24,3074 21574 LOADTIME
022646,000938: 24,3075 77615 R21LEM00 DAD
022647,000939: 24,3076 11202 TENSEC # TIME T = T + 10 SECS.
022648,000940: 24,3077 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022649,000941: 24,3100 34041 STCALL TDEC1
022650,000942: 24,3101 51340 LPS20.1 # COMPUTE LOS AT TIME T
022651,000943: 24,3102 77624 CALL
022652,000944: 24,3103 52364 RRDESSM
022653,000945: 24,3104 77776 EXIT
022654,000946: 24,3105 03117 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022655,000947: 24,3106 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022656,000948: 24,3107 06032 TC KILLTASK
022657,000949: 24,3110 52564 CADR BEGDES
022658,000950: 24,3111 06042 TC INTPRET
022659,000951: 24,3112 43014 BOF CLRGO
022660,000952: 24,3113 00345 FSPASFLG # FIRST TIME THRU REPOSITION
022661,000953: 24,3114 51127 R21LEM8 # NO-GO TO CONTINUOUS DESIGNATE
022662,000954: 24,3115 00225 FSPASFLG # YES-RESET FIRST TIME FLAG
022663,000955: 24,3116 51124 R21LEM50
022664,000956: 24,3117 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022665,000957: 24,3120 03122 TC R21LEM7 # NO-ADD 10 SECS. RECOMPUTE LOS
022666,000958: 24,3121 03171 TC R21LEM11 # YES-PUT OUT ALARM 530
022667,000959: 24,3122 55423 R21LEM7 TS REPOSCNT
022668,000960: 24,3123 06042 TC INTPRET
022669,000961: 24,3124 52145 R21LEM50 DLOAD GOTO
022670,000962: 24,3125 03425 REPOSTM
022671,000963: 24,3126 51075 R21LEM00
022672,000964: 24,3127 77745 R21LEM8 DLOAD
022673,000965: 24,3130 03425 REPOSTM
022674,000966: 24,3131 34041 STCALL TDEC1
022675,000967: 24,3132 50374 UPPSV
022676,000968: 24,3133 77776 EXIT
022677,000969: 24,3134 05515 TC UPFLAG # SET RADMODES BIT 15 FOR
022678,000970: 24,3135 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022679,000971: 24,3136 05527 TC DOWNFLAG
022680,000972: 24,3137 00012 ADRES LOKONSW
022681,000973: 24,3140 05515 TC UPFLAG
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Page 520
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022683,000975: 24,3141 00126 ADRES NORRMON
022684,000976: 24,3142 04616 TC BANKCALL
022685,000977: 24,3143 52466 CADR RRDESNB
022686,000978: 24,3144 03145 TC +1
022687,000979: 24,3145 06042 TC INTPRET
022688,000980: 24,3146 44234 RTB BDSU
022689,000981: 24,3147 21574 LOADTIME # COMPUTE DELTA TIME
022690,000982: 24,3150 03425 REPOSTM # FOR LONGCALL
022691,000983: 24,3151 03427 STORE DELTATM
022692,000984: 24,3152 77776 EXIT
022693,000985: 24,3153 00006 EXTEND
022694,000986: 24,3154 31427 DCA DELTATM
022695,000987: 24,3155 05310 TC LONGCALL
022696,000988: 24,3156 E7,1456 EBANK= LOSCOUNT
022697,000989: 24,3156 03161 50067 2CADR R21LEM9
022698,000990:
022699,000991: 24,3160 05155 TC ENDOFJOB
022700,000992: 24,3161 06032 R21LEM9 TC KILLTASK
022701,000993: 24,3162 52573 CADR STDESIG
022702,000994: 24,3163 06011 TC CLRADMOD
022703,000995: 24,3164 37717 CAF PRIO26
022704,000996: 24,3165 05105 TC FINDVAC
022705,000997: 24,3166 E7,1456 EBANK= LOSCOUNT
022706,000998: 24,3166 03010 50067 2CADR R21LEM10
022707,000999:
022708,001000: 24,3170 05272 TC TASKOVER
022709,001001: 24,3171 33200 R21LEM11 CAF ALRM530 # ALARM 530-LOS NOT IN COVERAGE
022710,001002: 24,3172 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022711,001003: 24,3173 21563 CADR PRIOLARM # 600 SECS.
022712,001004: 24,3174 06025 TC GOTOV56
022713,001005: 24,3175 06025 TC GOTOV56
022714,001006: 24,3176 06025 TC GOTOV56
022715,001007: 24,3177 05155 TC ENDOFJOB
022716,001008: 24,3200 00530 ALRM530 OCT 00530
022717,001009: 24,3201 00000 01750 TENSEC 2DEC 1000 B-28
022718,001010:
022719,001011: 24,3203 00000 00062 HALFSEC 2DEC 50 B-28
022720,001012:
022721,001013: 24,3205 05364 R21DISP TC PHASCHNG
022722,001014: 24,3206 04022 OCT 04022
022723,001015: 24,3207 33220 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022724,001016: 24,3210 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022725,001017: 24,3211 20711 CADR GOPERF2R
022726,001018: 24,3212 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
022727,001019: 24,3213 02310 TC P20LEMWT # PROCEED CONTINUES TO R22
022728,001020: 24,3214 03207 TC -5 # ENTER ILLEGAL
022729,001021: 24,3215 34745 CAF BIT7
022730,001022: 24,3216 05475 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022731,001023: 24,3217 05155 TC ENDOFJOB
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Page 521
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022733,001025: 24,3220 01510 V06N72PV VN 00672
022734,001026:
|
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Page 522
|
022736,001028: # MANUAL ACQUISITION ROUTINE R23LEM
022737,001029: # PROGRAM DESCRIPTION
022738,001030: # MOD NO - 2
022739,001031: # BY P VOLANTE
022740,001032: # FUNCTIONAL DESCRIPTION
022741,001033:
022742,001034: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022743,001035: # CALLING SEQUENCE -
022744,001036: # TC R23LEM
022745,001037: # SUBROUTINES CALLED
022746,001038: # BANKCALL R61LEM
022747,001039: # SETMINDB GOPERF1
022748,001040: # NORMAL EXIT MODES -
022749,001041: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022750,001042: # ,SELECTION OF PROC WILL CONTINUE R23
022751,001043: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
022752,001044: # ALARM OR ABORT EXIT MODES -
022753,001045: # SEE NORMAL EXIT MODES ABOVE
022754,001046: # OUTPUT
022755,001047: # N.A.
022756,001048: # ERASABLE INITIALIZATION REQUIRED-
022757,001049: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022758,001050: 24,3221 1142 EBANK= GENRET
022759,001051: 24,3221 COUNT* $$/R23
022760,001052: 24,3221 05515 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022761,001053: 24,3222 00126 ADRES NORRMON
022762,001054: 24,3223 00004 INHINT
022763,001055: 24,3224 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022764,001056: 24,3225 40141 CADR SETMINDB
022765,001057: 24,3226 00003 RELINT
022766,001058: 24,3227 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022767,001059: 24,3230 00006 EXTEND
022768,001060: 24,3231 05012 WOR CHAN12
022769,001061: 24,3232 33271 CAF OCT205
022770,001062: 24,3233 04616 TC BANKCALL
022771,001063: 24,3234 20624 CADR GOPERF1
022772,001064: 24,3235 03262 TC R23LEM2 # TERMINATE
022773,001065: 24,3236 03240 TC R23LEM11 # PROCEDE
022774,001066: 24,3237 03265 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
022775,001067: 24,3240 00004 R23LEM11 INHINT
022776,001068: 24,3241 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022777,001069: 24,3242 00035 ADRES CDUT
022778,001070: 24,3243 03252 TC OUTOFLIM # NOT WITHIN LIMITS
022779,001071: 24,3244 04674 TC IBNKCALL # RESTORE DEADBAND TO
022780,001072: 24,3245 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022781,001073: 24,3246 00003 RELINT
022782,001074: 24,3247 05527 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022783,001075: 24,3250 00126 ADRES NORRMON
022784,001076: 24,3251 02241 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022785,001077: 24,3252 00003 OUTOFLIM RELINT
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Page 523
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022787,001079: 24,3253 33270 CAF OCT501PV
022788,001080: 24,3254 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022789,001081: 24,3255 21563 CADR PRIOLARM # LIMITS
022790,001082: 24,3256 03262 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022791,001083: 24,3257 03253 TC OUTOFLIM +1 # PROCEED ILLEGAL
022792,001084: 24,3260 03265 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
022793,001085: 24,3261 05155 TC ENDOFJOB
022794,001086: 24,3262 05527 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022795,001087: 24,3263 00126 ADRES NORRMON
022796,001088: 24,3264 06025 TC GOTOV56 # AND EXIT VIA V56
022797,001089: 24,3265 04616 R23LEM3 TC BANKCALL
022798,001090: 24,3266 46116 CADR R61LEM
022799,001091: 24,3267 03227 TC R23LEM1
022800,001092:
022801,001093:
022802,001094: 24,3270 00501 OCT501PV OCT 501
022803,001095: 24,3271 00205 OCT205 OCT 205
022804,001096:
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Page 524
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022806,001098: # SEARCH ROUTINE R24LEM
022807,001099: # PROGRAM DESCRIPTION
022808,001100: # MOD NO - 2
022809,001101: # BY P. VOLANTE
022810,001102: # FUNCTIONAL DESCRIPTION
022811,001103:
022812,001104: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022813,001105: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022814,001106: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022815,001107: # CALLING SEQUENCE
022816,001108: # CAF PRIONN
022817,001109: # TC FINDVAC
022818,001110: # EBANK= DATAGOOD
022819,001111: # 2CADR R24LEM
022820,001112: # SUBROUTINES CALLED
022821,001113: # FLAGUP FLAGDOWN BANKCALL
022822,001114: # R61LEM GOFLASHR FINDVAC
022823,001115: # ENDOFJOB NOVAC LSR24.1
022824,001116: # NORMAL EXIT MODES-
022825,001117: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
022826,001118: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022827,001119: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022828,001120: # ALARM OR ABORT EXIT MODES-
022829,001121: # SEE NORMAL EXIT MODES ABOVE
022830,001122: # OUTPUT -
022831,001123: # SEE OUTPUT FROM LSR24.1 + R61LEM
022832,001124: # ERASABLE INITIALIZATION REQUIRED
022833,001125: # SEE INPUT FOR LSR24.1
022834,001126: # FLAGS SET + RESET
022835,001127: # SRCHOPT,ACMODFLG
022836,001128: 24,3272 E7,1733 EBANK= DATAGOOD
022837,001129: 24,3272 COUNT* $$/R24
022838,001130: 24,3272 05515 R24LEM TC UPFLAG
022839,001131: 24,3273 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022840,001132: 24,3274 05527 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022841,001133: 24,3275 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022842,001134: 24,3276 34755 R24LEM1 CAF ZERO
022843,001135: 24,3277 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022844,001136: 24,3300 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022845,001137: 24,3301 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022846,001138: 24,3302 05364 R24LEM2 TC PHASCHNG
022847,001139: 24,3303 04022 OCT 04022
022848,001140: 24,3304 33337 CAF V16N80
022849,001141: 24,3305 04616 TC BANKCALL
022850,001142: 24,3306 20505 CADR PRIODSPR
022851,001143: 24,3307 06025 TC GOTOV56
022852,001144: 24,3310 03314 TC R24END # PROCEED EXIT R24 TO P20LEM1
022853,001145:
022854,001146:
022855,001147: 24,3311 03320 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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022857,001149: 24,3312 04616 TC BANKCALL
022858,001150: 24,3313 55444 CADR LRS24.1
022859,001151: 24,3314 06032 R24END TC KILLTASK
022860,001152: 24,3315 55645 CADR CALLDGCH
022861,001153: 24,3316 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022862,001154: 24,3317 12065 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022863,001155:
022864,001156: 6011 BLOCK 3
022865,001157: 6000 SETLOC FFTAG6
022866,001158: 6000 BANK
022867,001159: 6011 COUNT* $$/R24
022868,001160:
022869,001161: 6011 46021 CLRADMOD CS BIT10+15
022870,001162: 6012 00004 INHINT
022871,001163: 6013 70110 MASK RADMODES
022872,001164: 6014 54110 TS RADMODES
022873,001165: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022874,001166: 6016 00006 EXTEND
022875,001167: 6017 03012 WAND CHAN12 # USER WILL RELINT
022876,001168:
022877,001169: 6020 00002 TC Q
022878,001170:
022879,001171:
022880,001172: 6021 41000 BIT10+15 OCT 41000
022881,001173: 24,3320 BANK 24
022882,001174: 24,2000 SETLOC P20S
022883,001175: 24,2000 BANK
022884,001176: 24,3320 COUNT* $$/R24
022885,001177:
022886,001178: 24,3320 05364 R24LEM3 TC PHASCHNG
022887,001179: 24,3321 04022 OCT 04022
022888,001180: 24,3322 06032 TC KILLTASK
022889,001181: 24,3323 55645 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022890,001182: 24,3324 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
022891,001183: 24,3325 34774 CAF .5SEC
022892,001184: 24,3326 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022893,001185: 24,3327 01736 CADR DELAYJOB
022894,001186: 24,3330 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022895,001187: 24,3331 03334 TC R24LEM4 # YES-DONT DO ATTITUDE MANEUVER
022896,001188: 24,3332 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022897,001189: 24,3333 46116 CADR R61LEM # ATTITUDE MANEUVER
022898,001190: 24,3334 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022899,001191: 24,3335 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022900,001192: # RRDESSM WILL RETURN TO CALLER
022901,001193: 24,3336 03302 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022902,001194:
022903,001195:
022904,001196: 24,3337 04120 V16N80 VN 01680
022905,001197:
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022907,001199: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022908,001200: # PROGRAM DESCRIPTION
022909,001201: # MOD NO : 3 DATE : 4-11-67
022910,001202: # MOD BY : P VOLANTE SDC
022911,001203:
022912,001204:
022913,001205: # FUNCTIONAL DESCRIPTION-
022914,001206: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022915,001207: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022916,001208: # ATTITUDE.
022917,001209: # CALLING SEQUENCE-
022918,001210: # TC BANKCALL
022919,001211: # CADR R61LEM
022920,001212: # SUBROUTINES CALLED
022921,001213: # LPS20.1 VECPOINT
022922,001214: # KALCMAN3
022923,001215:
022924,001216:
022925,001217: # NORMAL EXIT MODES-
022926,001218: # NORMAL RETURN IS TO CALLER + 1
022927,001219: # ALARM OR ABORT EXIT MODES-
022928,001220: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022929,001221: # RENDEZVOUS FLAG ARE NOT SET.
022930,001222: # OUTPUT -
022931,001223: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022932,001224: # ERASABLE INITIALIZATION REQUIRED
022933,001225: # GENRET USED TO SAVE Q FOR RETURN
022934,001226: # FLAGS SET + RESET
022935,001227: # 3AXISFLG
022936,001228: # DEBRIS
022937,001229: # SEE SUBROUTINES
022938,001230: 23,2000 SETLOC R61
022939,001231: 23,2000 BANK
022940,001232: 23,2116 E7,1456 EBANK= LOSCOUNT
022941,001233: 23,2116 COUNT* $$/R61
022942,001234: 23,2116 04645 R61LEM TC MAKECADR
022943,001235: 23,2117 55142 TS GENRET
022944,001236: 23,2120 05515 TC UPFLAG # SET R61 FLAG
022945,001237: 23,2121 00024 ADRES R61FLAG
022946,001238: 23,2122 02146 TC R61C+L02
022947,001239: 23,2123 04645 R65LEM TC MAKECADR
022948,001240: 23,2124 55142 TS GENRET
022949,001241: 23,2125 05527 TC DOWNFLAG # RESET R61 FLAG
022950,001242: 23,2126 00024 ADRES R61FLAG
022951,001243: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
022952,001244: 23,2130 00006 EXTEND # GOOD NOT PRESENT
022953,001245: 23,2131 02033 RAND CHAN33
022954,001246: 23,2132 10000 CCS A
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022956,001248: 23,2133 12146 TCF R61C+L02 # NO DATA GOOD
022957,001249: 23,2134 04616 TC BANKCALL # READ RR RANGE AND RDOT
022958,001250: 23,2135 53072 CADR RRRDOT # EVERY R65 PASS (3 TIMES
022959,001251: 23,2136 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
022960,001252: 23,2137 17720 CADR RADSTALL # DURING ANY MARK PROCESSING,
022961,001253: 23,2140 12141 NOOP
022962,001254: 23,2141 04616 TC BANKCALL
022963,001255: 23,2142 53074 CADR RRRANGE
022964,001256: 23,2143 04616 TC BANKCALL
022965,001257: 23,2144 17720 CADR RADSTALL
022966,001258: 23,2145 12146 NOOP
022967,001259: 23,2146 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
022968,001260: 23,2147 70075 MASK STATE +1
022969,001261: 23,2150 00006 EXTEND
022970,001262: 23,2151 12310 BZF R65WAIT # NOT SET
022971,001263: 23,2152 06042 R61C+L03 TC INTPRET
022972,001264: 23,2153 77775 VLOAD
022973,001265: 23,2154 06512 HIUNITZ
022974,001266: 23,2155 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022975,001267: 23,2156 43234 R61LEM1 RTB DAD
022976,001268: 23,2157 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022977,001269: 23,2160 15714 3SECONDS # SIX SECOND PERIOD.
022978,001270: 23,2161 34041 STCALL TDEC1
022979,001271: 23,2162 51340 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022980,001272: 23,2163 77775 VLOAD
022981,001273: 23,2164 01101 RRTARGET
022982,001274: 23,2165 03773 STORE POINTVSM
022983,001275: 23,2166 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022984,001276: 23,2167 46316 READCDUD
022985,001277: 23,2170 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022986,001278: 23,2171 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
022987,001279: 23,2172 77776 EXIT
022988,001280: 23,2173 05364 TC PHASCHNG
022989,001281: 23,2174 04022 OCT 04022
022990,001282: 23,2175 34747 CAF TRACKBIT # IS TRACK FLAG SET
022991,001283: 23,2176 70075 MASK FLAGWRD1
022992,001284: 23,2177 00006 EXTEND
022993,001285: 23,2200 12310 BZF R65WAIT
022994,001286: 23,2201 04616 TC BANKCALL
022995,001287: 23,2202 54263 CADR G+N,AUTO # CHECK FOR AUTO MODE
022996,001288: 23,2203 10000 CCS A
022997,001289: 23,2204 02276 TC R61C+L04 # NOT IN AUTO
022998,001290: 23,2205 06042 TC INTPRET
022999,001291: 23,2206 45175 VLOAD CALL
023000,001292: 23,2207 01101 RRTARGET
023001,001293: 23,2210 47653 CDU*SMNB
023002,001294: 23,2211 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
023003,001295: 23,2212 00162 MPAC +5
023004,001296: 23,2213 06314 COS15DEG
023005,001297: 23,2214 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
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023007,001299: 23,2215 46232 R61C+L05 # PHI GRE 10DEG
023008,001300: 23,2216 E6,1634 EBANK= CDUXD
023009,001301: 23,2216 35015 CAF EBANK6
023010,001302: 23,2217 54003 TS EBANK
023011,001303: 23,2220 00004 INHINT
023012,001304: 23,2221 00006 EXTEND
023013,001305: 23,2222 30322 DCA CPHI
023014,001306: 23,2223 53635 DXCH CDUXD
023015,001307: 23,2224 30323 CA CPSI
023016,001308: 23,2225 55636 TS CDUZD
023017,001309: 23,2226 00003 RELINT
023018,001310: 23,2227 E7,1456 EBANK= LOSCOUNT
023019,001311: 23,2227 35016 CAF EBANK7
023020,001312: 23,2230 54003 TS EBANK
023021,001313: 23,2231 02255 TC R61C+L06
023022,001314: 23,2232 77776 R61C+L05 EXIT
023023,001315: 23,2233 00004 INHINT
023024,001316: 23,2234 04674 TC IBNKCALL
023025,001317: 23,2235 40154 FCADR ZATTEROR
023026,001318: 23,2236 04674 TC IBNKCALL
023027,001319: 23,2237 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
023028,001320: 23,2240 05527 TC DOWNFLAG
023029,001321: 23,2241 00124 ADRES 3AXISFLG
023030,001322: 23,2242 05515 TC UPFLAG
023031,001323: 23,2243 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
023032,001324: 23,2244 04616 TC BANKCALL
023033,001325: 23,2245 54125 CADR R60LEM
023034,001326: 23,2246 00004 INHINT
023035,001327: 23,2247 04674 TC IBNKCALL
023036,001328: 23,2250 40115 FCADR RESTORDB
023037,001329: 23,2251 05364 TC PHASCHNG
023038,001330: 23,2252 04022 OCT 04022
023039,001331: 23,2253 05527 TC DOWNFLAG
023040,001332: 23,2254 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
023041,001333: 23,2255 30075 R61C+L06 CA FLAGWRD1
023042,001334: 23,2256 74742 MASK R61FLBIT
023043,001335: 23,2257 10000 CCS A
023044,001336: 23,2260 02301 TC R61C+L4
023045,001337: 23,2261 11745 CCS R65CNTR
023046,001338: 23,2262 02264 TC +2
023047,001339: 23,2263 02301 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
023048,001340: 23,2264 55745 TS R65CNTR
023049,001341: 23,2265 32315 CAF 06SEC
023050,001342: 23,2266 05204 TC TWIDDLE
023051,001343: 23,2267 02271 ADRES R61C+L2
023052,001344: 23,2270 05155 TC ENDOFJOB
023053,001345: 23,2271 37717 R61C+L2 CAF PRIO26
023054,001346: 23,2272 05105 TC FINDVAC
023055,001347: 23,2273 E7,1456 EBANK= LOSCOUNT
023056,001348: 23,2273 02127 46067 2CADR R61C+L01
023057,001349:
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023059,001351: 23,2275 05272 TC TASKOVER
023060,001352: 23,2276 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
023061,001353: 23,2277 54274 CADR BALLANGS
023062,001354: 23,2300 02255 TC R61C+L06
023063,001355: 23,2301 31142 R61C+L4 CAE GENRET
023064,001356: 23,2302 14640 TCF BANKJUMP # EXIT R61
023065,001357: 23,2303 32312 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
023066,001358: 23,2304 70074 MASK STATE
023067,001359: 23,2305 00006 EXTEND
023068,001360: 23,2306 15155 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
023069,001361: 23,2307 02255 TC R61C+L06 # YES EXIT ROUTINE
023070,001362: 23,2310 04635 R65WAIT TC POSTJUMP
023071,001363: 23,2311 50310 CADR P20LEMWT
023072,001364:
023073,001365:
023074,001366: 23,2312 00500 BIT7+9PV OCT 00500
023075,001367: 23,2313 17350 34602 COS15DEG 2DEC 0.96593 B-1
023076,001368:
023077,001369: 23,2315 01130 06SEC DEC 600 B-14
023078,001370: 23,2316 PHI EQUALS 20D
023079,001371: 23,2316 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
023080,001372: 23,2317 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
023081,001373: 23,2320 56003 XCH EBANK
023082,001374: 23,2321 54070 TS RUPTREG1
023083,001375: 23,2322 E6,1634 EBANK= CDUXD
023084,001376: 23,2322 31634 CA CDUXD
023085,001377: 23,2323 54154 TS MPAC
023086,001378: 23,2324 00006 EXTEND
023087,001379: 23,2325 31636 DCA CDUYD
023088,001380: 23,2326 52156 DXCH MPAC +1
023089,001381: 23,2327 30070 CA RUPTREG1
023090,001382: 23,2330 54003 TS EBANK
023091,001383: 23,2331 00003 RELINT
023092,001384: 23,2332 16502 TCF TMODE
023093,001385: 4512 BLOCK 02
023094,001386: 4000 SETLOC RADARFF
023095,001387: 4000 BANK
023096,001388:
023097,001389: 4512 E7,1456 EBANK= LOSCOUNT
023098,001390: 4512 COUNT* $$/RRSUB
023099,001391:
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023101,001393: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023102,001394: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023103,001395:
023104,001396: 4512 00006 MAGSUB EXTEND
023105,001397: 4513 64515 BZMF +2
023106,001398: 4514 14516 TCF +2
023107,001399: 4515 40000 COM
023108,001400:
023109,001401: 4516 50002 INDEX Q
023110,001402: 4517 60000 AD 0
023111,001403: 4520 00006 EXTEND
023112,001404: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
023113,001405: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
023114,001406:
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023116,001408: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
023117,001409:
023118,001410: # FUNCTIONAL DESCRIPTION_
023119,001411: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023120,001412: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023121,001413: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023122,001414: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023123,001415: # MODE 1 AND =1 FOR MODE 2.
023124,001416: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023125,001417: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023126,001418: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023127,001419: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023128,001420: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023129,001421: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023130,001422: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023131,001423: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023132,001424: # TO L +3.
023133,001425:
023134,001426: # CALLING SEQUENCE:
023135,001427: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
023136,001428: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
023137,001429:
023138,001430: # ERASABLE INITIALIZATION REQUIRED:
023139,001431: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023140,001432: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023141,001433: # CURRENT EBANK).
023142,001434:
023143,001435: # SUBROUTINES CALLED_ MAGSUB
023144,001436:
023145,001437: # JOBS OR TASKS INITIATED_ NONE
023146,001438:
023147,001439: # ALARMS_ NONE
023148,001440:
023149,001441: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023150,001442: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023151,001443:
023152,001444: 4523 00006 RRLIMCHK EXTEND
023153,001445: 4524 50002 INDEX Q
023154,001446: 4525 50000 INDEX 0
023155,001447: 4526 30001 DCA 0
023156,001448: 4527 24002 INCR Q
023157,001449: 4530 52062 DXCH ITEMP1
023158,001450: 4531 22002 LXCH Q # L(CALLER +2) TO L.
023159,001451:
023160,001452: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023161,001453: 4533 70110 MASK RADMODES
023162,001454: 4534 10000 CCS A
023163,001455: 4535 14550 TCF MODE2CHK
023164,001456:
023165,001457: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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023167,001459: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
023168,001460: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023169,001461: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
023170,001462:
023171,001463: 4542 34562 CAF 5.5DEGS
023172,001464: 4543 60062 AD ITEMP2 # S
023173,001465: 4544 04512 TC MAGSUB
023174,001466: 4545 64420 DEC -.35833 # 64.5 DEGS
023175,001467: 4546 00001 TC L
023176,001468: 4547 04560 TC RRLIMOK # IN LIMITS.
023177,001469:
023178,001470: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
023179,001471: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
023180,001472: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
023181,001473: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
023182,001474: 4554 00001 TC L
023183,001475:
023184,001476: 4555 30061 CA ITEMP1
023185,001477: 4556 04512 TC MAGSUB
023186,001478: 4557 51615 DEC -.69444 # 125 DEGS
023187,001479:
023188,001480: 4560 50001 RRLIMOK INDEX L
023189,001481: 4561 00001 TC L # ( = TC 1)
023190,001482:
023191,001483: 4562 00765 5.5DEGS DEC .03056
023192,001484: 4563 16450 82DEGS DEC .45556
023193,001485:
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023195,001487: # PROGRAM NAME_ SETTRKF . IF EITHER:
023196,001488:
023197,001489: # FUNCTIONAL DESCRIPTION_
023198,001490: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
023199,001491: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023200,001492: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023201,001493: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023202,001494: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023203,001495: # AUTO MODE (RADMODES BITS 13, 7, 2).
023204,001496: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023205,001497: # 8,5)
023206,001498: # 3) NO RR DATA (RADMODES BIT 4)
023207,001499: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023208,001500: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023209,001501: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023210,001502: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023211,001503: # TRACKER FAIL LAMP IS TURNED ON IF_
023212,001504: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023213,001505: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023214,001506: # EITHER THE ALT OR VEL INFORMATION
023215,001507: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023216,001508: # WITH EITHER THE AL
023217,001509:
023218,001510: # CALLING SEQUENCE:
023219,001511: # L TC SETTRKF
023220,001512:
023221,001513: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023222,001514: # SUBROUTINES CALLED_ NONE
023223,001515:
023224,001516: # JOBS OR TASKS INITIATED_ NONE
023225,001517:
023226,001518: # ALARMS_ TRACKER FAIL LAMP
023227,001519:
023228,001520: # EXIT_ L +1 (ALWAYS) ED.
023229,001521:
023230,001522: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
023231,001523: 4565 71300 MASK IMODES33
023232,001524: 4566 10000 CCS A
023233,001525: 4567 00002 TC Q
023234,001526:
023235,001527: 4570 34744 RRTRKF CA BIT8
023236,001528: 4571 54001 TS L
023237,001529:
023238,001530: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
023239,001531: 4573 70110 MASK RADMODES
023240,001532: 4574 00006 EXTEND
023241,001533: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
023242,001534:
023243,001535: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
023244,001536: 4577 70110 MASK RADMODES
|
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Page 534
|
023246,001538: 4600 10000 CCS A
023247,001539: 4601 30001 TRKFLON CA L
023248,001540: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
023249,001541: 4603 70001 MASK L
023250,001542: 4604 00006 EXTEND
023251,001543: 4605 16745 BZF TCQ # NO CHANGE.
023252,001544:
023253,001545: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
023254,001546: 4607 00006 EXTEND
023255,001547: 4610 06001 RXOR LCHAN
023256,001548: 4611 74733 MASK POSMAX
023257,001549: 4612 64735 AD BIT15
023258,001550: 4613 55035 TS DSPTAB +11D
023259,001551: 4614 00002 TC Q
023260,001552:
023261,001553: 4615 10102 13,7,2 OCT 10102
023262,001554: 4616 ENDRMODF EQUALS
023263,001555:
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Page 535
|
023265,001557: # PROGRAM NAME_ RRTURNON
023266,001558:
023267,001559: # FUNCTIONAL DESCRIPTION_
023268,001560:
023269,001561: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023270,001562: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023271,001563: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023272,001564: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023273,001565: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023274,001566: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023275,001567: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023276,001568: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023277,001569: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023278,001570: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023279,001571: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023280,001572: # TO TASKOVER.
023281,001573:
023282,001574: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023283,001575: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023284,001576: # THE RR (STATE BIT 7).
023285,001577:
023286,001578: # ERASABLE INITIALIZATION REQUIRED:
023287,001579: # RADMODES, STATE
023288,001580:
023289,001581: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023290,001582:
023291,001583: # JOBS OR TASKS INITIATED_
023292,001584: # NONE
023293,001585:
023294,001586: # ALARMS_ NONE (SEE RRZEROSB)
023295,001587:
023296,001588: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
023297,001589:
023298,001590: 24,3340 BANK 24
023299,001591: 25,2000 SETLOC P20S1
023300,001592: 25,2000 BANK
023301,001593:
023302,001594: 25,2053 E7,1456 EBANK= LOSCOUNT
023303,001595: 25,2053 COUNT* $$/RSUB
023304,001596: 25,2053 02062 RRTURNON TC RRZEROSB
023305,001597: 25,2054 05232 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023306,001598: 25,2055 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
023307,001599: 25,2056 44753 CS TURNONBT
023308,001600: 25,2057 70110 MASK RADMODES
023309,001601: 25,2060 54110 TS RADMODES
023310,001602: 25,2061 15272 TCF TASKOVER
023311,001603:
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|
Page 536
|
023313,001605: # PROGRAM NAME_ RRZEROSB
023314,001606:
023315,001607: # FUNCTIONAL DESCRIPTION_
023316,001608: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023317,001609: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023318,001610: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023319,001611: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023320,001612: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023321,001613: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023322,001614: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023323,001615: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023324,001616: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023325,001617: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023326,001618: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023327,001619: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023328,001620: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023329,001621: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023330,001622: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023331,001623:
023332,001624: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
023333,001625: # ERASABLE INITIALIZATION REQUIRED:
023334,001626: # RADMODES (BIT 13 SET), DSPTAB +11D
023335,001627:
023336,001628: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
023337,001629:
023338,001630: # JOBS OR TASKS INITIATED_
023339,001631: # NONE
023340,001632:
023341,001633: # ALARMS_ TRACKER FAIL
023342,001634:
023343,001635: # EXIT_ L +1 (ALWAYS)
023344,001636:
023345,001637: 25,2062 00006 RRZEROSB EXTEND
023346,001638: 25,2063 23312 QXCH RRRET
023347,001639: 25,2064 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
023348,001640: 25,2065 00006 EXTEND # COMING HERE.
023349,001641: 25,2066 05012 WOR CHAN12 # TURN ON ZERO RR CDU
023350,001642: 25,2067 05232 TC FIXDELAY
023351,001643: 25,2070 00002 DEC 2 B-14
023352,001644:
023353,001645: 25,2071 34755 CAF ZERO
023354,001646: 25,2072 54035 TS CDUT
023355,001647: 25,2073 54036 TS CDUS
023356,001648: 25,2074 44753 CS ONE # REMOVE ZEROING BIT.
023357,001649: 25,2075 00006 EXTEND
023358,001650: 25,2076 03012 WAND CHAN12
023359,001651: 25,2077 05232 TC FIXDELAY
023360,001652: 25,2100 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
023361,001653:
023362,001654: 25,2101 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 537
|
023364,001656: 25,2102 70110 MASK RADMODES
023365,001657: 25,2103 54110 TS RADMODES
023366,001658:
023367,001659: 25,2104 30035 CA CDUT
023368,001660: 25,2105 04512 TC MAGSUB
023369,001661: 25,2106 57777 DEC -.5
023370,001662: 25,2107 12112 TCF +3 # IF MODE 2.
023371,001663:
023372,001664: 25,2110 34755 CAF ZERO
023373,001665: 25,2111 12113 TCF +2
023374,001666: 25,2112 34740 CAF ANTENBIT
023375,001667: 25,2113 56110 XCH RADMODES
023376,001668: 25,2114 77744 MASK -BIT12
023377,001669: 25,2115 26110 ADS RADMODES
023378,001670:
023379,001671: 25,2116 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
023380,001672:
023381,001673: 25,2117 01312 TC RRRET # DONE.
023382,001674:
023383,001675: 25,2120 7744 -BIT12 EQUALS -1/8 # IN SPROOT
023384,001676:
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Page 538
|
023386,001678: # PROGRAM NAME_ DORREPOS
023387,001679: # FUNCTIONAL DESCRIPTION_
023388,001680: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023389,001681: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
023390,001682: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023391,001683: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023392,001684: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
023393,001685: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023394,001686: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
023395,001687: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023396,001688: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
023397,001689: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023398,001690: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
023399,001691: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
023400,001692: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023401,001693: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
023402,001694: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023403,001695: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023404,001696: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
023405,001697: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023406,001698: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
023407,001699: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023408,001700: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023409,001701: # TASKOVER.
023410,001702:
023411,001703: # CALLING SEQUENCE:
023412,001704: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023413,001705: # NOT WITHIN LIMITS OF CURRENT MODE.
023414,001706:
023415,001707: # ERASABLE INITIALIZATION REQUIRED:
023416,001708: # RADMODES
023417,001709:
023418,001710: # SUBROUTINES CALLED_
023419,001711: # RRTONLY, RRSONLY, BEGDES (EXIT)
023420,001712:
023421,001713: # JOBS OR TASKS INITIATED_
023422,001714: # NONE
023423,001715:
023424,001716: # ALARMS- NONE
023425,001717:
023426,001718: # EXIT_ TASKOVER, BEGDES
023427,001719:
023428,001720: 25,2120 02147 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
023429,001721:
023430,001722: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023431,001723:
023432,001724: 25,2121 05232 TC FIXDELAY
023433,001725: 25,2122 00002 DEC 2 B-14
023434,001726:
023435,001727: 25,2123 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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|
Page 539
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023437,001729: 25,2124 70110 MASK RADMODES
023438,001730: 25,2125 10000 CCS A
023439,001731: 25,2126 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
023440,001732: 25,2127 02232 TC RRTONLY
023441,001733:
023442,001734: 25,2130 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
023443,001735: 25,2131 70110 MASK RADMODES
023444,001736: 25,2132 10000 CCS A
023445,001737: 25,2133 44736 CS HALF # -90 FOR MODE 2.
023446,001738: 25,2134 02235 TC RRSONLY
023447,001739:
023448,001740: 25,2135 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023449,001741: # REQUESTED DURING REPOSITION.
023450,001742: 25,2136 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023451,001743: 25,2137 54110 TS RADMODES
023452,001744: 25,2140 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023453,001745: 25,2141 10000 CCS A
023454,001746: 25,2142 12564 TCF BEGDES
023455,001747: 25,2143 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023456,001748: 25,2144 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023457,001749: 25,2145 03012 WAND CHAN12
023458,001750: 25,2146 15272 TCF TASKOVER
023459,001751:
023460,001752: 25,2147 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023461,001753: 25,2150 00006 EXTEND
023462,001754: 25,2151 02012 RAND CHAN12
023463,001755: 25,2152 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023464,001756: 25,2153 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023465,001757:
023466,001758: 25,2154 54112 TS LASTYCMD
023467,001759: 25,2155 54113 TS LASTXCMD
023468,001760: 25,2156 34752 CAF BIT2
023469,001761: 25,2157 00006 EXTEND
023470,001762: 25,2160 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023471,001763: 25,2161 00002 TC Q
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|
Page 540
|
023473,001765: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023474,001766:
023475,001767: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023476,001768: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023477,001769: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023478,001770: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023479,001771: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023480,001772: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023481,001773: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023482,001774: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023483,001775: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023484,001776: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023485,001777: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023486,001778: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023487,001779: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023488,001780: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023489,001781: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023490,001782: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023491,001783: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023492,001784: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023493,001785: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023494,001786: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023495,001787:
023496,001788: # CALLING SEQUENCE:
023497,001789: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023498,001790: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023499,001791: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023500,001792: # OTHER MODE.
023501,001793:
023502,001794: # ERASABLE INITIALIZATION REQUIRED:
023503,001795: # RADMODES
023504,001796:
023505,001797: # SUBROUTINES CALLED_
023506,001798: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023507,001799:
023508,001800: # JOBS OR TASKS INITIATED_
023509,001801: # NONE
023510,001802:
023511,001803: # ALARMS_ NONE
023512,001804:
023513,001805: # EXIT_ STDESIG
023514,001806:
023515,001807: 25,2162 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
023516,001808: 25,2163 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023517,001809: 25,2164 10000 CCS A
023518,001810: 25,2165 34735 CAF BIT15
023519,001811: 25,2166 02232 TC RRTONLY
023520,001812:
023521,001813: 25,2167 37743 CAF -45DEGSR
023522,001814: 25,2170 02235 TC RRSONLY
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Page 541
|
023524,001816: 25,2171 40110 CS RADMODES
023525,001817: 25,2172 74740 MASK ANTENBIT
023526,001818: 25,2173 10000 CCS A
023527,001819: 25,2174 32223 CAF -80DEGSR # GO TO T = -130 (-50).
023528,001820: 25,2175 62222 AD -50DEGSR
023529,001821: 25,2176 02232 TC RRTONLY
023530,001822:
023531,001823: 25,2177 40110 CS RADMODES
023532,001824: 25,2200 74740 MASK ANTENBIT
023533,001825: 25,2201 10000 CCS A
023534,001826: 25,2202 34735 CAF BIT15 # GO TO T = -180 (+0).
023535,001827: 25,2203 02232 TC RRTONLY
023536,001828:
023537,001829: 25,2204 40110 CS RADMODES # GO TO S = -90 (+0).
023538,001830: 25,2205 74740 MASK ANTENBIT
023539,001831: 25,2206 10000 CCS A
023540,001832: 25,2207 44736 CS HALF
023541,001833: 25,2210 02235 TC RRSONLY
023542,001834:
023543,001835: 25,2211 02224 TC RMODINV
023544,001836:
023545,001837: 25,2212 44736 CS REMODBIT # END OF REMODE.
023546,001838: 25,2213 70110 MASK RADMODES
023547,001839: 25,2214 54110 TS RADMODES
023548,001840:
023549,001841: 25,2215 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
023550,001842: 25,2216 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023551,001843: 25,2217 00006 EXTEND
023552,001844: 25,2220 13616 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
023553,001845: 25,2221 02573 TC STDESIG # YES - RETURN TO DESIGNATE
023554,001846: 25,2222 7743 -45DEGSR = 13,14,15
023555,001847: 25,2222 67070 -50DEGSR DEC -.27778
023556,001848: 25,2223 61615 -80DEGSR DEC -.44444
023557,001849:
023558,001850: 25,2224 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023559,001851: 25,2225 34740 CAF ANTENBIT
023560,001852: 25,2226 00006 EXTEND
023561,001853: 25,2227 06001 RXOR LCHAN
023562,001854: 25,2230 54110 TS RADMODES
023563,001855: 25,2231 00002 TC Q
023564,001856:
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|
Page 542
|
023566,001858: # PROGRAM NAMES_ RRTONLY, RRSONLY
023567,001859:
023568,001860: # FUNCTIONAL DESCRIPTION_
023569,001861: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023570,001862: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023571,001863: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023572,001864: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023573,001865: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023574,001866: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023575,001867: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023576,001868: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023577,001869: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023578,001870: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023579,001871: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023580,001872: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023581,001873: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023582,001874: # REPEATED.
023583,001875:
023584,001876: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023585,001877: # L TC RRTONLY (TRUNNION ONLY)
023586,001878: # RRSONLY (SHAFT ONLY)
023587,001879: # RRTONLY IS CALLED BY PREPOS29;
023588,001880: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023589,001881:
023590,001882: # ERASABLE INITIALIZATION REQUIRED:
023591,001883: # C(A) = DESIRED ANGLE, RADMODES
023592,001884:
023593,001885: # SUBROUTINES CALLED_
023594,001886: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023595,001887:
023596,001888: # JOBS OR TASKS INITIATED_
023597,001889: # NONE
023598,001890:
023599,001891: # ALARMS_ NONE
023600,001892:
023601,001893: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023602,001894: # BITS 14, 11)
023603,001895: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023604,001896:
023605,001897: 25,2232 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023606,001898: 25,2233 34755 CAF ZERO
023607,001899: 25,2234 12237 TCF RR1AXIS
023608,001900:
023609,001901: 25,2235 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023610,001902: 25,2236 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023611,001903:
023612,001904: 25,2237 55314 RR1AXIS TS RRINDEX
023613,001905: 25,2240 00006 EXTEND
023614,001906: 25,2241 23312 QXCH RRRET
023615,001907: 25,2242 12245 TCF RR1AX2
023616,001908:
|
|
Page 543
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023618,001910: 25,2243 05232 NXTRR1AX TC FIXDELAY
023619,001911: 25,2244 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023620,001912:
023621,001913: 25,2245 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023622,001914: 25,2246 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023623,001915: 25,2247 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023624,001916: 25,2250 12135 BZF REPOSRPT # REMODE IMMEDIATELY.
023625,001917:
023626,001918: 25,2251 31313 CA RDES
023627,001919: 25,2252 00006 EXTEND
023628,001920: 25,2253 51314 INDEX RRINDEX
023629,001921: 25,2254 20035 MSU CDUT
023630,001922: 25,2255 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023631,001923: 25,2256 00006 EXTEND
023632,001924: 25,2257 72276 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023633,001925: 25,2260 54001 TS L
023634,001926: 25,2261 30110 CA RADMODES
023635,001927: 25,2262 74752 MASK AUTOMBIT
023636,001928: 25,2263 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023637,001929: 25,2264 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023638,001930: 25,2265 77644 DEC -.00555 # SCALED IN HALF-REVS.
023639,001931:
023640,001932: 25,2266 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023641,001933: 25,2267 01312 TC RRRET # RETURN TO CALLER.
023642,001934:
023643,001935: 25,2270 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023644,001936: 25,2271 12273 TCF +2 # SETTING A TO 0.
023645,001937: 25,2272 56001 XCH L
023646,001938: 25,2273 53352 DXCH TRUNNCMD
023647,001939: 25,2274 02277 TC RROUT
023648,001940:
023649,001941: 25,2275 12243 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023650,001942:
023651,001943: 25,2276 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023652,001944:
|
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Page 544
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023654,001946: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023655,001947:
023656,001948: # FUNCTIONAL DESCRIPTION_
023657,001949: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023658,001950: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023659,001951: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023660,001952: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023661,001953: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023662,001954: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023663,001955: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023664,001956: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023665,001957: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023666,001958: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023667,001959: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023668,001960: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023669,001961: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023670,001962:
023671,001963: # CALLING SEQUENCE:
023672,001964: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023673,001965: # RRTONLY, RRSONLY, AND DODES
023674,001966:
023675,001967: # ERASABLE INITIALIZATION REQUIRED:
023676,001968: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023677,001969: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023678,001970:
023679,001971: # SUBROUTINES CALLED_
023680,001972: # MAGSUB
023681,001973:
023682,001974: # JOBS OR TASKS INITIATED_
023683,001975: # NONE
023684,001976:
023685,001977: # ALARMS_ NONE
023686,001978:
023687,001979: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023688,001980:
023689,001981: 25,2277 22002 RROUT LXCH Q # SAVE RETURN.
023690,001982: 25,2300 34753 CAF ONE # LOOP TWICE.
023691,001983: 25,2301 54062 RROUT2 TS ITEMP2
023692,001984: 25,2302 50000 INDEX A
023693,001985: 25,2303 31351 CA TRUNNCMD
023694,001986: 25,2304 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023695,001987:
023696,001988: 25,2305 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023697,001989: 25,2306 77177 -RRLIMIT DEC -384 B-14
023698,001990: 25,2307 12326 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023699,001991:
023700,001992: 25,2310 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023701,001993: 25,2311 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023702,001994: 25,2312 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023703,001995: 25,2313 40000 COM
|
|
Page 545
|
023705,001997: 25,2314 60061 AD ITEMP1
023706,001998: 25,2315 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023707,001999: 25,2316 50062 INDEX ITEMP2
023708,002000: 25,2317 54053 TS CDUTCMD
023709,002001:
023710,002002: 25,2320 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023711,002003: 25,2321 12301 TCF RROUT2
023712,002004:
023713,002005: 25,2322 35020 CAF PRIO6 # ENABLE COUNTERS.
023714,002006: 25,2323 00006 EXTEND
023715,002007: 25,2324 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023716,002008: 25,2325 00001 TC L # RETURN.
023717,002009:
023718,002010: 25,2326 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023719,002011: 25,2327 42306 CS -RRLIMIT
023720,002012: 25,2330 12332 TCF +2
023721,002013: 25,2331 32306 CA -RRLIMIT
023722,002014: 25,2332 54061 TS ITEMP1
023723,002015: 25,2333 12311 TCF SETRRCTR +1
023724,002016:
|
|
Page 546
|
023726,002018: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023727,002019:
023728,002020: 25,2334 32363 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023729,002021: 25,2335 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023730,002022: 25,2336 10000 CCS A
023731,002023: 25,2337 13532 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023732,002024:
023733,002025: 25,2340 00004 INHINT
023734,002026: 25,2341 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023735,002027: 25,2342 70110 MASK RADMODES
023736,002028: 25,2343 64737 AD RCDU0BIT
023737,002029: 25,2344 54110 TS RADMODES
023738,002030:
023739,002031: 25,2345 34753 CAF ONE
023740,002032: 25,2346 05214 TC WAITLIST
023741,002033: 25,2347 E7,1456 EBANK= LOSCOUNT
023742,002034: 25,2347 02361 52067 2CADR RRZ2
023743,002035:
023744,002036:
023745,002037: 25,2351 40110 CS RADMODES # SEE IF IN AUTO MODE.
023746,002038: 25,2352 74752 MASK AUTOMBIT
023747,002039: 25,2353 10000 CCS A
023748,002040: 25,2354 12357 TCF ROADBACK
023749,002041: 25,2355 05600 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023750,002042: 25,2356 00510 OCT 510
023751,002043: 25,2357 00003 ROADBACK RELINT
023752,002044: 25,2360 14631 TCF SWRETURN
023753,002045:
023754,002046: 25,2361 02062 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023755,002047: 25,2362 13607 TCF ENDRADAR
023756,002048:
023757,002049: 25,2363 02001 BIT11+1 OCT 02001
023758,002050:
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|
Page 547
|
023760,002052: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023761,002053:
023762,002054: # FUNCTIONAL DESCRIPTION_
023763,002055: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023764,002056: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023765,002057: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023766,002058: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023767,002059: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023768,002060: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023769,002061: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023770,002062: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023771,002063: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023772,002064: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023773,002065: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023774,002066: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023775,002067: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023776,002068: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023777,002069: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023778,002070: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023779,002071: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023780,002072: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023781,002073: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023782,002074: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023783,002075: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023784,002076: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023785,002077:
023786,002078: # CALLING SEQUENCE:
023787,002079: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023788,002080: # L+1 RRDESSM
023789,002081: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023790,002082: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023791,002083:
023792,002084: # ERASABLE INITIALIZATION REQUIRED:
023793,002085: # RRTARGET, RADMODES
023794,002086:
023795,002087: # SUBROUTINES CALLED_
023796,002088: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023797,002089: # PART OF), RMODINV
023798,002090:
023799,002091: # JOBS OR TASKS INITIATED_
023800,002092: # NONE
023801,002093:
023802,002094: # ALARMS_ NONE
023803,002095:
023804,002096: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023805,002097: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023806,002098: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023807,002099:
023808,002100: 25,2364 43020 RRDESSM STQ CLEAR
023809,002101: 25,2365 01112 DESRET
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|
Page 548
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023811,002103: 25,2366 00271 RRNBSW
023812,002104: 25,2367 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023813,002105: 25,2370 47535 CDUTRIG
023814,002106: 25,2371 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023815,002107: 25,2372 01101 RRTARGET
023816,002108: 25,2373 47676 *SMNB*
023817,002109:
023818,002110: 25,2374 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023819,002111: 25,2375 26133 RRANGLES # ALTERNATE MODE.
023820,002112: 25,2376 77776 EXIT
023821,002113:
023822,002114: 25,2377 00004 INHINT
023823,002115: 25,2400 04523 TC RRLIMCHK
023824,002116: 25,2401 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023825,002117: 25,2402 02405 TC +3 # NOT IN CURRENT MODE
023826,002118: 25,2403 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023827,002119: 25,2404 02423 TC STARTDES # SHOW DESIGNATE REQUIRED
023828,002120: 25,2405 40104 CS FLAGWRD8
023829,002121: 25,2406 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023830,002122: 25,2407 00006 EXTEND
023831,002123: 25,2410 12447 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
023832,002124: 25,2411 02452 TC TRYSWS
023833,002125:
023834,002126:
023835,002127: 25,2412 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023836,002128: 25,2413 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023837,002129: 25,2414 00006 EXTEND
023838,002130: 25,2415 12447 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
023839,002131: 25,2416 30074 CA STATE
023840,002132: 25,2417 74745 MASK RNDVZBIT
023841,002133: 25,2420 10000 CCS A # TEST RNDVZFLG.
023842,002134: 25,2421 02462 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
023843,002135: 25,2422 15155 TCF ENDOFJOB # ...BUT NOT IN R29.
023844,002136:
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|
Page 549
|
023846,002138: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023847,002139:
023848,002140: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023849,002141: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023850,002142: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023851,002143: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023852,002144: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023853,002145: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023854,002146: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023855,002147: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023856,002148: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023857,002149: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023858,002150: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023859,002151: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023860,002152: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023861,002153: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023862,002154: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023863,002155: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023864,002156: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023865,002157: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023866,002158: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023867,002159: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023868,002160: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023869,002161:
023870,002162: # CALLING SEQUENCE:
023871,002163: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023872,002164:
023873,002165: # ERASABLE INITIALIZATION REQUIRED:
023874,002166: # RADMODES, (SEE DODES)
023875,002167:
023876,002168: # SUBROUTINES CALLED_
023877,002169: # SETRRECR, WAITLIST
023878,002170:
023879,002171: # JOBS OR TASKS INITIATED_
023880,002172: # BEGDES
023881,002173:
023882,002174: # ALARMS_ NONE
023883,002175:
023884,002176: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023885,002177: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023886,002178:
023887,002179: 25,2423 25112 STARTDES INCR DESRET
023888,002180: 25,2424 40110 CS RADMODES
023889,002181: 25,2425 74742 MASK DESIGBIT
023890,002182: 25,2426 26110 ADS RADMODES
023891,002183: 25,2427 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023892,002184: 25,2430 10000 CCS A
023893,002185: 25,2431 12437 TCF DESRETRN # ECTR ALREADY SET UP.
023894,002186:
023895,002187: 25,2432 02147 TC SETRRECR # SET UP ERROR COUNTERS.
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Page 550
|
023897,002189: 25,2433 34752 CAF TWO
023898,002190: 25,2434 05214 TC WAITLIST
023899,002191: 25,2435 E7,1456 EBANK= LOSCOUNT
023900,002192: 25,2435 02564 52067 2CADR BEGDES
023901,002193:
023902,002194:
023903,002195: 25,2437 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023904,002196: 25,2440 00006 EXTEND
023905,002197: 25,2441 12443 BZF DESRTRN # YES SET EXIT
023906,002198: 25,2442 05155 TC ENDOFJOB # NO
023907,002199: 25,2443 00003 DESRTRN RELINT
023908,002200: 25,2444 25112 INCR DESRET
023909,002201: 25,2445 31112 CA DESRET
023910,002202: 25,2446 14640 TCF BANKJUMP
023911,002203:
023912,002204:
023913,002205: 25,2447 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023914,002206: 25,2450 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023915,002207: 25,2451 12443 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023916,002208:
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|
Page 551
|
023918,002210: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023919,002211:
023920,002212: 25,2452 02224 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023921,002213: 25,2453 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023922,002214: 25,2454 01110 ADRES MODEB
023923,002215: 25,2455 12462 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023924,002216:
023925,002217: 25,2456 02224 TC RMODINV # RESET BIT12
023926,002218: 25,2457 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023927,002219: 25,2460 26110 ADS RADMODES
023928,002220:
023929,002221: 25,2461 12403 TCF OKDESSM
023930,002222:
023931,002223: 25,2462 02224 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023932,002224: 25,2463 25112 INCR DESRET # TO CALLER +2
023933,002225: 25,2464 12447 TCF NORDSTAL
023934,002226:
023935,002227: 25,2465 00074 MAXTRYS DEC 60 B-14
023936,002228:
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|
Page 552
|
023938,002230: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023939,002231: # TANG AND TANG +1.
023940,002232:
023941,002233: 25,2466 04645 RRDESNB TC MAKECADR
023942,002234: 25,2467 55112 TS DESRET
023943,002235:
023944,002236: 25,2470 05527 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023945,002237: 25,2471 00041 ADRES LOSCMFLG # BACK TO R21
023946,002238: 25,2472 32465 CA MAXTRYS # SET TIME LIMIT COUNTER
023947,002239: 25,2473 55113 TS DESCOUNT # FOR DESIGNATE
023948,002240: 25,2474 00004 INHINT # SEE IF CURRENT MODE OK.
023949,002241: 25,2475 02531 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023950,002242: 25,2476 01106 ADRES TANG
023951,002243: 25,2477 12514 TCF TRYSWN # SEE IF IN OTHER MODE.
023952,002244:
023953,002245: 25,2500 00003 OKDESNB RELINT
023954,002246: 25,2501 00006 EXTEND
023955,002247: 25,2502 31107 DCA TANG
023956,002248: 25,2503 53753 DXCH TANGNB
023957,002249: 25,2504 06042 TC INTPRET
023958,002250:
023959,002251: 25,2505 77624 CALL # GET LOS IN NB COORDS.
023960,002252: 25,2506 46041 RRNB
023961,002253: 25,2507 01101 STORE RRTARGET
023962,002254:
023963,002255: 25,2510 77414 SET EXIT
023964,002256: 25,2511 00071 RRNBSW
023965,002257:
023966,002258: 25,2512 00004 INHINT
023967,002259: 25,2513 12424 TCF STARTDES +1
023968,002260: 25,2514 02224 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023969,002261: 25,2515 02531 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023970,002262: 25,2516 01106 ADRES TANG
023971,002263: 25,2517 12524 TCF NODESNB # NOT POSSIBLE.
023972,002264:
023973,002265: 25,2520 02224 TC RMODINV
023974,002266: 25,2521 34736 CAF REMODBIT # CALL FOR REMODE.
023975,002267: 25,2522 26110 ADS RADMODES
023976,002268: 25,2523 12500 TCF OKDESNB
023977,002269:
023978,002270: 25,2524 02224 NODESNB TC RMODINV # REINVERT MODE BIT.
023979,002271: 25,2525 05600 TC ALARM # BAD INPUT ANGLES.
023980,002272: 25,2526 00502 OCT 502
023981,002273: 25,2527 06011 TC CLRADMOD
023982,002274: 25,2530 05155 TC ENDOFJOB # AVOID 503 ALARM.
023983,002275:
023984,002276: 25,2531 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023985,002277: 25,2532 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023986,002278: 25,2533 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023987,002279: 25,2534 00006 EXTEND
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Page 553
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023989,002281: 25,2535 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023990,002282: 25,2536 30001 DCA 0
023991,002283: 25,2537 52062 DXCH ITEMP1
023992,002284: 25,2540 22002 LXCH Q # L(CALLER +2) TO L
023993,002285:
023994,002286: 25,2541 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023995,002287: 25,2542 70110 MASK RADMODES
023996,002288: 25,2543 10000 CCS A
023997,002289: 25,2544 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023998,002290: 25,2545 30061 CA ITEMP1
023999,002291: 25,2546 04512 TC MAGSUB # MODE 1 IS DEFINED AS
024000,002292: 25,2547 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
024001,002293: 25,2550 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
024002,002294:
024003,002295: 25,2551 30062 CA ITEMP2 # LOAD SHAFT ANGLE
024004,002296: 25,2552 00006 EXTEND
024005,002297: 25,2553 62561 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024006,002298: 25,2554 64562 AD 5.5DEGS
024007,002299: 25,2555 04512 SHAFTLIM TC MAGSUB
024008,002300: 25,2556 64420 DEC -.35833 # 64.5 DEGREES
024009,002301: 25,2557 00001 TC L # NOT IN LIMITS
024010,002302: 25,2560 04560 TC RRLIMOK # IN LIMITS
024011,002303: 25,2561 62563 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024012,002304: 25,2562 12555 TCF SHAFTLIM
024013,002305:
024014,002306:
024015,002307: 25,2563 03512 20.5DEGS DEC .11389
024016,002308:
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Page 554
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024018,002310: # PROGRAM NAME_ BEGDES
024019,002311:
024020,002312: # FUNCTIONAL DESCRIPTION_
024021,002313: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024022,002314: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024023,002315: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024024,002316: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024025,002317: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024026,002318: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024027,002319: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024028,002320: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024029,002321: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024030,002322: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024031,002323: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024032,002324: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024033,002325: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024034,002326: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024035,002327: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024036,002328: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024037,002329: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024038,002330: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024039,002331: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024040,002332: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024041,002333: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024042,002334: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024043,002335: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024044,002336: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024045,002337: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024046,002338:
024047,002339: # CALLING SEQUENCE:
024048,002340: # WAITLIST CALL FROM STARTDES
024049,002341: # TCF BEGDES FROM DORREPOS
024050,002342: # TC STDESIG RETURNING, FROM REMODE
024051,002343:
024052,002344: # ERASABLE INITIALIZATION REQUIRED:
024053,002345: # DESCOUNT, RADMODES
024054,002346:
024055,002347: # SUBROUTINES CALLED_
024056,002348: # ENDRADAR, FINDVAC
024057,002349:
024058,002350: # JOBS OR TASKS INITIATED_ DODES
024059,002351:
024060,002352: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024061,002353: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024062,002354:
024063,002355: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024064,002356: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024065,002357: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024066,002358:
024067,002359: 25,2564 40110 BEGDES CS RADMODES
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Page 555
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024069,002361: 25,2565 74736 MASK REMODBIT
024070,002362: 25,2566 10000 CCS A
024071,002363: 25,2567 02573 TC STDESIG
024072,002364: 25,2570 02162 TC REMODE
024073,002365: 25,2571 05232 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
024074,002366: 25,2572 00062 DEC 50 B-14
024075,002367:
024076,002368: 25,2573 34741 STDESIG CAF REPOSBIT
024077,002369: 25,2574 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024078,002370: 25,2575 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024079,002371: 25,2576 12614 TCF BADDES # REPOSITION TO BE IN PROGRESS.
024080,002372:
024081,002373: 25,2577 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
024082,002374: 25,2600 12603 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
024083,002375: 25,2601 12603 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024084,002376: 25,2602 12620 TCF MOREDES +1
024085,002377:
024086,002378: 25,2603 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
024087,002379: 25,2604 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024088,002380: 25,2605 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024089,002381: 25,2606 13607 TCF ENDRADAR # CHECKING RR CDU FAIL.
024090,002382:
024091,002383: 25,2607 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
024092,002384: 25,2610 12617 TCF MOREDES
024093,002385:
024094,002386: 25,2611 42625 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024095,002387: 25,2612 00006 EXTEND
024096,002388: 25,2613 03012 WAND CHAN12
024097,002389: 25,2614 05527 BADDES TC DOWNFLAG
024098,002390: 25,2615 00271 ADRES DESIGFLG
024099,002391: 25,2616 13623 TCF RDBADEND
024100,002392:
024101,002393: 25,2617 55113 MOREDES TS DESCOUNT
024102,002394: 25,2620 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
024103,002395: 25,2621 05105 TC FINDVAC
024104,002396: 25,2622 E7,1456 EBANK= LOSCOUNT
024105,002397: 25,2622 02626 52067 2CADR DODES
024106,002398:
024107,002399:
024108,002400: 25,2624 12571 TCF DESLOOP
024109,002401:
024110,002402: 25,2625 20002 B14+B2 OCT 20002
024111,002403:
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Page 556
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024113,002405: # PROGRAM NAME_ DODES
024114,002406:
024115,002407: # FUNCTIONAL DESCRIPTION_
024116,002408: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024117,002409: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024118,002410: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024119,002411: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024120,002412: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024121,002413: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
024122,002414: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
024123,002415: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024124,002416: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024125,002417: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024126,002418: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024127,002419: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024128,002420: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024129,002421: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024130,002422: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024131,002423: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024132,002424: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024133,002425: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024134,002426: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024135,002427: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024136,002428: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024137,002429: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024138,002430: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024139,002431: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024140,002432: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024141,002433: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024142,002434: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024143,002435: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024144,002436: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024145,002437: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024146,002438: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024147,002439: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024148,002440: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024149,002441: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024150,002442: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024151,002443: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024152,002444: # VIA ENDOFJOB.
024153,002445:
024154,002446: # CALLING SEQUENCE:
024155,002447: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024156,002448:
024157,002449: # ERASABLE INITIALIZATION REQUIRED:
024158,002450: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024159,002451: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024160,002452:
024161,002453: # SUBROUTINES CALLED_
024162,002454: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
024163,002455:
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Page 557
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024165,002457: # JOBS OR TASKS INITIATED_
024166,002458: # NONE
024167,002459:
024168,002460: # ALARMS_ NONE
024169,002461:
024170,002462: # EXIT_ ENDOFJOB (ALWAYS)
024171,002463:
024172,002464: 25,2626 00006 DODES EXTEND
024173,002465: 25,2627 30036 DCA CDUT
024174,002466: 25,2630 53107 DXCH TANG
024175,002467:
024176,002468: 25,2631 06042 TC INTPRET
024177,002469:
024178,002470: 25,2632 77201 SETPD VLOAD
024179,002471: 25,2633 00001 0
024180,002472: 25,2634 01101 RRTARGET
024181,002473: 25,2635 74214 BON VXSC
024182,002474: 25,2636 00311 RRNBSW
024183,002475: 25,2637 52651 DONBRD # TARGET IN NAV-BASE COORDINATES
024184,002476: 25,2640 01765 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
024185,002477: 25,2641 63372 VSL1 PDVL
024186,002478: 25,2642 01757 LOSVEL
024187,002479: 25,2643 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
024188,002480: 25,2644 13061 MCTOMS
024189,002481: 25,2645 45056 UNIT CALL
024190,002482: 25,2646 47535 CDUTRIG
024191,002483: 25,2647 77624 CALL
024192,002484: 25,2650 47676 *SMNB*
024193,002485:
024194,002486: 25,2651 14041 DONBRD STODL 32D
024195,002487: 25,2652 01110 TANG +1
024196,002488: 25,2653 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
024197,002489: 25,2654 21577 CDULOGIC # (-SIN(S)).
024198,002490: 25,2655 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
024199,002491: 25,2656 41546 COS PUSH
024200,002492: 25,2657 65205 DMP PDDL
024201,002493: 25,2660 00041 32D
024202,002494: 25,2661 00045 36D
024203,002495: 25,2662 44205 DMP BDSU
024204,002496: 25,2663 00001 0
024205,002497: 25,2664 77626 STADR
024206,002498: 25,2665 76667 STORE TANG +1 # SHAFT COMMAND
024207,002499:
024208,002500: 25,2666 47135 SLOAD RTB
024209,002501: 25,2667 01107 TANG
024210,002502: 25,2670 21577 CDULOGIC
024211,002503: 25,2671 71406 PUSH COS # COS(T) TO 4.
024212,002504: 25,2672 73525 PDDL SIN
024213,002505: 25,2673 41206 PUSH DMP # SIN(T) TO 6.
024214,002506: 25,2674 00003 2
024215,002507: 25,2675 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
024216,002508: 25,2676 00005 4 # (COS(T) )
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Page 558
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024218,002510: 25,2677 41325 PDDL DMP # (SIN(T)COS(S))
024219,002511: 25,2700 00007 6
024220,002512: 25,2701 00001 0
024221,002513: 25,2702 55552 SL1 VDEF
024222,002514: 25,2703 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
024223,002515: 25,2704 00041 32D
024224,002516:
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Page 559
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024226,002518: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024227,002519: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024228,002520:
024229,002521: 25,2705 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
024230,002522: 25,2706 00006 EXTEND
024231,002523: 25,2707 73055 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024232,002524: 25,2710 55351 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
024233,002525: 25,2711 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
024234,002526: 25,2712 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
024235,002527: 25,2713 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
024236,002528: 25,2714 12717 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
024237,002529: 25,2715 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024238,002530: 25,2716 12720 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
024239,002531: 25,2717 41107 +3 CS TANG +1
024240,002532: 25,2720 00006 EXTEND
024241,002533: 25,2721 73055 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024242,002534: 25,2722 55352 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
024243,002535: 25,2723 06042 TC INTPRET
024244,002536:
024245,002537: 25,2724 41345 DLOAD DMP
024246,002538: 25,2725 00003 2 # COS(S).
024247,002539: 25,2726 00005 4 # COS(T).
024248,002540: 25,2727 65352 SL1 PDDL # Z COMPONENT OF URR.
024249,002541: 25,2730 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
024250,002542: 25,2731 00001 0 # SIN(S).
024251,002543: 25,2732 72405 DMP SL1
024252,002544: 25,2733 00005 4 # COS(T).
024253,002545: 25,2734 43066 VDEF BON # FORM URR IN NB AXES.
024254,002546: 25,2735 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
024255,002547: 25,2736 52741 +3
024256,002548: 25,2737 77624 CALL
024257,002549: 25,2740 47700 *NBSM* # GET URR IN SM AXES.
024258,002550: 25,2741 77441 DOT EXIT
024259,002551: 25,2742 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
024260,002552:
024261,002553: 25,2743 00006 EXTEND
024262,002554: 25,2744 43057 DCS COS1/2DG
024263,002555: 25,2745 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
024264,002556: 25,2746 10154 CCS MPAC
024265,002557: 25,2747 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
024266,002558: 25,2750 12752 TCF +2
024267,002559: 25,2751 34753 CA ONE
024268,002560: 25,2752 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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Page 560
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024270,002562: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024271,002563:
024272,002564: 25,2753 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024273,002565: 25,2754 12757 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
024274,002566: 25,2755 12757 TCF SIGNLCHK # ERROR SIGNALS
024275,002567: 25,2756 13007 TCF DORROUT
024276,002568: 25,2757 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024277,002569: 25,2760 12770 TCF DGOODCHK
024278,002570: 25,2761 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024279,002571: 25,2762 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
024280,002572: 25,2763 10000 CCS A
024281,002573: 25,2764 12775 TCF RRDESDUN
024282,002574:
024283,002575: 25,2765 34736 CAF BIT14 # ENABLE THE TRACKER.
024284,002576: 25,2766 00006 EXTEND
024285,002577: 25,2767 05012 WOR CHAN12
024286,002578:
024287,002579: 25,2770 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
024288,002580: 25,2771 00006 EXTEND
024289,002581: 25,2772 02033 RAND CHAN33
024290,002582: 25,2773 10000 CCS A
024291,002583: 25,2774 13007 TCF DORROUT
024292,002584:
024293,002585: 25,2775 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024294,002586: 25,2776 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
024295,002587: 25,2777 00004 INHINT
024296,002588: 25,3000 54110 TS RADMODES
024297,002589:
024298,002590: 25,3001 05527 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
024299,002591: 25,3002 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
024300,002592: 25,3003 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
024301,002593: 25,3004 00006 EXTEND
024302,002594: 25,3005 03012 WAND CHAN12
024303,002595: 25,3006 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
024304,002596:
024305,002597: 25,3007 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
024306,002598: 25,3010 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
024307,002599: 25,3011 00006 EXTEND
024308,002600: 25,3012 13031 BZF NOTP20
024309,002601: 25,3013 06042 TC INTPRET
024310,002602: 25,3014 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
024311,002603: 25,3015 01101 RRTARGET
024312,002604: 25,3016 01765 MLOSV
024313,002605: 25,3017 41572 VSL1 PUSH
024314,002606: 25,3020 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
024315,002607: 25,3021 01757 LOSVEL # TO LOS VECTOR
024316,002608: 25,3022 13061 MCTOMS
024317,002609: 25,3023 53362 VSR1 VAD
024318,002610: 25,3024 77656 UNIT
024319,002611: 25,3025 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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Page 561
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024321,002613: 25,3026 00045 36D
024322,002614: 25,3027 01765 STORE MLOSV # AND STORE MAGNITUDE
024323,002615: 25,3030 77776 EXIT
024324,002616: 25,3031 00004 NOTP20 INHINT
024325,002617: 25,3032 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
024326,002618: 25,3033 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
024327,002619: 25,3034 10000 CCS A
024328,002620: 25,3035 02277 TC RROUT
024329,002621:
024330,002622: 25,3036 30076 CA FLAGWRD2
024331,002623: 25,3037 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
024332,002624: 25,3040 00006 EXTEND # LOS COUNTER
024333,002625: 25,3041 15155 BZF ENDOFJOB
024334,002626: 25,3042 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
024335,002627: 25,3043 03053 TC DODESEND # A NEW LOS
024336,002628: 25,3044 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
024337,002629: 25,3045 52573 CADR DESLOOP +2
024338,002630: 25,3046 00003 RELINT
024339,002631: 25,3047 10067 CCS NEWJOB
024340,002632: 25,3050 05122 TC CHANG1
024341,002633: 25,3051 04616 TC BANKCALL
024342,002634: 25,3052 51014 CADR R21LEM2
024343,002635:
024344,002636:
024345,002637: 25,3053 55456 DODESEND TS LOSCOUNT
024346,002638: 25,3054 05155 TC ENDOFJOB
024347,002639:
024348,002640:
024349,002641: 25,3055 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
024350,002642: 25,3056 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
024351,002643: 25,3056 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
024352,002644:
024353,002645: 25,3060 00310 00000 MCTOMS 2DEC 100 B-13
024354,002646:
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|
Page 562
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024356,002648: # RADAR READ INITIALIZATION
024357,002649:
024358,002650: # THE FOLLOWING ROUTINES MUST BE CALLED BY BANKCALL
024359,002651:
024360,002652: 25,3062 03076 LRALT TC INITREAD
024361,002653: 25,3063 00017 ALLREAD OCT 17
024362,002654:
024363,002655: 25,3064 03076 LRVELZ TC INITREAD
024364,002656: 25,3065 00016 OCT 16
024365,002657:
024366,002658: 25,3066 03076 LRVELY TC INITREAD
024367,002659: 25,3067 00015 OCT 15
024368,002660:
024369,002661: 25,3070 03076 LRVELX TC INITREAD
024370,002662: 25,3071 00014 OCT 14
024371,002663:
024372,002664: 25,3072 03076 RRRDOT TC INITREAD
024373,002665: 25,3073 00012 OCT 12
024374,002666:
024375,002667: 25,3074 03076 RRRANGE TC INITREAD
024376,002668: 25,3075 00011 OCT 11
024377,002669:
024378,002670:
024379,002671: 25,3076 00004 INITREAD INHINT
024380,002672: 25,3077 50002 INDEX Q
024381,002673: 25,3100 30000 CA 0
024382,002674: 25,3101 03110 TC PRERADAR
024383,002675: 25,3102 34751 CA BIT3
024384,002676: 25,3103 55105 TS TIMEHOLD +1 # MIDPOINT OF READ IS ABOUT 40 MS AFTER
024385,002677: 25,3104 00006 EXTEND # START OF READ
024386,002678: 25,3105 30025 DCA TIME2
024387,002679: 25,3106 21105 DAS TIMEHOLD
024388,002680:
024389,002681: 25,3107 12357 TCF ROADBACK
024390,002682:
024391,002683:
024392,002684: 25,3110 55077 PRERADAR TS RADUSE # INDICATE RADAR READ ROUTINES IN USE.
024393,002685: 25,3111 34755 CA ZERO
024394,002686: 25,3112 55110 TS NSAMP
024395,002687: 25,3113 55100 TS SAMPLSUM
024396,002688: 25,3114 55101 TS SAMPLSUM +1
024397,002689: 25,3115 55104 TS TIMEHOLD
024398,002690:
024399,002691: 25,3116 33136 CA DGBITS
024400,002692: 25,3117 00006 EXTEND
024401,002693: 25,3120 02033 RAND CHAN33
024402,002694: 25,3121 55112 TS OLDATAGD
024403,002695:
024404,002696: 25,3122 43136 CS DGBITS # RESET DATA GOOD BITS OF RADMODES
024405,002697: 25,3123 70110 MASK RADMODES
|
|
Page 563
|
024407,002699: 25,3124 54110 TS RADMODES
024408,002700:
024409,002701: 25,3125 43063 CS ALLREAD
024410,002702: 25,3126 00006 EXTEND
024411,002703: 25,3127 03013 WAND CHAN13 # CLEAR ALL RADAR BITS PRIOR TO READ
024412,002704:
024413,002705: 25,3130 00006 EXTEND
024414,002706: 25,3131 22070 QXCH RUPTREG1
024415,002707:
024416,002708: 25,3132 31077 CA RADUSE
024417,002709: 25,3133 04674 TC IBNKCALL
024418,002710: 25,3134 36000 CADR RADSTART
024419,002711: 25,3135 00070 TC RUPTREG1
024420,002712:
024421,002713:
024422,002714: 25,3136 00230 DGBITS OCT 230 # POSITION OF DATA GOOD BITS IN CHANNEL 33
024423,002715: 25,3137 00014 VBITS OCT 14 # VSELECT = 0 BEFORE X READ
024424,002716: 25,3140 00016 OCT 16 # VSELECT = 1 BEFORE Z READ
024425,002717: 25,3141 00015 OCT 15 # VSELECT = 2 BEFORE Y READ
024426,002718:
024427,002719:
024428,002720: 25,3142 40107 R12READ CS FLGWRD11
024429,002721: 25,3143 74742 MASK NOLRRBIT # IF NOLRREAD FLAG IS SET , BYPASS R12
024430,002722: 25,3144 00006 EXTEND
024431,002723: 25,3145 15272 BZF TASKOVER
024432,002724:
024433,002725: 25,3146 40107 R12RDSET CS FLGWRD11 # STOP R12 FROM
024434,002726: 25,3147 74751 MASK R12RDBIT # ATTEMPTING UPDATE
024435,002727: 25,3150 26107 ADS FLGWRD11 # BEFORE R12 READS ARE DONE
024436,002728:
024437,002729: 25,3151 51462 INDEX VSELECT
024438,002730: 25,3152 33137 CA VBITS
024439,002731: 25,3153 03110 TC PRERADAR
024440,002732: 25,3154 36245 CA SIX # RADAR RUPT USES THIS FOR R12 READ
024441,002733: 25,3155 55110 TS NSAMP
024442,002734: 25,3156 05272 TC TASKOVER
024443,002735:
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|
Page 564
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024445,002737: # RADAR RUPT READER (R20)
024446,002738:
024447,002739: # THIS ROUTINE, WHICH IS INITIATED BY A RADAR RUPT, PROCESSES THE RADAR DATA AND UPDATES THE APPROPRIATE
024448,002740: # DSKY LIGHTS.
024449,002741:
024450,002742: 25,2000 SETLOC RADARUPT
024451,002743: 25,2000 BANK
024452,002744:
024453,002745: 25,3157 COUNT* $$/RRUPT
024454,002746:
024455,002747: 25,3157 E7,1453 EBANK= TTOGO
024456,002748:
024457,002749: 25,3157 00006 RADAREAD EXTEND # CONTINUATION OF INTERRUPT LEAD-IN.
024458,002750: 25,3160 04007 ROR SUPERBNK # SUPERBNK MUST BE SAVED BECAUSE RUPT
024459,002751: 25,3161 54016 TS BANKRUPT # MAY EXIT VIA TASKOVER.
024460,002752: 25,3162 00006 EXTEND
024461,002753: 25,3163 22012 QXCH QRUPT
024462,002754:
024463,002755:
024464,002756: 25,3164 34757 CA SEVEN # READ AND STORE RADAR SELECT BITS
024465,002757: 25,3165 00006 EXTEND
024466,002758: 25,3166 02013 RAND CHAN13
024467,002759: 25,3167 55332 TS RADBITS
024468,002760:
024469,002761: 25,3170 00006 EXTEND # IF RADAR SELECT BITS ARE ZERO, ALARM
024470,002762: 25,3171 13177 BZF BADRUPT # WITHOUT READING DATA
024471,002763:
024472,002764: 25,3172 30046 CA RNRAD # STORE RAW DATA FOR DOWNLINK.
024473,002765: 25,3173 51332 INDEX RADBITS
024474,002766: 25,3174 55327 TS DNRRANGE -1
024475,002767:
024476,002768: 25,3175 11077 CCS RADUSE # IF RADUSE IS ZERO, THIS IS A BAD RUPT
024477,002769: 25,3176 13203 TCF WHICHRAD
024478,002770:
024479,002771: 25,3177 55077 BADRUPT TS RADUSE
024480,002772: 25,3200 05600 TC ALARM
024481,002773: 25,3201 00520 OCT 520
024482,002774: 25,3202 05301 TC RESUME
024483,002775:
024484,002776: 25,3203 46250 WHICHRAD CS THREE # IF RADBITS IS LESS THAN THREE,
024485,002777: 25,3204 61332 AD RADBITS # THE RENDEZVOUS RADAR IS BEING READ.
024486,002778: 25,3205 00006 EXTEND
024487,002779: 25,3206 63273 BZMF RENDRAD
024488,002780:
024489,002781: 25,3207 40101 LANDRAD CS FLAGWRD5 # THE LANDING RADAR IS BEING READ
024490,002782: 25,3210 74741 MASK R77FLBIT
024491,002783: 25,3211 00006 EXTEND # IF R77 IS RUNNING, EXIT HERE
024492,002784: 25,3212 13253 BZF R77EXIT
024493,002785:
024494,002786: 25,3213 44757 CS SEVEN # IF RADBITS IS SEVEN, THE LANDING
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|
Page 565
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024496,002788: 25,3214 61332 AD RADBITS # RADAR ALITUDE IS BEING READ
024497,002789: 25,3215 00006 EXTEND
024498,002790: 25,3216 13267 BZF LRHEIGHT
024499,002791:
024500,002792: 25,3217 34733 LRSPEED CA POSMAX # DECODE THE 15 BIT READING AND
024501,002793: 25,3220 70046 MASK RNRAD # SUBTRACT THE BIAS.
024502,002794: 25,3221 62000 AD LVELBIAS
024503,002795: 25,3222 54064 TS ITEMP4
024504,002796: 25,3223 54001 TS L
024505,002797: 25,3224 30046 CA RNRAD
024506,002798: 25,3225 60000 DOUBLE
024507,002799: 25,3226 74753 MASK BIT1
024508,002800: 25,3227 54063 TS ITEMP3
024509,002801: 25,3230 21101 DAS SAMPLSUM # ACCUMULATE THE READING
024510,002802:
024511,002803: 25,3231 34744 CA BIT8 # VOLOCITY DATA GOOD BIT
024512,002804: 25,3232 54061 DGCHECK TS ITEMP1
024513,002805: 25,3233 33136 DGCHECK2 CA DGBITS # UPDATE THE STATUS OF THE DATA GOOD BITS
024514,002806: 25,3234 00006 EXTEND
024515,002807: 25,3235 02033 RAND CHAN33
024516,002808: 25,3236 57112 XCH OLDATAGD
024517,002809: 25,3237 70061 MASK ITEMP1
024518,002810: 25,3240 54001 TS L # OLD STATUS
024519,002811: 25,3241 30061 CA ITEMP1
024520,002812: 25,3242 71112 MASK OLDATAGD # CURRENT STATUS
024521,002813: 25,3243 60001 AD L
024522,002814: 25,3244 10000 CCS A # BOTH SHOULD BE ZERO
024523,002815: 25,3245 13256 TCF BADRAD # DATA GOOD NOT PRESENT
024524,002816:
024525,002817: 25,3246 11110 GOODRAD CCS NSAMP # TEST FOR R12
024526,002818: 25,3247 13403 TCF R12EXIT
024527,002819:
024528,002820: 25,3250 52064 DXCH ITEMP3 # STORE DATA FOR CALLING ROUTINE
024529,002821: 25,3251 53101 DXCH SAMPLSUM
024530,002822: 25,3252 03642 TC RADLITES # UPDATE DSKY LIGHTS.
024531,002823:
024532,002824: 25,3253 34755 R77EXIT CA ZERO # ZERO RADUSE
024533,002825: 25,3254 55077 TS RADUSE
024534,002826: 25,3255 03614 TC RGOODEND -2
024535,002827:
024536,002828:
024537,002829: 25,3256 40110 BADRAD CS RADMODES # UPDATE RADMODES BIT ONLY IF DATA BAD
024538,002830: 25,3257 70061 MASK ITEMP1
024539,002831: 25,3260 26110 ADS RADMODES
024540,002832:
024541,002833: 25,3261 11110 CCS NSAMP # TEST FOR R12
024542,002834: 25,3262 13403 TCF R12EXIT
024543,002835:
024544,002836: 25,3263 03642 TC RADLITES # UPDATE DSKY LIGHTS
024545,002837: 25,3264 34755 RRBADEND CA ZERO # ZERO RADUSE
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Page 566
|
024547,002839: 25,3265 55077 TS RADUSE
024548,002840: 25,3266 03621 TC RDBADEND -2
024549,002841:
024550,002842:
024551,002843: 25,3267 34747 LRHEIGHT CA BIT5 # DATA GOOD BIT FOR ALTITUDE
024552,002844: 25,3270 54061 TS ITEMP1
024553,002845: 25,3271 34743 CA BIT9 # LO SCALE BIT FOR LR
024554,002846: 25,3272 03316 TC SCALECHK
024555,002847:
024556,002848: 25,3273 00006 RENDRAD EXTEND
024557,002849: 25,3274 31454 DCA TTOGO # LOAD TIME TO TIG
024558,002850: 25,3275 53272 DXCH TTOTIG # FOR R65 RADAR READING.
024559,002851:
024560,002852: 25,3276 34741 CA REPOSBIT # MAKE SURE ANTENNA HAS NOT
024561,002853: 25,3277 70110 MASK RADMODES # GONE OUT OF LIMITS.
024562,002854: 25,3300 10000 CCS A
024563,002855: 25,3301 13264 TCF RRBADEND
024564,002856:
024565,002857: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASN'T FAILED.
024566,002858: 25,3303 74745 MASK RCDUFBIT
024567,002859: 25,3304 10000 CCS A
024568,002860: 25,3305 13264 TCF RRBADEND
024569,002861:
024570,002862: 25,3306 34750 CA BIT4 # DATA GOOD BIT FOR RR
024571,002863: 25,3307 54061 TS ITEMP1
024572,002864:
024573,002865: 25,3310 34753 CA BIT1 # TEST FOR RANGE OR RANGE RATE
024574,002866: 25,3311 71332 MASK RADBITS
024575,002867: 25,3312 54002 TS Q # SAVE FOR LATER TESTING
024576,002868: 25,3313 00006 EXTEND
024577,002869: 25,3314 13325 BZF RADIN # IF ROOT, READ DATA
024578,002870:
024579,002871: 25,3315 34751 CA BIT3 # LO SCALE BIT FOR RR.
024580,002872: 25,3316 54001 SCALECHK TS L
024581,002873: 25,3317 30110 CA RADMODES # TEST THE SCALE BIT SPECIFIED IN L
024582,002874: 25,3320 00006 EXTEND # TO SEE IF IT IS THE SMAE AS LAST
024583,002875: 25,3321 06033 RXOR CHAN33 # TIME.
024584,002876: 25,3322 70001 MASK L # IF BIT IS THE SMAE IN RADMODES AND
024585,002877: 25,3323 10000 CCS A # CHAN33, THEN A WILL BE ZERO
024586,002878: 25,3324 03364 TC SCALCHNG # SCALE CHANGED
024587,002879:
024588,002880: 25,3325 34733 RADIN CA POSMAX # UNPACK 15 BIT RADAR READING
024589,002881: 25,3326 70046 MASK RNRAD
024590,002882: 25,3327 54064 TS ITEMP4
024591,002883:
024592,002884: 25,3330 30046 CA RNRAD
024593,002885: 25,3331 60000 DOUBLE
024594,002886: 25,3332 74753 MASK BIT1
024595,002887: 25,3333 54063 TS ITEMP3
024596,002888:
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Page 567
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024598,002890: 25,3334 10002 CCS Q # TEST FOR RR RANGE RATE (Q = 0)
024599,002891: 25,3335 13342 TCF SCALADJ # RANGE OR LR HEIGHT . TEST SCALE
024600,002892:
024601,002893: 25,3336 00006 EXTEND # RR RANGE RATE - SUBTRACT BIAS
024602,002894: 25,3337 42002 DCS RDOTBIAS
024603,002895: 25,3340 20064 DASAMPL DAS ITEMP3
024604,002896: 25,3341 13233 TCF DGCHECK2 # TEST DATA GOOD
024605,002897:
024606,002898: 25,3342 30110 SCALADJ CA RADMODES # TEST SCALE BIT
024607,002899: 25,3343 70001 MASK L
024608,002900: 25,3344 00006 EXTEND
024609,002901: 25,3345 13233 BZF DGCHECK2 # LO SCALE
024610,002902:
024611,002903: 25,3346 74751 MASK BIT3 # HI SCALE - TEST FOR LR
024612,002904: 25,3347 00006 EXTEND # IF BIT3 = 0,THEN IT IS LR
024613,002905: 25,3350 13357 BZF LRSCK
024614,002906:
024615,002907: 25,3351 52064 DXCH ITEMP3 # RESCALE RR DATA TO LO SCALING
024616,002908: 25,3352 20001 DDOUBL # MULTIPLY BY 8.
024617,002909: 25,3353 20001 DDOUBL
024618,002910: 25,3354 20001 DDOUBL
024619,002911: 25,3355 52064 DXCH ITEMP3
024620,002912: 25,3356 13233 TCF DGCHECK2
024621,002913:
024622,002914: 25,3357 00006 LRSCK EXTEND # RESCALE LR DATA TO LO SCALING
024623,002915: 25,3360 30064 DCA ITEMP3 # MULTIPLY BY 5.
024624,002916: 25,3361 20001 DDOUBL
024625,002917: 25,3362 20001 DDOUBL
024626,002918: 25,3363 13340 TCF DASAMPL
024627,002919:
024628,002920:
024629,002921: 25,3364 30110 SCALCHNG CA RADMODES
024630,002922: 25,3365 00006 EXTEND # INVERT SCALE BIT IN RADMODES
024631,002923: 25,3366 06001 RXOR LCHAN
024632,002924: 25,3367 54110 TS RADMODES
024633,002925:
024634,002926: 25,3370 11110 CCS NSAMP # TEST FOR R12
024635,002927: 25,3371 13401 TCF R12SCHNG
024636,002928:
024637,002929: 25,3372 05515 TC UPFLAG # SET RNGSCFLG FOR LRS24.1
024638,002930: 25,3373 00120 ADRES RNGSCFLG
024639,002931:
024640,002932: 25,3374 33136 CA DGBITS # UPDATE DATA GOOD BITS
024641,002933: 25,3375 00006 EXTEND
024642,002934: 25,3376 02033 RAND CHAN33
024643,002935: 25,3377 55112 TS OLDATAGD
024644,002936: 25,3400 13264 TCF RRBADEND
024645,002937:
024646,002938:
024647,002939: 25,3401 55110 R12SCHNG TS NSAMP # UPDATE NSAMP AND IGNORE READING.
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024649,002941: 25,3402 13414 TCF READVEL
024650,002942:
024651,002943: 25,3403 55110 R12EXIT TS NSAMP # UPDATE NSAMP
024652,002944: 25,3404 00006 EXTEND
024653,002945: 25,3405 13445 BZF STORVEL
024654,002946:
024655,002947: 25,3406 67750 AD NEG3
024656,002948: 25,3407 00006 EXTEND
024657,002949: 25,3410 13425 BZF STORALT
024658,002950:
024659,002951: 25,3411 67752 AD NEGONE
024660,002952: 25,3412 00006 EXTEND
024661,002953: 25,3413 13423 BZF READALT
024662,002954: 25,3414 44757 READVEL CS SEVEN
024663,002955: 25,3415 00006 EXTEND
024664,002956: 25,3416 03013 WAND CHAN13
024665,002957: 25,3417 31077 CA RADUSE
024666,002958: 25,3420 04674 READALT2 TC IBNKCALL
024667,002959: 25,3421 36000 CADR RADSTART
024668,002960: 25,3422 05301 TC RESUME
024669,002961:
024670,002962:
024671,002963: 25,3423 33063 READALT CA ALLREAD # SET UP LR ALTITUDE READ
024672,002964: 25,3424 13420 TCF READALT2
024673,002965:
024674,002966: 25,3425 52064 STORALT DXCH ITEMP3
024675,002967: 25,3426 53655 DXCH HMEAS # STORE ALT IN HMEAS
024676,002968:
024677,002969: 25,3427 40110 CS RADMODES # TEST DATA GOOD
024678,002970: 25,3430 74747 MASK BIT5
024679,002971: 25,3431 00006 EXTEND
024680,002972: 25,3432 13442 BZF HBAD # DATA GOOD NOT PRESENT
024681,002973:
024682,002974: 25,3433 11674 CCS STILBADH # IF DATA JUST GOOD,OR IG RESTART JUST
024683,002975: 25,3434 13443 TCF HSTILBAD # OCCURRED,WAIT
024684,002976:
024685,002977: 25,3435 40107 CS FLGWRD11 # SET FLAG FORR12.
024686,002978: 25,3436 74750 MASK RNGEDBIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
024687,002979: 25,3437 26107 ADS FLGWRD11 # DESTROYED)
024688,002980: 25,3440 03642 ALTEXIT TC RADLITES
024689,002981: 25,3441 13414 TCF READVEL
024690,002982:
024691,002983: 25,3442 34752 HBAD CA TWO # SET STILBADH FOR FOUR SECOND DELAY
024692,002984: 25,3443 55674 HSTILBAD TS STILBADH
024693,002985: 25,3444 13440 TCF ALTEXIT
024694,002986:
024695,002987: 25,3445 40110 STORVEL CS RADMODES # TEST DATA GOOD
024696,002988: 25,3446 74744 MASK BIT8
024697,002989: 25,3447 00006 EXTEND
024698,002990: 25,3450 13506 BZF VBAD # DATA GOOD NOT PRESENT
024699,002991:
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Page 569
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024701,002993: 25,3451 11675 CCS STILBADV
024702,002994: 25,3452 13507 TCF VSTILBAD
024703,002995:
024704,002996: 25,3453 40107 CS FLGWRD11 # DATA IS GOOD, SET FLAG FOR R12
024705,002997: 25,3454 74745 MASK VELDABIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
024706,002998: 25,3455 26107 ADS FLGWRD11 # DESTROYED)
024707,002999: 25,3456 11462 R12DL CCS VSELECT # UPDATE VSELECT
024708,003000: 25,3457 13461 TCF +2
024709,003001: 25,3460 34752 CA TWO
024710,003002: 25,3461 55462 TS VSELECT
024711,003003:
024712,003004: 25,3462 53101 DXCH SAMPLSUM # STORE VEL DATA IN VMEAS
024713,003005: 25,3463 53653 DXCH VMEAS
024714,003006:
024715,003007: 25,3464 00006 EXTEND
024716,003008: 25,3465 31655 DCA HMEAS # STORE HMEAS FOR DOWNLINK
024717,003009: 25,3466 53777 DXCH HMEASDL
024718,003010:
024719,003011: 25,3467 00006 EXTEND
024720,003012: 25,3470 31561 DCA PIPTIME1 # STORE TIME FOR DOWNLINK
024721,003013: 25,3471 53755 DXCH MKTIME
024722,003014:
024723,003015: 25,3472 00006 EXTEND
024724,003016: 25,3473 31156 DCA CDUTEMPY # STORE CDUY,CDUZ FOR DOWNLINK
024725,003017: 25,3474 53460 DXCH AIG
024726,003018:
024727,003019: 25,3475 31154 CA CDUTEMPX # STORE CDUX FOR LINK
024728,003020: 25,3476 55461 TS AOG
024729,003021:
024730,003022: 25,3477 03642 TC RADLITES # UPDATE DSKY VEL LIGHT
024731,003023: 25,3500 34755 CA ZERO
024732,003024: 25,3501 55077 TS RADUSE
024733,003025:
024734,003026: 25,3502 44751 OKUPDATE CS R12RDBIT # R12 READ IS DONE SO ALLOW R12 UPDATE
024735,003027: 25,3503 70107 MASK FLGWRD11
024736,003028: 25,3504 54107 TS FLGWRD11
024737,003029:
024738,003030: 25,3505 05301 TC RESUME
024739,003031:
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Page 570
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024741,003033: 25,3506 34752 VBAD CA TWO
024742,003034: 25,3507 55675 VSTILBAD TS STILBADV
024743,003035: 25,3510 13456 TCF R12DL
024744,003036:
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Page 571
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024746,003038: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024747,003039:
024748,003040:
024749,003041: 17,2000 SETLOC C13BANK
024750,003042: 17,2000 BANK
024751,003043:
024752,003044: 17,2000 54002 RADSTART TS Q
024753,003045: 17,2001 00006 +1 EXTEND
024754,003046: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
024755,003047: 17,2003 54001 TS L
024756,003048:
024757,003049: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
024758,003050: 17,2005 40000 COM
024759,003051: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
024760,003052: 17,2007 74346 MASK LOW5
024761,003053: 17,2010 55270 TS RADDEL
024762,003054:
024763,003055: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024764,003056: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
024765,003057: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
024766,003058:
024767,003059: 17,2014 30002 CA Q
024768,003060: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
024769,003061: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
024770,003062:
024771,003063: 17,2017 40001 CS L
024772,003064: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
024773,003065: 17,2021 04707 TC ISWRETRN
024774,003066:
024775,003067:
024776,003068: 17,2022 55266 C13STAL1 TS C13FSAV
024777,003069:
024778,003070: 17,2023 34750 CA BIT4
024779,003071: 17,2024 00006 EXTEND
024780,003072: 17,2025 02013 RAND CHAN13
024781,003073: 17,2026 00006 EXTEND
024782,003074: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
024783,003075:
024784,003076: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
024785,003077: 17,2031 00006 EXTEND
024786,003078: 17,2032 00004 READ LOSCALAR
024787,003079: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
024788,003080: 17,2034 64736 AD HALF
024789,003081: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
024790,003082: 17,2036 56001 XCH L
024791,003083:
024792,003084: 17,2037 32053 CA 90MSCALR
024793,003085: 17,2040 61270 AD RADDEL
024794,003086: 17,2041 00006 EXTEND
024795,003087: 17,2042 60001 SU L
|
|
Page 572
|
024797,003089: 17,2043 00006 EXTEND
024798,003090: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
024799,003091:
024800,003092: 17,2045 62054 AD -DTSCALR
024801,003093: 17,2046 00006 EXTEND
024802,003094: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024803,003095:
024804,003096: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
024805,003097: 17,2051 31266 CA C13FSAV
024806,003098: 17,2052 52005 DTCF
024807,003099:
024808,003100: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
024809,003101: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
024810,003102:
024811,003103: 6000 SETLOC FFTAG6
024812,003104: 6000 BANK
024813,003105:
024814,003106: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
024815,003107: 6023 56004 XCH FBANK
024816,003108: 6024 12022 TCF C13STAL1
024817,003109:
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|
Page 573
|
024819,003111: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024820,003112:
024821,003113: 25,3511 BANK 25
024822,003114: 25,2000 SETLOC P20S1
024823,003115: 25,2000 BANK
024824,003116: 25,3511 COUNT* $$/RSUB
024825,003117: 25,3511 00004 LRPOS2 INHINT
024826,003118:
024827,003119: 25,3512 40110 CS RADMODES
024828,003120: 25,3513 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024829,003121: 25,3514 26110 ADS RADMODES
024830,003122:
024831,003123: 25,3515 34745 CAF BIT7
024832,003124: 25,3516 00006 EXTEND
024833,003125: 25,3517 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024834,003126: 25,3520 00006 EXTEND
024835,003127: 25,3521 13532 BZF RADNOOP
024836,003128:
024837,003129: 25,3522 34737 CAF BIT13
024838,003130: 25,3523 00006 EXTEND
024839,003131: 25,3524 05012 WOR CHAN12 # COMMAND TO POSITION 2
024840,003132: 25,3525 33565 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024841,003133: 25,3526 05214 TC WAITLIST
024842,003134: 25,3527 E7,1456 EBANK= LOSCOUNT
024843,003135: 25,3527 03563 52067 2CADR LRPOSCAN
024844,003136:
024845,003137: 25,3531 02357 TC ROADBACK
024846,003138:
024847,003139: 25,3532 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED
024848,003140: 25,3533 05214 TC WAITLIST
024849,003141: 25,3534 E7,1456 EBANK= LOSCOUNT
024850,003142: 25,3534 03616 52067 2CADR RGOODEND
024851,003143:
024852,003144: 25,3536 02357 TC ROADBACK
024853,003145:
024854,003146: 25,3537 55077 LRPOSNXT TS SAMPLIM
024855,003147: 25,3540 05232 TC FIXDELAY # SCAN ONCE PER SECOND 5 TIMES MAX AFTER
024856,003148: 25,3541 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024857,003149:
024858,003150: 25,3542 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024859,003151: 25,3543 00006 EXTEND
024860,003152: 25,3544 02033 RAND CHAN33
024861,003153: 25,3545 00006 EXTEND
024862,003154: 25,3546 13555 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024863,003155:
024864,003156: 25,3547 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
024865,003157: 25,3550 13537 TCF LRPOSNXT
024866,003158:
024867,003159: 25,3551 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024868,003160: 25,3552 00006 EXTEND
|
|
Page 574
|
024870,003162: 25,3553 03012 WAND CHAN12
024871,003163: 25,3554 13623 TCF RDBADEND
024872,003164:
024873,003165: 25,3555 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024874,003166: 25,3556 05235 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024875,003167:
024876,003168: 25,3557 44737 CS BIT13 # REMOVE COMMAND
024877,003169: 25,3560 00006 EXTEND
024878,003170: 25,3561 03012 WAND CHAN12
024879,003171: 25,3562 13616 TCF RGOODEND
024880,003172:
024881,003173: 25,3563 34751 LRPOSCAN CAF FOUR
024882,003174: 25,3564 13537 TCF LRPOSNXT
024883,003175: 25,3565 01130 6SECS DEC 600 B-14
024884,003176:
024885,003177: 25,3566 04616 LRP2COMM TC BANKCALL
024886,003178: 25,3567 53511 CADR LRPOS2
024887,003179: 25,3570 04616 TC BANKCALL
024888,003180: 25,3571 17720 CADR RADSTALL
024889,003181: 25,3572 03574 TC LP2ALM
024890,003182: 25,3573 13605 TCF GOPINNER
024891,003183:
024892,003184: 25,3574 05600 LP2ALM TC ALARM
024893,003185: 25,3575 00523 OCT 523
024894,003186: 25,3576 13605 TCF GOPINNER
024895,003187:
024896,003188: 25,3577 35016 V59GP63 CA EBANK7
024897,003189: 25,3600 54003 TS EBANK
024898,003190: 25,3601 E7,1427 EBANK= RPCRTIME
024899,003191: 25,3601 34733 CA POSMAX
024900,003192: 25,3602 55427 TS RPCRTIME
024901,003193: 25,3603 44736 CS BIT14
024902,003194: 25,3604 55430 TS RPCRTQSW
024903,003195: 25,3605 04635 GOPINNER TC POSTJUMP
024904,003196: 25,3606 21051 CADR PINBRNCH
024905,003197:
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|
Page 575
|
024907,003199: # SEQUENCES TO TERMINATE RR OPERATIONS.
024908,003200:
024909,003201: 25,3607 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024910,003202: 25,3610 70110 MASK RADMODES
024911,003203: 25,3611 10000 CCS A
024912,003204: 25,3612 13616 TCF RGOODEND
024913,003205: 25,3613 13623 TCF RDBADEND
024914,003206: 25,3614 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024915,003207: 25,3615 54332 TS RUPTAGN
024916,003208:
024917,003209: 25,3616 34752 RGOODEND CAF TWO
024918,003210: 25,3617 04635 TC POSTJUMP
024919,003211: 25,3620 17671 CADR GOODEND
024920,003212:
024921,003213: 25,3621 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024922,003214: 25,3622 54332 TS RUPTAGN
024923,003215: 25,3623 34752 RDBADEND CAF TWO
024924,003216: 25,3624 04635 TC POSTJUMP
024925,003217: 25,3625 17666 CADR BADEND
024926,003218:
024927,003219: 25,3626 6250 BIN3 EQUALS THREE
024928,003220:
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|
Page 576
|
024930,003222: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024931,003223: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024932,003224:
024933,003225:
024934,003226: # FUNCTIONAL DESCRIPTION_
024935,003227:
024936,003228: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024937,003229: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024938,003230: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024939,003231:
024940,003232:
024941,003233: # CALLING SEQUENCE CALL
024942,003234: # LPS20.1
024943,003235:
024944,003236: # SUBROUTINES CALLED_
024945,003237:
024946,003238: # LEMPREC,CSMPREC
024947,003239:
024948,003240:
024949,003241: # NORMAL EXIT_ RETURN TO CALLER + 2
024950,003242:
024951,003243:
024952,003244: # ERROR EXITS_ NONE
024953,003245:
024954,003246:
024955,003247: # ALARMS_ NONE
024956,003248:
024957,003249:
024958,003250: # OUTPUT_
024959,003251:
024960,003252: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024961,003253: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024962,003254: # RRNBSW CLEARED
024963,003255:
024964,003256:
024965,003257: # INITIALIZED ERASEABLE
024966,003258:
024967,003259: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024968,003260: # SEE ORBITAL INTEGRATION ROUTINE
024969,003261:
024970,003262:
024971,003263: # DEBRIS_
024972,003264:
024973,003265: # MPAC DESTROYED BY THIS ROUTINE
024974,003266:
024975,003267: 23,2333 BANK 23
024976,003268: 24,2000 SETLOC P20S
024977,003269: 24,2000 BANK
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|
Page 577
|
024979,003271: 24,3340 COUNT* $$/LPS20
024980,003272:
024981,003273: 24,3340 43020 LPS20.1 STQ BOFF
024982,003274: 24,3341 01755 LS21X
024983,003275: 24,3342 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024984,003276: 24,3343 51347 LMINT # SO CALL LEMCONIC TO GET LM STATE
024985,003277: 24,3344 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024986,003278: 24,3345 04307 SURFFLAG # DON'T CALL LEMCONIC
024987,003279: 24,3346 51357 CSMINT
024988,003280: 24,3347 77624 LMINT CALL
024989,003281: 24,3350 27077 LEMCONIC # EXTRAPOLATE LEM
024990,003282: 24,3351 77775 VLOAD
024991,003283: 24,3352 00001 RATT
024992,003284: 24,3353 26352 STOVL LMPOS # SAVE LM POSITION B-29
024993,003285: 24,3354 00007 VATT
024994,003286: 24,3355 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024995,003287: 24,3356 00015 TAT
024996,003288: 24,3357 34041 CSMINT STCALL TDEC1
024997,003289: 24,3360 27065 CSMCONIC # EXTRAPOLATE CSM
024998,003290: 24,3361 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024999,003291: 24,3362 00007 VATT
025000,003292: 24,3363 02360 LMVEL
025001,003293: 24,3364 00017 STORE VELLOS
025002,003294: 24,3365 76521 MXV VSL1
025003,003295: 24,3366 01732 REFSMMAT
025004,003296: 24,3367 77776 EXIT
025005,003297: 24,3370 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
025006,003298: 24,3371 52573 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
025007,003299: 24,3372 06042 TC INTPRET
025008,003300: 24,3373 25757 STOVL LOSVEL
025009,003301: 24,3374 00001 RATT
025010,003302: 24,3375 77651 VSU
025011,003303: 24,3376 02352 LMPOS
025012,003304: 24,3377 00025 STORE RRANGE # RANGE FOR POSSIBLE ALARM B-29
025013,003305: 24,3400 54204 BOVB VSL
025014,003306: 24,3401 57752 TCDANZIG
025015,003307: 24,3402 20212 9D
025016,003308: 24,3403 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW , RANGE MUST BE GREATER
025017,003309: 24,3404 50104 526ALARM # THAN 400 N. M.
025018,003310: 24,3405 76521 MXV VSL1
025019,003311: 24,3406 01732 REFSMMAT # CONVERT TO STABLE MEMBER
025020,003312: 24,3407 15101 STODL RRTARGET
025021,003313: 24,3410 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
025022,003314: 24,3411 01765 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
025023,003315: 24,3412 77614 CLRGO
025024,003316: 24,3413 00231 RRNBSW
025025,003317: 24,3414 01755 LS21X
025026,003318: 24,3415 RRANGE EQUALS 20D
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|
Page 578
|
025028,003320: 24,3415 VELLOS EQUALS 14D
025029,003321:
|
|
Page 579
|
025031,003323: # PROGRAM NAME : LPS20.2 400 N. MI. RANGE CHECK
025032,003324: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025033,003325:
025034,003326:
025035,003327: # FUNCTIONAL DESCRIPTION_
025036,003328:
025037,003329: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
025038,003330:
025039,003331:
025040,003332: # CALLING SEQUENCE CALL
025041,003333: # LPS20.2
025042,003334:
025043,003335:
025044,003336: # SUBROUTINES CALLED_ NONE
025045,003337:
025046,003338:
025047,003339: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
025048,003340:
025049,003341:
025050,003342: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
025051,003343:
025052,003344:
025053,003345: # ALARMS_ NONE
025054,003346:
025055,003347:
025056,003348: # OUTPUT_ NONE
025057,003349:
025058,003350:
025059,003351: # INITIALIZED ERASEABLE_
025060,003352:
025061,003353: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
025062,003354: # DEBRIS
025063,003355:
025064,003356: # MPAC DESTROYED BY THIS ROUTINE
025065,003357:
025066,003358: 25,2000 SETLOC P20S1
025067,003359: 25,2000 BANK
025068,003360: 25,3626 COUNT* $$/LPS20
025069,003361:
025070,003362: 25,3626 45345 LPS20.2 DLOAD DSU
025071,003363: 25,3627 01765 MLOSV # MAGNITUDE OF LOS
025072,003364: 25,3630 13641 FHNM # OVER 400NM _
025073,003365: 25,3631 77644 BPL
025074,003366: 25,3632 53635 TOFAR
025075,003367: 25,3633 43535 SLOAD RVQ
025076,003368: 25,3634 06520 ZERO/SP
025077,003369: 25,3635 43535 TOFAR SLOAD RVQ
025078,003370: 25,3636 13640 ONE/SP
025079,003371: 25,3637 00001 ONE/SP DEC 1 B-14
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|
Page 580
|
025081,003373: 25,3640 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
025082,003374:
|
|
Page 581
|
025084,003376: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
025085,003377: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
025086,003378:
025087,003379:
025088,003380: # FUNCTIONAL DESCRIPTION
025089,003381:
025090,003382: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
025091,003383: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
025092,003384: # RR REPOSITION AND RR CDU FAIL
025093,003385:
025094,003386: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
025095,003387:
025096,003388:
025097,003389: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
025098,003390:
025099,003391:
025100,003392: # SUBROUTINES CALLED:
025101,003393:
025102,003394: # RRRDOT LPS20.1
025103,003395: # RRRANGE BANKCALL
025104,003396: # RADSTALL CDULOGIC
025105,003397: # RRNB SMNB
025106,003398: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
025107,003399:
025108,003400:
025109,003401: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
025110,003402:
025111,003403: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
025112,003404: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
025113,003405:
025114,003406:
025115,003407: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
025116,003408: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
025117,003409:
025118,003410:
025119,003411: # OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
025120,003412: # RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
025121,003413:
025122,003414: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
025123,003415:
025124,003416: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
025125,003417: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
025126,003418: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
025127,003419: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
025128,003420: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
025129,003421:
025130,003422:
025131,003423: # ERASABLE INITIALIZATION REQUIRED:
025132,003424:
025133,003425: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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|
Page 582
|
025135,003427: # 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
025136,003428: # 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
025137,003429:
025138,003430: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
025139,003431:
025140,003432:
025141,003433: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
025142,003434:
025143,003435:
025144,003436: 32,2366 BANK 32
025145,003437: 32,2000 SETLOC LRS22
025146,003438: 32,2000 BANK
025147,003439: 32,2366 COUNT* $$/LRS22
025148,003440:
025149,003441: 32,2366 04645 LRS22.1 TC MAKECADR
025150,003442: 32,2367 55737 TS LRS22.1X
025151,003443: 32,2370 05527 TC DOWNFLAG
025152,003444: 32,2371 00120 ADRES RNGSCFLG
025153,003445: 32,2372 00004 INHINT
025154,003446: 32,2373 34751 CAF BIT3
025155,003447: 32,2374 00006 EXTEND # GET RR RANGE SCALE
025156,003448: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
025157,003449: 32,2376 54001 TS L
025158,003450: 32,2377 44751 CS RRRSBIT
025159,003451: 32,2400 70110 MASK RADMODES
025160,003452: 32,2401 60001 AD L
025161,003453: 32,2402 54110 TS RADMODES
025162,003454: 32,2403 00003 RELINT
025163,003455: 32,2404 04616 READRDOT TC BANKCALL
025164,003456: 32,2405 53072 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
025165,003457: 32,2406 04616 TC BANKCALL
025166,003458: 32,2407 17720 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
025167,003459: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
025168,003460:
025169,003461: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
025170,003462: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
025171,003463: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
025172,003464: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
025173,003465: 32,2415 53747 DXCH RDOTMSAV
025174,003466: 32,2416 00006 EXTEND
025175,003467: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
025176,003468: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
025177,003469: 32,2421 30032 CA CDUX
025178,003470: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
025179,003471: 32,2423 00006 EXTEND
025180,003472: 32,2424 30025 DCA TIME2 # SAVE TIME
025181,003473: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
025182,003474: 32,2426 00006 EXTEND
025183,003475: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025184,003476: 32,2430 53107 DXCH TANG
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|
Page 583
|
025186,003478: 32,2431 00003 RELINT
025187,003479: 32,2432 04616 TC BANKCALL
025188,003480: 32,2433 53074 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
025189,003481: 32,2434 04616 TC BANKCALL
025190,003482: 32,2435 17720 CADR RADSTALL # WAIT FOR READ COMPLETE
025191,003483: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
025192,003484: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
025193,003485: 32,2440 00006 EXTEND
025194,003486: 32,2441 31331 DCA DNRRANGE # RANGE,RANGE RATE (RAW DATA)
025195,003487: 32,2442 53761 DXCH RANGRDOT
025196,003488: 32,2443 52162 DXCH MPAC +5
025197,003489: 32,2444 53755 DXCH MKTIME # MARK TIME
025198,003490: 32,2445 52160 DXCH MPAC +3
025199,003491: 32,2446 53460 DXCH AIG # CDUY, CDUZ
025200,003492: 32,2447 00006 EXTEND
025201,003493: 32,2450 31107 DCA TANG # PRESERVE TANG
025202,003494: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
025203,003495: 32,2452 30156 CA MPAC +2
025204,003496: 32,2453 55461 TS AOG # CDUX
025205,003497: 32,2454 06042 TC INTPRET
025206,003498: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
025207,003499: 32,2456 03747 RDOTMSAV # CONVERT ROOT UNITS AND SCALING
025208,003500: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
025209,003501: 32,2460 20217 14D # FT./SECOND PER BIT
025210,003502: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
025211,003503: 32,2462 03751 STORE RDOTM
025212,003504: 32,2463 47135 SLOAD RTB
025213,003505: 32,2464 01107 TANG # GET TRUNION ANGLE
025214,003506: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
025215,003507: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
025216,003508: 32,2467 47135 SLOAD RTB
025217,003509: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
025218,003510: 32,2471 21577 CDULOGIC
025219,003511: 32,2472 17736 STODL RRSHAFT
025220,003512: 32,2473 01101 SAMPLSUM
025221,003513: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
025222,003514: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS,SCALED -29
025223,003515: 32,2476 37757 STCALL RM
025224,003516: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
025225,003517: 32,2500 17741 STODL RRBORSIT # AND SAVE
025226,003518: 32,2501 00025 20D
025227,003519: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
025228,003520: 32,2503 51340 LPS20.1
025229,003521: 32,2504 77776 EXIT
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Page 584
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025231,003523: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
025232,003524: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
025233,003525: 32,2507 31460 CA AMG
025234,003526: 32,2510 54767 TS CDUSPOT +2
025235,003527: 32,2511 31461 CA AOG
025236,003528: 32,2512 54771 TS CDUSPOT +4
025237,003529: 32,2513 06042 TC INTPRET
025238,003530: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
025239,003531: 32,2515 01101 RRTARGET
025240,003532: 32,2516 47656 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
025241,003533: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
025242,003534: 32,2520 03741 RRBORSIT
025243,003535: 32,2521 65552 SL1 ACOS # BETWEEN THEM
025244,003536: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
025245,003537: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
025246,003538: 32,2524 24547 THREEDEG
025247,003539: 32,2525 64532 NORMEXIT # YES-NORMAL EXIT
025248,003540:
025249,003541: 32,2526 77776 EXIT # ERROR EXIT 2
025250,003542: 32,2527 34752 CAF BIT2 # SET ERROR CODE
025251,003543: 32,2530 54154 TS MPAC
025252,003544: 32,2531 12535 TCF OUT22.1
025253,003545:
025254,003546: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
025255,003547: 32,2533 34755 CAF ZERO
025256,003548: 32,2534 54154 TS MPAC
025257,003549: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
025258,003550: 32,2536 04640 TC BANKJUMP
025259,003551: 32,2537 30101 CHEXERR CAE FLAGWRD5
025260,003552: 32,2540 74742 MASK RNGSCBIT
025261,003553: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
025262,003554: 32,2542 12404 TCF READRDOT # YES-TAKE ANOTHER READING
025263,003555:
025264,003556: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
025265,003557: 32,2544 54154 TS MPAC
025266,003558: 32,2545 02535 TC OUT22.1
025267,003559: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
025268,003560:
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Page 585
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025270,003562: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025271,003563:
025272,003564:
025273,003565: # MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
025274,003566:
025275,003567: # FUNCTIONAL DESCRIPTION-
025276,003568:
|
|
(Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003)
|
025278,003570: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025279,003571:
025280,003572:
025281,003573: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
025282,003574:
025283,003575:
025284,003576: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
025285,003577: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025286,003578:
025287,003579:
025288,003580: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025289,003581:
025290,003582:
025291,003583: # ALARMS - NONE IN THE AUTO MODE
025292,003584:
025293,003585:
025294,003586: # ERASABLE INITIALIZATION REQUIRED -
025295,003587: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
025296,003588: # RM - RR RANGE, METERS B-29, FROM LRS22.1
025297,003589: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
025298,003590:
025299,003591:
025300,003592: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025301,003593:
025302,003594:
025303,003595: 24,2000 SETLOC P20S
025304,003596: 24,2000 BANK
025305,003597: 24,3415 04645 LRS22.2 TC MAKECADR
025306,003598: 24,3416 55737 TS LRS22.1X
025307,003599: 24,3417 06042 TC INTPRET
025308,003600: # CHECK IF RR LOS IS WITHIN 30 DEG OF
025309,003601: 24,3420 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
025310,003602: 24,3421 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
025311,003603: # LOS VECTOR,A HALF UNIT VECTOR
025312,003604: # IN NAV BASE AXES)
025313,003605: 24,3422 50025 DSU BMN
025314,003606: 24,3423 11437 30DEG
025315,003607: 24,3424 51431 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
025316,003608: 24,3425 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
025317,003609: 24,3426 34753 CAF BIT1 # SET ERROR CODE IN MPAC
025318,003610: 24,3427 54154 TS MPAC
025319,003611: 24,3430 13434 TCF OUT22.2
025320,003612: 24,3431 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
025321,003613:
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Page 586
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025323,003615: 24,3432 34755 CAF ZERO
025324,003616: 24,3433 54154 TS MPAC
025325,003617: 24,3434 31737 OUT22.2 CAE LRS22.1X
025326,003618: 24,3435 04640 TC BANKJUMP
025327,003619:
025328,003620:
025329,003621: 24,3436 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
025330,003622:
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Page 587
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025332,003624: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
025333,003625: # MOD. NO 3 LOG SECTION - P20-25
025334,003626: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
025335,003627:
025336,003628: # FUNCTIONAL DESCRIPTION
025337,003629:
025338,003630: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025339,003631: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025340,003632: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025341,003633:
025342,003634: # CALLING SEQUENCE
025343,003635: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
025344,003636: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
025345,003637: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
025346,003638: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
025347,003639: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025348,003640: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
025349,003641:
025350,003642:
025351,003643: # SUBROUTINES CALLED
025352,003644: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
025353,003645: # GETULC RARARANG INCORP2 NBSM INTSTALL
025354,003646:
025355,003647: # OUTPUT
025356,003648: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025357,003649: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025358,003650: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025359,003651: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025360,003652: # UPDATED W-MATRIX
025361,003653:
025362,003654:
025363,003655: # ERASABLE INITIALIZATION REQUIRED
025364,003656: # LM AND CSM STATE VECTORS
025365,003657: # W-MATRIX
025366,003658: # MARK TIME IN MKTIME
025367,003659: # RADAR RANGE IN RM METERS B-29
025368,003660: # RANGE RATE IN RDOTM METERS/CSES B-7
025369,003661: # SHAFT ANGLE IN RRSHAFT REVS.B0
025370,003662: # TRUNNION ANGLE IN RRTRUN REVS. B0
025371,003663: # GIMBAL ANGLES INNER IN AIG
025372,003664: # MIDDLE IN AMG
025373,003665: # OUTER IN AOG
025374,003666: # REFSMMAT
025375,003667: # RENDWFLG
025376,003668: # NOANGFLG
025377,003669: # VEHUPFLG
025378,003670:
025379,003671: # DEBRIS
025380,003672: # PUSHLIST--ALL
025381,003673: # MX, MY, MZ (VECTORS)
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Page 588
|
025383,003675: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
025384,003676:
025385,003677:
025386,003678: 13,2207 BANK 13
025387,003679: 26,2000 SETLOC P20S3
025388,003680: 26,2000 BANK
025389,003681:
025390,003682: 26,2420 E7,1456 EBANK= LOSCOUNT
025391,003683: 26,2420 COUNT* $$/LSR22
025392,003684: 26,2420 77624 LSR22.3 CALL
025393,003685: 26,2421 11216 GRP2PC
025394,003686: 26,2422 43014 BON SET
025395,003687: 26,2423 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
025396,003688: 26,2424 55202 LSR22.4 # YES
025397,003689: 26,2425 02466 DMENFLG
025398,003690: 26,2426 45014 BOFF CALL
025399,003691: 26,2427 00747 VEHUPFLG
025400,003692: 26,2430 54462 DOLEM
025401,003693: 26,2431 27410 INTSTALL
025402,003694: 26,2432 45014 CLEAR CALL # LM PRECISION INTEGRATION
025403,003695: 26,2433 01674 VINTFLAG
025404,003696: 26,2434 26643 SETIFLGS
025405,003697: 26,2435 77624 CALL
025406,003698: 26,2436 55244 INTGRCAL
025407,003699: 26,2437 77624 CALL
025408,003700: 26,2440 11216 GRP2PC
025409,003701: 26,2441 77624 CALL
025410,003702: 26,2442 27410 INTSTALL
025411,003703: 26,2443 43014 CLEAR BOFF
025412,003704: 26,2444 01676 DIM0FLAG
025413,003705: 26,2445 02756 RENDWFLG
025414,003706: 26,2446 54452 NOTWCSM
025415,003707: 26,2447 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
025416,003708: 26,2450 01476 DIM0FLAG
025417,003709: 26,2451 01475 D6OR9FLG
025418,003710: 26,2452 43014 NOTWCSM SET CLEAR
025419,003711: 26,2453 01474 VINTFLAG
025420,003712: 26,2454 01673 INTYPFLG
025421,003713: 26,2455 45014 SET CALL
025422,003714: 26,2456 01472 STATEFLG
025423,003715: 26,2457 55244 INTGRCAL
025424,003716: 26,2460 77650 GOTO
025425,003717: 26,2461 54512 MARKTEST
025426,003718: 26,2462 77624 DOLEM CALL
025427,003719: 26,2463 27410 INTSTALL
025428,003720: 26,2464 45014 SET CALL
025429,003721: 26,2465 01474 VINTFLAG
025430,003722: 26,2466 26643 SETIFLGS
025431,003723: 26,2467 77624 CALL
025432,003724: 26,2470 55244 INTGRCAL
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Page 589
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025434,003726: 26,2471 77624 CALL
025435,003727: 26,2472 11216 GRP2PC
025436,003728: 26,2473 77624 CALL
025437,003729: 26,2474 27410 INTSTALL
025438,003730: 26,2475 43014 CLEAR BOFF
025439,003731: 26,2476 01676 DIM0FLAG
025440,003732: 26,2477 02756 RENDWFLG
025441,003733: 26,2500 54504 NOTWLEM
025442,003734: 26,2501 43014 SET SET # LM WITH W-MATRIX INTEGRATION
025443,003735: 26,2502 01476 DIM0FLAG
025444,003736: 26,2503 01475 D6OR9FLG
025445,003737: 26,2504 43014 NOTWLEM CLEAR CLEAR
025446,003738: 26,2505 01673 INTYPFLG
025447,003739: 26,2506 01674 VINTFLAG
025448,003740: 26,2507 45014 SET CALL
025449,003741: 26,2510 01472 STATEFLG
025450,003742: 26,2511 55244 INTGRCAL
025451,003743: 26,2512 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
025452,003744: 26,2513 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
025453,003745: 26,2514 54516 RANGEBQ
025454,003746: 26,2515 55253 WLINIT # YES-REINITIALIZE
025455,003747: 26,2516 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
025456,003748: 26,2517 04307 SURFFLAG
025457,003749: 26,2520 54526 RANGEBQ1
025458,003750: 26,2521 34755 CA ZERO
025459,003751: 26,2522 55745 TS R65CNTR
025460,003752: 26,2523 04616 TC BANKCALL
025461,003753: 26,2524 46123 CADR R65LEM
025462,003754: 26,2525 06042 TC INTPRET
025463,003755: 26,2526 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
025464,003756: 26,2527 00000 0
025465,003757: 26,2530 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
025466,003758: 26,2531 54534 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
025467,003759: 26,2532 77714 INCR,2
025468,003760: 26,2533 00002 2
025469,003761: 26,2534 45134 SETX2 SXA,2 CALL
025470,003762: 26,2535 03720 SCALSHFT # 0-MOON. 2-EARTH
025471,003763: 26,2536 11216 GRP2PC
025472,003764: 26,2537 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
025473,003765: 26,2540 00001 1
025474,003766: 26,2541 01353 WHCHREAD
025475,003767: 26,2542 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
025476,003768: 26,2543 01773 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
025477,003769: 26,2544 20635 28D
025478,003770: 26,2545 77634 RTB
025479,003771: 26,2546 21634 TPMODE # AND SAVE IN 20D
025480,003772: 26,2547 00025 STORE 20D
025481,003773: 26,2550 77624 CALL # BEGIN COMPUTING THE B-VECTORS,DELTAQ
025482,003774: 26,2551 55335 GETULC # B-VECTORS FOR RANGE
025483,003775: 26,2552 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
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Page 590
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025485,003777: 26,2553 00707 VEHUPFLG
025486,003778: 26,2554 54555 +1
025487,003779: 26,2555 27525 STOVL BVECTOR
025488,003780: 26,2556 06520 ZEROVECS
025489,003781: 26,2557 03533 STORE BVECTOR +6 # B1
025490,003782: 26,2560 17541 STODL BVECTOR +12D # B2
025491,003783: 26,2561 00045 36D
025492,003784: 26,2562 44257 SRR* BDSU
025493,003785: 26,2563 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
025494,003786: 26,2564 03757 RM # RM - (MAGNITUDE RCSM-RLM)
025495,003787: 26,2565 77657 SLR*
025496,003788: 26,2566 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
025497,003789: 26,2567 17547 STODL DELTAQ # EARTH B-29. MOON B-27
025498,003790: 26,2570 00045 36D # RLC B-29/B-27
025499,003791: 26,2571 63501 NORM DSQ # NORMALIZE AND SQUARE
025500,003792: 26,2572 00047 X1
025501,003793: 26,2573 53605 DMP SR*
025502,003794: 26,2574 01767 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
025503,003795: 26,2575 20577 0 -2,1 # UNNORMALIZE
025504,003796: 26,2576 53657 SR* SR*
025505,003797: 26,2577 20601 0,1
025506,003798: 26,2600 57176 0,2
025507,003799: 26,2601 47057 SR* RTB
025508,003800: 26,2602 57176 0,2
025509,003801: 26,2603 21634 TPMODE
025510,003802: 26,2604 02707 STORE VARIANCE # B-40
025511,003803: 26,2605 76276 DCOMP TAD
025512,003804: 26,2606 00025 20D # B-40
025513,003805: 26,2607 72240 BMN TLOAD
025514,003806: 26,2610 54613 QOK
025515,003807: 26,2611 00025 20D # B-40
025516,003808: 26,2612 02707 STORE VARIANCE
025517,003809: 26,2613 77624 QOK CALL
025518,003810: 26,2614 55403 LGCUPDTE
025519,003811:
025520,003812: 26,2615 45131 SSP CALL
025521,003813: 26,2616 01354 WHCHREAD
025522,003814: 26,2617 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
025523,003815: 26,2620 11216 GRP2PC
025524,003816: 26,2621 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
025525,003817: 26,2622 55335 GETULC
025526,003818: 26,2623 53725 PDDL SR* # GET RLC SCALED B-29/B-27
025527,003819: 26,2624 00045 36D # AND SHIFT TO B-23
025528,003820: 26,2625 57202 0 -4,2
025529,003821: 26,2626 24045 STOVL 36D # THEN STORE BACK IN 36D
025530,003822: 26,2627 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
025531,003823: 26,2630 00707 VEHUPFLG
025532,003824: 26,2631 54632 +1
025533,003825: 26,2632 77761 VXSC
025534,003826: 26,2633 00045 36D # B1 = RLC (B-24/B-22)
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Page 591
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025536,003828: 26,2634 27533 STOVL BVECTOR +6
025537,003829: 26,2635 01653 NUVLEM
025538,003830: 26,2636 53257 VSR* VAD
025539,003831: 26,2637 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025540,003832: 26,2640 01667 VCVLEM # EARTH B-7. MOON B-5
025541,003833: 26,2641 53715 PDVL VSR* # VL TO PD6
025542,003834: 26,2642 01601 NUVCSM
025543,003835: 26,2643 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025544,003836: 26,2644 52255 VAD VSU
025545,003837: 26,2645 01615 VCVCSM
025546,003838: 26,2646 50315 PDVL DOT # VC - VL = VLC TO PD6
025547,003839: 26,2647 00001 0
025548,003840: 26,2650 00007 6
025549,003841: 26,2651 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
025550,003842: 26,2652 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
025551,003843: 26,2653 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
025552,003844: 26,2654 01771 RATEVAR
025553,003845: 26,2655 02707 STORE VARIANCE
025554,003846: 26,2656 54335 SLOAD SR
025555,003847: 26,2657 01774 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
025556,003848: 26,2660 20621 16D # SHIFT TO DP (B -4)
025557,003849: 26,2661 00031 STORE 24D # AND SAVE IN 24D
025558,003850: 26,2662 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
025559,003851: 26,2663 02707 VARIANCE
025560,003852: 26,2664 54670 VOK # BRANCH - NO
025561,003853: 26,2665 77745 DLOAD # YES - USE MINIMUM VARIANCE
025562,003854: 26,2666 00031 24D
025563,003855: 26,2667 02707 STORE VARIANCE
025564,003856: 26,2670 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
025565,003857: 26,2671 53725 PDDL SLR* # TO B-10/B-8
025566,003858: 26,2672 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
025567,003859: 26,2673 56577 0 -1,2 # B-7 TO B-10/B-8
025568,003860: 26,2674 77625 DSU
025569,003861: 26,2675 77675 DMPR
025570,003862: 26,2676 00045 36D
025571,003863: 26,2677 27547 STOVL DELTAQ # B-33
025572,003864: 26,2700 00001 0 # NOW GET B0
025573,003865: 26,2701 47235 VXV VXV # (ULC X VLC) X ULC
025574,003866: 26,2702 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025575,003867: 26,2703 00707 VEHUPFLG
025576,003868: 26,2704 54705 +1
025577,003869: 26,2705 77657 VSR*
025578,003870: 26,2706 57200 0 -2,2 # SCALED B-5
025579,003871: 26,2707 27525 STOVL BVECTOR
025580,003872: 26,2710 06520 ZEROVECS
025581,003873: 26,2711 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
025582,003874: 26,2712 27541 STOVL BVECTOR +12D
025583,003875: 26,2713 03525 BVECTOR
025584,003876: 26,2714 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
025585,003877: 26,2715 00025 20D # SHIFT COUNT IN 20D
|
|
Page 592
|
025587,003879: 26,2716 51575 VLOAD ABVAL
025588,003880: 26,2717 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
025589,003881: 26,2720 71301 NORM DLOAD
025590,003882: 26,2721 00027 22D # SHIFT COUNT IN 22D
025591,003883: 26,2722 00027 22D # FIND WHICH SHIFT IS SMALLER
025592,003884: 26,2723 50025 DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
025593,003885: 26,2724 00025 20D
025594,003886: 26,2725 54731 VOK1
025595,003887: 26,2726 52150 LXA,1 GOTO
025596,003888: 26,2727 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
025597,003889: 26,2730 54733 VOK2
025598,003890: 26,2731 77750 VOK1 LXA,1
025599,003891: 26,2732 00024 20D
025600,003892: 26,2733 53775 VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
025601,003893: 26,2734 03525 BVECTOR # WITH THIS SHIFT COUNT
025602,003894: 26,2735 20201 0,1
025603,003895: 26,2736 27525 STOVL BVECTOR
025604,003896: 26,2737 03533 BVECTOR +6
025605,003897: 26,2740 77657 VSL*
025606,003898: 26,2741 20201 0,1
025607,003899: 26,2742 17533 STODL BVECTOR +6
025608,003900: 26,2743 03547 DELTAQ
025609,003901: 26,2744 77657 SL*
025610,003902: 26,2745 20201 0,1
025611,003903: 26,2746 03547 STORE DELTAQ
025612,003904: 26,2747 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
025613,003905: 26,2750 00045 36D
025614,003906: 26,2751 20200 0 -1,1
025615,003907: 26,2752 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
025616,003908: 26,2753 02707 VARIANCE
025617,003909: 26,2754 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025618,003910: 26,2755 21634 TPMODE
025619,003911: 26,2756 36707 STCALL VARIANCE # AND STORE TP VARIANCE
025620,003912: 26,2757 55403 LGCUPDTE
025621,003913:
025622,003914: 26,2760 77624 CALL
025623,003915: 26,2761 11216 GRP2PC
025624,003916: 26,2762 77414 BON EXIT # ARE ANGLES TO BE DONE
025625,003917: 26,2763 04307 SURFFLAG
025626,003918: 26,2764 55200 RENDEND # NO
025627,003919: 26,2765 E7,1457 EBANK= AIG
025628,003920: 26,2765 33334 MXMYMZ CAF AIGBANK
025629,003921: 26,2766 54006 TS BBANK
025630,003922: 26,2767 31457 CA AIG # YES, COMPUTE MX, MY, MZ
025631,003923: 26,2770 54765 TS CDUSPOT
025632,003924: 26,2771 31460 CA AMG
025633,003925: 26,2772 54767 TS CDUSPOT +2
025634,003926: 26,2773 31461 CA AOG
025635,003927: 26,2774 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025636,003928: 26,2775 06042 TC INTPRET
|
|
Page 593
|
025638,003930: 26,2776 45175 VLOAD CALL
025639,003931: 26,2777 06516 UNITX
025640,003932: 26,3000 47671 TRG*NBSM
025641,003933: 26,3001 76505 VXM VSL1
025642,003934: 26,3002 01732 REFSMMAT
025643,003935: 26,3003 27677 STOVL MX
025644,003936: 26,3004 06514 UNITY
025645,003937: 26,3005 77624 CALL
025646,003938: 26,3006 47700 *NBSM*
025647,003939: 26,3007 76505 VXM VSL1
025648,003940: 26,3010 01732 REFSMMAT
025649,003941: 26,3011 27705 STOVL MY
025650,003942: 26,3012 06512 UNITZ
025651,003943: 26,3013 77624 CALL
025652,003944: 26,3014 47700 *NBSM*
025653,003945: 26,3015 76505 VXM VSL1
025654,003946: 26,3016 01732 REFSMMAT
025655,003947: 26,3017 37713 SHAFTBQ STCALL MZ
025656,003948: 26,3020 55363 RADARANG
025657,003949: 26,3021 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025658,003950: 26,3022 01354 WHCHREAD
025659,003951: 26,3023 00003 DEC 3 B-14
025660,003952: 26,3024 03724 ULC
025661,003953: 26,3025 72441 DOT SL1
025662,003954: 26,3026 03677 MX
025663,003955: 26,3027 24023 STOVL SINTH # 18D
025664,003956: 26,3030 03724 ULC
025665,003957: 26,3031 72441 DOT SL1
025666,003958: 26,3032 03713 MZ
025667,003959: 26,3033 34021 STCALL COSTH # 16D
025668,003960: 26,3034 26506 ARCTAN
025669,003961: 26,3035 41221 BDSU DMP
025670,003962: 26,3036 03736 RRSHAFT
025671,003963: 26,3037 15443 2PI/8
025672,003964: 26,3040 41472 SL3R PUSH
025673,003965: 26,3041 52545 DLOAD SL3
025674,003966: 26,3042 01701 X789
025675,003967: 26,3043 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025676,003968: 26,3044 56176 0,2
025677,003969: 26,3045 53605 DMP SRR*
025678,003970: 26,3046 03722 RXZ
025679,003971: 26,3047 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025680,003972: 26,3050 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
025681,003973: 26,3051 03724 ULC
025682,003974: 26,3052 76435 VXV VSL1
025683,003975: 26,3053 03705 MY
025684,003976: 26,3054 77656 UNIT
025685,003977: 26,3055 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025686,003978: 26,3056 00747 VEHUPFLG
025687,003979: 26,3057 55060 +1
|
|
Page 594
|
025689,003981: 26,3060 27525 STOVL BVECTOR
025690,003982: 26,3061 06520 ZEROVECS
025691,003983: 26,3062 03533 STORE BVECTOR +6
025692,003984: 26,3063 17541 STODL BVECTOR +12D
025693,003985: 26,3064 03722 RXZ
025694,003986: 26,3065 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025695,003987: 26,3066 20577 0 -2,1
025696,003988: 26,3067 56176 0,2
025697,003989: 26,3070 03541 STORE BVECTOR +12D
025698,003990: 26,3071 77735 SLOAD
025699,003991: 26,3072 02011 SHAFTVAR
025700,003992: 26,3073 41215 DAD DMP
025701,003993: 26,3074 15440 IMUVAR # RAD**2 B12
025702,003994: 26,3075 03722 RXZ
025703,003995: 26,3076 41257 SRR* DMP
025704,003996: 26,3077 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025705,003997: 26,3100 03722 RXZ
025706,003998: 26,3101 53657 SR* SR*
025707,003999: 26,3102 20577 0 -2,1
025708,004000: 26,3103 57176 0,2
025709,004001: 26,3104 47057 SR* RTB
025710,004002: 26,3105 57176 0,2
025711,004003: 26,3106 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025712,004004: 26,3107 36707 STCALL VARIANCE # B-40
025713,004005: 26,3110 55403 LGCUPDTE
025714,004006:
025715,004007: 26,3111 77624 CALL
025716,004008: 26,3112 11216 GRP2PC
025717,004009: 26,3113 77624 TRUNBQ CALL
025718,004010: 26,3114 55363 RADARANG
025719,004011: 26,3115 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
025720,004012: 26,3116 01354 WHCHREAD
025721,004013: 26,3117 00004 DEC 4 B-14
025722,004014: 26,3120 03724 ULC
025723,004015: 26,3121 76435 VXV VSL1
025724,004016: 26,3122 03705 MY
025725,004017: 26,3123 76435 VXV VSL1 # (ULC X MY) X ULC
025726,004018: 26,3124 03724 ULC
025727,004019: 26,3125 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025728,004020: 26,3126 00747 VEHUPFLG
025729,004021: 26,3127 55130 +1
025730,004022: 26,3130 27525 STOVL BVECTOR
025731,004023: 26,3131 06520 ZEROVECS
025732,004024: 26,3132 03533 STORE BVECTOR +6
025733,004025: 26,3133 17541 STODL BVECTOR +12D
025734,004026: 26,3134 03722 RXZ
025735,004027: 26,3135 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025736,004028: 26,3136 20577 0 -2,1
025737,004029: 26,3137 56176 0,2
025738,004030: 26,3140 03543 STORE BVECTOR +14D
|
|
Page 595
|
025740,004032: 26,3141 77735 SLOAD
025741,004033: 26,3142 02012 TRUNVAR
025742,004034: 26,3143 41215 DAD DMP
025743,004035: 26,3144 15440 IMUVAR
025744,004036: 26,3145 03722 RXZ
025745,004037: 26,3146 41257 SRR* DMP
025746,004038: 26,3147 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025747,004039: 26,3150 03722 RXZ
025748,004040: 26,3151 53657 SR* SR*
025749,004041: 26,3152 20577 0 -2,1
025750,004042: 26,3153 57176 0,2
025751,004043: 26,3154 47057 SR* RTB
025752,004044: 26,3155 57176 0,2
025753,004045: 26,3156 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025754,004046: 26,3157 16707 STODL VARIANCE
025755,004047: 26,3160 03732 SINTHETA
025756,004048: 26,3161 44336 ASIN BDSU # SIN THETA IN PD6
025757,004049: 26,3162 03734 RRTRUN
025758,004050: 26,3163 56405 DMP SL3R
025759,004051: 26,3164 15443 2PI/8
025760,004052: 26,3165 52525 PDDL SL3
025761,004053: 26,3166 01703 X789 +2
025762,004054: 26,3167 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025763,004055: 26,3170 56176 0,2
025764,004056: 26,3171 53605 DMP SRR*
025765,004057: 26,3172 03722 RXZ
025766,004058: 26,3173 21601 0,1
025767,004059: 26,3174 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025768,004060: 26,3175 55403 LGCUPDTE
025769,004061: 26,3176 77624 CALL
025770,004062: 26,3177 11216 GRP2PC
025771,004063: 26,3200 77650 RENDEND GOTO
025772,004064: 26,3201 50644 R22LEM93
025773,004065: # FUNCTIONAL DESCRIPTION
025774,004066:
025775,004067: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025776,004068: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025777,004069: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025778,004070:
025779,004071: # SUBROUTINES CALLED
025780,004072: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025781,004073: # INTEGRV GETULC INCORP2
025782,004074:
025783,004075: # OUTPUT
025784,004076: # CORRECTED CSM STATE VECTOR (PERMANENT)
025785,004077: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025786,004078: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025787,004079: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025788,004080: # UPDATED W-MATRIX
025789,004081:
|
|
Page 596
|
025791,004083: # ERASABLE INITIALIZATION REQUIRED
025792,004084: # LM AND CSM STATE VECTORS
025793,004085: # W-MATRIX
025794,004086: # MARK TIME IN MKTIME
025795,004087: # RADAR RANGE IN RM METERS B-29
025796,004088: # RANGE RATE IN RDOTM METERS/CSEC B-7
025797,004089: # VEHUPFLG
025798,004090:
025799,004091:
025800,004092: 26,3202 77624 LSR22.4 CALL
025801,004093: 26,3203 27410 INTSTALL
025802,004094: 26,3204 43014 SET CLEAR
025803,004095: 26,3205 01472 STATEFLG
025804,004096: 26,3206 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025805,004097: 26,3207 77624 CALL
025806,004098: 26,3210 55244 INTGRCAL
025807,004099: 26,3211 77624 CALL
025808,004100: 26,3212 11216 GRP2PC
025809,004101: 26,3213 45014 CLEAR CALL
025810,004102: 26,3214 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025811,004103: 26,3215 27410 INTSTALL
025812,004104: 26,3216 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025813,004105: 26,3217 03463 MARKCTR
025814,004106: 26,3220 55233 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025815,004107: 26,3221 43014 CLEAR SET
025816,004108: 26,3222 01675 D6OR9FLG
025817,004109: 26,3223 01476 DIM0FLAG
025818,004110: 26,3224 43014 SET CLEAR
025819,004111: 26,3225 01474 VINTFLAG
025820,004112: 26,3226 01673 INTYPFLG
025821,004113: 26,3227 77624 CALL
025822,004114: 26,3230 55244 INTGRCAL
025823,004115: 26,3231 77650 GOTO
025824,004116: 26,3232 54516 RANGEBQ
025825,004117:
025826,004118: 26,3233 77624 INITWMX6 CALL
025827,004119: 26,3234 55253 WLINIT # INITIALIZE W-MATRIX
025828,004120: 26,3235 45014 SET CALL
025829,004121: 26,3236 01474 VINTFLAG
025830,004122: 26,3237 26643 SETIFLGS
025831,004123: 26,3240 77624 CALL
025832,004124: 26,3241 55244 INTGRCAL
025833,004125: 26,3242 77650 GOTO
025834,004126: 26,3243 54516 RANGEBQ
025835,004127:
025836,004128: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025837,004129:
025838,004130: 26,3244 71220 INTGRCAL STQ DLOAD
025839,004131: 26,3245 03675 IGRET
025840,004132: 26,3246 03755 MKTIME
|
|
Page 597
|
025842,004134: 26,3247 34041 STCALL TDEC1
025843,004135: 26,3250 27133 INTEGRV
025844,004136: 26,3251 77650 GOTO
025845,004137: 26,3252 03675 IGRET
025846,004138:
025847,004139: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025848,004140: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025849,004141:
025850,004142: 26,3253 E5,1400 EBANK= W
025851,004143: 26,3253 77776 WLINIT EXIT
025852,004144: 26,3254 33333 CAF WBANK
025853,004145: 26,3255 54006 TS BBANK
025854,004146: 26,3256 33441 CAF WSIZE
025855,004147: 26,3257 55256 TS W.IND
025856,004148: 26,3260 34755 CAF ZERO
025857,004149: 26,3261 51256 INDEX W.IND
025858,004150: 26,3262 55400 TS W
025859,004151: 26,3263 11256 CCS W.IND
025860,004152: 26,3264 03257 TC -5
025861,004153: 26,3265 33334 CAF AIGBANK # RESTORE EBANK 7
025862,004154: 26,3266 54006 TS BBANK
025863,004155: 26,3267 06042 TC INTPRET
025864,004156: 26,3270 67214 BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
025865,004157: 26,3271 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025866,004158: 26,3272 55276 WLSRFPOS # WRENDPOS AND WRENDVEL
025867,004159: 26,3273 02001 WRENDPOS
025868,004160: 26,3274 77650 GOTO
025869,004161: 26,3275 55300 WPOSTORE
025870,004162: 26,3276 77735 WLSRFPOS SLOAD
025871,004163: 26,3277 02007 WSURFPOS
025872,004164: 26,3300 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025873,004165: 26,3301 20606 5
025874,004166: 26,3302 02401 STORE W
025875,004167: 26,3303 02411 STORE W +8D
025876,004168: 26,3304 02421 STORE W +16D
025877,004169: 26,3305 67214 BON SLOAD
025878,004170: 26,3306 04307 SURFFLAG
025879,004171: 26,3307 55313 WLSRFVEL
025880,004172: 26,3310 02002 WRENDVEL
025881,004173: 26,3311 77650 GOTO
025882,004174: 26,3312 55315 WVELSTOR
025883,004175: 26,3313 77735 WLSRFVEL SLOAD
025884,004176: 26,3314 02010 WSURFVEL
025885,004177: 26,3315 02511 WVELSTOR STORE W +72D
025886,004178: 26,3316 02521 STORE W +80D
025887,004179: 26,3317 02531 STORE W +88D
025888,004180: 26,3320 77735 SLOAD
025889,004181: 26,3321 02003 WSHAFT
025890,004182: 26,3322 02621 STORE W +144D
025891,004183: 26,3323 77735 SLOAD
|
|
Page 598
|
025893,004185: 26,3324 02004 WTRUN
025894,004186: 26,3325 02631 STORE W +152D
025895,004187: 26,3326 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025896,004188: 26,3327 02476 RENDWFLG
025897,004189: 26,3330 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025898,004190: 26,3331 00000 0
025899,004191: 26,3332 77616 RVQ
025900,004192:
025901,004193: 26,3333 E5,1400 EBANK= W
025902,004194: 26,3333 54065 WBANK BBCON WLINIT
025903,004195: 26,3334 E7,1457 EBANK= AIG
025904,004196: 26,3334 54067 AIGBANK BBCON LSR22.3
025905,004197:
025906,004198: # GETULC
025907,004199:
025908,004200: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025909,004201: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025910,004202: # MAGNITUDE IN 36D.
025911,004203:
025912,004204: 26,3335 77201 GETULC SETPD VLOAD
025913,004205: 26,3336 00001 0
025914,004206: 26,3337 01645 DELTALEM
025915,004207: 26,3340 77754 LXA,2
025916,004208: 26,3341 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025917,004209: 26,3342 53257 VSR* VAD
025918,004210: 26,3343 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025919,004211: 26,3344 01661 RCVLEM
025920,004212: 26,3345 53715 PDVL VSR*
025921,004213: 26,3346 01573 DELTACSM
025922,004214: 26,3347 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025923,004215: 26,3350 52255 VAD VSU
025924,004216: 26,3351 01607 RCVCSM
025925,004217: 26,3352 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025926,004218: 26,3353 21725 NORMUNX1
025927,004219: 26,3354 17724 STODL ULC
025928,004220: 26,3355 00045 36D
025929,004221: 26,3356 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025930,004222: 26,3357 20201 0,1
025931,004223: 26,3360 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025932,004224: 26,3361 03724 ULC
025933,004225: 26,3362 77616 RVQ
025934,004226: # RADARANG
025935,004227:
025936,004228: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025937,004229: # RXZ = (SQRT (1-SINTHETA**2))RLC
025938,004230: # OUTPUT
025939,004231: # ULC IN ULC, PD0
025940,004232: # RLC IN PD36D
025941,004233: # SIN THETA IN SINTHETA AND PD6
025942,004234: # RXZ NORM IN RXZ (N IN X1)
|
|
Page 599
|
025944,004236: 26,3363 45020 RADARANG STQ CALL
025945,004237: 26,3364 03675 RDRET
025946,004238: 26,3365 55335 GETULC
025947,004239: 26,3366 50276 VCOMP DOT
025948,004240: 26,3367 03705 MY
025949,004241: 26,3370 41572 SL1R PUSH # SIN THETA TO PD6
025950,004242: 26,3371 03732 STORE SINTHETA
025951,004243: 26,3372 44316 DSQ BDSU
025952,004244: 26,3373 06510 DP1/4TH # 1 - (SIN THETA)**2
025953,004245: 26,3374 41366 SQRT DMP
025954,004246: 26,3375 00045 36D
025955,004247: 26,3376 60352 SL1 NORM
025956,004248: 26,3377 00047 X1 # SET SHIFT COUNTER IN X1
025957,004249: 26,3400 03722 STORE RXZ
025958,004250: 26,3401 77650 GOTO # EXIT
025959,004251: 26,3402 03675 RDRET
025960,004252: 26,3403 45020 LGCUPDTE STQ CALL
025961,004253: 26,3404 03675 LGRET
025962,004254: 26,3405 46527 INCORP1
025963,004255: 26,3406 51575 VLOAD ABVAL
025964,004256: 26,3407 02673 DELTAX +6
025965,004257: 26,3410 53754 LXA,2 SRR*
025966,004258: 26,3411 03720 SCALSHFT # 0-MOON. 2-EARTH
025967,004259: 26,3412 56174 2,2 # SET VEL DISPLAY TO B-7
025968,004260: 26,3413 24317 STOVL R22DISP +2
025969,004261: 26,3414 02665 DELTAX
025970,004262: 26,3415 53646 ABVAL SRR*
025971,004263: 26,3416 56174 2,2 # SET POS DISPLAY TO B-29
025972,004264: 26,3417 00315 STORE R22DISP
025973,004265: 26,3420 54335 SLOAD SR
025974,004266: 26,3421 02005 RMAX
025975,004267: 26,3422 20613 10D
025976,004268: 26,3423 50025 DSU BMN
025977,004269: 26,3424 00315 R22DISP
025978,004270: 26,3425 50650 R22LEM96 # GO DISPLAY
025979,004271: 26,3426 45335 SLOAD DSU
025980,004272: 26,3427 02006 VMAX
025981,004273: 26,3430 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025982,004274: 26,3431 77640 BMN
025983,004275: 26,3432 50650 R22LEM96 # GO DISPLAY
025984,004276: 26,3433 77624 ASTOK CALL
025985,004277: 26,3434 46741 INCORP2
025986,004278: 26,3435 77650 GOTO
025987,004279: 26,3436 03675 LGRET
025988,004280: 26,3437 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
025989,004281:
025990,004282: 26,3441 00241 WSIZE DEC 161 B-14
025991,004283: 26,3442 31103 36652 2PI/8 2DEC 3.141592653 B-2
025992,004284:
025993,004285: 26,3444 E7,1456 EBANK= LOSCOUNT
025994,004286:
|
|
Page 600
|
025996,004288: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025997,004289: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025998,004290:
025999,004291:
026000,004292: # FUNCTIONAL DESCRIPTION
026001,004293:
026002,004294: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
026003,004295: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
026004,004296: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
026005,004297: # ATTITUDE MANEUVER.
026006,004298:
026007,004299:
026008,004300: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
026009,004301:
026010,004302:
026011,004303: # SUBROUTINES CALLED
026012,004304:
026013,004305: # LEMCONIC R61LEM
026014,004306: # CSMCONIC RRDESSM
026015,004307: # JOBDELAY FLAGDOWN
026016,004308: # WAITLIST FLAGUP
026017,004309: # RRNB BANKCALL
026018,004310:
026019,004311:
026020,004312: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
026021,004313:
026022,004314:
026023,004315: # OUTPUT
026024,004316:
026025,004317: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
026026,004318: # 11111 INDICATES LOCKON ACHIEVED
026027,004319: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
026028,004320:
026029,004321: # ERASABLE INITIALIZATION REQUIRED
026030,004322: # SEARCH FLAG MUST BE SET
026031,004323: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
026032,004324: # DEBRIS
026033,004325:
026034,004326: # RLMSRCH UXVECT
026035,004327: # VXRLM UYVECT
026036,004328: # LOSDESRD NSRCHPNT
026037,004329: # DATAGOOD OMEGAD
026038,004330: # MPAC PUSHLIST
026039,004331:
026040,004332:
026041,004333: 26,3444 COUNT* $$/LRS24
026042,004334: 26,3444 34755 LRS24.1 CAF ZERO
026043,004335: 26,3445 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
026044,004336: 26,3446 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
026045,004337: 26,3447 00006 EXTEND
|
|
Page 601
|
026047,004339: 26,3450 05012 WOR CHAN12
026048,004340: 26,3451 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
026049,004341: 26,3452 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
026050,004342: 26,3453 00006 EXTEND
026051,004343: 26,3454 15155 BZF ENDOFJOB # NO-TERMINATE JOB
026052,004344:
026053,004345:
026054,004346: 26,3455 33715 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
026055,004347: 26,3456 00004 INHINT
026056,004348: 26,3457 05214 TC WAITLIST # IN 6 SECONDS
026057,004349: 26,3460 E7,1456 EBANK= LOSCOUNT
026058,004350: 26,3460 03645 54067 2CADR CALLDGCH
026059,004351:
026060,004352: 26,3462 00003 RELINT
026061,004353: 26,3463 40110 CS RADMODES # IS REMODE IN PROGRESS
026062,004354: 26,3464 74736 MASK REMODBIT
026063,004355: 26,3465 00006 EXTEND
026064,004356: 26,3466 15155 BZF ENDOFJOB # YES- WAIT SIX SECONDS
026065,004357: 26,3467 06042 TC INTPRET
026066,004358:
026067,004359: 26,3470 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
026068,004360: 26,3471 21574 LOADTIME
026069,004361: 26,3472 15717 1.5SECS
026070,004362: 26,3473 34041 LRS24.11 STCALL TDEC1
026071,004363: 26,3474 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
026072,004364: 26,3475 77775 VLOAD
026073,004365: 26,3476 00001 RATT
026074,004366: 26,3477 27676 STOVL RLMSRCH # SAVE LEM POSITION
026075,004367: 26,3500 00007 VATT
026076,004368: 26,3501 17740 STODL SAVLEMV # SAVE LEM VELOCITY
026077,004369: 26,3502 00015 TAT
026078,004370: 26,3503 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
026079,004371: 26,3504 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
026080,004372: 26,3505 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
026081,004373: 26,3506 00001 RATT
026082,004374: 26,3507 03676 RLMSRCH
026083,004375: 26,3510 77656 UNIT
026084,004376: 26,3511 27712 STOVL LOSDESRD # STORE DESIRED LOS
026085,004377: 26,3512 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
026086,004378: 26,3513 47256 UNIT VXV
026087,004379: 26,3514 00001 RATT
026088,004380: 26,3515 77656 UNIT
026089,004381: 26,3516 03704 STORE VXRCM
026090,004382: 26,3517 52375 VLOAD VSU
026091,004383: 26,3520 00007 VATT
026092,004384: 26,3521 03740 SAVLEMV
026093,004385: 26,3522 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
026094,004386: 26,3523 01732 REFSMMAT
026095,004387: 26,3524 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
026096,004388: 26,3525 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 602
|
026098,004390: 26,3526 03737 NSRCHPNT
026099,004391: 26,3527 55640 DESGLOS # YES-DESIGNATE ALONG LOS
026100,004392: 26,3530 53025 DSU BZE # IS N=1
026101,004393: 26,3531 15713 ONEOCT # YES-CALCULATE X AND Y AXES OF
026102,004394: 26,3532 55625 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
026103,004395: 26,3533 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
026104,004396: 26,3534 03720 UXVECT
026105,004397: 26,3535 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
026106,004398: 26,3536 03726 UYVECT # UXPRIME = ORIGINAL UX
026107,004399: 26,3537 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
026108,004400: 26,3540 77761 VXSC
026109,004401: 26,3541 15707 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
026110,004402: 26,3542 27720 STOVL UXVECT
026111,004403: 26,3543 00015 UXVECTPR
026112,004404: 26,3544 53361 VXSC VAD
026113,004405: 26,3545 06516 COS60DEG
026114,004406: 26,3546 03720 UXVECT
026115,004407: 26,3547 77656 UNIT
026116,004408: 26,3550 27720 STOVL UXVECT
026117,004409: 26,3551 00015 UXVECTPR # UY=(-SIN60)UXPR +(COS 60)UYPR
026118,004410: 26,3552 77761 VXSC
026119,004411: 26,3553 15707 SIN60DEG
026120,004412: 26,3554 27726 STOVL UYVECT
026121,004413: 26,3555 00023 UYVECTPR
026122,004414: 26,3556 52361 VXSC VSU
026123,004415: 26,3557 06516 COS60DEG
026124,004416: 26,3560 03726 UYVECT
026125,004417: 26,3561 77656 UNIT
026126,004418: 26,3562 03726 STORE UYVECT
026127,004419: 26,3563 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
026128,004420: 26,3564 15711 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
026129,004421: 26,3565 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
026130,004422: 26,3566 64256 UNIT MXV
026131,004423: 26,3567 01732 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
026132,004424: 26,3570 77772 VSL1
026133,004425: 26,3571 25101 CONTDESG STOVL RRTARGET
026134,004426: 26,3572 03740 SAVLEMV
026135,004427: 26,3573 01757 STORE LOSVEL
026136,004428: 26,3574 77776 EXIT
026137,004429: 26,3575 00004 INHINT
026138,004430: 26,3576 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
026139,004431: 26,3577 52573 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
026140,004432: # POINT IN THE PATTERN
026141,004433: 26,3600 44735 CONTDES2 CS CDESBIT
026142,004434: 26,3601 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
026143,004435: 26,3602 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
026144,004436: 26,3603 54110 TS RADMODES
026145,004437: 26,3604 06042 TC INTPRET
026146,004438:
026147,004439: 26,3605 77624 CALL
|
|
Page 603
|
026149,004441: 26,3606 52364 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
026150,004442:
026151,004443: 26,3607 77776 EXIT
026152,004444: 26,3610 03677 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
026153,004445: 26,3611 03677 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
026154,004446:
026155,004447:
026156,004448: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
026157,004449: # SPACECRAFT +Z AXIS
026158,004450: 26,3612 00006 OMEGCALC EXTEND
026159,004451: 26,3613 30036 DCA CDUT
026160,004452: 26,3614 53753 DXCH TANGNB
026161,004453: 26,3615 06042 TC INTPRET
026162,004454: 26,3616 77624 CALL
026163,004455: 26,3617 46041 RRNB
026164,004456: 26,3620 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026165,004457: 26,3621 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026166,004458: 26,3622 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
026167,004459: 26,3623 77776 EXIT
026168,004460: 26,3624 05155 TC ENDOFJOB
026169,004461:
|
|
Page 604
|
026171,004463: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026172,004464:
026173,004465:
026174,004466: 26,3625 47375 CALCXY VLOAD VXV
026175,004467: 26,3626 03704 VXRCM
026176,004468: 26,3627 03712 LOSDESRD
026177,004469: 26,3630 77656 UNIT
026178,004470: 26,3631 27720 STOVL UXVECT # UX = (VLM X RLM)X LOS
026179,004471: 26,3632 03712 LOSDESRD
026180,004472: 26,3633 53435 VXV UNIT
026181,004473: 26,3634 03720 UXVECT
026182,004474: 26,3635 03726 STORE UYVECT # UY = LOS X UX
026183,004475: 26,3636 77650 GOTO
026184,004476: 26,3637 55563 OFFCALC
026185,004477:
026186,004478:
026187,004479: 26,3640 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
026188,004480: 26,3641 03712 LOSDESRD
026189,004481: 26,3642 01732 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
026190,004482: 26,3643 52172 VSL1 GOTO
026191,004483: 26,3644 55571 CONTDESG
026192,004484:
026193,004485:
026194,004486: 26,3645 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
026195,004487: 26,3646 74745 MASK RNDVZBIT
026196,004488: 26,3647 00006 EXTEND
026197,004489: 26,3650 15272 BZF TASKOVER # NO-EXIT R24
026198,004490: 26,3651 37716 CAF PRIO25 # YES -SCHEDULE JOB TO DRIVE RADAR TO NEXT
026199,004491: 26,3652 05105 TC FINDVAC # POINT IN SEARCH PATTERN
026200,004492: 26,3653 E7,1675 EBANK= RLMSRCH
026201,004493: 26,3653 03656 54067 2CADR DATGDCHK
026202,004494:
026203,004495: 26,3655 05272 TC TASKOVER
026204,004496:
026205,004497:
026206,004498: 26,3656 34750 DATGDCHK CAF BIT4
026207,004499: 26,3657 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
026208,004500: 26,3660 02033 RAND CHAN33
026209,004501: 26,3661 00006 EXTEND
026210,004502: 26,3662 13671 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
026211,004503: 26,3663 46245 CS SIX
026212,004504: 26,3664 61736 AD NSRCHPNT # IS N GREATER THAN 6
026213,004505: 26,3665 00006 EXTEND
026214,004506: 26,3666 13444 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
026215,004507: 26,3667 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
026216,004508: 26,3670 13446 TCF CHKSRCH # NEXT POINT IN PATTERN
026217,004509:
026218,004510:
026219,004511: 26,3671 33705 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
026220,004512: 26,3672 55733 TS DATAGOOD
|
|
Page 605
|
026222,004514: 26,3673 00004 INHINT
026223,004515: 26,3674 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
026224,004516: 26,3675 52573 CADR DESLOOP +2 # WAITLIST USING KILLTASK
026225,004517: 26,3676 05155 TC ENDOFJOB
026226,004518:
026227,004519: 26,3677 05600 LIMALARM TC ALARM # ISSUE ALARM 527-LOS NOT IN MODE2
026228,004520: 26,3700 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
026229,004521: 26,3701 00004 INHINT # REQUIRED IN P20
026230,004522: 26,3702 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
026231,004523: 26,3703 55645 CADR CALLDGCH # POINT IN SEARCH PATTERN
026232,004524: 26,3704 05155 TC ENDOFJOB
026233,004525:
026234,004526:
026235,004527: 26,3705 25547 ALL1S DEC 11111 B-14
026236,004528: 26,3706 33555 01106 SIN60DEG 2DEC .86603
026237,004529:
026238,004530: 26,3710 23,2515 COS60DEG = DPHALF # (2DEC .50)
026239,004531: 26,3710 UXVECTPR EQUALS 12D # PREVIOUS
026240,004532: 26,3710 UYVECTPR EQUALS 18D
026241,004533: 26,3710 RLMUNIT EQUALS 12D
026242,004534: 26,3710 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
026243,004535:
026244,004536: 26,3712 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
026245,004537: 26,3713 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
026246,004538:
026247,004539: # **** ONEOCT NEEDS A LOWER ORDER ****
026248,004540: # **** WORD OF ZEROES ****
026249,004541: 26,3715 01130 6SECONDS DEC 600 B-14
026250,004542: 26,3716 00000 00226 1.5SECS 2DEC 150 B-28
026251,004543:
026252,004544: 26,3720 23,2517 ZERO/SP EQUALS HI6ZEROS
026253,004545: 4616 BLOCK 02
026254,004546: 6000 SETLOC FFTAG5
026255,004547: 6000 BANK
026256,004548: 6025 COUNT* $$/P20
026257,004549: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
026258,004550: 6026 36031 DCA VB56CADR # GOTOPOOH
026259,004551: 6027 15176 TCF SUPDXCHZ
026260,004552: 6030 E7,1471 EBANK= WHOCARES
026261,004553: 6030 03047 66107 VB56CADR 2CADR TRMTRACK
026262,004554:
|
|
Page 606
|
026264,004556: # W-MATRIX MONITOR
026265,004557:
026266,004558: 31,2007 BANK 31
026267,004559: 31,2000 SETLOC VB67
026268,004560: 31,2000 BANK
026269,004561: 31,2007 COUNT* $$/EXTVB
026270,004562:
026271,004563: 31,2007 E4,1600 EBANK= WWPOS
026272,004564:
026273,004565: 31,2007 06042 V67CALL TC INTPRET
026274,004566: 31,2010 77624 CALL
026275,004567: 31,2011 62120 V67WW
026276,004568: 31,2012 77776 EXIT
026277,004569: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026278,004570: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026279,004571: 31,2015 53607 DXCH WWBIAS +2
026280,004572: 31,2016 00006 EXTEND
026281,004573: 31,2017 31603 DCA WWVEL
026282,004574: 31,2020 53611 DXCH WWBIAS +4
026283,004575: 31,2021 00006 EXTEND
026284,004576: 31,2022 31605 DCA WWBIAS
026285,004577: 31,2023 53613 DXCH WWBIAS +6
026286,004578: 31,2024 32143 V06N99DS CAF V06N99
026287,004579: 31,2025 04616 TC BANKCALL
026288,004580: 31,2026 20334 CADR GOXDSPF
026289,004581: 31,2027 15503 TCF ENDEXT
026290,004582: 31,2030 12032 TCF V6N99PRO
026291,004583: 31,2031 12024 TCF V06N99DS
026292,004584: 31,2032 22007 V6N99PRO ZL
026293,004585: 31,2033 34756 CA FIVE
026294,004586: 31,2034 54002 N99LOOP TS Q
026295,004587: 31,2035 50002 INDEX Q
026296,004588: 31,2036 41600 CS WWPOS
026297,004589: 31,2037 50002 INDEX Q
026298,004590: 31,2040 61606 AD WWPOS +6
026299,004591: 31,2041 26001 ADS L
026300,004592: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026301,004593: 31,2043 12034 TCF N99LOOP
026302,004594: 31,2044 22000 LXCH A
026303,004595: 31,2045 00006 EXTEND
026304,004596: 31,2046 12051 BZF V06N9933
026305,004597: 31,2047 05515 TC UPFLAG
026306,004598: 31,2050 00160 ADRES V67FLAG
026307,004599:
026308,004600: 31,2051 06042 V06N9933 TC INTPRET
026309,004601: 31,2052 77414 BON EXIT
026310,004602: 31,2053 03707 V67FLAG
026311,004603: 31,2054 62056 +2
026312,004604: 31,2055 15503 TCF ENDEXT
026313,004605: 31,2056 77745 DLOAD
|
|
Page 607
|
026315,004607: 31,2057 02201 WWPOS
026316,004608: 31,2060 72412 SL4 SL1
026317,004609: 31,2061 14001 STODL 0D
026318,004610: 31,2062 02203 WWVEL
026319,004611: 31,2063 14003 STODL 2D
026320,004612: 31,2064 02205 WWBIAS
026321,004613: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026322,004614: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026323,004615: 31,2067 00005 STORE 4D
026324,004616: 31,2070 72014 BON LXA,1
026325,004617: 31,2071 04307 SURFFLAG
026326,004618: 31,2072 62102 V67SURF
026327,004619: 31,2073 00000 0D
026328,004620: 31,2074 72130 SXA,1 LXA,1
026329,004621: 31,2075 02000 WRENDPOS
026330,004622: 31,2076 00002 2D
026331,004623: 31,2077 52130 SXA,1 GOTO
026332,004624: 31,2100 02001 WRENDVEL
026333,004625: 31,2101 62110 V67CLRF
026334,004626: 31,2102 66150 V67SURF LXA,1 SXA,1
026335,004627: 31,2103 00000 0D
026336,004628: 31,2104 02006 WSURFPOS
026337,004629: 31,2105 66150 LXA,1 SXA,1
026338,004630: 31,2106 00002 2D
026339,004631: 31,2107 02007 WSURFVEL
026340,004632: 31,2110 66150 V67CLRF LXA,1 SXA,1
026341,004633: 31,2111 00004 4D
026342,004634: 31,2112 02003 WTRUN
026343,004635: 31,2113 77730 SXA,1
026344,004636: 31,2114 02002 WSHAFT
026345,004637: 31,2115 77414 CLEAR EXIT
026346,004638: 31,2116 02676 RENDWFLG
026347,004639: 31,2117 15503 TCF ENDEXT
026348,004640: 31,2120 40020 V67WW STQ BOV
026349,004641: 31,2121 00051 S2
026350,004642: 31,2122 62123 +1
026351,004643: 31,2123 45014 CLEAR CALL
026352,004644: 31,2124 03667 V67FLAG
026353,004645: 31,2125 27410 INTSTALL
026354,004646: 31,2126 71331 SSP DLOAD
026355,004647: 31,2127 00051 S1
026356,004648: 31,2130 00006 DEC 6 B-14
026357,004649: 31,2131 06520 ZEROVECS
026358,004650: 31,2132 02201 STORE WWPOS
026359,004651: 31,2133 02203 STORE WWVEL
026360,004652: 31,2134 02205 STORE WWBIAS
026361,004653: 31,2135 77770 AXT,1
026362,004654: 31,2136 00066 DEC 54 B-14
026363,004655: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026364,004656: 31,2140 02467 W +54D,1
|
|
Page 608
|
026366,004658: 31,2141 77650 GOTO
026367,004659: 31,2142 60002 ADDPOS
026368,004660: 31,2143 01543 V06N99 VN 0699
026369,004661:
026370,004662: 30,2000 SETLOC VB67A
026371,004663: 30,2000 BANK
026372,004664: 30,2002 COUNT* $$/EXTVB
026373,004665:
026374,004666: 30,2002 77615 ADDPOS DAD
026375,004667: 30,2003 02201 WWPOS
026376,004668: 30,2004 02201 STORE WWPOS
026377,004669: 30,2005 47573 VLOAD* VSQ
026378,004670: 30,2006 02555 W +108D,1
026379,004671: 30,2007 77615 DAD
026380,004672: 30,2010 02203 WWVEL
026381,004673: 30,2011 02203 STORE WWVEL
026382,004674: 30,2012 47573 VLOAD* VSQ
026383,004675: 30,2013 02643 W +162D,1
026384,004676: 30,2014 77615 DAD
026385,004677: 30,2015 02205 WWBIAS
026386,004678: 30,2016 02205 STORE WWBIAS
026387,004679: 30,2017 75500 TIX,1 SQRT
026388,004680: 30,2020 62137 NXPOSVEL
026389,004681: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026390,004682: 30,2022 20613 10D # NOUN SCALING (B-5)
026391,004683: 30,2023 16205 STODL WWBIAS
026392,004684: 30,2024 02203 WWVEL
026393,004685: 30,2025 77766 SQRT
026394,004686: 30,2026 16203 STODL WWVEL
026395,004687: 30,2027 02201 WWPOS
026396,004688: 30,2030 77766 SQRT
026397,004689: 30,2031 02201 STORE WWPOS
026398,004690: 30,2032 52000 BOV GOTO
026399,004691: 30,2033 60035 +2
026400,004692: 30,2034 60042 V67XXX
026401,004693: 30,2035 77745 DLOAD
026402,004694: 30,2036 06526 DPPOSMAX
026403,004695: 30,2037 02201 STORE WWPOS
026404,004696: 30,2040 02203 STORE WWVEL
026405,004697: 30,2041 02205 STORE WWBIAS
026406,004698: 30,2042 45345 V67XXX DLOAD DSU
026407,004699: 30,2043 02201 WWPOS
026408,004700: 30,2044 20060 FT99999
026409,004701: 30,2045 71240 BMN DLOAD
026410,004702: 30,2046 60051 +3
026411,004703: 30,2047 20060 FT99999
026412,004704: 30,2050 02201 STORE WWPOS
026413,004705: 30,2051 66150 LXA,1 SXA,1
026414,004706: 30,2052 00051 S2
026415,004707: 30,2053 00052 QPRET
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Page 609
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026417,004709: 30,2054 77776 EXIT
026418,004710: 30,2055 04635 TC POSTJUMP
026419,004711: 30,2056 27421 CADR INTWAKE
026420,004712:
026421,004713: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026422,004714:
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Page 610
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026424,004716: 25,3642 BANK 25
026425,004717: 25,2000 SETLOC RADARUPT
026426,004718: 25,2000 BANK
026427,004719: 25,3642 COUNT* $$/RRUPT
026428,004720:
026429,004721: 25,3642 E7,1456 EBANK= LOSCOUNT
026430,004722:
026431,004723: 25,3642 44747 RADLITES CS BIT5
026432,004724: 25,3643 60061 AD ITEMP1
026433,004725: 25,3644 10000 CCS A
026434,004726: 25,3645 44753 CS ONE
026435,004727: 25,3646 13676 TCF VLIGHT
026436,004728:
026437,004729: 25,3647 14570 TCF RRTRKF
026438,004730:
026439,004731: 25,3650 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026440,004732:
026441,004733: 25,3651 34747 CA HLITE
026442,004734: 25,3652 54001 TS L
026443,004735:
026444,004736: 25,3653 34747 CA LRALTBIT
026445,004737: 25,3654 70110 BOTHLITS MASK RADMODES
026446,004738: 25,3655 10000 CCS A
026447,004739: 25,3656 13670 TCF ONLITES
026448,004740:
026449,004741: 25,3657 30107 CA FLGWRD11
026450,004742: 25,3660 50065 INDEX ITEMP5
026451,004743: 25,3661 74753 MASK HFLSHBIT
026452,004744: 25,3662 10000 CCS A
026453,004745: 25,3663 14570 TCF RRTRKF
026454,004746:
026455,004747: 25,3664 00006 LITIT EXTEND
026456,004748: 25,3665 22066 QXCH ITEMP6
026457,004749: 25,3666 04602 TC TRKFLON +1
026458,004750:
026459,004751: 25,3667 00066 TC ITEMP6
026460,004752:
026461,004753: 25,3670 50065 ONLITES INDEX ITEMP5
026462,004754: 25,3671 44753 CS HFLSHBIT
026463,004755: 25,3672 70107 MASK FLGWRD11
026464,004756: 25,3673 54107 TS FLGWRD11
026465,004757:
026466,004758: 25,3674 30001 CA L
026467,004759: 25,3675 13664 TCF LITIT
026468,004760: 25,3676 54065 VLIGHT TS ITEMP5
026469,004761: 25,3677 34751 CA VLITE
026470,004762: 25,3700 54001 TS L
026471,004763: 25,3701 34744 CA BIT8
026472,004764: 25,3702 13654 TCF BOTHLITS
026473,004765:
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Page 611
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026475,004767: 25,3703 4747 HLITE EQUALS BIT5
026476,004768: 25,3703 4751 VLITE EQUALS BIT3
End of include-file P20-P25.agc. Parent file is MAIN.agc