Source Code
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These source-code files are part of a reconstructed copy of Luminary 178, the
final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Zerlina 56, Luminary 210, and
Luminary 131, previously transcribed from digitized copies of those programs.
The code was created by combining the three, using Zerlina 56 as a base, since
it was based off of Luminary 183. The differences between the three were
carefully merged using the Luminary memos as a guide, with all changes made
after Luminary 178 being backed out. 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 178 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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021763,000002: ## Copyright: Public domain.
021764,000003: ## Filename: P20-P25.agc
021765,000004: ## Purpose: A section of Luminary revision 178.
021766,000005: ## It is part of the reconstructed source code for the final
021767,000006: ## release of the flight software for the Lunar Module's
021768,000007: ## (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
021769,000008: ## code has been recreated from copies of Zerlina 56, Luminary
021770,000009: ## 210, and Luminary 131, as well as many Luminary memos.
021771,000010: ## It has been adapted such that the resulting bugger words
021772,000011: ## exactly match those specified for Luminary 178 in NASA
021773,000012: ## drawing 2021152N, which gives relatively high confidence
021774,000013: ## that the reconstruction is correct.
021775,000014: ## Reference: pp. 500-611
021776,000015: ## Assembler: yaYUL
021777,000016: ## Contact: Ron Burkey <info@sandroid.org>.
021778,000017: ## Website: www.ibiblio.org/apollo/index.html
021779,000018: ## Mod history: 2019-08-14 MAS Created from Zerlina 56.
021780,000019: ## 2019-09-06 MAS Removed Zerlina-specific changes, including
021781,000020: ## the call to CDU*SMNB, removal of R12FLAG
021782,000021: ## handling, and changes to downlink numbers.
021783,000022: ## Also removed stuff added after Luminary 178,
021784,000023: ## including the branch to NOTSHIFT and handling
021785,000024: ## of AGSCODE.
021786,000025:
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Page 500
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021788,000027: # RENDEZVOUS NAVIGATION PROGRAM 20
021789,000028: # PROGRAM DESCRIPTION
021790,000029: # MOD NO - 2
021791,000030: # BY P. VOLANTE
021792,000031: # FUNCTIONAL DESCRIPTION
021793,000032:
021794,000033: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021795,000034: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021796,000035: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021797,000036: # ON THE BASIS OF THE RR TRACKING DATA.
021798,000037: # CALLING SEQUENCE -
021799,000038:
021800,000039: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021801,000040: # SUBROUTINES CALLED
021802,000041: # R02BOTH (IMU STATUS CHECK) FLAGUP
021803,000042: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021804,000043: # R23LEM (MANUAL ACQUISITION) BANKCALL
021805,000044: # LS201 (LOS DETERMINATION) TASKOVER
021806,000045: # LS202 (RANGE LIMIT TEST)
021807,000046: # R61LEM (PREFERRED TRACKING ATTITUDE)
021808,000047: # R21LEM (RR DESIGNATE) ENDOFJOB
021809,000048: # R22LEM (DATA READ) GOPERF1
021810,000049: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021811,000050: # PRIOLARM (PRIORITY DISPLAY)
021812,000051: # NORMAL EXIT MODES-
021813,000052: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
021814,000053: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021815,000054: # ALARM OR ABORT EXIT MODES-
021816,000055: # RANGE GREATER THAN 400 NM DISPLAY
021817,000056: # OUTPUT
021818,000057: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021819,000058: # ERASABLE INITIALIZATION REQUIRED
021820,000059: # FLAGS SET + RESET
021821,000060: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
021822,000061: # DEBRIS
021823,000062: # CENTRALS-A,Q,L
021824,000063: 25,2053 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021825,000064:
021826,000065: 33,2113 BANK 33
021827,000066: 24,2000 SETLOC P20S
021828,000067: 24,2000 BANK
021829,000068:
021830,000069: 24,2000 E7,1456 EBANK= LOSCOUNT
021831,000070: 24,2000 COUNT* $$/P20
021832,000071: 24,2000 24,2000 PROG22 = PROG20
021833,000072: 24,2000 05340 PROG20 TC 2PHSCHNG
021834,000073: 24,2001 00004 OCT 4
021835,000074: 24,2002 05022 OCT 05022
021836,000075: 24,2003 26000 OCT 26000 # PRIORITY 26
021837,000076: 24,2004 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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021839,000078: 24,2005 02007 TC ORBCHGO # YES
021840,000079: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021841,000080: 24,2007 05515 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021842,000081: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021843,000082: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021844,000083: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
021845,000084: 24,2013 34363 CAF OCT00012
021846,000085: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021847,000086: 24,2015 20634 CADR GOPERF4
021848,000087: 24,2016 06001 TC GOTOPOOH # TERMINATE
021849,000088: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021850,000089: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021851,000090: 24,2021 44753 ORBCHG1 CS ONE
021852,000091: 24,2022 61144 AD OPTION2
021853,000092: 24,2023 00006 EXTEND
021854,000093: 24,2024 12040 BZF PROG20A
021855,000094: 24,2025 32367 CAF V06N33*
021856,000095: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021857,000096: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
021858,000097: 24,2030 06001 TC GOTOPOOH # TERMINATE
021859,000098: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021860,000099: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021861,000100: 24,2033 06042 ORBCHG2 TC INTPRET
021862,000101: 24,2034 77650 GOTO
021863,000102: 24,2035 64217 ORBCHG3
021864,000103: 32,2217 BANK 32
021865,000104: 32,2000 SETLOC P20S4
021866,000105: 32,2000 BANK
021867,000106: 32,2217 COUNT* $$/P20
021868,000107:
021869,000108: 32,2217 77624 ORBCHG3 CALL
021870,000109: 32,2220 27410 INTSTALL
021871,000110: 32,2221 77745 DLOAD
021872,000111: 32,2222 03442 TIG
021873,000112: 32,2223 03661 STORE LNCHTM
021874,000113: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021875,000114: 32,2225 43014 CLEAR CLEAR
021876,000115: 32,2226 01674 VINTFLAG # LM INTEGRATION
021877,000116: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021878,000117: 32,2230 43014 CLEAR CLEAR
021879,000118: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021880,000119: 32,2232 01675 D6OR9FLG
021881,000120: 32,2233 77624 CALL
021882,000121: 32,2234 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION
021883,000122: 32,2235 77624 CALL
021884,000123: 32,2236 11216 GRP2PC
021885,000124: 32,2237 77775 VLOAD
021886,000125: 32,2240 00017 RATT1
021887,000126: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021888,000127: 32,2242 00015 TAT
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021890,000129: 32,2243 34041 STCALL TDEC1
021891,000130: 32,2244 27410 INTSTALL
021892,000131: 32,2245 43014 SET CLEAR
021893,000132: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021894,000133: 32,2247 01673 INTYPFLG
021895,000134: 32,2250 43014 CLEAR BOFF
021896,000135: 32,2251 01676 DIM0FLAG
021897,000136: 32,2252 02756 RENDWFLG # W MATRIX VALID
021898,000137: 32,2253 64257 NOWMATX # NO
021899,000138: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021900,000139: 32,2255 01476 DIM0FLAG
021901,000140: 32,2256 01475 D6OR9FLG
021902,000141: 32,2257 77624 NOWMATX CALL
021903,000142: 32,2260 27133 INTEGRV # CSM INTEGRATION
021904,000143: 32,2261 77624 CALL
021905,000144: 32,2262 11216 GRP2PC
021906,000145: 32,2263 77775 VLOAD
021907,000146: 32,2264 00025 VATT1
021908,000147: 32,2265 25757 STOVL VSUBC # SAVE CSM VELOCITY
021909,000148: 32,2266 00017 RATT1
021910,000149: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
021911,000150: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021912,000151: 32,2271 01757 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021913,000152: 32,2272 24025 STOVL 20D # SAVE NSUB1
021914,000153: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021915,000154: 32,2274 53435 VXV UNIT # PLANE CHANGE
021916,000155: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021917,000156: 32,2276 27637 STOVL UCSM
021918,000157: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021919,000158: 32,2300 50256 UNIT DOT # AND RSUBC
021920,000159: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021921,000160: 32,2302 77752 SL1
021922,000161: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021923,000162: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021924,000163: 32,2305 06460 ONEB-2
021925,000164: 32,2306 77766 SQRT
021926,000165: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021927,000166: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
021928,000167: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021929,000168: 32,2312 01757 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021930,000169: 32,2313 77676 VCOMP
021931,000170: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021932,000171: 32,2315 45014 CLEAR CALL
021933,000172: 32,2316 03666 RVSW
021934,000173: 32,2317 24732 TIMETHET
021935,000174: 32,2320 77676 VCOMP
021936,000175: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021937,000176: 32,2322 77745 DLOAD
021938,000177: 32,2323 00037 T
021939,000178: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021941,000180: 32,2325 03645 NEWVEL
021942,000181: 32,2326 77646 ABVAL
021943,000182: 32,2327 24025 STOVL 20D
021944,000183: 32,2330 00001 0D
021945,000184: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021946,000185: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021947,000186: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021948,000187: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021949,000188: 32,2335 03653 NEWPOS # ORBITAL PLANE
021950,000189: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021951,000190: 32,2337 00025 20D
021952,000191: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021953,000192: 32,2341 11216 GRP2PC
021954,000193: 32,2342 77624 CALL
021955,000194: 32,2343 27410 INTSTALL
021956,000195: 32,2344 44345 DLOAD BDSU
021957,000196: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021958,000197: 32,2346 03661 LNCHTM
021959,000198: 32,2347 25517 STOVL TET
021960,000199: 32,2350 03653 NEWPOS
021961,000200: 32,2351 01535 STORE RCV
021962,000201: 32,2352 25503 STOVL RRECT
021963,000202: 32,2353 03665 NCSMVEL
021964,000203: 32,2354 35511 STCALL VRECT
021965,000204: 32,2355 27705 MINIRECT
021966,000205: 32,2356 45174 AXT,2 CALL
021967,000206: 32,2357 00002 2
021968,000207: 32,2360 26660 ATOPCSM
021969,000208: 32,2361 77624 CALL
021970,000209: 32,2362 27417 INTWAKE0
021971,000210: 32,2363 77776 EXIT
021972,000211: 32,2364 04616 TC BANKCALL
021973,000212: 32,2365 50040 CADR PROG20A
021974,000213: 24,2036 BANK 24
021975,000214: 24,2000 SETLOC P20S
021976,000215: 24,2000 BANK
021977,000216: 24,2036 COUNT* $$/P20
021978,000217:
021979,000218: 24,2036 05527 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
021980,000219: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021981,000220: 24,2040 04616 PROG20A TC BANKCALL
021982,000221: 24,2041 11241 CADR R02BOTH
021983,000222: 24,2042 05515 TC UPFLAG
021984,000223: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021985,000224: 24,2044 05515 TC UPFLAG
021986,000225: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021987,000226: 24,2046 05515 TC UPFLAG
021988,000227: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021989,000228: 24,2050 05527 TC DOWNFLAG
021990,000229: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021992,000231: 24,2052 05527 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021993,000232: 24,2053 00040 ADRES ACMODFLG
021994,000233: 24,2054 05527 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021995,000234: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021996,000235: 24,2056 05527 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021997,000236: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021998,000237: 24,2060 05527 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021999,000238: 24,2061 00041 ADRES LOSCMFLG
022000,000239: 24,2062 06011 TC CLRADMOD
022001,000240: 24,2063 05515 TC UPFLAG
022002,000241: 24,2064 00005 ADRES FSPASFLG # SET FIRST PASS FLAG FOR ALARM
022003,000242: 24,2065 05364 P20LEM1 TC PHASCHNG
022004,000243: 24,2066 04022 OCT 04022
022005,000244: 24,2067 34755 CAF ZERO # ZERO MARK COUNTER
022006,000245: 24,2070 55462 TS MARKCTR
022007,000246: 24,2071 06042 P20LEM2 TC INTPRET # LOS DETERMINATION ROUTINE
022008,000247: 24,2072 77634 RTB
022009,000248: 24,2073 21574 LOADTIME
022010,000249: 24,2074 34041 STCALL TDEC1
022011,000250: 24,2075 51340 LPS20.1
022012,000251: 24,2076 77624 CALL
022013,000252: 24,2077 53626 LPS20.2 # TEST RANGE R/UTINE
022014,000253: 24,2100 77776 EXIT
022015,000254: 24,2101 50154 INDEX MPAC
022016,000255: 24,2102 02103 TC +1
022017,000256: 24,2103 02167 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
022018,000257: 24,2104 06042 526ALARM TC INTPRET
022019,000258: 24,2105 53575 VLOAD UNIT
022020,000259: 24,2106 00025 RRANGE
022021,000260: 24,2107 72441 DOT SL1
022022,000261: 24,2110 00017 VELLOS
022023,000262: 24,2111 16203 STODL RRATE # RANGE RATE FOR NOUN 54 B-7
022024,000263: 24,2112 00045 36D
022025,000264: 24,2113 51025 DSU BPL # IF RANGE>999.99,DISPLAY 999.99
022026,000265: 24,2114 10372 999.99NM
022027,000266: 24,2115 50142 TOOBIG
022028,000267: 24,2116 77745 DLOAD
022029,000268: 24,2117 00045 36D
022030,000269: 24,2120 16201 526ALRM1 STODL RANGE # RANGE FOR NOUN 54 B-29
022031,000270: 24,2121 06470 ZEROVECS
022032,000271: 24,2122 02205 STORE RTHETA # ZERO THETA FOR NOUN 54
022033,000272: 24,2123 43014 BOFF BOFF
022034,000273: 24,2124 00345 FSPASFLG # FIRST PASS
022035,000274: 24,2125 50155 P20LEMC5 # NO
022036,000275: 24,2126 04347 SURFFLAG # ON LUNAR SURFACE
022037,000276: 24,2127 50147 ALRMLT # NO
022038,000277: 24,2130 51145 DLOAD BPL
022039,000278: 24,2131 02203 RRATE
022040,000279: 24,2132 50145 ENDRN
022041,000280: 24,2133 77776 EXIT # YES
022042,000281:
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022044,000283: 24,2134 05364 TC PHASCHNG # IN CASE OF RESTART
022045,000284: 24,2135 04022 OCT 04022 # REACTIVATE DISPLAY
022046,000285: 24,2136 32373 CAF V16N5420
022047,000286: 24,2137 04616 TC BANKCALL # TURN ON V16N54 - DISPLAY
022048,000287: 24,2140 20452 CADR GODSPR # RANGE AND RANGE RATE
022049,000288: 24,2141 02156 TC P20LEM5
022050,000289:
022051,000290:
022052,000291: 24,2142 52145 TOOBIG DLOAD GOTO
022053,000292: 24,2143 10372 999.99NM
022054,000293: 24,2144 50120 526ALRM1
022055,000294:
022056,000295: 24,2145 77776 ENDRN EXIT
022057,000296: 24,2146 06025 TC GOTOV56
022058,000297:
022059,000298: 24,2147 77776 ALRMLT EXIT
022060,000299: 24,2150 05364 TC PHASCHNG
022061,000300: 24,2151 04022 OCT 04022
022062,000301: 24,2152 05600 TC ALARM # TURN ON ALARM LIGHT P20
022063,000302: 24,2153 00526 OCT 526
022064,000303: 24,2154 02156 TC P20LEM5
022065,000304: 24,2155 77776 P20LEMC5 EXIT
022066,000305: 24,2156 05527 P20LEM5 TC DOWNFLAG
022067,000306: 24,2157 00005 ADRES FSPASFLG
022068,000307: 24,2160 32370 CAF 500DEC # WAIT 5SECS
022069,000308: 24,2161 04616 TC BANKCALL
022070,000309: 24,2162 01736 CADR DELAYJOB
022071,000310: 24,2163 02071 TC P20LEM2
022072,000311:
022073,000312:
022074,000313: 24,2164 04616 P20LEM3 TC BANKCALL
022075,000314: 24,2165 20457 CADR CLEANDSP
022076,000315:
022077,000316:
022078,000317: 24,2166 02175 TC P20LEMB
022079,000318: 24,2167 05364 P20LEMA TC PHASCHNG
022080,000319: 24,2170 04022 OCT 04022
022081,000320: 24,2171 02752 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
022082,000321: 24,2172 02164 TC P20LEM3
022083,000322: 24,2173 04616 TC BANKCALL
022084,000323: 24,2174 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
022085,000324: 24,2175 05364 P20LEMB TC PHASCHNG
022086,000325: 24,2176 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
022087,000326: 24,2177 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
022088,000327: 24,2200 37717 CAF PRIO26 # RESTORE PRIORITY 26
022089,000328: 24,2201 05146 TC PRIOCHNG
022090,000329: 24,2202 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
022091,000330: 24,2203 74747 MASK TRACKBIT
022092,000331: 24,2204 00006 EXTEND
022093,000332: 24,2205 12310 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
022094,000333:
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022096,000335: 24,2206 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
022097,000336: 24,2207 00006 EXTEND
022098,000337: 24,2210 02033 RAND CHAN33
022099,000338: 24,2211 00006 EXTEND
022100,000339: 24,2212 12246 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
022101,000340:
022102,000341:
022103,000342: 24,2213 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
022104,000343: 24,2214 61010 AD MODREG # MAJOR MODE IS 20
022105,000344: 24,2215 00006 EXTEND
022106,000345: 24,2216 12231 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
022107,000346:
022108,000347:
022109,000348: 24,2217 67751 AD NEG2 # ALSO CHECK FOR P22
022110,000349: 24,2220 00006 EXTEND
022111,000350: 24,2221 12231 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
022112,000351: 24,2222 32365 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
022113,000352: 24,2223 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
022114,000353: 24,2224 21563 CADR PRIOLARM
022115,000354: 24,2225 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
022116,000355: 24,2226 02175 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
022117,000356: 24,2227 02175 TC P20LEMB # TO CHECK AUTO MODE AGAIN
022118,000357: 24,2230 05155 TC ENDOFJOB
022119,000358: 24,2231 32364 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
022120,000359: 24,2232 04616 TC BANKCALL
022121,000360: 24,2233 20624 CADR GOPERF1
022122,000361: 24,2234 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022123,000362: 24,2235 02175 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022124,000363: 24,2236 02752 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
022125,000364: 24,2237 02244 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
022126,000365: 24,2240 03221 TC R23LEM # NO - DO MANUAL ACQUISITION
022127,000366:
022128,000367:
022129,000368: 24,2241 05515 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
022130,000369: 24,2242 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
022131,000370: 24,2243 02175 TC P20LEMB # RR AUTO MODE
022132,000371:
022133,000372:
022134,000373: 24,2244 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
022135,000374: 24,2245 02175 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
022136,000375:
022137,000376:
022138,000377: 24,2246 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
022139,000378: 24,2247 74737 MASK RCDU0BIT
022140,000379: 24,2250 00006 EXTEND
022141,000380: 24,2251 12263 BZF P20LEMB4 # BRANCH - YES - WAIT
022142,000381: 24,2252 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
022143,000382: 24,2253 70076 MASK FLAGWRD2
022144,000383: 24,2254 00006 EXTEND
022145,000384: 24,2255 12267 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
|
|
Page 507
|
022147,000386: 24,2256 05527 TC DOWNFLAG # RESET TO AUTO MODE
022148,000387: 24,2257 00037 ADRES SRCHOPTN
022149,000388: 24,2260 05527 TC DOWNFLAG
022150,000389: 24,2261 00040 ADRES ACMODFLG
022151,000390: 24,2262 02310 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022152,000391:
022153,000392:
022154,000393: 24,2263 32362 P20LEMB4 CAF 250DEC
022155,000394: 24,2264 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022156,000395: 24,2265 01736 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
022157,000396: 24,2266 02246 TC P20LEMB3
022158,000397:
022159,000398:
022160,000399: 24,2267 06042 P20LEMC3 TC INTPRET
022161,000400: 24,2270 77634 RTB
022162,000401: 24,2271 21574 LOADTIME
022163,000402: 24,2272 34041 STCALL TDEC1
022164,000403: 24,2273 50374 UPPSV
022165,000404: 24,2274 77776 P20LEMC4 EXIT
022166,000405: 24,2275 05364 P20LEMC TC PHASCHNG
022167,000406: 24,2276 04022 OCT 04022
022168,000407: 24,2277 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
022169,000408: 24,2300 74745 MASK RNDVZBIT
022170,000409: 24,2301 00006 EXTEND
022171,000410: 24,2302 15155 BZF ENDOFJOB # NO - EXIT P20
022172,000411: 24,2303 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
022173,000412: 24,2304 74747 MASK TRACKBIT
022174,000413: 24,2305 00006 EXTEND
022175,000414: 24,2306 12342 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
022176,000415: 24,2307 02757 P20LEMF TC R21LEM
022177,000416:
022178,000417:
022179,000418: 24,2310 32362 P20LEMWT CAF 250DEC
022180,000419: 24,2311 05204 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
022181,000420: 24,2312 02322 ADRES P20LEMC1 # WAIT 2.5 SECONDS
022182,000421: 24,2313 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022183,000422: 24,2314 74747 MASK TRACKBIT
022184,000423: 24,2315 00006 EXTEND
022185,000424: 24,2316 15155 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
022186,000425: 24,2317 05364 P20LMWT1 TC PHASCHNG
022187,000426: 24,2320 40072 OCT 40072
022188,000427: 24,2321 05155 TC ENDOFJOB
022189,000428:
022190,000429:
022191,000430: 24,2322 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
022192,000431: 24,2323 74745 MASK RNDVZBIT
022193,000432: 24,2324 00006 EXTEND
022194,000433: 24,2325 15272 BZF TASKOVER # NO - EXIT P20/R22
022195,000434: 24,2326 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022196,000435: 24,2327 74747 MASK TRACKBIT
|
|
Page 508
|
022198,000437: 24,2330 00006 EXTEND
022199,000438: 24,2331 12337 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
022200,000439: 24,2332 37717 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
022201,000440: 24,2333 05105 TC FINDVAC
022202,000441: 24,2334 E7,1456 EBANK= LOSCOUNT
022203,000442: 24,2334 02713 50067 2CADR R22LEM42
022204,000443:
022205,000444: 24,2336 05272 TC TASKOVER
022206,000445:
022207,000446:
022208,000447: 24,2337 05232 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
022209,000448: 24,2340 02734 DEC 1500 B-14 # AND CHECK AGAIN
022210,000449:
022211,000450: 24,2341 02322 TC P20LEMC1
022212,000451:
022213,000452: 24,2342 32751 P20LEMD CAF 1500DEC
022214,000453: 24,2343 05204 TC TWIDDLE # WAITLIST FOR 15 SECONDS
022215,000454: 24,2344 02346 ADRES P20LEMD1
022216,000455: 24,2345 05155 TC ENDOFJOB
022217,000456:
022218,000457:
022219,000458: 24,2346 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
022220,000459: 24,2347 74747 MASK TRACKBIT
022221,000460: 24,2350 10000 CCS A
022222,000461: 24,2351 12355 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
022223,000462: 24,2352 05232 TC FIXDELAY # NO-WAIT 15 SECONDS
022224,000463: 24,2353 02734 DEC 1500 B-14
022225,000464: 24,2354 02346 TC P20LEMD1
022226,000465:
022227,000466:
022228,000467: 24,2355 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
022229,000468: 24,2356 05105 TC FINDVAC
022230,000469: 24,2357 E7,1456 EBANK= LOSCOUNT
022231,000470: 24,2357 02267 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
022232,000471:
022233,000472: 24,2361 05272 TC TASKOVER
022234,000473:
022235,000474:
022236,000475: 24,2362 00372 250DEC DEC 250 B-14
022237,000476: 24,2363 00526 ALRM526 OCT 00526
022238,000477: 24,2364 00201 OCT201 OCT 00201
022239,000478: 24,2365 00514 ALRM514 OCT 514
022240,000479: 24,2366 00074 MAXTRIES DEC 60 B-14
022241,000480: 24,2367 4363 OCT00012 EQUALS BINCON
022242,000481: 24,2367 23,2457 ONEB-2 EQUALS DP1/4TH
022243,000482: 24,2367 01441 V06N33* VN 0633
022244,000483: 24,2370 00764 500DEC DEC 500 B-14
022245,000484: 24,2371 00070 20447 999.99NM 2DEC 1851982 B-29
022246,000485:
022247,000486: 24,2373 04066 V16N5420 VN 1654
022248,000487:
|
|
Page 509
|
022250,000489: 24,2374 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
022251,000490: 24,2375 01755 LS21X # TO PRESENT TIME
022252,000491: 24,2376 27410 INTSTALL
022253,000492: 24,2377 77624 CALL
022254,000493: 24,2400 26643 SETIFLGS
022255,000494: 24,2401 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
022256,000495: 24,2402 02756 RENDWFLG
022257,000496: 24,2403 50414 UPPSV1
022258,000497: 24,2404 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
022259,000498: 24,2405 43014 BON SET
022260,000499: 24,2406 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
022261,000500: 24,2407 50411 UPPSV5
022262,000501: 24,2410 01475 D6OR9FLG # OTHERWISE 9X9
022263,000502: 24,2411 77614 UPPSV5 BOF
022264,000503: 24,2412 00747 VEHUPFLG
022265,000504: 24,2413 50446 UPPSV3
022266,000505: 24,2414 77614 UPPSV1 SET
022267,000506: 24,2415 01474 VINTFLAG
022268,000507: 24,2416 77624 CALL
022269,000508: 24,2417 27133 INTEGRV
022270,000509: 24,2420 77624 CALL # GROUP 2 PHASE CHANGE
022271,000510: 24,2421 11216 GRP2PC # TO PROTECT INTEGRATION
022272,000511: 24,2422 77624 CALL
022273,000512: 24,2423 27410 INTSTALL
022274,000513: 24,2424 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
022275,000514: 24,2425 01571 TETCSM
022276,000515: 24,2426 01674 VINTFLAG
022277,000516: 24,2427 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
022278,000517: 24,2430 26643 SETIFLGS # WITHOUT W-MATRIX
022279,000518: 24,2431 34041 STCALL TDEC1
022280,000519: 24,2432 27133 INTEGRV
022281,000520: 24,2433 77214 BOFF VLOAD
022282,000521: 24,2434 04347 SURFFLAG
022283,000522: 24,2435 50274 P20LEMC4
022284,000523: 24,2436 01661 RCVLEM
022285,000524: 24,2437 77742 VSR2
022286,000525: 24,2440 26352 STOVL LMPOS
022287,000526: 24,2441 01667 VCVLEM
022288,000527: 24,2442 77742 VSR2
022289,000528: 24,2443 02360 STORE LMVEL
022290,000529: 24,2444 77650 GOTO
022291,000530: 24,2445 01755 LS21X
022292,000531:
022293,000532:
022294,000533: 24,2446 45014 UPPSV3 CLEAR CALL
022295,000534: 24,2447 01674 VINTFLAG
022296,000535: 24,2450 27133 INTEGRV
022297,000536: 24,2451 77624 CALL
022298,000537: 24,2452 11216 GRP2PC
022299,000538: 24,2453 77624 CALL
|
|
Page 510
|
022301,000540: 24,2454 27410 INTSTALL
022302,000541: 24,2455 71214 SET DLOAD
022303,000542: 24,2456 01474 VINTFLAG
022304,000543: 24,2457 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
022305,000544: 24,2460 77650 GOTO
022306,000545: 24,2461 50427 UPPSV4
022307,000546:
022308,000547:
022309,000548: 24,2462 E7,1456 EBANK= LOSCOUNT
022310,000549: 24,2462 COUNT* $$/P22
022311,000550:
|
|
Page 511
|
022313,000552: # PROGRAM DESCRIPTION
022314,000553: # PREFERRED TRACKING ATTITUDE PROGRAM P25
022315,000554: # MOD NO - 3
022316,000555: # BY P. VOLANTE
022317,000556: # FUNCTIONAL DESCRIPTION
022318,000557:
022319,000558: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022320,000559: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022321,000560: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022322,000561: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022323,000562: # CALLING SEQUENCE -
022324,000563: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
022325,000564: # SUBROUTINES CALLED -
022326,000565: # BANKCALL FLAGUP
022327,000566: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
022328,000567: # R61LEM (PREF TRK ATT ROUT) WAITLIST
022329,000568: # TASKOVER FINDVAC
022330,000569: # NORMAL EXIT MODES -
022331,000570: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022332,000571: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
022333,000572: # ALARM OR ABORT EXIT MODES -
022334,000573: # NONE
022335,000574: # OUTPUT
022336,000575: # ERASABLE INITIALIZATION REQUIRED
022337,000576: # FLAGS SET + RESET
022338,000577: # TRACKFLG,P25FLAG
022339,000578: # DEBRIS
022340,000579: # NONE
022341,000580: 24,2462 E7,1456 EBANK= LOSCOUNT
022342,000581: 24,2462 COUNT* $$/P25
022343,000582: 24,2462 05340 PROG25 TC 2PHSCHNG
022344,000583: 24,2463 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
022345,000584: 24,2464 05022 OCT 05022
022346,000585: 24,2465 26000 OCT 26000 # PRIORITY 26
022347,000586:
022348,000587: 24,2466 04616 TC BANKCALL
022349,000588: 24,2467 11241 CADR R02BOTH # IMU STATUS CHECK
022350,000589: 24,2470 05515 TC UPFLAG
022351,000590: 24,2471 00031 ADRES TRACKFLG # SET TRACK FLAG
022352,000591: 24,2472 05515 TC UPFLAG
022353,000592: 24,2473 00006 ADRES P25FLAG # SET P25FLAG
022354,000593: 24,2474 05527 TC DOWNFLAG
022355,000594: 24,2475 00010 ADRES RNDVZFLG
022356,000595: 24,2476 05364 P25LEM1 TC PHASCHNG
022357,000596: 24,2477 04022 OCT 04022
022358,000597: 24,2500 34743 CAF P25FLBIT
022359,000598: 24,2501 70074 MASK STATE # IS P25FLAG SET
022360,000599: 24,2502 00006 EXTEND
022361,000600: 24,2503 15155 BZF ENDOFJOB
022362,000601: 24,2504 34747 CAF TRACKBIT # IS TRACKFLAG SET?
|
|
Page 512
|
022364,000603: 24,2505 70075 MASK STATE +1
022365,000604: 24,2506 00006 EXTEND
022366,000605: 24,2507 12515 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
022367,000606: 24,2510 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
022368,000607: 24,2511 55745 TS R65CNTR
022369,000608: 24,2512 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
022370,000609: 24,2513 46123 CADR R65LEM
022371,000610: 24,2514 02476 TC P25LEM1 # THEN GO CHECK FLAGS
022372,000611: 24,2515 32526 P25LMWT1 CAF 60SCNDS
022373,000612: 24,2516 05204 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
022374,000613: 24,2517 02521 ADRES P25LEM2
022375,000614: 24,2520 05155 TC ENDOFJOB
022376,000615: 24,2521 35024 P25LEM2 CAF PRIO14
022377,000616: 24,2522 05105 TC FINDVAC
022378,000617: 24,2523 E7,1456 EBANK= LOSCOUNT
022379,000618: 24,2523 02476 50067 2CADR P25LEM1
022380,000619:
022381,000620: 24,2525 05272 TC TASKOVER
022382,000621: 24,2526 13560 60SCNDS DEC 6000 B-14
022383,000622:
|
|
Page 513
|
022385,000624: # DATA READ ROUTINE 22 (LEM)
022386,000625: # PROGRAM DESCRIPTION
022387,000626: # MOD NO - 2
022388,000627: # BY P VOLANTE
022389,000628: # FUNCTIONAL DESCRIPTION
022390,000629:
022391,000630: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022392,000631: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022393,000632: # CALLING SEQUENCE -
022394,000633: # TC BANKCALL
022395,000634: # CADR R22LEM
022396,000635: # SUBROUTINES CALLED -
022397,000636: # LSR22.1 GOFLASH WAITLIST
022398,000637: # LSR22.2 PRIOLARM BANKCALL
022399,000638: # LSR22.3 R61LEM
022400,000639: # NORMAL EXIT MODES-
022401,000640: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
022402,000641: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022403,000642: # R22 WILL TERMINATE SELF.
022404,000643: # ALARM OR ABORT EXIT MODES-
022405,000644: # PRIORITY ALARM
022406,000645: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022407,000646: # OUTPUT
022408,000647: # SEE OUTPUT FROM LSR22.3
022409,000648: # ERASABLE INITIALIZATION REQUIRED
022410,000649: # SEE LSR22.1,LSR22.2,LSR22.3
022411,000650: # FLAGS SET + RESET
022412,000651: # NOANGFLG
022413,000652: # DEBRIS
022414,000653: # SEE LSR22.1,LSR22.2,LSR22.3
022415,000654: 24,2527 E7,1737 EBANK= LRS22.1X
022416,000655: 24,2527 COUNT* $$/R22
022417,000656: 24,2527 05364 R22LEM TC PHASCHNG
022418,000657: 24,2530 04022 OCT 04022
022419,000658: 24,2531 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
022420,000659: 24,2532 70074 MASK STATE
022421,000660: 24,2533 00006 EXTEND
022422,000661: 24,2534 15155 BZF ENDOFJOB # NO-EXIT R22 AND P20
022423,000662: 24,2535 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022424,000663: 24,2536 70075 MASK STATE +1
022425,000664: 24,2537 00006 EXTEND
022426,000665: 24,2540 12722 BZF R22WAIT # NO WAIT
022427,000666: 24,2541 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
022428,000667: 24,2542 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
022429,000668: 24,2543 02012 RAND CHAN12
022430,000669: 24,2544 00006 EXTEND
022431,000670: 24,2545 12167 BZF P20LEMA # NO - RETURN TO P20
022432,000671: 24,2546 34752 CAF BIT2 # YES
022433,000672: 24,2547 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
022434,000673: 24,2550 02033 RAND CHAN33
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|
Page 514
|
022436,000675: 24,2551 00006 EXTEND
022437,000676: 24,2552 12554 BZF +2 # YES CONTINUE
022438,000677: 24,2553 02213 TC P20LEMB5 # NO - SET IT
022439,000678: 24,2554 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
022440,000679: 24,2555 74737 MASK RCDU0BIT
022441,000680: 24,2556 00006 EXTEND
022442,000681: 24,2557 12713 BZF R22LEM42 # CDUS BEING ZEROED
022443,000682: 24,2560 05364 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
022444,000683: 24,2561 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
022445,000684: 24,2562 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
022446,000685: 24,2563 64366 CADR LRS22.1 # DATA READ SUBROUTINE
022447,000686: 24,2564 50154 INDEX MPAC
022448,000687: 24,2565 02566 TC +1
022449,000688: 24,2566 02607 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
022450,000689: 24,2567 02275 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
022451,000690: 24,2570 32746 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
022452,000691: 24,2571 04616 TC BANKCALL
022453,000692: 24,2572 21563 CADR PRIOLARM
022454,000693: 24,2573 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022455,000694: 24,2574 02577 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
022456,000695: 24,2575 02570 TC -5 # ENTER(ILLEGAL OPTION)
022457,000696: 24,2576 05155 TC ENDOFJOB
022458,000697:
022459,000698:
022460,000699: 24,2577 05364 R22LEM1 TC PHASCHNG
022461,000700: 24,2600 04022 OCT 04022
022462,000701: 24,2601 32747 CAF V06N05 # DISPLAY DELTA THETA
022463,000702: 24,2602 04616 TC BANKCALL
022464,000703: 24,2603 20510 CADR PRIODSP
022465,000704: 24,2604 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022466,000705: 24,2605 02607 TC R22LEM2 # PROC (OK CONTINUE)
022467,000706: 24,2606 02275 TC P20LEMC # ENTER(RECYCLE)
022468,000707: 24,2607 05364 R22LEM2 TC PHASCHNG
022469,000708: 24,2610 04022 OCT 04022
022470,000709: 24,2611 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022471,000710: 24,2612 02627 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
022472,000711: 24,2613 30075 CA FLAGWRD1 # IS TRACK FLAG SET
022473,000712: 24,2614 74747 MASK TRACKBIT
022474,000713: 24,2615 00006 EXTEND
022475,000714: 24,2616 12722 BZF R22WAIT # NO - WAIT
022476,000715: 24,2617 04616 TC BANKCALL # YES
022477,000716: 24,2620 51415 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022478,000717: 24,2621 50154 INDEX MPAC
022479,000718: 24,2622 02623 TC +1
022480,000719: 24,2623 02627 TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
022481,000720: 24,2624 04616 TC BANKCALL
022482,000721: 24,2625 46116 CADR R61LEM
022483,000722: 24,2626 02722 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
022484,000723: 24,2627 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
022485,000724: 24,2630 74746 MASK NOUPFBIT # (IS NOUPDATE FLAG SET?)
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|
Page 515
|
022487,000726: 24,2631 00006 EXTEND
022488,000727: 24,2632 12713 BZF R22LEM42 # BRANCH-YES
022489,000728: 24,2633 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
022490,000729: 24,2634 74745 MASK UPDATBIT
022491,000730: 24,2635 00006 EXTEND
022492,000731: 24,2636 12713 BZF R22LEM42 # UPDATE FLAG NOT SET
022493,000732: 24,2637 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
022494,000733: 24,2640 55055 TS PHSPRDT2
022495,000734:
022496,000735: 24,2641 06042 TC INTPRET
022497,000736: 24,2642 77650 GOTO
022498,000737: 24,2643 54420 LSR22.3
022499,000738: 24,2644 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
022500,000739: 24,2645 05364 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
022501,000740: 24,2646 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
022502,000741: 24,2647 12706 TCF R22LEM44
022503,000742: 24,2650 77776 R22LEM96 EXIT
022504,000743: 24,2651 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
022505,000744: 24,2652 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
022506,000745: 24,2653 05364 TC PHASCHNG
022507,000746: 24,2654 04022 OCT 04022 # TO PROTECT DISPLAY
022508,000747: 24,2655 37720 CAF PRIO27 # PROTECT DISPLAY
022509,000748: 24,2656 05072 TC NOVAC
022510,000749: 24,2657 E7,1746 EBANK= N49FLAG
022511,000750: 24,2657 02727 50067 2CADR N49DSP
022512,000751:
022513,000752: 24,2661 06042 TC INTPRET
022514,000753: 24,2662 77735 SLOAD
022515,000754: 24,2663 03747 N49FLAG
022516,000755: 24,2664 50054 BZE BMN # LOOP TO CHECK IF FLAG
022517,000756: 24,2665 50662 -3 # SETTING CHANGED-BRANCH - NO
022518,000757: 24,2666 50674 R22LEM7 # PROCEED
022519,000758: 24,2667 77650 GOTO # DISPLAY ANSWERED BY RECYCLE-INCORPORATE
022520,000759: 24,2670 03675 LGRET # NEXT MEASUREMENT
022521,000760: 24,2671 44752 V34TON49 CS TWO
022522,000761: 24,2672 55746 TS N49FLAG
022523,000762: 24,2673 05155 TC ENDOFJOB
022524,000763: 24,2674 77776 R22LEM7 EXIT
022525,000764: 24,2675 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
022526,000765: 24,2676 64752 AD TWO
022527,000766: 24,2677 00006 EXTEND
022528,000767: 24,2700 12527 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
022529,000768: 24,2701 06042 TC INTPRET
022530,000769: 24,2702 77624 CALL
022531,000770: 24,2703 11216 GRP2PC # PHASE CHANGE AND
022532,000771: 24,2704 77650 GOTO # GO TO INCORPORATE DATA.
022533,000772: 24,2705 55433 ASTOK
022534,000773: 24,2706 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
022535,000774: 24,2707 02752 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022536,000775: 24,2710 02724 TC R22LEM46 # YES - WAIT 2 SECONDS
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Page 516
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022538,000777: 24,2711 34756 CA FIVE # NOT ON LUNAR SURFACE
022539,000778: 24,2712 02716 TC R22LEM45 # R65COUNTER = 5
022540,000779: 24,2713 02752 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022541,000780: 24,2714 02724 TC R22LEM46 # YES - WAIT 2 SECONDS
022542,000781: 24,2715 34752 CA TWO # NO-SET R65COUNTER = 2
022543,000782: 24,2716 55745 R22LEM45 TS R65CNTR
022544,000783: 24,2717 04616 TC BANKCALL
022545,000784: 24,2720 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
022546,000785: 24,2721 02527 TC R22LEM
022547,000786: 24,2722 32751 R22WAIT CAF 1500DEC
022548,000787: 24,2723 02311 TC P20LEMWT +1
022549,000788:
022550,000789:
022551,000790: 24,2724 04616 R22LEM46 TC BANKCALL
022552,000791: 24,2725 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
022553,000792: 24,2726 02527 TC R22LEM
022554,000793:
022555,000794: 24,2727 32750 N49DSP CAF V06N49NB
022556,000795: 24,2730 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
022557,000796: 24,2731 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
022558,000797: 24,2732 02671 TC V34TON49 # TERMINATE - SET N49FLAG = -2
022559,000798: 24,2733 44753 CS ONE # PROCEED - N49FLAG = -1
022560,000799: 24,2734 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
022561,000800: 24,2735 05155 TC ENDOFJOB
022562,000801: 24,2736 05364 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
022563,000802: 24,2737 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
022564,000803: 24,2740 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
022565,000804: 24,2741 53072 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
022566,000805: 24,2742 04616 TC BANKCALL # BAD DATA
022567,000806: 24,2743 17720 CADR RADSTALL # WAIT FOR READ COMPLETE
022568,000807: 24,2744 02275 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
022569,000808: 24,2745 02527 TC R22LEM # READ SUCCESSFUL-CONTINUE AT R22
022570,000809:
022571,000810:
022572,000811: 24,2746 00525 ALRM525 OCT 00525
022573,000812: 24,2747 01405 V06N05 VN 00605
022574,000813: 24,2750 01461 V06N49NB VN 00649
022575,000814: 24,2751 02734 1500DEC DEC 1500 B-14
022576,000815: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022577,000816: # RETURNS TO CALLER +1 IF P22FLAG SET
022578,000817: # TO CALLER +2 IF P22FLAG NOT SET
022579,000818:
022580,000819:
022581,000820: 24,2752 COUNT* $$/P22
022582,000821: 24,2752 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
022583,000822: 24,2753 74744 MASK SURFFBIT # IS SURFFLAG SET?
022584,000823: 24,2754 10000 CCS A # BRANCH - P22FLAG SET
022585,000824: 24,2755 24002 INCR Q # NOT SET
022586,000825: 24,2756 00002 TC Q # RETURN
022587,000826:
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Page 517
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022589,000828: # RR DESIGNATE ROUTINE (R21LEM)
022590,000829: # PROGRAM DESCRIPTION
022591,000830: # MOD NO - 2
022592,000831: # BY P VOLANTE
022593,000832: # FUNCTIONAL DESCRIPTION
022594,000833:
022595,000834: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022596,000835: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
022597,000836: # CALLING SEQUENCE -
022598,000837: # TC BANKCALL
022599,000838: # CADR R21LEM
022600,000839: # SUBROUTINES CALLED -
022601,000840: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
022602,000841: # NOVAC INTPRET LPS20.1 PHASCHNG
022603,000842: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
022604,000843: # TASKOVER BANKCALL RADSTALL RRDESSM
022605,000844: # NORMAL EXIT MODES
022606,000845: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022607,000846: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
022608,000847: # ALARM OR ABORT EXIT MODES-
022609,000848: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022610,000849: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022611,000850: # ACQUISITION
022612,000851: # OUTPUT
022613,000852: # SEE LPS20.1,RRDESSM
022614,000853: # ERASABLE INITIALIZATION REQUIRED
022615,000854: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
022616,000855: # FLAGS SET + RESET
022617,000856: # LOSCMFLG LOKONSW
022618,000857: # DEBRIS
022619,000858: # SEE LPS20.1,RRDESSM
022620,000859: 24,2757 E7,1456 EBANK= LOSCOUNT
022621,000860: 24,2757 COUNT* $$/R21
022622,000861: 24,2757 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
022623,000862: 24,2760 00006 EXTEND
022624,000863: 24,2761 03012 WAND CHAN12
022625,000864: 24,2762 02752 TC LUNSFCHK
022626,000865: 24,2763 02770 TC R21LEM5
022627,000866: 24,2764 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
022628,000867: 24,2765 55106 TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
022629,000868: 24,2766 55107 TS TANG +1
022630,000869: 24,2767 03000 TC R21LEM6
022631,000870: 24,2770 34740 R21LEM5 CAF BIT12
022632,000871: 24,2771 70110 MASK RADMODES
022633,000872: 24,2772 10000 CCS A
022634,000873: 24,2773 03010 TC R21LEM10
022635,000874: 24,2774 34735 CAF BIT15
022636,000875: 24,2775 55106 TS TANG
022637,000876: 24,2776 44736 CS HALF
022638,000877: 24,2777 55107 TS TANG +1
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Page 518
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022640,000879: 24,3000 05527 R21LEM6 TC DOWNFLAG
022641,000880: 24,3001 00012 ADRES LOKONSW
022642,000881: 24,3002 04616 TC BANKCALL
022643,000882: 24,3003 52466 CADR RRDESNB
022644,000883: 24,3004 03005 TC +1
022645,000884: 24,3005 04616 TC BANKCALL
022646,000885: 24,3006 17720 CADR RADSTALL
022647,000886: 24,3007 03043 TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
022648,000887: 24,3010 05515 R21LEM10 TC UPFLAG
022649,000888: 24,3011 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
022650,000889: 24,3012 32366 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
022651,000890: 24,3013 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
022652,000891: 24,3014 36250 R21LEM2 CAF THREE
022653,000892: 24,3015 55456 TS LOSCOUNT
022654,000893: 24,3016 06042 R21LEM1 TC INTPRET
022655,000894: 24,3017 43234 RTB DAD
022656,000895: 24,3020 21574 LOADTIME
022657,000896: 24,3021 11204 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022658,000897: 24,3022 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
022659,000898: 24,3023 51340 LPS20.1
022660,000899: 24,3024 77776 EXIT
022661,000900: 24,3025 05515 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
022662,000901: 24,3026 00012 ADRES LOKONSW
022663,000902: 24,3027 05527 TC DOWNFLAG
022664,000903: 24,3030 00126 ADRES NORRMON
022665,000904: 24,3031 06042 TC INTPRET
022666,000905: 24,3032 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
022667,000906: 24,3033 52364 RRDESSM # DESIGNATE ROUTINE
022668,000907: 24,3034 77776 EXIT
022669,000908: 24,3035 03064 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
022670,000909: # ON LUNAR SURFACE
022671,000910: 24,3036 02167 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
022672,000911: 24,3037 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
022673,000912: 24,3040 17720 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022674,000913: 24,3041 03043 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
022675,000914: 24,3042 03052 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022676,000915: 24,3043 33062 R21-503 CAF ALRM503 # ISSUE ALARM 503
022677,000916: 24,3044 04616 TC BANKCALL
022678,000917: 24,3045 21563 CADR PRIOLARM
022679,000918: 24,3046 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022680,000919: 24,3047 03057 TC R21SRCH # PROC
022681,000920: 24,3050 02267 TC P20LEMC3
022682,000921: 24,3051 05155 TC ENDOFJOB
022683,000922: 24,3052 05527 R21END TC DOWNFLAG
022684,000923: 24,3053 00041 ADRES LOSCMFLG # RESET LOSCMFLG
022685,000924: 24,3054 02752 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022686,000925: 24,3055 02310 TC P20LEMWT # YES - BYPASS V 50 N 72 DISPLAY
022687,000926: 24,3056 03205 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022688,000927: 24,3057 05364 R21SRCH TC PHASCHNG
022689,000928: 24,3060 04022 OCT 04022
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Page 519
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022691,000930: 24,3061 03272 TC R24LEM # SEARCH ROUTINE
022692,000931: 24,3062 00503 ALRM503 OCT 00503
022693,000932: 24,3063 00527 ALRM527 OCT 527
022694,000933:
022695,000934:
022696,000935: 24,3064 32366 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
022697,000936: 24,3065 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
022698,000937: 24,3066 05515 TC UPFLAG
022699,000938: 24,3067 00005 ADRES FSPASFLG # SET FIRST TIME FLAG
022700,000939: 24,3070 05527 TC DOWNFLAG # RESET LOS BEING
022701,000940: 24,3071 00041 ADRES LOSCMFLG # COMPUTED FLAG
022702,000941: 24,3072 06042 TC INTPRET
022703,000942: 24,3073 77634 R21LEM12 RTB
022704,000943: 24,3074 21574 LOADTIME
022705,000944: 24,3075 77615 R21LEM00 DAD
022706,000945: 24,3076 11202 TENSEC # TIME T = T + 10 SECS.
022707,000946: 24,3077 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022708,000947: 24,3100 34041 STCALL TDEC1
022709,000948: 24,3101 51340 LPS20.1 # COMPUTE LOS AT TIME T
022710,000949: 24,3102 77624 CALL
022711,000950: 24,3103 52364 RRDESSM
022712,000951: 24,3104 77776 EXIT
022713,000952: 24,3105 03117 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022714,000953: 24,3106 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022715,000954: 24,3107 06032 TC KILLTASK
022716,000955: 24,3110 52564 CADR BEGDES
022717,000956: 24,3111 06042 TC INTPRET
022718,000957: 24,3112 43014 BOF CLRGO
022719,000958: 24,3113 00345 FSPASFLG # FIRST TIME THRU REPOSITION
022720,000959: 24,3114 51127 R21LEM8 # NO-GO TO CONTINUOUS DESIGNATE
022721,000960: 24,3115 00225 FSPASFLG # YES-RESET FIRST TIME FLAG
022722,000961: 24,3116 51124 R21LEM50
022723,000962: 24,3117 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022724,000963: 24,3120 03122 TC R21LEM7 # NO-ADD 10 SECS. RECOMPUTE LOS
022725,000964: 24,3121 03171 TC R21LEM11 # YES-PUT OUT ALARM 530
022726,000965: 24,3122 55423 R21LEM7 TS REPOSCNT
022727,000966: 24,3123 06042 TC INTPRET
022728,000967: 24,3124 52145 R21LEM50 DLOAD GOTO
022729,000968: 24,3125 03425 REPOSTM
022730,000969: 24,3126 51075 R21LEM00
022731,000970: 24,3127 77745 R21LEM8 DLOAD
022732,000971: 24,3130 03425 REPOSTM
022733,000972: 24,3131 34041 STCALL TDEC1
022734,000973: 24,3132 50374 UPPSV
022735,000974: 24,3133 77776 EXIT
022736,000975: 24,3134 05515 TC UPFLAG # SET RADMODES BIT 15 FOR
022737,000976: 24,3135 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022738,000977: 24,3136 05527 TC DOWNFLAG
022739,000978: 24,3137 00012 ADRES LOKONSW
022740,000979: 24,3140 05515 TC UPFLAG
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Page 520
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022742,000981: 24,3141 00126 ADRES NORRMON
022743,000982: 24,3142 04616 TC BANKCALL
022744,000983: 24,3143 52466 CADR RRDESNB
022745,000984: 24,3144 03145 TC +1
022746,000985: 24,3145 06042 TC INTPRET
022747,000986: 24,3146 44234 RTB BDSU
022748,000987: 24,3147 21574 LOADTIME # COMPUTE DELTA TIME
022749,000988: 24,3150 03425 REPOSTM # FOR LONGCALL
022750,000989: 24,3151 03427 STORE DELTATM
022751,000990: 24,3152 77776 EXIT
022752,000991: 24,3153 00006 EXTEND
022753,000992: 24,3154 31427 DCA DELTATM
022754,000993: 24,3155 05310 TC LONGCALL
022755,000994: 24,3156 E7,1456 EBANK= LOSCOUNT
022756,000995: 24,3156 03161 50067 2CADR R21LEM9
022757,000996:
022758,000997: 24,3160 05155 TC ENDOFJOB
022759,000998: 24,3161 06032 R21LEM9 TC KILLTASK
022760,000999: 24,3162 52573 CADR STDESIG
022761,001000: 24,3163 06011 TC CLRADMOD
022762,001001: 24,3164 37717 CAF PRIO26
022763,001002: 24,3165 05105 TC FINDVAC
022764,001003: 24,3166 E7,1456 EBANK= LOSCOUNT
022765,001004: 24,3166 03010 50067 2CADR R21LEM10
022766,001005:
022767,001006: 24,3170 05272 TC TASKOVER
022768,001007: 24,3171 33200 R21LEM11 CAF ALRM530 # ALARM 530-LOS NOT IN COVERAGE
022769,001008: 24,3172 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022770,001009: 24,3173 21563 CADR PRIOLARM # 600 SECS.
022771,001010: 24,3174 06025 TC GOTOV56
022772,001011: 24,3175 06025 TC GOTOV56
022773,001012: 24,3176 06025 TC GOTOV56
022774,001013: 24,3177 05155 TC ENDOFJOB
022775,001014: 24,3200 00530 ALRM530 OCT 00530
022776,001015: 24,3201 00000 01750 TENSEC 2DEC 1000 B-28
022777,001016:
022778,001017: 24,3203 00000 00062 HALFSEC 2DEC 50 B-28
022779,001018:
022780,001019: 24,3205 05364 R21DISP TC PHASCHNG
022781,001020: 24,3206 04022 OCT 04022
022782,001021: 24,3207 33220 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022783,001022: 24,3210 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022784,001023: 24,3211 20711 CADR GOPERF2R
022785,001024: 24,3212 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
022786,001025: 24,3213 02310 TC P20LEMWT # PROCEED CONTINUES TO R22
022787,001026: 24,3214 03207 TC -5 # ENTER ILLEGAL
022788,001027: 24,3215 34745 CAF BIT7
022789,001028: 24,3216 05475 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022790,001029: 24,3217 05155 TC ENDOFJOB
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Page 521
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022792,001031: 24,3220 01510 V06N72PV VN 00672
022793,001032:
|
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Page 522
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022795,001034: # MANUAL ACQUISITION ROUTINE R23LEM
022796,001035: # PROGRAM DESCRIPTION
022797,001036: # MOD NO - 2
022798,001037: # BY P VOLANTE
022799,001038: # FUNCTIONAL DESCRIPTION
022800,001039:
022801,001040: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022802,001041: # CALLING SEQUENCE -
022803,001042: # TC R23LEM
022804,001043: # SUBROUTINES CALLED
022805,001044: # BANKCALL R61LEM
022806,001045: # SETMINDB GOPERF1
022807,001046: # NORMAL EXIT MODES -
022808,001047: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022809,001048: # ,SELECTION OF PROC WILL CONTINUE R23
022810,001049: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
022811,001050: # ALARM OR ABORT EXIT MODES -
022812,001051: # SEE NORMAL EXIT MODES ABOVE
022813,001052: # OUTPUT
022814,001053: # N.A.
022815,001054: # ERASABLE INITIALIZATION REQUIRED-
022816,001055: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022817,001056: 24,3221 1142 EBANK= GENRET
022818,001057: 24,3221 COUNT* $$/R23
022819,001058: 24,3221 05515 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022820,001059: 24,3222 00126 ADRES NORRMON
022821,001060: 24,3223 00004 INHINT
022822,001061: 24,3224 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022823,001062: 24,3225 40141 CADR SETMINDB
022824,001063: 24,3226 00003 RELINT
022825,001064: 24,3227 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022826,001065: 24,3230 00006 EXTEND
022827,001066: 24,3231 05012 WOR CHAN12
022828,001067: 24,3232 33271 CAF OCT205
022829,001068: 24,3233 04616 TC BANKCALL
022830,001069: 24,3234 20624 CADR GOPERF1
022831,001070: 24,3235 03262 TC R23LEM2 # TERMINATE
022832,001071: 24,3236 03240 TC R23LEM11 # PROCEDE
022833,001072: 24,3237 03265 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
022834,001073: 24,3240 00004 R23LEM11 INHINT
022835,001074: 24,3241 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022836,001075: 24,3242 00035 ADRES CDUT
022837,001076: 24,3243 03252 TC OUTOFLIM # NOT WITHIN LIMITS
022838,001077: 24,3244 04674 TC IBNKCALL # RESTORE DEADBAND TO
022839,001078: 24,3245 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022840,001079: 24,3246 00003 RELINT
022841,001080: 24,3247 05527 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022842,001081: 24,3250 00126 ADRES NORRMON
022843,001082: 24,3251 02241 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022844,001083: 24,3252 00003 OUTOFLIM RELINT
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Page 523
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022846,001085: 24,3253 33270 CAF OCT501PV
022847,001086: 24,3254 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022848,001087: 24,3255 21563 CADR PRIOLARM # LIMITS
022849,001088: 24,3256 03262 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022850,001089: 24,3257 03253 TC OUTOFLIM +1 # PROCEED ILLEGAL
022851,001090: 24,3260 03265 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
022852,001091: 24,3261 05155 TC ENDOFJOB
022853,001092: 24,3262 05527 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022854,001093: 24,3263 00126 ADRES NORRMON
022855,001094: 24,3264 06025 TC GOTOV56 # AND EXIT VIA V56
022856,001095: 24,3265 04616 R23LEM3 TC BANKCALL
022857,001096: 24,3266 46116 CADR R61LEM
022858,001097: 24,3267 03227 TC R23LEM1
022859,001098:
022860,001099:
022861,001100: 24,3270 00501 OCT501PV OCT 501
022862,001101: 24,3271 00205 OCT205 OCT 205
022863,001102:
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022865,001104: # SEARCH ROUTINE R24LEM
022866,001105: # PROGRAM DESCRIPTION
022867,001106: # MOD NO - 2
022868,001107: # BY P. VOLANTE
022869,001108: # FUNCTIONAL DESCRIPTION
022870,001109:
022871,001110: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022872,001111: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022873,001112: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022874,001113: # CALLING SEQUENCE
022875,001114: # CAF PRIONN
022876,001115: # TC FINDVAC
022877,001116: # EBANK= DATAGOOD
022878,001117: # 2CADR R24LEM
022879,001118: # SUBROUTINES CALLED
022880,001119: # FLAGUP FLAGDOWN BANKCALL
022881,001120: # R61LEM GOFLASHR FINDVAC
022882,001121: # ENDOFJOB NOVAC LSR24.1
022883,001122: # NORMAL EXIT MODES-
022884,001123: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
022885,001124: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022886,001125: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022887,001126: # ALARM OR ABORT EXIT MODES-
022888,001127: # SEE NORMAL EXIT MODES ABOVE
022889,001128: # OUTPUT -
022890,001129: # SEE OUTPUT FROM LSR24.1 + R61LEM
022891,001130: # ERASABLE INITIALIZATION REQUIRED
022892,001131: # SEE INPUT FOR LSR24.1
022893,001132: # FLAGS SET + RESET
022894,001133: # SRCHOPT,ACMODFLG
022895,001134: 24,3272 E7,1733 EBANK= DATAGOOD
022896,001135: 24,3272 COUNT* $$/R24
022897,001136: 24,3272 05515 R24LEM TC UPFLAG
022898,001137: 24,3273 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022899,001138: 24,3274 05527 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022900,001139: 24,3275 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022901,001140: 24,3276 34755 R24LEM1 CAF ZERO
022902,001141: 24,3277 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022903,001142: 24,3300 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022904,001143: 24,3301 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022905,001144: 24,3302 05364 R24LEM2 TC PHASCHNG
022906,001145: 24,3303 04022 OCT 04022
022907,001146: 24,3304 33337 CAF V16N80
022908,001147: 24,3305 04616 TC BANKCALL
022909,001148: 24,3306 20505 CADR PRIODSPR
022910,001149: 24,3307 06025 TC GOTOV56
022911,001150: 24,3310 03314 TC R24END # PROCEED EXIT R24 TO P20LEM1
022912,001151:
022913,001152:
022914,001153: 24,3311 03320 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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022916,001155: 24,3312 04616 TC BANKCALL
022917,001156: 24,3313 55444 CADR LRS24.1
022918,001157: 24,3314 06032 R24END TC KILLTASK
022919,001158: 24,3315 55645 CADR CALLDGCH
022920,001159: 24,3316 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022921,001160: 24,3317 12065 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022922,001161:
022923,001162: 6011 BLOCK 3
022924,001163: 6000 SETLOC FFTAG6
022925,001164: 6000 BANK
022926,001165: 6011 COUNT* $$/R24
022927,001166:
022928,001167: 6011 46021 CLRADMOD CS BIT10+15
022929,001168: 6012 00004 INHINT
022930,001169: 6013 70110 MASK RADMODES
022931,001170: 6014 54110 TS RADMODES
022932,001171: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022933,001172: 6016 00006 EXTEND
022934,001173: 6017 03012 WAND CHAN12 # USER WILL RELINT
022935,001174:
022936,001175: 6020 00002 TC Q
022937,001176:
022938,001177:
022939,001178: 6021 41000 BIT10+15 OCT 41000
022940,001179: 24,3320 BANK 24
022941,001180: 24,2000 SETLOC P20S
022942,001181: 24,2000 BANK
022943,001182: 24,3320 COUNT* $$/R24
022944,001183:
022945,001184: 24,3320 05364 R24LEM3 TC PHASCHNG
022946,001185: 24,3321 04022 OCT 04022
022947,001186: 24,3322 06032 TC KILLTASK
022948,001187: 24,3323 55645 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022949,001188: 24,3324 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
022950,001189: 24,3325 34774 CAF .5SEC
022951,001190: 24,3326 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022952,001191: 24,3327 01736 CADR DELAYJOB
022953,001192: 24,3330 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022954,001193: 24,3331 03334 TC R24LEM4 # YES-DONT DO ATTITUDE MANEUVER
022955,001194: 24,3332 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022956,001195: 24,3333 46116 CADR R61LEM # ATTITUDE MANEUVER
022957,001196: 24,3334 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022958,001197: 24,3335 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022959,001198: # RRDESSM WILL RETURN TO CALLER
022960,001199: 24,3336 03302 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022961,001200:
022962,001201:
022963,001202: 24,3337 04120 V16N80 VN 01680
022964,001203:
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022966,001205: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022967,001206: # PROGRAM DESCRIPTION
022968,001207: # MOD NO : 3 DATE : 4-11-67
022969,001208: # MOD BY : P VOLANTE SDC
022970,001209:
022971,001210:
022972,001211: # FUNCTIONAL DESCRIPTION-
022973,001212: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022974,001213: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022975,001214: # ATTITUDE.
022976,001215: # CALLING SEQUENCE-
022977,001216: # TC BANKCALL
022978,001217: # CADR R61LEM
022979,001218: # SUBROUTINES CALLED
022980,001219: # LPS20.1 VECPOINT
022981,001220: # KALCMAN3
022982,001221:
022983,001222:
022984,001223: # NORMAL EXIT MODES-
022985,001224: # NORMAL RETURN IS TO CALLER + 1
022986,001225: # ALARM OR ABORT EXIT MODES-
022987,001226: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022988,001227: # RENDEZVOUS FLAG ARE NOT SET.
022989,001228: # OUTPUT -
022990,001229: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022991,001230: # ERASABLE INITIALIZATION REQUIRED
022992,001231: # GENRET USED TO SAVE Q FOR RETURN
022993,001232: # FLAGS SET + RESET
022994,001233: # 3AXISFLG
022995,001234: # DEBRIS
022996,001235: # SEE SUBROUTINES
022997,001236: 23,2000 SETLOC R61
022998,001237: 23,2000 BANK
022999,001238: 23,2116 E7,1456 EBANK= LOSCOUNT
023000,001239: 23,2116 COUNT* $$/R61
023001,001240: 23,2116 04645 R61LEM TC MAKECADR
023002,001241: 23,2117 55142 TS GENRET
023003,001242: 23,2120 05515 TC UPFLAG # SET R61 FLAG
023004,001243: 23,2121 00024 ADRES R61FLAG
023005,001244: 23,2122 02146 TC R61C+L02
023006,001245: 23,2123 04645 R65LEM TC MAKECADR
023007,001246: 23,2124 55142 TS GENRET
023008,001247: 23,2125 05527 TC DOWNFLAG # RESET R61 FLAG
023009,001248: 23,2126 00024 ADRES R61FLAG
023010,001249: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
023011,001250: 23,2130 00006 EXTEND # GOOD NOT PRESENT
023012,001251: 23,2131 02033 RAND CHAN33
023013,001252: 23,2132 10000 CCS A
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023015,001254: 23,2133 12146 TCF R61C+L02 # NO DATA GOOD
023016,001255: 23,2134 04616 TC BANKCALL # READ RR RANGE AND RDOT
023017,001256: 23,2135 53072 CADR RRRDOT # EVERY R65 PASS (3 TIMES
023018,001257: 23,2136 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
023019,001258: 23,2137 17720 CADR RADSTALL # DURING ANY MARK PROCESSING,
023020,001259: 23,2140 12141 NOOP
023021,001260: 23,2141 04616 TC BANKCALL
023022,001261: 23,2142 53074 CADR RRRANGE
023023,001262: 23,2143 04616 TC BANKCALL
023024,001263: 23,2144 17720 CADR RADSTALL
023025,001264: 23,2145 12146 NOOP
023026,001265: 23,2146 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
023027,001266: 23,2147 70075 MASK STATE +1
023028,001267: 23,2150 00006 EXTEND
023029,001268: 23,2151 12310 BZF R65WAIT # NOT SET
023030,001269: 23,2152 06042 R61C+L03 TC INTPRET
023031,001270: 23,2153 77775 VLOAD
023032,001271: 23,2154 06462 HIUNITZ
023033,001272: 23,2155 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
023034,001273: 23,2156 43234 R61LEM1 RTB DAD
023035,001274: 23,2157 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
023036,001275: 23,2160 15714 3SECONDS # SIX SECOND PERIOD.
023037,001276: 23,2161 34041 STCALL TDEC1
023038,001277: 23,2162 51340 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
023039,001278: 23,2163 77775 VLOAD
023040,001279: 23,2164 01101 RRTARGET
023041,001280: 23,2165 03773 STORE POINTVSM
023042,001281: 23,2166 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
023043,001282: 23,2167 46316 READCDUD
023044,001283: 23,2170 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
023045,001284: 23,2171 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
023046,001285: 23,2172 77776 EXIT
023047,001286: 23,2173 05364 TC PHASCHNG
023048,001287: 23,2174 04022 OCT 04022
023049,001288: 23,2175 34747 CAF TRACKBIT # IS TRACK FLAG SET
023050,001289: 23,2176 70075 MASK FLAGWRD1
023051,001290: 23,2177 00006 EXTEND
023052,001291: 23,2200 12310 BZF R65WAIT
023053,001292: 23,2201 04616 TC BANKCALL
023054,001293: 23,2202 54263 CADR G+N,AUTO # CHECK FOR AUTO MODE
023055,001294: 23,2203 10000 CCS A
023056,001295: 23,2204 02276 TC R61C+L04 # NOT IN AUTO
023057,001296: 23,2205 06042 TC INTPRET
023058,001297: 23,2206 45175 VLOAD CALL
023059,001298: 23,2207 01101 RRTARGET
023060,001299: 23,2210 47623 CDU*SMNB
023061,001300: 23,2211 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
023062,001301: 23,2212 00162 MPAC +5
023063,001302: 23,2213 06314 COS15DEG
023064,001303: 23,2214 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
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023066,001305: 23,2215 46232 R61C+L05 # PHI GRE 10DEG
023067,001306: 23,2216 E6,1634 EBANK= CDUXD
023068,001307: 23,2216 35015 CAF EBANK6
023069,001308: 23,2217 54003 TS EBANK
023070,001309: 23,2220 00004 INHINT
023071,001310: 23,2221 00006 EXTEND
023072,001311: 23,2222 30322 DCA CPHI
023073,001312: 23,2223 53635 DXCH CDUXD
023074,001313: 23,2224 30323 CA CPSI
023075,001314: 23,2225 55636 TS CDUZD
023076,001315: 23,2226 00003 RELINT
023077,001316: 23,2227 E7,1456 EBANK= LOSCOUNT
023078,001317: 23,2227 35016 CAF EBANK7
023079,001318: 23,2230 54003 TS EBANK
023080,001319: 23,2231 02255 TC R61C+L06
023081,001320: 23,2232 77776 R61C+L05 EXIT
023082,001321: 23,2233 00004 INHINT
023083,001322: 23,2234 04674 TC IBNKCALL
023084,001323: 23,2235 40154 FCADR ZATTEROR
023085,001324: 23,2236 04674 TC IBNKCALL
023086,001325: 23,2237 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
023087,001326: 23,2240 05527 TC DOWNFLAG
023088,001327: 23,2241 00124 ADRES 3AXISFLG
023089,001328: 23,2242 05515 TC UPFLAG
023090,001329: 23,2243 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
023091,001330: 23,2244 04616 TC BANKCALL
023092,001331: 23,2245 54125 CADR R60LEM
023093,001332: 23,2246 00004 INHINT
023094,001333: 23,2247 04674 TC IBNKCALL
023095,001334: 23,2250 40115 FCADR RESTORDB
023096,001335: 23,2251 05364 TC PHASCHNG
023097,001336: 23,2252 04022 OCT 04022
023098,001337: 23,2253 05527 TC DOWNFLAG
023099,001338: 23,2254 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
023100,001339: 23,2255 30075 R61C+L06 CA FLAGWRD1
023101,001340: 23,2256 74742 MASK R61FLBIT
023102,001341: 23,2257 10000 CCS A
023103,001342: 23,2260 02301 TC R61C+L4
023104,001343: 23,2261 11745 CCS R65CNTR
023105,001344: 23,2262 02264 TC +2
023106,001345: 23,2263 02301 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
023107,001346: 23,2264 55745 TS R65CNTR
023108,001347: 23,2265 32315 CAF 06SEC
023109,001348: 23,2266 05204 TC TWIDDLE
023110,001349: 23,2267 02271 ADRES R61C+L2
023111,001350: 23,2270 05155 TC ENDOFJOB
023112,001351: 23,2271 37717 R61C+L2 CAF PRIO26
023113,001352: 23,2272 05105 TC FINDVAC
023114,001353: 23,2273 E7,1456 EBANK= LOSCOUNT
023115,001354: 23,2273 02127 46067 2CADR R61C+L01
023116,001355:
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023118,001357: 23,2275 05272 TC TASKOVER
023119,001358: 23,2276 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
023120,001359: 23,2277 54274 CADR BALLANGS
023121,001360: 23,2300 02255 TC R61C+L06
023122,001361: 23,2301 31142 R61C+L4 CAE GENRET
023123,001362: 23,2302 14640 TCF BANKJUMP # EXIT R61
023124,001363: 23,2303 32312 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
023125,001364: 23,2304 70074 MASK STATE
023126,001365: 23,2305 00006 EXTEND
023127,001366: 23,2306 15155 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
023128,001367: 23,2307 02255 TC R61C+L06 # YES EXIT ROUTINE
023129,001368: 23,2310 04635 R65WAIT TC POSTJUMP
023130,001369: 23,2311 50310 CADR P20LEMWT
023131,001370:
023132,001371:
023133,001372: 23,2312 00500 BIT7+9PV OCT 00500
023134,001373: 23,2313 17350 34602 COS15DEG 2DEC 0.96593 B-1
023135,001374:
023136,001375: 23,2315 01130 06SEC DEC 600 B-14
023137,001376: 23,2316 PHI EQUALS 20D
023138,001377: 23,2316 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
023139,001378: 23,2317 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
023140,001379: 23,2320 56003 XCH EBANK
023141,001380: 23,2321 54070 TS RUPTREG1
023142,001381: 23,2322 E6,1634 EBANK= CDUXD
023143,001382: 23,2322 31634 CA CDUXD
023144,001383: 23,2323 54154 TS MPAC
023145,001384: 23,2324 00006 EXTEND
023146,001385: 23,2325 31636 DCA CDUYD
023147,001386: 23,2326 52156 DXCH MPAC +1
023148,001387: 23,2327 30070 CA RUPTREG1
023149,001388: 23,2330 54003 TS EBANK
023150,001389: 23,2331 00003 RELINT
023151,001390: 23,2332 16502 TCF TMODE
023152,001391: 4512 BLOCK 02
023153,001392: 4000 SETLOC RADARFF
023154,001393: 4000 BANK
023155,001394:
023156,001395: 4512 E7,1456 EBANK= LOSCOUNT
023157,001396: 4512 COUNT* $$/RRSUB
023158,001397:
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023160,001399: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023161,001400: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023162,001401:
023163,001402: 4512 00006 MAGSUB EXTEND
023164,001403: 4513 64515 BZMF +2
023165,001404: 4514 14516 TCF +2
023166,001405: 4515 40000 COM
023167,001406:
023168,001407: 4516 50002 INDEX Q
023169,001408: 4517 60000 AD 0
023170,001409: 4520 00006 EXTEND
023171,001410: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
023172,001411: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
023173,001412:
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023175,001414: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
023176,001415:
023177,001416: # FUNCTIONAL DESCRIPTION_
023178,001417: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023179,001418: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023180,001419: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023181,001420: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023182,001421: # MODE 1 AND =1 FOR MODE 2.
023183,001422: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023184,001423: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023185,001424: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023186,001425: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023187,001426: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023188,001427: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023189,001428: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023190,001429: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023191,001430: # TO L +3.
023192,001431:
023193,001432: # CALLING SEQUENCE:
023194,001433: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
023195,001434: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
023196,001435:
023197,001436: # ERASABLE INITIALIZATION REQUIRED:
023198,001437: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023199,001438: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023200,001439: # CURRENT EBANK).
023201,001440:
023202,001441: # SUBROUTINES CALLED_ MAGSUB
023203,001442:
023204,001443: # JOBS OR TASKS INITIATED_ NONE
023205,001444:
023206,001445: # ALARMS_ NONE
023207,001446:
023208,001447: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023209,001448: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023210,001449:
023211,001450: 4523 00006 RRLIMCHK EXTEND
023212,001451: 4524 50002 INDEX Q
023213,001452: 4525 50000 INDEX 0
023214,001453: 4526 30001 DCA 0
023215,001454: 4527 24002 INCR Q
023216,001455: 4530 52062 DXCH ITEMP1
023217,001456: 4531 22002 LXCH Q # L(CALLER +2) TO L.
023218,001457:
023219,001458: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023220,001459: 4533 70110 MASK RADMODES
023221,001460: 4534 10000 CCS A
023222,001461: 4535 14550 TCF MODE2CHK
023223,001462:
023224,001463: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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023226,001465: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
023227,001466: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023228,001467: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
023229,001468:
023230,001469: 4542 34562 CAF 5.5DEGS
023231,001470: 4543 60062 AD ITEMP2 # S
023232,001471: 4544 04512 TC MAGSUB
023233,001472: 4545 64420 DEC -.35833 # 64.5 DEGS
023234,001473: 4546 00001 TC L
023235,001474: 4547 04560 TC RRLIMOK # IN LIMITS.
023236,001475:
023237,001476: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
023238,001477: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
023239,001478: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
023240,001479: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
023241,001480: 4554 00001 TC L
023242,001481:
023243,001482: 4555 30061 CA ITEMP1
023244,001483: 4556 04512 TC MAGSUB
023245,001484: 4557 51615 DEC -.69444 # 125 DEGS
023246,001485:
023247,001486: 4560 50001 RRLIMOK INDEX L
023248,001487: 4561 00001 TC L # ( = TC 1)
023249,001488:
023250,001489: 4562 00765 5.5DEGS DEC .03056
023251,001490: 4563 16450 82DEGS DEC .45556
023252,001491:
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Page 533
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023254,001493: # PROGRAM NAME_ SETTRKF . IF EITHER:
023255,001494:
023256,001495: # FUNCTIONAL DESCRIPTION_
023257,001496: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
023258,001497: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023259,001498: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023260,001499: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023261,001500: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023262,001501: # AUTO MODE (RADMODES BITS 13, 7, 2).
023263,001502: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023264,001503: # 8,5)
023265,001504: # 3) NO RR DATA (RADMODES BIT 4)
023266,001505: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023267,001506: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023268,001507: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023269,001508: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023270,001509: # TRACKER FAIL LAMP IS TURNED ON IF_
023271,001510: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023272,001511: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023273,001512: # EITHER THE ALT OR VEL INFORMATION
023274,001513: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023275,001514: # WITH EITHER THE AL
023276,001515:
023277,001516: # CALLING SEQUENCE:
023278,001517: # L TC SETTRKF
023279,001518:
023280,001519: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023281,001520: # SUBROUTINES CALLED_ NONE
023282,001521:
023283,001522: # JOBS OR TASKS INITIATED_ NONE
023284,001523:
023285,001524: # ALARMS_ TRACKER FAIL LAMP
023286,001525:
023287,001526: # EXIT_ L +1 (ALWAYS) ED.
023288,001527:
023289,001528: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
023290,001529: 4565 71300 MASK IMODES33
023291,001530: 4566 10000 CCS A
023292,001531: 4567 00002 TC Q
023293,001532:
023294,001533: 4570 34744 RRTRKF CA BIT8
023295,001534: 4571 54001 TS L
023296,001535:
023297,001536: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
023298,001537: 4573 70110 MASK RADMODES
023299,001538: 4574 00006 EXTEND
023300,001539: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
023301,001540:
023302,001541: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
023303,001542: 4577 70110 MASK RADMODES
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Page 534
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023305,001544: 4600 10000 CCS A
023306,001545: 4601 30001 TRKFLON CA L
023307,001546: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
023308,001547: 4603 70001 MASK L
023309,001548: 4604 00006 EXTEND
023310,001549: 4605 16745 BZF TCQ # NO CHANGE.
023311,001550:
023312,001551: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
023313,001552: 4607 00006 EXTEND
023314,001553: 4610 06001 RXOR LCHAN
023315,001554: 4611 74733 MASK POSMAX
023316,001555: 4612 64735 AD BIT15
023317,001556: 4613 55035 TS DSPTAB +11D
023318,001557: 4614 00002 TC Q
023319,001558:
023320,001559: 4615 10102 13,7,2 OCT 10102
023321,001560: 4616 ENDRMODF EQUALS
023322,001561:
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Page 535
|
023324,001563: # PROGRAM NAME_ RRTURNON
023325,001564:
023326,001565: # FUNCTIONAL DESCRIPTION_
023327,001566:
023328,001567: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023329,001568: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023330,001569: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023331,001570: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023332,001571: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023333,001572: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023334,001573: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023335,001574: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023336,001575: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023337,001576: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023338,001577: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023339,001578: # TO TASKOVER.
023340,001579:
023341,001580: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023342,001581: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023343,001582: # THE RR (STATE BIT 7).
023344,001583:
023345,001584: # ERASABLE INITIALIZATION REQUIRED:
023346,001585: # RADMODES, STATE
023347,001586:
023348,001587: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023349,001588:
023350,001589: # JOBS OR TASKS INITIATED_
023351,001590: # NONE
023352,001591:
023353,001592: # ALARMS_ NONE (SEE RRZEROSB)
023354,001593:
023355,001594: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
023356,001595:
023357,001596: 24,3340 BANK 24
023358,001597: 25,2000 SETLOC P20S1
023359,001598: 25,2000 BANK
023360,001599:
023361,001600: 25,2053 E7,1456 EBANK= LOSCOUNT
023362,001601: 25,2053 COUNT* $$/RSUB
023363,001602: 25,2053 02062 RRTURNON TC RRZEROSB
023364,001603: 25,2054 05232 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023365,001604: 25,2055 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
023366,001605: 25,2056 44753 CS TURNONBT
023367,001606: 25,2057 70110 MASK RADMODES
023368,001607: 25,2060 54110 TS RADMODES
023369,001608: 25,2061 15272 TCF TASKOVER
023370,001609:
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Page 536
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023372,001611: # PROGRAM NAME_ RRZEROSB
023373,001612:
023374,001613: # FUNCTIONAL DESCRIPTION_
023375,001614: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023376,001615: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023377,001616: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023378,001617: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023379,001618: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023380,001619: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023381,001620: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023382,001621: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023383,001622: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023384,001623: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023385,001624: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023386,001625: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023387,001626: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023388,001627: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023389,001628: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023390,001629:
023391,001630: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
023392,001631: # ERASABLE INITIALIZATION REQUIRED:
023393,001632: # RADMODES (BIT 13 SET), DSPTAB +11D
023394,001633:
023395,001634: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
023396,001635:
023397,001636: # JOBS OR TASKS INITIATED_
023398,001637: # NONE
023399,001638:
023400,001639: # ALARMS_ TRACKER FAIL
023401,001640:
023402,001641: # EXIT_ L +1 (ALWAYS)
023403,001642:
023404,001643: 25,2062 00006 RRZEROSB EXTEND
023405,001644: 25,2063 23312 QXCH RRRET
023406,001645: 25,2064 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
023407,001646: 25,2065 00006 EXTEND # COMING HERE.
023408,001647: 25,2066 05012 WOR CHAN12 # TURN ON ZERO RR CDU
023409,001648: 25,2067 05232 TC FIXDELAY
023410,001649: 25,2070 00002 DEC 2 B-14
023411,001650:
023412,001651: 25,2071 34755 CAF ZERO
023413,001652: 25,2072 54035 TS CDUT
023414,001653: 25,2073 54036 TS CDUS
023415,001654: 25,2074 44753 CS ONE # REMOVE ZEROING BIT.
023416,001655: 25,2075 00006 EXTEND
023417,001656: 25,2076 03012 WAND CHAN12
023418,001657: 25,2077 05232 TC FIXDELAY
023419,001658: 25,2100 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
023420,001659:
023421,001660: 25,2101 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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Page 537
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023423,001662: 25,2102 70110 MASK RADMODES
023424,001663: 25,2103 54110 TS RADMODES
023425,001664:
023426,001665: 25,2104 30035 CA CDUT
023427,001666: 25,2105 04512 TC MAGSUB
023428,001667: 25,2106 57777 DEC -.5
023429,001668: 25,2107 12112 TCF +3 # IF MODE 2.
023430,001669:
023431,001670: 25,2110 34755 CAF ZERO
023432,001671: 25,2111 12113 TCF +2
023433,001672: 25,2112 34740 CAF ANTENBIT
023434,001673: 25,2113 56110 XCH RADMODES
023435,001674: 25,2114 77744 MASK -BIT12
023436,001675: 25,2115 26110 ADS RADMODES
023437,001676:
023438,001677: 25,2116 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
023439,001678:
023440,001679: 25,2117 01312 TC RRRET # DONE.
023441,001680:
023442,001681: 25,2120 7744 -BIT12 EQUALS -1/8 # IN SPROOT
023443,001682:
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Page 538
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023445,001684: # PROGRAM NAME_ DORREPOS
023446,001685: # FUNCTIONAL DESCRIPTION_
023447,001686: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023448,001687: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
023449,001688: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023450,001689: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023451,001690: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
023452,001691: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023453,001692: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
023454,001693: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023455,001694: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
023456,001695: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023457,001696: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
023458,001697: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
023459,001698: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023460,001699: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
023461,001700: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023462,001701: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023463,001702: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
023464,001703: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023465,001704: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
023466,001705: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023467,001706: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023468,001707: # TASKOVER.
023469,001708:
023470,001709: # CALLING SEQUENCE:
023471,001710: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023472,001711: # NOT WITHIN LIMITS OF CURRENT MODE.
023473,001712:
023474,001713: # ERASABLE INITIALIZATION REQUIRED:
023475,001714: # RADMODES
023476,001715:
023477,001716: # SUBROUTINES CALLED_
023478,001717: # RRTONLY, RRSONLY, BEGDES (EXIT)
023479,001718:
023480,001719: # JOBS OR TASKS INITIATED_
023481,001720: # NONE
023482,001721:
023483,001722: # ALARMS- NONE
023484,001723:
023485,001724: # EXIT_ TASKOVER, BEGDES
023486,001725:
023487,001726: 25,2120 02147 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
023488,001727:
023489,001728: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023490,001729:
023491,001730: 25,2121 05232 TC FIXDELAY
023492,001731: 25,2122 00002 DEC 2 B-14
023493,001732:
023494,001733: 25,2123 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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Page 539
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023496,001735: 25,2124 70110 MASK RADMODES
023497,001736: 25,2125 10000 CCS A
023498,001737: 25,2126 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
023499,001738: 25,2127 02232 TC RRTONLY
023500,001739:
023501,001740: 25,2130 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
023502,001741: 25,2131 70110 MASK RADMODES
023503,001742: 25,2132 10000 CCS A
023504,001743: 25,2133 44736 CS HALF # -90 FOR MODE 2.
023505,001744: 25,2134 02235 TC RRSONLY
023506,001745:
023507,001746: 25,2135 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023508,001747: # REQUESTED DURING REPOSITION.
023509,001748: 25,2136 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023510,001749: 25,2137 54110 TS RADMODES
023511,001750: 25,2140 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023512,001751: 25,2141 10000 CCS A
023513,001752: 25,2142 12564 TCF BEGDES
023514,001753: 25,2143 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023515,001754: 25,2144 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023516,001755: 25,2145 03012 WAND CHAN12
023517,001756: 25,2146 15272 TCF TASKOVER
023518,001757:
023519,001758: 25,2147 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023520,001759: 25,2150 00006 EXTEND
023521,001760: 25,2151 02012 RAND CHAN12
023522,001761: 25,2152 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023523,001762: 25,2153 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023524,001763:
023525,001764: 25,2154 54112 TS LASTYCMD
023526,001765: 25,2155 54113 TS LASTXCMD
023527,001766: 25,2156 34752 CAF BIT2
023528,001767: 25,2157 00006 EXTEND
023529,001768: 25,2160 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023530,001769: 25,2161 00002 TC Q
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Page 540
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023532,001771: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023533,001772:
023534,001773: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023535,001774: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023536,001775: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023537,001776: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023538,001777: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023539,001778: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023540,001779: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023541,001780: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023542,001781: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023543,001782: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023544,001783: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023545,001784: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023546,001785: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023547,001786: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023548,001787: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023549,001788: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023550,001789: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023551,001790: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023552,001791: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023553,001792: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023554,001793:
023555,001794: # CALLING SEQUENCE:
023556,001795: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023557,001796: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023558,001797: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023559,001798: # OTHER MODE.
023560,001799:
023561,001800: # ERASABLE INITIALIZATION REQUIRED:
023562,001801: # RADMODES
023563,001802:
023564,001803: # SUBROUTINES CALLED_
023565,001804: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023566,001805:
023567,001806: # JOBS OR TASKS INITIATED_
023568,001807: # NONE
023569,001808:
023570,001809: # ALARMS_ NONE
023571,001810:
023572,001811: # EXIT_ STDESIG
023573,001812:
023574,001813: 25,2162 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
023575,001814: 25,2163 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023576,001815: 25,2164 10000 CCS A
023577,001816: 25,2165 34735 CAF BIT15
023578,001817: 25,2166 02232 TC RRTONLY
023579,001818:
023580,001819: 25,2167 37743 CAF -45DEGSR
023581,001820: 25,2170 02235 TC RRSONLY
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Page 541
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023583,001822: 25,2171 40110 CS RADMODES
023584,001823: 25,2172 74740 MASK ANTENBIT
023585,001824: 25,2173 10000 CCS A
023586,001825: 25,2174 32223 CAF -80DEGSR # GO TO T = -130 (-50).
023587,001826: 25,2175 62222 AD -50DEGSR
023588,001827: 25,2176 02232 TC RRTONLY
023589,001828:
023590,001829: 25,2177 40110 CS RADMODES
023591,001830: 25,2200 74740 MASK ANTENBIT
023592,001831: 25,2201 10000 CCS A
023593,001832: 25,2202 34735 CAF BIT15 # GO TO T = -180 (+0).
023594,001833: 25,2203 02232 TC RRTONLY
023595,001834:
023596,001835: 25,2204 40110 CS RADMODES # GO TO S = -90 (+0).
023597,001836: 25,2205 74740 MASK ANTENBIT
023598,001837: 25,2206 10000 CCS A
023599,001838: 25,2207 44736 CS HALF
023600,001839: 25,2210 02235 TC RRSONLY
023601,001840:
023602,001841: 25,2211 02224 TC RMODINV
023603,001842:
023604,001843: 25,2212 44736 CS REMODBIT # END OF REMODE.
023605,001844: 25,2213 70110 MASK RADMODES
023606,001845: 25,2214 54110 TS RADMODES
023607,001846:
023608,001847: 25,2215 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
023609,001848: 25,2216 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023610,001849: 25,2217 00006 EXTEND
023611,001850: 25,2220 13616 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
023612,001851: 25,2221 02573 TC STDESIG # YES - RETURN TO DESIGNATE
023613,001852: 25,2222 7743 -45DEGSR = 13,14,15
023614,001853: 25,2222 67070 -50DEGSR DEC -.27778
023615,001854: 25,2223 61615 -80DEGSR DEC -.44444
023616,001855:
023617,001856: 25,2224 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023618,001857: 25,2225 34740 CAF ANTENBIT
023619,001858: 25,2226 00006 EXTEND
023620,001859: 25,2227 06001 RXOR LCHAN
023621,001860: 25,2230 54110 TS RADMODES
023622,001861: 25,2231 00002 TC Q
023623,001862:
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Page 542
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023625,001864: # PROGRAM NAMES_ RRTONLY, RRSONLY
023626,001865:
023627,001866: # FUNCTIONAL DESCRIPTION_
023628,001867: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023629,001868: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023630,001869: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023631,001870: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023632,001871: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023633,001872: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023634,001873: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023635,001874: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023636,001875: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023637,001876: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023638,001877: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023639,001878: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023640,001879: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023641,001880: # REPEATED.
023642,001881:
023643,001882: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023644,001883: # L TC RRTONLY (TRUNNION ONLY)
023645,001884: # RRSONLY (SHAFT ONLY)
023646,001885: # RRTONLY IS CALLED BY PREPOS29;
023647,001886: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023648,001887:
023649,001888: # ERASABLE INITIALIZATION REQUIRED:
023650,001889: # C(A) = DESIRED ANGLE, RADMODES
023651,001890:
023652,001891: # SUBROUTINES CALLED_
023653,001892: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023654,001893:
023655,001894: # JOBS OR TASKS INITIATED_
023656,001895: # NONE
023657,001896:
023658,001897: # ALARMS_ NONE
023659,001898:
023660,001899: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023661,001900: # BITS 14, 11)
023662,001901: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023663,001902:
023664,001903: 25,2232 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023665,001904: 25,2233 34755 CAF ZERO
023666,001905: 25,2234 12237 TCF RR1AXIS
023667,001906:
023668,001907: 25,2235 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023669,001908: 25,2236 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023670,001909:
023671,001910: 25,2237 55314 RR1AXIS TS RRINDEX
023672,001911: 25,2240 00006 EXTEND
023673,001912: 25,2241 23312 QXCH RRRET
023674,001913: 25,2242 12245 TCF RR1AX2
023675,001914:
|
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Page 543
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023677,001916: 25,2243 05232 NXTRR1AX TC FIXDELAY
023678,001917: 25,2244 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023679,001918:
023680,001919: 25,2245 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023681,001920: 25,2246 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023682,001921: 25,2247 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023683,001922: 25,2250 12135 BZF REPOSRPT # REMODE IMMEDIATELY.
023684,001923:
023685,001924: 25,2251 31313 CA RDES
023686,001925: 25,2252 00006 EXTEND
023687,001926: 25,2253 51314 INDEX RRINDEX
023688,001927: 25,2254 20035 MSU CDUT
023689,001928: 25,2255 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023690,001929: 25,2256 00006 EXTEND
023691,001930: 25,2257 72276 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023692,001931: 25,2260 54001 TS L
023693,001932: 25,2261 30110 CA RADMODES
023694,001933: 25,2262 74752 MASK AUTOMBIT
023695,001934: 25,2263 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023696,001935: 25,2264 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023697,001936: 25,2265 77644 DEC -.00555 # SCALED IN HALF-REVS.
023698,001937:
023699,001938: 25,2266 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023700,001939: 25,2267 01312 TC RRRET # RETURN TO CALLER.
023701,001940:
023702,001941: 25,2270 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023703,001942: 25,2271 12273 TCF +2 # SETTING A TO 0.
023704,001943: 25,2272 56001 XCH L
023705,001944: 25,2273 53352 DXCH TRUNNCMD
023706,001945: 25,2274 02277 TC RROUT
023707,001946:
023708,001947: 25,2275 12243 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023709,001948:
023710,001949: 25,2276 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023711,001950:
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|
Page 544
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023713,001952: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023714,001953:
023715,001954: # FUNCTIONAL DESCRIPTION_
023716,001955: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023717,001956: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023718,001957: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023719,001958: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023720,001959: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023721,001960: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023722,001961: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023723,001962: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023724,001963: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023725,001964: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023726,001965: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023727,001966: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023728,001967: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023729,001968:
023730,001969: # CALLING SEQUENCE:
023731,001970: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023732,001971: # RRTONLY, RRSONLY, AND DODES
023733,001972:
023734,001973: # ERASABLE INITIALIZATION REQUIRED:
023735,001974: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023736,001975: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023737,001976:
023738,001977: # SUBROUTINES CALLED_
023739,001978: # MAGSUB
023740,001979:
023741,001980: # JOBS OR TASKS INITIATED_
023742,001981: # NONE
023743,001982:
023744,001983: # ALARMS_ NONE
023745,001984:
023746,001985: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023747,001986:
023748,001987: 25,2277 22002 RROUT LXCH Q # SAVE RETURN.
023749,001988: 25,2300 34753 CAF ONE # LOOP TWICE.
023750,001989: 25,2301 54062 RROUT2 TS ITEMP2
023751,001990: 25,2302 50000 INDEX A
023752,001991: 25,2303 31351 CA TRUNNCMD
023753,001992: 25,2304 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023754,001993:
023755,001994: 25,2305 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023756,001995: 25,2306 77177 -RRLIMIT DEC -384 B-14
023757,001996: 25,2307 12326 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023758,001997:
023759,001998: 25,2310 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023760,001999: 25,2311 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023761,002000: 25,2312 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023762,002001: 25,2313 40000 COM
|
|
Page 545
|
023764,002003: 25,2314 60061 AD ITEMP1
023765,002004: 25,2315 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023766,002005: 25,2316 50062 INDEX ITEMP2
023767,002006: 25,2317 54053 TS CDUTCMD
023768,002007:
023769,002008: 25,2320 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023770,002009: 25,2321 12301 TCF RROUT2
023771,002010:
023772,002011: 25,2322 35020 CAF PRIO6 # ENABLE COUNTERS.
023773,002012: 25,2323 00006 EXTEND
023774,002013: 25,2324 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023775,002014: 25,2325 00001 TC L # RETURN.
023776,002015:
023777,002016: 25,2326 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023778,002017: 25,2327 42306 CS -RRLIMIT
023779,002018: 25,2330 12332 TCF +2
023780,002019: 25,2331 32306 CA -RRLIMIT
023781,002020: 25,2332 54061 TS ITEMP1
023782,002021: 25,2333 12311 TCF SETRRCTR +1
023783,002022:
|
|
Page 546
|
023785,002024: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023786,002025:
023787,002026: 25,2334 32363 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023788,002027: 25,2335 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023789,002028: 25,2336 10000 CCS A
023790,002029: 25,2337 13532 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023791,002030:
023792,002031: 25,2340 00004 INHINT
023793,002032: 25,2341 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023794,002033: 25,2342 70110 MASK RADMODES
023795,002034: 25,2343 64737 AD RCDU0BIT
023796,002035: 25,2344 54110 TS RADMODES
023797,002036:
023798,002037: 25,2345 34753 CAF ONE
023799,002038: 25,2346 05214 TC WAITLIST
023800,002039: 25,2347 E7,1456 EBANK= LOSCOUNT
023801,002040: 25,2347 02361 52067 2CADR RRZ2
023802,002041:
023803,002042:
023804,002043: 25,2351 40110 CS RADMODES # SEE IF IN AUTO MODE.
023805,002044: 25,2352 74752 MASK AUTOMBIT
023806,002045: 25,2353 10000 CCS A
023807,002046: 25,2354 12357 TCF ROADBACK
023808,002047: 25,2355 05600 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023809,002048: 25,2356 00510 OCT 510
023810,002049: 25,2357 00003 ROADBACK RELINT
023811,002050: 25,2360 14631 TCF SWRETURN
023812,002051:
023813,002052: 25,2361 02062 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023814,002053: 25,2362 13607 TCF ENDRADAR
023815,002054:
023816,002055: 25,2363 02001 BIT11+1 OCT 02001
023817,002056:
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|
Page 547
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023819,002058: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023820,002059:
023821,002060: # FUNCTIONAL DESCRIPTION_
023822,002061: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023823,002062: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023824,002063: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023825,002064: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023826,002065: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023827,002066: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023828,002067: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023829,002068: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023830,002069: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023831,002070: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023832,002071: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023833,002072: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023834,002073: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023835,002074: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023836,002075: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023837,002076: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023838,002077: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023839,002078: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023840,002079: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023841,002080: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023842,002081: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023843,002082: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023844,002083:
023845,002084: # CALLING SEQUENCE:
023846,002085: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023847,002086: # L+1 RRDESSM
023848,002087: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023849,002088: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023850,002089:
023851,002090: # ERASABLE INITIALIZATION REQUIRED:
023852,002091: # RRTARGET, RADMODES
023853,002092:
023854,002093: # SUBROUTINES CALLED_
023855,002094: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023856,002095: # PART OF), RMODINV
023857,002096:
023858,002097: # JOBS OR TASKS INITIATED_
023859,002098: # NONE
023860,002099:
023861,002100: # ALARMS_ NONE
023862,002101:
023863,002102: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023864,002103: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023865,002104: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023866,002105:
023867,002106: 25,2364 43020 RRDESSM STQ CLEAR
023868,002107: 25,2365 01112 DESRET
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|
Page 548
|
023870,002109: 25,2366 00271 RRNBSW
023871,002110: 25,2367 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023872,002111: 25,2370 47505 CDUTRIG
023873,002112: 25,2371 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023874,002113: 25,2372 01101 RRTARGET
023875,002114: 25,2373 47646 *SMNB*
023876,002115:
023877,002116: 25,2374 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023878,002117: 25,2375 26133 RRANGLES # ALTERNATE MODE.
023879,002118: 25,2376 77776 EXIT
023880,002119:
023881,002120: 25,2377 00004 INHINT
023882,002121: 25,2400 04523 TC RRLIMCHK
023883,002122: 25,2401 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023884,002123: 25,2402 02405 TC +3 # NOT IN CURRENT MODE
023885,002124: 25,2403 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023886,002125: 25,2404 02423 TC STARTDES # SHOW DESIGNATE REQUIRED
023887,002126: 25,2405 40104 CS FLAGWRD8
023888,002127: 25,2406 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023889,002128: 25,2407 00006 EXTEND
023890,002129: 25,2410 12447 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
023891,002130: 25,2411 02452 TC TRYSWS
023892,002131:
023893,002132:
023894,002133: 25,2412 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023895,002134: 25,2413 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023896,002135: 25,2414 00006 EXTEND
023897,002136: 25,2415 12447 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
023898,002137: 25,2416 30074 CA STATE
023899,002138: 25,2417 74745 MASK RNDVZBIT
023900,002139: 25,2420 10000 CCS A # TEST RNDVZFLG.
023901,002140: 25,2421 02462 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
023902,002141: 25,2422 15155 TCF ENDOFJOB # ...BUT NOT IN R29.
023903,002142:
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|
Page 549
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023905,002144: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023906,002145:
023907,002146: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023908,002147: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023909,002148: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023910,002149: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023911,002150: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023912,002151: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023913,002152: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023914,002153: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023915,002154: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023916,002155: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023917,002156: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023918,002157: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023919,002158: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023920,002159: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023921,002160: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023922,002161: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023923,002162: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023924,002163: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023925,002164: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023926,002165: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023927,002166: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023928,002167:
023929,002168: # CALLING SEQUENCE:
023930,002169: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023931,002170:
023932,002171: # ERASABLE INITIALIZATION REQUIRED:
023933,002172: # RADMODES, (SEE DODES)
023934,002173:
023935,002174: # SUBROUTINES CALLED_
023936,002175: # SETRRECR, WAITLIST
023937,002176:
023938,002177: # JOBS OR TASKS INITIATED_
023939,002178: # BEGDES
023940,002179:
023941,002180: # ALARMS_ NONE
023942,002181:
023943,002182: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023944,002183: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023945,002184:
023946,002185: 25,2423 25112 STARTDES INCR DESRET
023947,002186: 25,2424 40110 CS RADMODES
023948,002187: 25,2425 74742 MASK DESIGBIT
023949,002188: 25,2426 26110 ADS RADMODES
023950,002189: 25,2427 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023951,002190: 25,2430 10000 CCS A
023952,002191: 25,2431 12437 TCF DESRETRN # ECTR ALREADY SET UP.
023953,002192:
023954,002193: 25,2432 02147 TC SETRRECR # SET UP ERROR COUNTERS.
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Page 550
|
023956,002195: 25,2433 34752 CAF TWO
023957,002196: 25,2434 05214 TC WAITLIST
023958,002197: 25,2435 E7,1456 EBANK= LOSCOUNT
023959,002198: 25,2435 02564 52067 2CADR BEGDES
023960,002199:
023961,002200:
023962,002201: 25,2437 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023963,002202: 25,2440 00006 EXTEND
023964,002203: 25,2441 12443 BZF DESRTRN # YES SET EXIT
023965,002204: 25,2442 05155 TC ENDOFJOB # NO
023966,002205: 25,2443 00003 DESRTRN RELINT
023967,002206: 25,2444 25112 INCR DESRET
023968,002207: 25,2445 31112 CA DESRET
023969,002208: 25,2446 14640 TCF BANKJUMP
023970,002209:
023971,002210:
023972,002211: 25,2447 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023973,002212: 25,2450 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023974,002213: 25,2451 12443 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023975,002214:
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|
Page 551
|
023977,002216: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023978,002217:
023979,002218: 25,2452 02224 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023980,002219: 25,2453 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023981,002220: 25,2454 01110 ADRES MODEB
023982,002221: 25,2455 12462 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023983,002222:
023984,002223: 25,2456 02224 TC RMODINV # RESET BIT12
023985,002224: 25,2457 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023986,002225: 25,2460 26110 ADS RADMODES
023987,002226:
023988,002227: 25,2461 12403 TCF OKDESSM
023989,002228:
023990,002229: 25,2462 02224 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023991,002230: 25,2463 25112 INCR DESRET # TO CALLER +2
023992,002231: 25,2464 12447 TCF NORDSTAL
023993,002232:
023994,002233: 25,2465 00074 MAXTRYS DEC 60 B-14
023995,002234:
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|
Page 552
|
023997,002236: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023998,002237: # TANG AND TANG +1.
023999,002238:
024000,002239: 25,2466 04645 RRDESNB TC MAKECADR
024001,002240: 25,2467 55112 TS DESRET
024002,002241:
024003,002242: 25,2470 05527 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
024004,002243: 25,2471 00041 ADRES LOSCMFLG # BACK TO R21
024005,002244: 25,2472 32465 CA MAXTRYS # SET TIME LIMIT COUNTER
024006,002245: 25,2473 55113 TS DESCOUNT # FOR DESIGNATE
024007,002246: 25,2474 00004 INHINT # SEE IF CURRENT MODE OK.
024008,002247: 25,2475 02531 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024009,002248: 25,2476 01106 ADRES TANG
024010,002249: 25,2477 12514 TCF TRYSWN # SEE IF IN OTHER MODE.
024011,002250:
024012,002251: 25,2500 00003 OKDESNB RELINT
024013,002252: 25,2501 00006 EXTEND
024014,002253: 25,2502 31107 DCA TANG
024015,002254: 25,2503 53753 DXCH TANGNB
024016,002255: 25,2504 06042 TC INTPRET
024017,002256:
024018,002257: 25,2505 77624 CALL # GET LOS IN NB COORDS.
024019,002258: 25,2506 46041 RRNB
024020,002259: 25,2507 01101 STORE RRTARGET
024021,002260:
024022,002261: 25,2510 77414 SET EXIT
024023,002262: 25,2511 00071 RRNBSW
024024,002263:
024025,002264: 25,2512 00004 INHINT
024026,002265: 25,2513 12424 TCF STARTDES +1
024027,002266: 25,2514 02224 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
024028,002267: 25,2515 02531 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024029,002268: 25,2516 01106 ADRES TANG
024030,002269: 25,2517 12524 TCF NODESNB # NOT POSSIBLE.
024031,002270:
024032,002271: 25,2520 02224 TC RMODINV
024033,002272: 25,2521 34736 CAF REMODBIT # CALL FOR REMODE.
024034,002273: 25,2522 26110 ADS RADMODES
024035,002274: 25,2523 12500 TCF OKDESNB
024036,002275:
024037,002276: 25,2524 02224 NODESNB TC RMODINV # REINVERT MODE BIT.
024038,002277: 25,2525 05600 TC ALARM # BAD INPUT ANGLES.
024039,002278: 25,2526 00502 OCT 502
024040,002279: 25,2527 06011 TC CLRADMOD
024041,002280: 25,2530 05155 TC ENDOFJOB # AVOID 503 ALARM.
024042,002281:
024043,002282: 25,2531 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
024044,002283: 25,2532 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
024045,002284: 25,2533 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
024046,002285: 25,2534 00006 EXTEND
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Page 553
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024048,002287: 25,2535 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
024049,002288: 25,2536 30001 DCA 0
024050,002289: 25,2537 52062 DXCH ITEMP1
024051,002290: 25,2540 22002 LXCH Q # L(CALLER +2) TO L
024052,002291:
024053,002292: 25,2541 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
024054,002293: 25,2542 70110 MASK RADMODES
024055,002294: 25,2543 10000 CCS A
024056,002295: 25,2544 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
024057,002296: 25,2545 30061 CA ITEMP1
024058,002297: 25,2546 04512 TC MAGSUB # MODE 1 IS DEFINED AS
024059,002298: 25,2547 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
024060,002299: 25,2550 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
024061,002300:
024062,002301: 25,2551 30062 CA ITEMP2 # LOAD SHAFT ANGLE
024063,002302: 25,2552 00006 EXTEND
024064,002303: 25,2553 62561 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024065,002304: 25,2554 64562 AD 5.5DEGS
024066,002305: 25,2555 04512 SHAFTLIM TC MAGSUB
024067,002306: 25,2556 64420 DEC -.35833 # 64.5 DEGREES
024068,002307: 25,2557 00001 TC L # NOT IN LIMITS
024069,002308: 25,2560 04560 TC RRLIMOK # IN LIMITS
024070,002309: 25,2561 62563 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024071,002310: 25,2562 12555 TCF SHAFTLIM
024072,002311:
024073,002312:
024074,002313: 25,2563 03512 20.5DEGS DEC .11389
024075,002314:
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Page 554
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024077,002316: # PROGRAM NAME_ BEGDES
024078,002317:
024079,002318: # FUNCTIONAL DESCRIPTION_
024080,002319: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024081,002320: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024082,002321: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024083,002322: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024084,002323: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024085,002324: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024086,002325: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024087,002326: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024088,002327: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024089,002328: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024090,002329: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024091,002330: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024092,002331: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024093,002332: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024094,002333: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024095,002334: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024096,002335: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024097,002336: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024098,002337: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024099,002338: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024100,002339: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024101,002340: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024102,002341: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024103,002342: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024104,002343: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024105,002344:
024106,002345: # CALLING SEQUENCE:
024107,002346: # WAITLIST CALL FROM STARTDES
024108,002347: # TCF BEGDES FROM DORREPOS
024109,002348: # TC STDESIG RETURNING, FROM REMODE
024110,002349:
024111,002350: # ERASABLE INITIALIZATION REQUIRED:
024112,002351: # DESCOUNT, RADMODES
024113,002352:
024114,002353: # SUBROUTINES CALLED_
024115,002354: # ENDRADAR, FINDVAC
024116,002355:
024117,002356: # JOBS OR TASKS INITIATED_ DODES
024118,002357:
024119,002358: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024120,002359: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024121,002360:
024122,002361: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024123,002362: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024124,002363: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024125,002364:
024126,002365: 25,2564 40110 BEGDES CS RADMODES
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Page 555
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024128,002367: 25,2565 74736 MASK REMODBIT
024129,002368: 25,2566 10000 CCS A
024130,002369: 25,2567 02573 TC STDESIG
024131,002370: 25,2570 02162 TC REMODE
024132,002371: 25,2571 05232 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
024133,002372: 25,2572 00062 DEC 50 B-14
024134,002373:
024135,002374: 25,2573 34741 STDESIG CAF REPOSBIT
024136,002375: 25,2574 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024137,002376: 25,2575 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024138,002377: 25,2576 12614 TCF BADDES # REPOSITION TO BE IN PROGRESS.
024139,002378:
024140,002379: 25,2577 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
024141,002380: 25,2600 12603 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
024142,002381: 25,2601 12603 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024143,002382: 25,2602 12620 TCF MOREDES +1
024144,002383:
024145,002384: 25,2603 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
024146,002385: 25,2604 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024147,002386: 25,2605 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024148,002387: 25,2606 13607 TCF ENDRADAR # CHECKING RR CDU FAIL.
024149,002388:
024150,002389: 25,2607 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
024151,002390: 25,2610 12617 TCF MOREDES
024152,002391:
024153,002392: 25,2611 42625 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024154,002393: 25,2612 00006 EXTEND
024155,002394: 25,2613 03012 WAND CHAN12
024156,002395: 25,2614 05527 BADDES TC DOWNFLAG
024157,002396: 25,2615 00271 ADRES DESIGFLG
024158,002397: 25,2616 13623 TCF RDBADEND
024159,002398:
024160,002399: 25,2617 55113 MOREDES TS DESCOUNT
024161,002400: 25,2620 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
024162,002401: 25,2621 05105 TC FINDVAC
024163,002402: 25,2622 E7,1456 EBANK= LOSCOUNT
024164,002403: 25,2622 02626 52067 2CADR DODES
024165,002404:
024166,002405:
024167,002406: 25,2624 12571 TCF DESLOOP
024168,002407:
024169,002408: 25,2625 20002 B14+B2 OCT 20002
024170,002409:
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Page 556
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024172,002411: # PROGRAM NAME_ DODES
024173,002412:
024174,002413: # FUNCTIONAL DESCRIPTION_
024175,002414: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024176,002415: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024177,002416: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024178,002417: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024179,002418: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024180,002419: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
024181,002420: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
024182,002421: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024183,002422: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024184,002423: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024185,002424: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024186,002425: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024187,002426: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024188,002427: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024189,002428: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024190,002429: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024191,002430: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024192,002431: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024193,002432: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024194,002433: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024195,002434: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024196,002435: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024197,002436: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024198,002437: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024199,002438: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024200,002439: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024201,002440: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024202,002441: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024203,002442: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024204,002443: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024205,002444: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024206,002445: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024207,002446: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024208,002447: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024209,002448: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024210,002449: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024211,002450: # VIA ENDOFJOB.
024212,002451:
024213,002452: # CALLING SEQUENCE:
024214,002453: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024215,002454:
024216,002455: # ERASABLE INITIALIZATION REQUIRED:
024217,002456: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024218,002457: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024219,002458:
024220,002459: # SUBROUTINES CALLED_
024221,002460: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
024222,002461:
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Page 557
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024224,002463: # JOBS OR TASKS INITIATED_
024225,002464: # NONE
024226,002465:
024227,002466: # ALARMS_ NONE
024228,002467:
024229,002468: # EXIT_ ENDOFJOB (ALWAYS)
024230,002469:
024231,002470: 25,2626 00006 DODES EXTEND
024232,002471: 25,2627 30036 DCA CDUT
024233,002472: 25,2630 53107 DXCH TANG
024234,002473:
024235,002474: 25,2631 06042 TC INTPRET
024236,002475:
024237,002476: 25,2632 77201 SETPD VLOAD
024238,002477: 25,2633 00001 0
024239,002478: 25,2634 01101 RRTARGET
024240,002479: 25,2635 74214 BON VXSC
024241,002480: 25,2636 00311 RRNBSW
024242,002481: 25,2637 52651 DONBRD # TARGET IN NAV-BASE COORDINATES
024243,002482: 25,2640 01765 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
024244,002483: 25,2641 63372 VSL1 PDVL
024245,002484: 25,2642 01757 LOSVEL
024246,002485: 25,2643 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
024247,002486: 25,2644 13061 MCTOMS
024248,002487: 25,2645 45056 UNIT CALL
024249,002488: 25,2646 47505 CDUTRIG
024250,002489: 25,2647 77624 CALL
024251,002490: 25,2650 47646 *SMNB*
024252,002491:
024253,002492: 25,2651 14041 DONBRD STODL 32D
024254,002493: 25,2652 01110 TANG +1
024255,002494: 25,2653 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
024256,002495: 25,2654 21577 CDULOGIC # (-SIN(S)).
024257,002496: 25,2655 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
024258,002497: 25,2656 41546 COS PUSH
024259,002498: 25,2657 65205 DMP PDDL
024260,002499: 25,2660 00041 32D
024261,002500: 25,2661 00045 36D
024262,002501: 25,2662 44205 DMP BDSU
024263,002502: 25,2663 00001 0
024264,002503: 25,2664 77626 STADR
024265,002504: 25,2665 76667 STORE TANG +1 # SHAFT COMMAND
024266,002505:
024267,002506: 25,2666 47135 SLOAD RTB
024268,002507: 25,2667 01107 TANG
024269,002508: 25,2670 21577 CDULOGIC
024270,002509: 25,2671 71406 PUSH COS # COS(T) TO 4.
024271,002510: 25,2672 73525 PDDL SIN
024272,002511: 25,2673 41206 PUSH DMP # SIN(T) TO 6.
024273,002512: 25,2674 00003 2
024274,002513: 25,2675 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
024275,002514: 25,2676 00005 4 # (COS(T) )
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Page 558
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024277,002516: 25,2677 41325 PDDL DMP # (SIN(T)COS(S))
024278,002517: 25,2700 00007 6
024279,002518: 25,2701 00001 0
024280,002519: 25,2702 55552 SL1 VDEF
024281,002520: 25,2703 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
024282,002521: 25,2704 00041 32D
024283,002522:
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Page 559
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024285,002524: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024286,002525: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024287,002526:
024288,002527: 25,2705 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
024289,002528: 25,2706 00006 EXTEND
024290,002529: 25,2707 73055 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024291,002530: 25,2710 55351 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
024292,002531: 25,2711 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
024293,002532: 25,2712 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
024294,002533: 25,2713 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
024295,002534: 25,2714 12717 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
024296,002535: 25,2715 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024297,002536: 25,2716 12720 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
024298,002537: 25,2717 41107 +3 CS TANG +1
024299,002538: 25,2720 00006 EXTEND
024300,002539: 25,2721 73055 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024301,002540: 25,2722 55352 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
024302,002541: 25,2723 06042 TC INTPRET
024303,002542:
024304,002543: 25,2724 41345 DLOAD DMP
024305,002544: 25,2725 00003 2 # COS(S).
024306,002545: 25,2726 00005 4 # COS(T).
024307,002546: 25,2727 65352 SL1 PDDL # Z COMPONENT OF URR.
024308,002547: 25,2730 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
024309,002548: 25,2731 00001 0 # SIN(S).
024310,002549: 25,2732 72405 DMP SL1
024311,002550: 25,2733 00005 4 # COS(T).
024312,002551: 25,2734 43066 VDEF BON # FORM URR IN NB AXES.
024313,002552: 25,2735 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
024314,002553: 25,2736 52741 +3
024315,002554: 25,2737 77624 CALL
024316,002555: 25,2740 47650 *NBSM* # GET URR IN SM AXES.
024317,002556: 25,2741 77441 DOT EXIT
024318,002557: 25,2742 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
024319,002558:
024320,002559: 25,2743 00006 EXTEND
024321,002560: 25,2744 43057 DCS COS1/2DG
024322,002561: 25,2745 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
024323,002562: 25,2746 10154 CCS MPAC
024324,002563: 25,2747 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
024325,002564: 25,2750 12752 TCF +2
024326,002565: 25,2751 34753 CA ONE
024327,002566: 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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024329,002568: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024330,002569:
024331,002570: 25,2753 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024332,002571: 25,2754 12757 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
024333,002572: 25,2755 12757 TCF SIGNLCHK # ERROR SIGNALS
024334,002573: 25,2756 13007 TCF DORROUT
024335,002574: 25,2757 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024336,002575: 25,2760 12770 TCF DGOODCHK
024337,002576: 25,2761 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024338,002577: 25,2762 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
024339,002578: 25,2763 10000 CCS A
024340,002579: 25,2764 12775 TCF RRDESDUN
024341,002580:
024342,002581: 25,2765 34736 CAF BIT14 # ENABLE THE TRACKER.
024343,002582: 25,2766 00006 EXTEND
024344,002583: 25,2767 05012 WOR CHAN12
024345,002584:
024346,002585: 25,2770 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
024347,002586: 25,2771 00006 EXTEND
024348,002587: 25,2772 02033 RAND CHAN33
024349,002588: 25,2773 10000 CCS A
024350,002589: 25,2774 13007 TCF DORROUT
024351,002590:
024352,002591: 25,2775 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024353,002592: 25,2776 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
024354,002593: 25,2777 00004 INHINT
024355,002594: 25,3000 54110 TS RADMODES
024356,002595:
024357,002596: 25,3001 05527 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
024358,002597: 25,3002 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
024359,002598: 25,3003 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
024360,002599: 25,3004 00006 EXTEND
024361,002600: 25,3005 03012 WAND CHAN12
024362,002601: 25,3006 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
024363,002602:
024364,002603: 25,3007 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
024365,002604: 25,3010 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
024366,002605: 25,3011 00006 EXTEND
024367,002606: 25,3012 13031 BZF NOTP20
024368,002607: 25,3013 06042 TC INTPRET
024369,002608: 25,3014 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
024370,002609: 25,3015 01101 RRTARGET
024371,002610: 25,3016 01765 MLOSV
024372,002611: 25,3017 41572 VSL1 PUSH
024373,002612: 25,3020 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
024374,002613: 25,3021 01757 LOSVEL # TO LOS VECTOR
024375,002614: 25,3022 13061 MCTOMS
024376,002615: 25,3023 53362 VSR1 VAD
024377,002616: 25,3024 77656 UNIT
024378,002617: 25,3025 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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Page 561
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024380,002619: 25,3026 00045 36D
024381,002620: 25,3027 01765 STORE MLOSV # AND STORE MAGNITUDE
024382,002621: 25,3030 77776 EXIT
024383,002622: 25,3031 00004 NOTP20 INHINT
024384,002623: 25,3032 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
024385,002624: 25,3033 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
024386,002625: 25,3034 10000 CCS A
024387,002626: 25,3035 02277 TC RROUT
024388,002627:
024389,002628: 25,3036 30076 CA FLAGWRD2
024390,002629: 25,3037 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
024391,002630: 25,3040 00006 EXTEND # LOS COUNTER
024392,002631: 25,3041 15155 BZF ENDOFJOB
024393,002632: 25,3042 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
024394,002633: 25,3043 03053 TC DODESEND # A NEW LOS
024395,002634: 25,3044 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
024396,002635: 25,3045 52573 CADR DESLOOP +2
024397,002636: 25,3046 00003 RELINT
024398,002637: 25,3047 10067 CCS NEWJOB
024399,002638: 25,3050 05122 TC CHANG1
024400,002639: 25,3051 04616 TC BANKCALL
024401,002640: 25,3052 51014 CADR R21LEM2
024402,002641:
024403,002642:
024404,002643: 25,3053 55456 DODESEND TS LOSCOUNT
024405,002644: 25,3054 05155 TC ENDOFJOB
024406,002645:
024407,002646:
024408,002647: 25,3055 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
024409,002648: 25,3056 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
024410,002649: 25,3056 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
024411,002650:
024412,002651: 25,3060 00310 00000 MCTOMS 2DEC 100 B-13
024413,002652:
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Page 562
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024415,002654: # RADAR READ INITIALIZATION
024416,002655:
024417,002656: # THE FOLLOWING ROUTINES MUST BE CALLED BY BANKCALL
024418,002657:
024419,002658: 25,3062 03076 LRALT TC INITREAD
024420,002659: 25,3063 00017 ALLREAD OCT 17
024421,002660:
024422,002661: 25,3064 03076 LRVELZ TC INITREAD
024423,002662: 25,3065 00016 OCT 16
024424,002663:
024425,002664: 25,3066 03076 LRVELY TC INITREAD
024426,002665: 25,3067 00015 OCT 15
024427,002666:
024428,002667: 25,3070 03076 LRVELX TC INITREAD
024429,002668: 25,3071 00014 OCT 14
024430,002669:
024431,002670: 25,3072 03076 RRRDOT TC INITREAD
024432,002671: 25,3073 00012 OCT 12
024433,002672:
024434,002673: 25,3074 03076 RRRANGE TC INITREAD
024435,002674: 25,3075 00011 OCT 11
024436,002675:
024437,002676:
024438,002677: 25,3076 00004 INITREAD INHINT
024439,002678: 25,3077 50002 INDEX Q
024440,002679: 25,3100 30000 CA 0
024441,002680: 25,3101 03110 TC PRERADAR
024442,002681: 25,3102 34751 CA BIT3
024443,002682: 25,3103 55105 TS TIMEHOLD +1 # MIDPOINT OF READ IS ABOUT 40 MS AFTER
024444,002683: 25,3104 00006 EXTEND # START OF READ
024445,002684: 25,3105 30025 DCA TIME2
024446,002685: 25,3106 21105 DAS TIMEHOLD
024447,002686:
024448,002687: 25,3107 12357 TCF ROADBACK
024449,002688:
024450,002689:
024451,002690: 25,3110 55077 PRERADAR TS RADUSE # INDICATE RADAR READ ROUTINES IN USE.
024452,002691: 25,3111 34755 CA ZERO
024453,002692: 25,3112 55110 TS NSAMP
024454,002693: 25,3113 55100 TS SAMPLSUM
024455,002694: 25,3114 55101 TS SAMPLSUM +1
024456,002695: 25,3115 55104 TS TIMEHOLD
024457,002696:
024458,002697: 25,3116 33136 CA DGBITS
024459,002698: 25,3117 00006 EXTEND
024460,002699: 25,3120 02033 RAND CHAN33
024461,002700: 25,3121 55112 TS OLDATAGD
024462,002701:
024463,002702: 25,3122 43136 CS DGBITS # RESET DATA GOOD BITS OF RADMODES
024464,002703: 25,3123 70110 MASK RADMODES
|
|
Page 563
|
024466,002705: 25,3124 54110 TS RADMODES
024467,002706:
024468,002707: 25,3125 43063 CS ALLREAD
024469,002708: 25,3126 00006 EXTEND
024470,002709: 25,3127 03013 WAND CHAN13 # CLEAR ALL RADAR BITS PRIOR TO READ
024471,002710:
024472,002711: 25,3130 00006 EXTEND
024473,002712: 25,3131 22070 QXCH RUPTREG1
024474,002713:
024475,002714: 25,3132 31077 CA RADUSE
024476,002715: 25,3133 04674 TC IBNKCALL
024477,002716: 25,3134 36000 CADR RADSTART
024478,002717: 25,3135 00070 TC RUPTREG1
024479,002718:
024480,002719:
024481,002720: 25,3136 00230 DGBITS OCT 230 # POSITION OF DATA GOOD BITS IN CHANNEL 33
024482,002721: 25,3137 00014 VBITS OCT 14 # VSELECT = 0 BEFORE X READ
024483,002722: 25,3140 00016 OCT 16 # VSELECT = 1 BEFORE Z READ
024484,002723: 25,3141 00015 OCT 15 # VSELECT = 2 BEFORE Y READ
024485,002724:
024486,002725:
024487,002726: 25,3142 40107 R12READ CS FLGWRD11
024488,002727: 25,3143 74742 MASK NOLRRBIT # IF NOLRREAD FLAG IS SET , BYPASS R12
024489,002728: 25,3144 00006 EXTEND
024490,002729: 25,3145 15272 BZF TASKOVER
024491,002730:
024492,002731: 25,3146 40107 R12RDSET CS FLGWRD11 # STOP R12 FROM
024493,002732: 25,3147 74751 MASK R12RDBIT # ATTEMPTING UPDATE
024494,002733: 25,3150 26107 ADS FLGWRD11 # BEFORE R12 READS ARE DONE
024495,002734:
024496,002735: 25,3151 51462 INDEX VSELECT
024497,002736: 25,3152 33137 CA VBITS
024498,002737: 25,3153 03110 TC PRERADAR
024499,002738: 25,3154 36245 CA SIX # RADAR RUPT USES THIS FOR R12 READ
024500,002739: 25,3155 55110 TS NSAMP
024501,002740: 25,3156 05272 TC TASKOVER
024502,002741:
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|
Page 564
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024504,002743: # RADAR RUPT READER (R20)
024505,002744:
024506,002745: # THIS ROUTINE, WHICH IS INITIATED BY A RADAR RUPT, PROCESSES THE RADAR DATA AND UPDATES THE APPROPRIATE
024507,002746: # DSKY LIGHTS.
024508,002747:
024509,002748: 25,2000 SETLOC RADARUPT
024510,002749: 25,2000 BANK
024511,002750:
024512,002751: 25,3157 COUNT* $$/RRUPT
024513,002752:
024514,002753: 25,3157 E7,1453 EBANK= TTOGO
024515,002754:
024516,002755: 25,3157 00006 RADAREAD EXTEND # CONTINUATION OF INTERRUPT LEAD-IN.
024517,002756: 25,3160 04007 ROR SUPERBNK # SUPERBNK MUST BE SAVED BECAUSE RUPT
024518,002757: 25,3161 54016 TS BANKRUPT # MAY EXIT VIA TASKOVER.
024519,002758: 25,3162 00006 EXTEND
024520,002759: 25,3163 22012 QXCH QRUPT
024521,002760:
024522,002761:
024523,002762: 25,3164 34757 CA SEVEN # READ AND STORE RADAR SELECT BITS
024524,002763: 25,3165 00006 EXTEND
024525,002764: 25,3166 02013 RAND CHAN13
024526,002765: 25,3167 55332 TS RADBITS
024527,002766:
024528,002767: 25,3170 00006 EXTEND # IF RADAR SELECT BITS ARE ZERO, ALARM
024529,002768: 25,3171 13177 BZF BADRUPT # WITHOUT READING DATA
024530,002769:
024531,002770: 25,3172 30046 CA RNRAD # STORE RAW DATA FOR DOWNLINK.
024532,002771: 25,3173 51332 INDEX RADBITS
024533,002772: 25,3174 55327 TS DNRRANGE -1
024534,002773:
024535,002774: 25,3175 11077 CCS RADUSE # IF RADUSE IS ZERO, THIS IS A BAD RUPT
024536,002775: 25,3176 13203 TCF WHICHRAD
024537,002776:
024538,002777: 25,3177 55077 BADRUPT TS RADUSE
024539,002778: 25,3200 05600 TC ALARM
024540,002779: 25,3201 00520 OCT 520
024541,002780: 25,3202 05301 TC RESUME
024542,002781:
024543,002782: 25,3203 46250 WHICHRAD CS THREE # IF RADBITS IS LESS THAN THREE,
024544,002783: 25,3204 61332 AD RADBITS # THE RENDEZVOUS RADAR IS BEING READ.
024545,002784: 25,3205 00006 EXTEND
024546,002785: 25,3206 63273 BZMF RENDRAD
024547,002786:
024548,002787: 25,3207 40101 LANDRAD CS FLAGWRD5 # THE LANDING RADAR IS BEING READ
024549,002788: 25,3210 74741 MASK R77FLBIT
024550,002789: 25,3211 00006 EXTEND # IF R77 IS RUNNING, EXIT HERE
024551,002790: 25,3212 13253 BZF R77EXIT
024552,002791:
024553,002792: 25,3213 44757 CS SEVEN # IF RADBITS IS SEVEN, THE LANDING
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|
Page 565
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024555,002794: 25,3214 61332 AD RADBITS # RADAR ALITUDE IS BEING READ
024556,002795: 25,3215 00006 EXTEND
024557,002796: 25,3216 13267 BZF LRHEIGHT
024558,002797:
024559,002798: 25,3217 34733 LRSPEED CA POSMAX # DECODE THE 15 BIT READING AND
024560,002799: 25,3220 70046 MASK RNRAD # SUBTRACT THE BIAS.
024561,002800: 25,3221 62000 AD LVELBIAS
024562,002801: 25,3222 54064 TS ITEMP4
024563,002802: 25,3223 54001 TS L
024564,002803: 25,3224 30046 CA RNRAD
024565,002804: 25,3225 60000 DOUBLE
024566,002805: 25,3226 74753 MASK BIT1
024567,002806: 25,3227 54063 TS ITEMP3
024568,002807: 25,3230 21101 DAS SAMPLSUM # ACCUMULATE THE READING
024569,002808:
024570,002809: 25,3231 34744 CA BIT8 # VOLOCITY DATA GOOD BIT
024571,002810: 25,3232 54061 DGCHECK TS ITEMP1
024572,002811: 25,3233 33136 DGCHECK2 CA DGBITS # UPDATE THE STATUS OF THE DATA GOOD BITS
024573,002812: 25,3234 00006 EXTEND
024574,002813: 25,3235 02033 RAND CHAN33
024575,002814: 25,3236 57112 XCH OLDATAGD
024576,002815: 25,3237 70061 MASK ITEMP1
024577,002816: 25,3240 54001 TS L # OLD STATUS
024578,002817: 25,3241 30061 CA ITEMP1
024579,002818: 25,3242 71112 MASK OLDATAGD # CURRENT STATUS
024580,002819: 25,3243 60001 AD L
024581,002820: 25,3244 10000 CCS A # BOTH SHOULD BE ZERO
024582,002821: 25,3245 13256 TCF BADRAD # DATA GOOD NOT PRESENT
024583,002822:
024584,002823: 25,3246 11110 GOODRAD CCS NSAMP # TEST FOR R12
024585,002824: 25,3247 13403 TCF R12EXIT
024586,002825:
024587,002826: 25,3250 52064 DXCH ITEMP3 # STORE DATA FOR CALLING ROUTINE
024588,002827: 25,3251 53101 DXCH SAMPLSUM
024589,002828: 25,3252 03642 TC RADLITES # UPDATE DSKY LIGHTS.
024590,002829:
024591,002830: 25,3253 34755 R77EXIT CA ZERO # ZERO RADUSE
024592,002831: 25,3254 55077 TS RADUSE
024593,002832: 25,3255 03614 TC RGOODEND -2
024594,002833:
024595,002834:
024596,002835: 25,3256 40110 BADRAD CS RADMODES # UPDATE RADMODES BIT ONLY IF DATA BAD
024597,002836: 25,3257 70061 MASK ITEMP1
024598,002837: 25,3260 26110 ADS RADMODES
024599,002838:
024600,002839: 25,3261 11110 CCS NSAMP # TEST FOR R12
024601,002840: 25,3262 13403 TCF R12EXIT
024602,002841:
024603,002842: 25,3263 03642 TC RADLITES # UPDATE DSKY LIGHTS
024604,002843: 25,3264 34755 RRBADEND CA ZERO # ZERO RADUSE
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Page 566
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024606,002845: 25,3265 55077 TS RADUSE
024607,002846: 25,3266 03621 TC RDBADEND -2
024608,002847:
024609,002848:
024610,002849: 25,3267 34747 LRHEIGHT CA BIT5 # DATA GOOD BIT FOR ALTITUDE
024611,002850: 25,3270 54061 TS ITEMP1
024612,002851: 25,3271 34743 CA BIT9 # LO SCALE BIT FOR LR
024613,002852: 25,3272 03316 TC SCALECHK
024614,002853:
024615,002854: 25,3273 00006 RENDRAD EXTEND
024616,002855: 25,3274 31454 DCA TTOGO # LOAD TIME TO TIG
024617,002856: 25,3275 53272 DXCH TTOTIG # FOR R65 RADAR READING.
024618,002857:
024619,002858: 25,3276 34741 CA REPOSBIT # MAKE SURE ANTENNA HAS NOT
024620,002859: 25,3277 70110 MASK RADMODES # GONE OUT OF LIMITS.
024621,002860: 25,3300 10000 CCS A
024622,002861: 25,3301 13264 TCF RRBADEND
024623,002862:
024624,002863: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASN'T FAILED.
024625,002864: 25,3303 74745 MASK RCDUFBIT
024626,002865: 25,3304 10000 CCS A
024627,002866: 25,3305 13264 TCF RRBADEND
024628,002867:
024629,002868: 25,3306 34750 CA BIT4 # DATA GOOD BIT FOR RR
024630,002869: 25,3307 54061 TS ITEMP1
024631,002870:
024632,002871: 25,3310 34753 CA BIT1 # TEST FOR RANGE OR RANGE RATE
024633,002872: 25,3311 71332 MASK RADBITS
024634,002873: 25,3312 54002 TS Q # SAVE FOR LATER TESTING
024635,002874: 25,3313 00006 EXTEND
024636,002875: 25,3314 13325 BZF RADIN # IF ROOT, READ DATA
024637,002876:
024638,002877: 25,3315 34751 CA BIT3 # LO SCALE BIT FOR RR.
024639,002878: 25,3316 54001 SCALECHK TS L
024640,002879: 25,3317 30110 CA RADMODES # TEST THE SCALE BIT SPECIFIED IN L
024641,002880: 25,3320 00006 EXTEND # TO SEE IF IT IS THE SMAE AS LAST
024642,002881: 25,3321 06033 RXOR CHAN33 # TIME.
024643,002882: 25,3322 70001 MASK L # IF BIT IS THE SMAE IN RADMODES AND
024644,002883: 25,3323 10000 CCS A # CHAN33, THEN A WILL BE ZERO
024645,002884: 25,3324 03364 TC SCALCHNG # SCALE CHANGED
024646,002885:
024647,002886: 25,3325 34733 RADIN CA POSMAX # UNPACK 15 BIT RADAR READING
024648,002887: 25,3326 70046 MASK RNRAD
024649,002888: 25,3327 54064 TS ITEMP4
024650,002889:
024651,002890: 25,3330 30046 CA RNRAD
024652,002891: 25,3331 60000 DOUBLE
024653,002892: 25,3332 74753 MASK BIT1
024654,002893: 25,3333 54063 TS ITEMP3
024655,002894:
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Page 567
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024657,002896: 25,3334 10002 CCS Q # TEST FOR RR RANGE RATE (Q = 0)
024658,002897: 25,3335 13342 TCF SCALADJ # RANGE OR LR HEIGHT . TEST SCALE
024659,002898:
024660,002899: 25,3336 00006 EXTEND # RR RANGE RATE - SUBTRACT BIAS
024661,002900: 25,3337 42002 DCS RDOTBIAS
024662,002901: 25,3340 20064 DASAMPL DAS ITEMP3
024663,002902: 25,3341 13233 TCF DGCHECK2 # TEST DATA GOOD
024664,002903:
024665,002904: 25,3342 30110 SCALADJ CA RADMODES # TEST SCALE BIT
024666,002905: 25,3343 70001 MASK L
024667,002906: 25,3344 00006 EXTEND
024668,002907: 25,3345 13233 BZF DGCHECK2 # LO SCALE
024669,002908:
024670,002909: 25,3346 74751 MASK BIT3 # HI SCALE - TEST FOR LR
024671,002910: 25,3347 00006 EXTEND # IF BIT3 = 0,THEN IT IS LR
024672,002911: 25,3350 13357 BZF LRSCK
024673,002912:
024674,002913: 25,3351 52064 DXCH ITEMP3 # RESCALE RR DATA TO LO SCALING
024675,002914: 25,3352 20001 DDOUBL # MULTIPLY BY 8.
024676,002915: 25,3353 20001 DDOUBL
024677,002916: 25,3354 20001 DDOUBL
024678,002917: 25,3355 52064 DXCH ITEMP3
024679,002918: 25,3356 13233 TCF DGCHECK2
024680,002919:
024681,002920: 25,3357 00006 LRSCK EXTEND # RESCALE LR DATA TO LO SCALING
024682,002921: 25,3360 30064 DCA ITEMP3 # MULTIPLY BY 5.
024683,002922: 25,3361 20001 DDOUBL
024684,002923: 25,3362 20001 DDOUBL
024685,002924: 25,3363 13340 TCF DASAMPL
024686,002925:
024687,002926:
024688,002927: 25,3364 30110 SCALCHNG CA RADMODES
024689,002928: 25,3365 00006 EXTEND # INVERT SCALE BIT IN RADMODES
024690,002929: 25,3366 06001 RXOR LCHAN
024691,002930: 25,3367 54110 TS RADMODES
024692,002931:
024693,002932: 25,3370 11110 CCS NSAMP # TEST FOR R12
024694,002933: 25,3371 13401 TCF R12SCHNG
024695,002934:
024696,002935: 25,3372 05515 TC UPFLAG # SET RNGSCFLG FOR LRS24.1
024697,002936: 25,3373 00120 ADRES RNGSCFLG
024698,002937:
024699,002938: 25,3374 33136 CA DGBITS # UPDATE DATA GOOD BITS
024700,002939: 25,3375 00006 EXTEND
024701,002940: 25,3376 02033 RAND CHAN33
024702,002941: 25,3377 55112 TS OLDATAGD
024703,002942: 25,3400 13264 TCF RRBADEND
024704,002943:
024705,002944:
024706,002945: 25,3401 55110 R12SCHNG TS NSAMP # UPDATE NSAMP AND IGNORE READING.
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Page 568
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024708,002947: 25,3402 13414 TCF READVEL
024709,002948:
024710,002949: 25,3403 55110 R12EXIT TS NSAMP # UPDATE NSAMP
024711,002950: 25,3404 00006 EXTEND
024712,002951: 25,3405 13445 BZF STORVEL
024713,002952:
024714,002953: 25,3406 67750 AD NEG3
024715,002954: 25,3407 00006 EXTEND
024716,002955: 25,3410 13425 BZF STORALT
024717,002956:
024718,002957: 25,3411 67752 AD NEGONE
024719,002958: 25,3412 00006 EXTEND
024720,002959: 25,3413 13423 BZF READALT
024721,002960: 25,3414 44757 READVEL CS SEVEN
024722,002961: 25,3415 00006 EXTEND
024723,002962: 25,3416 03013 WAND CHAN13
024724,002963: 25,3417 31077 CA RADUSE
024725,002964: 25,3420 04674 READALT2 TC IBNKCALL
024726,002965: 25,3421 36000 CADR RADSTART
024727,002966: 25,3422 05301 TC RESUME
024728,002967:
024729,002968:
024730,002969: 25,3423 33063 READALT CA ALLREAD # SET UP LR ALTITUDE READ
024731,002970: 25,3424 13420 TCF READALT2
024732,002971:
024733,002972: 25,3425 52064 STORALT DXCH ITEMP3
024734,002973: 25,3426 53655 DXCH HMEAS # STORE ALT IN HMEAS
024735,002974:
024736,002975: 25,3427 40110 CS RADMODES # TEST DATA GOOD
024737,002976: 25,3430 74747 MASK BIT5
024738,002977: 25,3431 00006 EXTEND
024739,002978: 25,3432 13442 BZF HBAD # DATA GOOD NOT PRESENT
024740,002979:
024741,002980: 25,3433 11674 CCS STILBADH # IF DATA JUST GOOD,OR IG RESTART JUST
024742,002981: 25,3434 13443 TCF HSTILBAD # OCCURRED,WAIT
024743,002982:
024744,002983: 25,3435 40107 CS FLGWRD11 # SET FLAG FORR12.
024745,002984: 25,3436 74750 MASK RNGEDBIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
024746,002985: 25,3437 26107 ADS FLGWRD11 # DESTROYED)
024747,002986: 25,3440 03642 ALTEXIT TC RADLITES
024748,002987: 25,3441 13414 TCF READVEL
024749,002988:
024750,002989: 25,3442 34752 HBAD CA TWO # SET STILBADH FOR FOUR SECOND DELAY
024751,002990: 25,3443 55674 HSTILBAD TS STILBADH
024752,002991: 25,3444 13440 TCF ALTEXIT
024753,002992:
024754,002993: 25,3445 40110 STORVEL CS RADMODES # TEST DATA GOOD
024755,002994: 25,3446 74744 MASK BIT8
024756,002995: 25,3447 00006 EXTEND
024757,002996: 25,3450 13506 BZF VBAD # DATA GOOD NOT PRESENT
024758,002997:
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Page 569
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024760,002999: 25,3451 11675 CCS STILBADV
024761,003000: 25,3452 13507 TCF VSTILBAD
024762,003001:
024763,003002: 25,3453 40107 CS FLGWRD11 # DATA IS GOOD, SET FLAG FOR R12
024764,003003: 25,3454 74745 MASK VELDABIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
024765,003004: 25,3455 26107 ADS FLGWRD11 # DESTROYED)
024766,003005: 25,3456 11462 R12DL CCS VSELECT # UPDATE VSELECT
024767,003006: 25,3457 13461 TCF +2
024768,003007: 25,3460 34752 CA TWO
024769,003008: 25,3461 55462 TS VSELECT
024770,003009:
024771,003010: 25,3462 53101 DXCH SAMPLSUM # STORE VEL DATA IN VMEAS
024772,003011: 25,3463 53653 DXCH VMEAS
024773,003012:
024774,003013: 25,3464 00006 EXTEND
024775,003014: 25,3465 31655 DCA HMEAS # STORE HMEAS FOR DOWNLINK
024776,003015: 25,3466 53777 DXCH HMEASDL
024777,003016:
024778,003017: 25,3467 00006 EXTEND
024779,003018: 25,3470 31561 DCA PIPTIME1 # STORE TIME FOR DOWNLINK
024780,003019: 25,3471 53755 DXCH MKTIME
024781,003020:
024782,003021: 25,3472 00006 EXTEND
024783,003022: 25,3473 31156 DCA CDUTEMPY # STORE CDUY,CDUZ FOR DOWNLINK
024784,003023: 25,3474 53460 DXCH AIG
024785,003024:
024786,003025: 25,3475 31154 CA CDUTEMPX # STORE CDUX FOR LINK
024787,003026: 25,3476 55461 TS AOG
024788,003027:
024789,003028: 25,3477 03642 TC RADLITES # UPDATE DSKY VEL LIGHT
024790,003029: 25,3500 34755 CA ZERO
024791,003030: 25,3501 55077 TS RADUSE
024792,003031:
024793,003032: 25,3502 44751 OKUPDATE CS R12RDBIT # R12 READ IS DONE SO ALLOW R12 UPDATE
024794,003033: 25,3503 70107 MASK FLGWRD11
024795,003034: 25,3504 54107 TS FLGWRD11
024796,003035:
024797,003036: 25,3505 05301 TC RESUME
024798,003037:
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Page 570
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024800,003039: 25,3506 34752 VBAD CA TWO
024801,003040: 25,3507 55675 VSTILBAD TS STILBADV
024802,003041: 25,3510 13456 TCF R12DL
024803,003042:
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Page 571
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024805,003044: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024806,003045:
024807,003046:
024808,003047: 17,2000 SETLOC C13BANK
024809,003048: 17,2000 BANK
024810,003049:
024811,003050: 17,2000 54002 RADSTART TS Q
024812,003051: 17,2001 00006 +1 EXTEND
024813,003052: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
024814,003053: 17,2003 54001 TS L
024815,003054:
024816,003055: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
024817,003056: 17,2005 40000 COM
024818,003057: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
024819,003058: 17,2007 74346 MASK LOW5
024820,003059: 17,2010 55270 TS RADDEL
024821,003060:
024822,003061: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024823,003062: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
024824,003063: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
024825,003064:
024826,003065: 17,2014 30002 CA Q
024827,003066: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
024828,003067: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
024829,003068:
024830,003069: 17,2017 40001 CS L
024831,003070: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
024832,003071: 17,2021 04707 TC ISWRETRN
024833,003072:
024834,003073:
024835,003074: 17,2022 55266 C13STAL1 TS C13FSAV
024836,003075:
024837,003076: 17,2023 34750 CA BIT4
024838,003077: 17,2024 00006 EXTEND
024839,003078: 17,2025 02013 RAND CHAN13
024840,003079: 17,2026 00006 EXTEND
024841,003080: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
024842,003081:
024843,003082: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
024844,003083: 17,2031 00006 EXTEND
024845,003084: 17,2032 00004 READ LOSCALAR
024846,003085: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
024847,003086: 17,2034 64736 AD HALF
024848,003087: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
024849,003088: 17,2036 56001 XCH L
024850,003089:
024851,003090: 17,2037 32053 CA 90MSCALR
024852,003091: 17,2040 61270 AD RADDEL
024853,003092: 17,2041 00006 EXTEND
024854,003093: 17,2042 60001 SU L
|
|
Page 572
|
024856,003095: 17,2043 00006 EXTEND
024857,003096: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
024858,003097:
024859,003098: 17,2045 62054 AD -DTSCALR
024860,003099: 17,2046 00006 EXTEND
024861,003100: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024862,003101:
024863,003102: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
024864,003103: 17,2051 31266 CA C13FSAV
024865,003104: 17,2052 52005 DTCF
024866,003105:
024867,003106: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
024868,003107: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
024869,003108:
024870,003109: 6000 SETLOC FFTAG6
024871,003110: 6000 BANK
024872,003111:
024873,003112: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
024874,003113: 6023 56004 XCH FBANK
024875,003114: 6024 12022 TCF C13STAL1
024876,003115:
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|
Page 573
|
024878,003117: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024879,003118:
024880,003119: 25,3511 BANK 25
024881,003120: 25,2000 SETLOC P20S1
024882,003121: 25,2000 BANK
024883,003122: 25,3511 COUNT* $$/RSUB
024884,003123: 25,3511 00004 LRPOS2 INHINT
024885,003124:
024886,003125: 25,3512 40110 CS RADMODES
024887,003126: 25,3513 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024888,003127: 25,3514 26110 ADS RADMODES
024889,003128:
024890,003129: 25,3515 34745 CAF BIT7
024891,003130: 25,3516 00006 EXTEND
024892,003131: 25,3517 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024893,003132: 25,3520 00006 EXTEND
024894,003133: 25,3521 13532 BZF RADNOOP
024895,003134:
024896,003135: 25,3522 34737 CAF BIT13
024897,003136: 25,3523 00006 EXTEND
024898,003137: 25,3524 05012 WOR CHAN12 # COMMAND TO POSITION 2
024899,003138: 25,3525 33565 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024900,003139: 25,3526 05214 TC WAITLIST
024901,003140: 25,3527 E7,1456 EBANK= LOSCOUNT
024902,003141: 25,3527 03563 52067 2CADR LRPOSCAN
024903,003142:
024904,003143: 25,3531 02357 TC ROADBACK
024905,003144:
024906,003145: 25,3532 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED
024907,003146: 25,3533 05214 TC WAITLIST
024908,003147: 25,3534 E7,1456 EBANK= LOSCOUNT
024909,003148: 25,3534 03616 52067 2CADR RGOODEND
024910,003149:
024911,003150: 25,3536 02357 TC ROADBACK
024912,003151:
024913,003152: 25,3537 55077 LRPOSNXT TS SAMPLIM
024914,003153: 25,3540 05232 TC FIXDELAY # SCAN ONCE PER SECOND 5 TIMES MAX AFTER
024915,003154: 25,3541 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024916,003155:
024917,003156: 25,3542 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024918,003157: 25,3543 00006 EXTEND
024919,003158: 25,3544 02033 RAND CHAN33
024920,003159: 25,3545 00006 EXTEND
024921,003160: 25,3546 13555 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024922,003161:
024923,003162: 25,3547 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
024924,003163: 25,3550 13537 TCF LRPOSNXT
024925,003164:
024926,003165: 25,3551 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024927,003166: 25,3552 00006 EXTEND
|
|
Page 574
|
024929,003168: 25,3553 03012 WAND CHAN12
024930,003169: 25,3554 13623 TCF RDBADEND
024931,003170:
024932,003171: 25,3555 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024933,003172: 25,3556 05235 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024934,003173:
024935,003174: 25,3557 44737 CS BIT13 # REMOVE COMMAND
024936,003175: 25,3560 00006 EXTEND
024937,003176: 25,3561 03012 WAND CHAN12
024938,003177: 25,3562 13616 TCF RGOODEND
024939,003178:
024940,003179: 25,3563 34751 LRPOSCAN CAF FOUR
024941,003180: 25,3564 13537 TCF LRPOSNXT
024942,003181: 25,3565 01130 6SECS DEC 600 B-14
024943,003182:
024944,003183: 25,3566 04616 LRP2COMM TC BANKCALL
024945,003184: 25,3567 53511 CADR LRPOS2
024946,003185: 25,3570 04616 TC BANKCALL
024947,003186: 25,3571 17720 CADR RADSTALL
024948,003187: 25,3572 03574 TC LP2ALM
024949,003188: 25,3573 13605 TCF GOPINNER
024950,003189:
024951,003190: 25,3574 05600 LP2ALM TC ALARM
024952,003191: 25,3575 00523 OCT 523
024953,003192: 25,3576 13605 TCF GOPINNER
024954,003193:
024955,003194: 25,3577 35016 V59GP63 CA EBANK7
024956,003195: 25,3600 54003 TS EBANK
024957,003196: 25,3601 E7,1427 EBANK= RPCRTIME
024958,003197: 25,3601 34733 CA POSMAX
024959,003198: 25,3602 55427 TS RPCRTIME
024960,003199: 25,3603 44736 CS BIT14
024961,003200: 25,3604 55430 TS RPCRTQSW
024962,003201: 25,3605 04635 GOPINNER TC POSTJUMP
024963,003202: 25,3606 21051 CADR PINBRNCH
024964,003203:
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|
Page 575
|
024966,003205: # SEQUENCES TO TERMINATE RR OPERATIONS.
024967,003206:
024968,003207: 25,3607 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024969,003208: 25,3610 70110 MASK RADMODES
024970,003209: 25,3611 10000 CCS A
024971,003210: 25,3612 13616 TCF RGOODEND
024972,003211: 25,3613 13623 TCF RDBADEND
024973,003212: 25,3614 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024974,003213: 25,3615 54332 TS RUPTAGN
024975,003214:
024976,003215: 25,3616 34752 RGOODEND CAF TWO
024977,003216: 25,3617 04635 TC POSTJUMP
024978,003217: 25,3620 17671 CADR GOODEND
024979,003218:
024980,003219: 25,3621 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024981,003220: 25,3622 54332 TS RUPTAGN
024982,003221: 25,3623 34752 RDBADEND CAF TWO
024983,003222: 25,3624 04635 TC POSTJUMP
024984,003223: 25,3625 17666 CADR BADEND
024985,003224:
024986,003225: 25,3626 6250 BIN3 EQUALS THREE
024987,003226:
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|
Page 576
|
024989,003228: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024990,003229: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024991,003230:
024992,003231:
024993,003232: # FUNCTIONAL DESCRIPTION_
024994,003233:
024995,003234: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024996,003235: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024997,003236: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024998,003237:
024999,003238:
025000,003239: # CALLING SEQUENCE CALL
025001,003240: # LPS20.1
025002,003241:
025003,003242: # SUBROUTINES CALLED_
025004,003243:
025005,003244: # LEMPREC,CSMPREC
025006,003245:
025007,003246:
025008,003247: # NORMAL EXIT_ RETURN TO CALLER + 2
025009,003248:
025010,003249:
025011,003250: # ERROR EXITS_ NONE
025012,003251:
025013,003252:
025014,003253: # ALARMS_ NONE
025015,003254:
025016,003255:
025017,003256: # OUTPUT_
025018,003257:
025019,003258: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
025020,003259: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
025021,003260: # RRNBSW CLEARED
025022,003261:
025023,003262:
025024,003263: # INITIALIZED ERASEABLE
025025,003264:
025026,003265: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
025027,003266: # SEE ORBITAL INTEGRATION ROUTINE
025028,003267:
025029,003268:
025030,003269: # DEBRIS_
025031,003270:
025032,003271: # MPAC DESTROYED BY THIS ROUTINE
025033,003272:
025034,003273: 23,2333 BANK 23
025035,003274: 24,2000 SETLOC P20S
025036,003275: 24,2000 BANK
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|
Page 577
|
025038,003277: 24,3340 COUNT* $$/LPS20
025039,003278:
025040,003279: 24,3340 43020 LPS20.1 STQ BOFF
025041,003280: 24,3341 01755 LS21X
025042,003281: 24,3342 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
025043,003282: 24,3343 51347 LMINT # SO CALL LEMCONIC TO GET LM STATE
025044,003283: 24,3344 77614 BON # IF IN R21 AND ON LUNAR SURFACE
025045,003284: 24,3345 04307 SURFFLAG # DON'T CALL LEMCONIC
025046,003285: 24,3346 51357 CSMINT
025047,003286: 24,3347 77624 LMINT CALL
025048,003287: 24,3350 27077 LEMCONIC # EXTRAPOLATE LEM
025049,003288: 24,3351 77775 VLOAD
025050,003289: 24,3352 00001 RATT
025051,003290: 24,3353 26352 STOVL LMPOS # SAVE LM POSITION B-29
025052,003291: 24,3354 00007 VATT
025053,003292: 24,3355 16360 STODL LMVEL # SAVE LM VELOCITY B-7
025054,003293: 24,3356 00015 TAT
025055,003294: 24,3357 34041 CSMINT STCALL TDEC1
025056,003295: 24,3360 27065 CSMCONIC # EXTRAPOLATE CSM
025057,003296: 24,3361 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
025058,003297: 24,3362 00007 VATT
025059,003298: 24,3363 02360 LMVEL
025060,003299: 24,3364 00017 STORE VELLOS
025061,003300: 24,3365 76521 MXV VSL1
025062,003301: 24,3366 01732 REFSMMAT
025063,003302: 24,3367 77776 EXIT
025064,003303: 24,3370 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
025065,003304: 24,3371 52573 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
025066,003305: 24,3372 06042 TC INTPRET
025067,003306: 24,3373 25757 STOVL LOSVEL
025068,003307: 24,3374 00001 RATT
025069,003308: 24,3375 77651 VSU
025070,003309: 24,3376 02352 LMPOS
025071,003310: 24,3377 00025 STORE RRANGE # RANGE FOR POSSIBLE ALARM B-29
025072,003311: 24,3400 54204 BOVB VSL
025073,003312: 24,3401 57754 TCDANZIG
025074,003313: 24,3402 20212 9D
025075,003314: 24,3403 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW , RANGE MUST BE GREATER
025076,003315: 24,3404 50104 526ALARM # THAN 400 N. M.
025077,003316: 24,3405 76521 MXV VSL1
025078,003317: 24,3406 01732 REFSMMAT # CONVERT TO STABLE MEMBER
025079,003318: 24,3407 15101 STODL RRTARGET
025080,003319: 24,3410 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
025081,003320: 24,3411 01765 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
025082,003321: 24,3412 77614 CLRGO
025083,003322: 24,3413 00231 RRNBSW
025084,003323: 24,3414 01755 LS21X
025085,003324: 24,3415 RRANGE EQUALS 20D
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|
Page 578
|
025087,003326: 24,3415 VELLOS EQUALS 14D
025088,003327:
|
|
Page 579
|
025090,003329: # PROGRAM NAME : LPS20.2 400 N. MI. RANGE CHECK
025091,003330: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025092,003331:
025093,003332:
025094,003333: # FUNCTIONAL DESCRIPTION_
025095,003334:
025096,003335: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
025097,003336:
025098,003337:
025099,003338: # CALLING SEQUENCE CALL
025100,003339: # LPS20.2
025101,003340:
025102,003341:
025103,003342: # SUBROUTINES CALLED_ NONE
025104,003343:
025105,003344:
025106,003345: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
025107,003346:
025108,003347:
025109,003348: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
025110,003349:
025111,003350:
025112,003351: # ALARMS_ NONE
025113,003352:
025114,003353:
025115,003354: # OUTPUT_ NONE
025116,003355:
025117,003356:
025118,003357: # INITIALIZED ERASEABLE_
025119,003358:
025120,003359: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
025121,003360: # DEBRIS
025122,003361:
025123,003362: # MPAC DESTROYED BY THIS ROUTINE
025124,003363:
025125,003364: 25,2000 SETLOC P20S1
025126,003365: 25,2000 BANK
025127,003366: 25,3626 COUNT* $$/LPS20
025128,003367:
025129,003368: 25,3626 45345 LPS20.2 DLOAD DSU
025130,003369: 25,3627 01765 MLOSV # MAGNITUDE OF LOS
025131,003370: 25,3630 13641 FHNM # OVER 400NM _
025132,003371: 25,3631 77644 BPL
025133,003372: 25,3632 53635 TOFAR
025134,003373: 25,3633 43535 SLOAD RVQ
025135,003374: 25,3634 06470 ZERO/SP
025136,003375: 25,3635 43535 TOFAR SLOAD RVQ
025137,003376: 25,3636 13640 ONE/SP
025138,003377: 25,3637 00001 ONE/SP DEC 1 B-14
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|
Page 580
|
025140,003379: 25,3640 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
025141,003380:
|
|
Page 581
|
025143,003382: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
025144,003383: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
025145,003384:
025146,003385:
025147,003386: # FUNCTIONAL DESCRIPTION
025148,003387:
025149,003388: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
025150,003389: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
025151,003390: # RR REPOSITION AND RR CDU FAIL
025152,003391:
025153,003392: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
025154,003393:
025155,003394:
025156,003395: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
025157,003396:
025158,003397:
025159,003398: # SUBROUTINES CALLED:
025160,003399:
025161,003400: # RRRDOT LPS20.1
025162,003401: # RRRANGE BANKCALL
025163,003402: # RADSTALL CDULOGIC
025164,003403: # RRNB SMNB
025165,003404: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
025166,003405:
025167,003406:
025168,003407: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
025169,003408:
025170,003409: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
025171,003410: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
025172,003411:
025173,003412:
025174,003413: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
025175,003414: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
025176,003415:
025177,003416:
025178,003417: # OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
025179,003418: # RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
025180,003419:
025181,003420: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
025182,003421:
025183,003422: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
025184,003423: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
025185,003424: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
025186,003425: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
025187,003426: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
025188,003427:
025189,003428:
025190,003429: # ERASABLE INITIALIZATION REQUIRED:
025191,003430:
025192,003431: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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|
Page 582
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025194,003433: # 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
025195,003434: # 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
025196,003435:
025197,003436: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
025198,003437:
025199,003438:
025200,003439: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
025201,003440:
025202,003441:
025203,003442: 32,2366 BANK 32
025204,003443: 32,2000 SETLOC LRS22
025205,003444: 32,2000 BANK
025206,003445: 32,2366 COUNT* $$/LRS22
025207,003446:
025208,003447: 32,2366 04645 LRS22.1 TC MAKECADR
025209,003448: 32,2367 55737 TS LRS22.1X
025210,003449: 32,2370 05527 TC DOWNFLAG
025211,003450: 32,2371 00120 ADRES RNGSCFLG
025212,003451: 32,2372 00004 INHINT
025213,003452: 32,2373 34751 CAF BIT3
025214,003453: 32,2374 00006 EXTEND # GET RR RANGE SCALE
025215,003454: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
025216,003455: 32,2376 54001 TS L
025217,003456: 32,2377 44751 CS RRRSBIT
025218,003457: 32,2400 70110 MASK RADMODES
025219,003458: 32,2401 60001 AD L
025220,003459: 32,2402 54110 TS RADMODES
025221,003460: 32,2403 00003 RELINT
025222,003461: 32,2404 04616 READRDOT TC BANKCALL
025223,003462: 32,2405 53072 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
025224,003463: 32,2406 04616 TC BANKCALL
025225,003464: 32,2407 17720 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
025226,003465: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
025227,003466:
025228,003467: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
025229,003468: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
025230,003469: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
025231,003470: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
025232,003471: 32,2415 53747 DXCH RDOTMSAV
025233,003472: 32,2416 00006 EXTEND
025234,003473: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
025235,003474: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
025236,003475: 32,2421 30032 CA CDUX
025237,003476: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
025238,003477: 32,2423 00006 EXTEND
025239,003478: 32,2424 30025 DCA TIME2 # SAVE TIME
025240,003479: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
025241,003480: 32,2426 00006 EXTEND
025242,003481: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025243,003482: 32,2430 53107 DXCH TANG
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|
Page 583
|
025245,003484: 32,2431 00003 RELINT
025246,003485: 32,2432 04616 TC BANKCALL
025247,003486: 32,2433 53074 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
025248,003487: 32,2434 04616 TC BANKCALL
025249,003488: 32,2435 17720 CADR RADSTALL # WAIT FOR READ COMPLETE
025250,003489: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
025251,003490: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
025252,003491: 32,2440 00006 EXTEND
025253,003492: 32,2441 31331 DCA DNRRANGE # RANGE,RANGE RATE (RAW DATA)
025254,003493: 32,2442 53761 DXCH RANGRDOT
025255,003494: 32,2443 52162 DXCH MPAC +5
025256,003495: 32,2444 53755 DXCH MKTIME # MARK TIME
025257,003496: 32,2445 52160 DXCH MPAC +3
025258,003497: 32,2446 53460 DXCH AIG # CDUY, CDUZ
025259,003498: 32,2447 00006 EXTEND
025260,003499: 32,2450 31107 DCA TANG # PRESERVE TANG
025261,003500: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
025262,003501: 32,2452 30156 CA MPAC +2
025263,003502: 32,2453 55461 TS AOG # CDUX
025264,003503: 32,2454 06042 TC INTPRET
025265,003504: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
025266,003505: 32,2456 03747 RDOTMSAV # CONVERT ROOT UNITS AND SCALING
025267,003506: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
025268,003507: 32,2460 20217 14D # FT./SECOND PER BIT
025269,003508: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
025270,003509: 32,2462 03751 STORE RDOTM
025271,003510: 32,2463 47135 SLOAD RTB
025272,003511: 32,2464 01107 TANG # GET TRUNION ANGLE
025273,003512: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
025274,003513: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
025275,003514: 32,2467 47135 SLOAD RTB
025276,003515: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
025277,003516: 32,2471 21577 CDULOGIC
025278,003517: 32,2472 17736 STODL RRSHAFT
025279,003518: 32,2473 01101 SAMPLSUM
025280,003519: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
025281,003520: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS,SCALED -29
025282,003521: 32,2476 37757 STCALL RM
025283,003522: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
025284,003523: 32,2500 17741 STODL RRBORSIT # AND SAVE
025285,003524: 32,2501 00025 20D
025286,003525: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
025287,003526: 32,2503 51340 LPS20.1
025288,003527: 32,2504 77776 EXIT
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Page 584
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025290,003529: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
025291,003530: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
025292,003531: 32,2507 31460 CA AMG
025293,003532: 32,2510 54767 TS CDUSPOT +2
025294,003533: 32,2511 31461 CA AOG
025295,003534: 32,2512 54771 TS CDUSPOT +4
025296,003535: 32,2513 06042 TC INTPRET
025297,003536: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
025298,003537: 32,2515 01101 RRTARGET
025299,003538: 32,2516 47626 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
025300,003539: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
025301,003540: 32,2520 03741 RRBORSIT
025302,003541: 32,2521 65552 SL1 ACOS # BETWEEN THEM
025303,003542: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
025304,003543: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
025305,003544: 32,2524 24547 THREEDEG
025306,003545: 32,2525 64532 NORMEXIT # YES-NORMAL EXIT
025307,003546:
025308,003547: 32,2526 77776 EXIT # ERROR EXIT 2
025309,003548: 32,2527 34752 CAF BIT2 # SET ERROR CODE
025310,003549: 32,2530 54154 TS MPAC
025311,003550: 32,2531 12535 TCF OUT22.1
025312,003551:
025313,003552: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
025314,003553: 32,2533 34755 CAF ZERO
025315,003554: 32,2534 54154 TS MPAC
025316,003555: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
025317,003556: 32,2536 04640 TC BANKJUMP
025318,003557: 32,2537 30101 CHEXERR CAE FLAGWRD5
025319,003558: 32,2540 74742 MASK RNGSCBIT
025320,003559: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
025321,003560: 32,2542 12404 TCF READRDOT # YES-TAKE ANOTHER READING
025322,003561:
025323,003562: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
025324,003563: 32,2544 54154 TS MPAC
025325,003564: 32,2545 02535 TC OUT22.1
025326,003565: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
025327,003566:
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Page 585
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025329,003568: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025330,003569:
025331,003570:
025332,003571: # MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
025333,003572:
025334,003573: # FUNCTIONAL DESCRIPTION-
025335,003574:
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|
(Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003)
|
025337,003576: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025338,003577:
025339,003578:
025340,003579: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
025341,003580:
025342,003581:
025343,003582: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
025344,003583: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025345,003584:
025346,003585:
025347,003586: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025348,003587:
025349,003588:
025350,003589: # ALARMS - NONE IN THE AUTO MODE
025351,003590:
025352,003591:
025353,003592: # ERASABLE INITIALIZATION REQUIRED -
025354,003593: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
025355,003594: # RM - RR RANGE, METERS B-29, FROM LRS22.1
025356,003595: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
025357,003596:
025358,003597:
025359,003598: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025360,003599:
025361,003600:
025362,003601: 24,2000 SETLOC P20S
025363,003602: 24,2000 BANK
025364,003603: 24,3415 04645 LRS22.2 TC MAKECADR
025365,003604: 24,3416 55737 TS LRS22.1X
025366,003605: 24,3417 06042 TC INTPRET
025367,003606: # CHECK IF RR LOS IS WITHIN 30 DEG OF
025368,003607: 24,3420 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
025369,003608: 24,3421 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
025370,003609: # LOS VECTOR,A HALF UNIT VECTOR
025371,003610: # IN NAV BASE AXES)
025372,003611: 24,3422 50025 DSU BMN
025373,003612: 24,3423 11437 30DEG
025374,003613: 24,3424 51431 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
025375,003614: 24,3425 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
025376,003615: 24,3426 34753 CAF BIT1 # SET ERROR CODE IN MPAC
025377,003616: 24,3427 54154 TS MPAC
025378,003617: 24,3430 13434 TCF OUT22.2
025379,003618: 24,3431 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
025380,003619:
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Page 586
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025382,003621: 24,3432 34755 CAF ZERO
025383,003622: 24,3433 54154 TS MPAC
025384,003623: 24,3434 31737 OUT22.2 CAE LRS22.1X
025385,003624: 24,3435 04640 TC BANKJUMP
025386,003625:
025387,003626:
025388,003627: 24,3436 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
025389,003628:
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Page 587
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025391,003630: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
025392,003631: # MOD. NO 3 LOG SECTION - P20-25
025393,003632: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
025394,003633:
025395,003634: # FUNCTIONAL DESCRIPTION
025396,003635:
025397,003636: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025398,003637: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025399,003638: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025400,003639:
025401,003640: # CALLING SEQUENCE
025402,003641: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
025403,003642: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
025404,003643: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
025405,003644: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
025406,003645: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025407,003646: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
025408,003647:
025409,003648:
025410,003649: # SUBROUTINES CALLED
025411,003650: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
025412,003651: # GETULC RARARANG INCORP2 NBSM INTSTALL
025413,003652:
025414,003653: # OUTPUT
025415,003654: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025416,003655: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025417,003656: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025418,003657: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025419,003658: # UPDATED W-MATRIX
025420,003659:
025421,003660:
025422,003661: # ERASABLE INITIALIZATION REQUIRED
025423,003662: # LM AND CSM STATE VECTORS
025424,003663: # W-MATRIX
025425,003664: # MARK TIME IN MKTIME
025426,003665: # RADAR RANGE IN RM METERS B-29
025427,003666: # RANGE RATE IN RDOTM METERS/CSES B-7
025428,003667: # SHAFT ANGLE IN RRSHAFT REVS.B0
025429,003668: # TRUNNION ANGLE IN RRTRUN REVS. B0
025430,003669: # GIMBAL ANGLES INNER IN AIG
025431,003670: # MIDDLE IN AMG
025432,003671: # OUTER IN AOG
025433,003672: # REFSMMAT
025434,003673: # RENDWFLG
025435,003674: # NOANGFLG
025436,003675: # VEHUPFLG
025437,003676:
025438,003677: # DEBRIS
025439,003678: # PUSHLIST--ALL
025440,003679: # MX, MY, MZ (VECTORS)
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Page 588
|
025442,003681: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
025443,003682:
025444,003683:
025445,003684: 13,2207 BANK 13
025446,003685: 26,2000 SETLOC P20S3
025447,003686: 26,2000 BANK
025448,003687:
025449,003688: 26,2420 E7,1456 EBANK= LOSCOUNT
025450,003689: 26,2420 COUNT* $$/LSR22
025451,003690: 26,2420 77624 LSR22.3 CALL
025452,003691: 26,2421 11216 GRP2PC
025453,003692: 26,2422 43014 BON SET
025454,003693: 26,2423 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
025455,003694: 26,2424 55202 LSR22.4 # YES
025456,003695: 26,2425 02466 DMENFLG
025457,003696: 26,2426 45014 BOFF CALL
025458,003697: 26,2427 00747 VEHUPFLG
025459,003698: 26,2430 54462 DOLEM
025460,003699: 26,2431 27410 INTSTALL
025461,003700: 26,2432 45014 CLEAR CALL # LM PRECISION INTEGRATION
025462,003701: 26,2433 01674 VINTFLAG
025463,003702: 26,2434 26643 SETIFLGS
025464,003703: 26,2435 77624 CALL
025465,003704: 26,2436 55244 INTGRCAL
025466,003705: 26,2437 77624 CALL
025467,003706: 26,2440 11216 GRP2PC
025468,003707: 26,2441 77624 CALL
025469,003708: 26,2442 27410 INTSTALL
025470,003709: 26,2443 43014 CLEAR BOFF
025471,003710: 26,2444 01676 DIM0FLAG
025472,003711: 26,2445 02756 RENDWFLG
025473,003712: 26,2446 54452 NOTWCSM
025474,003713: 26,2447 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
025475,003714: 26,2450 01476 DIM0FLAG
025476,003715: 26,2451 01475 D6OR9FLG
025477,003716: 26,2452 43014 NOTWCSM SET CLEAR
025478,003717: 26,2453 01474 VINTFLAG
025479,003718: 26,2454 01673 INTYPFLG
025480,003719: 26,2455 45014 SET CALL
025481,003720: 26,2456 01472 STATEFLG
025482,003721: 26,2457 55244 INTGRCAL
025483,003722: 26,2460 77650 GOTO
025484,003723: 26,2461 54512 MARKTEST
025485,003724: 26,2462 77624 DOLEM CALL
025486,003725: 26,2463 27410 INTSTALL
025487,003726: 26,2464 45014 SET CALL
025488,003727: 26,2465 01474 VINTFLAG
025489,003728: 26,2466 26643 SETIFLGS
025490,003729: 26,2467 77624 CALL
025491,003730: 26,2470 55244 INTGRCAL
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Page 589
|
025493,003732: 26,2471 77624 CALL
025494,003733: 26,2472 11216 GRP2PC
025495,003734: 26,2473 77624 CALL
025496,003735: 26,2474 27410 INTSTALL
025497,003736: 26,2475 43014 CLEAR BOFF
025498,003737: 26,2476 01676 DIM0FLAG
025499,003738: 26,2477 02756 RENDWFLG
025500,003739: 26,2500 54504 NOTWLEM
025501,003740: 26,2501 43014 SET SET # LM WITH W-MATRIX INTEGRATION
025502,003741: 26,2502 01476 DIM0FLAG
025503,003742: 26,2503 01475 D6OR9FLG
025504,003743: 26,2504 43014 NOTWLEM CLEAR CLEAR
025505,003744: 26,2505 01673 INTYPFLG
025506,003745: 26,2506 01674 VINTFLAG
025507,003746: 26,2507 45014 SET CALL
025508,003747: 26,2510 01472 STATEFLG
025509,003748: 26,2511 55244 INTGRCAL
025510,003749: 26,2512 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
025511,003750: 26,2513 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
025512,003751: 26,2514 54516 RANGEBQ
025513,003752: 26,2515 55253 WLINIT # YES-REINITIALIZE
025514,003753: 26,2516 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
025515,003754: 26,2517 04307 SURFFLAG
025516,003755: 26,2520 54526 RANGEBQ1
025517,003756: 26,2521 34755 CA ZERO
025518,003757: 26,2522 55745 TS R65CNTR
025519,003758: 26,2523 04616 TC BANKCALL
025520,003759: 26,2524 46123 CADR R65LEM
025521,003760: 26,2525 06042 TC INTPRET
025522,003761: 26,2526 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
025523,003762: 26,2527 00000 0
025524,003763: 26,2530 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
025525,003764: 26,2531 54534 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
025526,003765: 26,2532 77714 INCR,2
025527,003766: 26,2533 00002 2
025528,003767: 26,2534 45134 SETX2 SXA,2 CALL
025529,003768: 26,2535 03720 SCALSHFT # 0-MOON. 2-EARTH
025530,003769: 26,2536 11216 GRP2PC
025531,003770: 26,2537 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
025532,003771: 26,2540 00001 1
025533,003772: 26,2541 01353 WHCHREAD
025534,003773: 26,2542 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
025535,003774: 26,2543 01773 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
025536,003775: 26,2544 20635 28D
025537,003776: 26,2545 77634 RTB
025538,003777: 26,2546 21634 TPMODE # AND SAVE IN 20D
025539,003778: 26,2547 00025 STORE 20D
025540,003779: 26,2550 77624 CALL # BEGIN COMPUTING THE B-VECTORS,DELTAQ
025541,003780: 26,2551 55335 GETULC # B-VECTORS FOR RANGE
025542,003781: 26,2552 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
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Page 590
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025544,003783: 26,2553 00707 VEHUPFLG
025545,003784: 26,2554 54555 +1
025546,003785: 26,2555 27525 STOVL BVECTOR
025547,003786: 26,2556 06470 ZEROVECS
025548,003787: 26,2557 03533 STORE BVECTOR +6 # B1
025549,003788: 26,2560 17541 STODL BVECTOR +12D # B2
025550,003789: 26,2561 00045 36D
025551,003790: 26,2562 44257 SRR* BDSU
025552,003791: 26,2563 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
025553,003792: 26,2564 03757 RM # RM - (MAGNITUDE RCSM-RLM)
025554,003793: 26,2565 77657 SLR*
025555,003794: 26,2566 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
025556,003795: 26,2567 17547 STODL DELTAQ # EARTH B-29. MOON B-27
025557,003796: 26,2570 00045 36D # RLC B-29/B-27
025558,003797: 26,2571 63501 NORM DSQ # NORMALIZE AND SQUARE
025559,003798: 26,2572 00047 X1
025560,003799: 26,2573 53605 DMP SR*
025561,003800: 26,2574 01767 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
025562,003801: 26,2575 20577 0 -2,1 # UNNORMALIZE
025563,003802: 26,2576 53657 SR* SR*
025564,003803: 26,2577 20601 0,1
025565,003804: 26,2600 57176 0,2
025566,003805: 26,2601 47057 SR* RTB
025567,003806: 26,2602 57176 0,2
025568,003807: 26,2603 21634 TPMODE
025569,003808: 26,2604 02707 STORE VARIANCE # B-40
025570,003809: 26,2605 76276 DCOMP TAD
025571,003810: 26,2606 00025 20D # B-40
025572,003811: 26,2607 72240 BMN TLOAD
025573,003812: 26,2610 54613 QOK
025574,003813: 26,2611 00025 20D # B-40
025575,003814: 26,2612 02707 STORE VARIANCE
025576,003815: 26,2613 77624 QOK CALL
025577,003816: 26,2614 55403 LGCUPDTE
025578,003817:
025579,003818: 26,2615 45131 SSP CALL
025580,003819: 26,2616 01354 WHCHREAD
025581,003820: 26,2617 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
025582,003821: 26,2620 11216 GRP2PC
025583,003822: 26,2621 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
025584,003823: 26,2622 55335 GETULC
025585,003824: 26,2623 53725 PDDL SR* # GET RLC SCALED B-29/B-27
025586,003825: 26,2624 00045 36D # AND SHIFT TO B-23
025587,003826: 26,2625 57202 0 -4,2
025588,003827: 26,2626 24045 STOVL 36D # THEN STORE BACK IN 36D
025589,003828: 26,2627 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
025590,003829: 26,2630 00707 VEHUPFLG
025591,003830: 26,2631 54632 +1
025592,003831: 26,2632 77761 VXSC
025593,003832: 26,2633 00045 36D # B1 = RLC (B-24/B-22)
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Page 591
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025595,003834: 26,2634 27533 STOVL BVECTOR +6
025596,003835: 26,2635 01653 NUVLEM
025597,003836: 26,2636 53257 VSR* VAD
025598,003837: 26,2637 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025599,003838: 26,2640 01667 VCVLEM # EARTH B-7. MOON B-5
025600,003839: 26,2641 53715 PDVL VSR* # VL TO PD6
025601,003840: 26,2642 01601 NUVCSM
025602,003841: 26,2643 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025603,003842: 26,2644 52255 VAD VSU
025604,003843: 26,2645 01615 VCVCSM
025605,003844: 26,2646 50315 PDVL DOT # VC - VL = VLC TO PD6
025606,003845: 26,2647 00001 0
025607,003846: 26,2650 00007 6
025608,003847: 26,2651 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
025609,003848: 26,2652 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
025610,003849: 26,2653 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
025611,003850: 26,2654 01771 RATEVAR
025612,003851: 26,2655 02707 STORE VARIANCE
025613,003852: 26,2656 54335 SLOAD SR
025614,003853: 26,2657 01774 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
025615,003854: 26,2660 20621 16D # SHIFT TO DP (B -4)
025616,003855: 26,2661 00031 STORE 24D # AND SAVE IN 24D
025617,003856: 26,2662 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
025618,003857: 26,2663 02707 VARIANCE
025619,003858: 26,2664 54670 VOK # BRANCH - NO
025620,003859: 26,2665 77745 DLOAD # YES - USE MINIMUM VARIANCE
025621,003860: 26,2666 00031 24D
025622,003861: 26,2667 02707 STORE VARIANCE
025623,003862: 26,2670 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
025624,003863: 26,2671 53725 PDDL SLR* # TO B-10/B-8
025625,003864: 26,2672 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
025626,003865: 26,2673 56577 0 -1,2 # B-7 TO B-10/B-8
025627,003866: 26,2674 77625 DSU
025628,003867: 26,2675 77675 DMPR
025629,003868: 26,2676 00045 36D
025630,003869: 26,2677 27547 STOVL DELTAQ # B-33
025631,003870: 26,2700 00001 0 # NOW GET B0
025632,003871: 26,2701 47235 VXV VXV # (ULC X VLC) X ULC
025633,003872: 26,2702 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025634,003873: 26,2703 00707 VEHUPFLG
025635,003874: 26,2704 54705 +1
025636,003875: 26,2705 77657 VSR*
025637,003876: 26,2706 57200 0 -2,2 # SCALED B-5
025638,003877: 26,2707 27525 STOVL BVECTOR
025639,003878: 26,2710 06470 ZEROVECS
025640,003879: 26,2711 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
025641,003880: 26,2712 27541 STOVL BVECTOR +12D
025642,003881: 26,2713 03525 BVECTOR
025643,003882: 26,2714 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
025644,003883: 26,2715 00025 20D # SHIFT COUNT IN 20D
|
|
Page 592
|
025646,003885: 26,2716 51575 VLOAD ABVAL
025647,003886: 26,2717 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
025648,003887: 26,2720 71301 NORM DLOAD
025649,003888: 26,2721 00027 22D # SHIFT COUNT IN 22D
025650,003889: 26,2722 00027 22D # FIND WHICH SHIFT IS SMALLER
025651,003890: 26,2723 50025 DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
025652,003891: 26,2724 00025 20D
025653,003892: 26,2725 54731 VOK1
025654,003893: 26,2726 52150 LXA,1 GOTO
025655,003894: 26,2727 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
025656,003895: 26,2730 54733 VOK2
025657,003896: 26,2731 77750 VOK1 LXA,1
025658,003897: 26,2732 00024 20D
025659,003898: 26,2733 53775 VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
025660,003899: 26,2734 03525 BVECTOR # WITH THIS SHIFT COUNT
025661,003900: 26,2735 20201 0,1
025662,003901: 26,2736 27525 STOVL BVECTOR
025663,003902: 26,2737 03533 BVECTOR +6
025664,003903: 26,2740 77657 VSL*
025665,003904: 26,2741 20201 0,1
025666,003905: 26,2742 17533 STODL BVECTOR +6
025667,003906: 26,2743 03547 DELTAQ
025668,003907: 26,2744 77657 SL*
025669,003908: 26,2745 20201 0,1
025670,003909: 26,2746 03547 STORE DELTAQ
025671,003910: 26,2747 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
025672,003911: 26,2750 00045 36D
025673,003912: 26,2751 20200 0 -1,1
025674,003913: 26,2752 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
025675,003914: 26,2753 02707 VARIANCE
025676,003915: 26,2754 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025677,003916: 26,2755 21634 TPMODE
025678,003917: 26,2756 36707 STCALL VARIANCE # AND STORE TP VARIANCE
025679,003918: 26,2757 55403 LGCUPDTE
025680,003919:
025681,003920: 26,2760 77624 CALL
025682,003921: 26,2761 11216 GRP2PC
025683,003922: 26,2762 77414 BON EXIT # ARE ANGLES TO BE DONE
025684,003923: 26,2763 04307 SURFFLAG
025685,003924: 26,2764 55200 RENDEND # NO
025686,003925: 26,2765 E7,1457 EBANK= AIG
025687,003926: 26,2765 33334 MXMYMZ CAF AIGBANK
025688,003927: 26,2766 54006 TS BBANK
025689,003928: 26,2767 31457 CA AIG # YES, COMPUTE MX, MY, MZ
025690,003929: 26,2770 54765 TS CDUSPOT
025691,003930: 26,2771 31460 CA AMG
025692,003931: 26,2772 54767 TS CDUSPOT +2
025693,003932: 26,2773 31461 CA AOG
025694,003933: 26,2774 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025695,003934: 26,2775 06042 TC INTPRET
|
|
Page 593
|
025697,003936: 26,2776 45175 VLOAD CALL
025698,003937: 26,2777 06466 UNITX
025699,003938: 26,3000 47641 TRG*NBSM
025700,003939: 26,3001 76505 VXM VSL1
025701,003940: 26,3002 01732 REFSMMAT
025702,003941: 26,3003 27677 STOVL MX
025703,003942: 26,3004 06464 UNITY
025704,003943: 26,3005 77624 CALL
025705,003944: 26,3006 47650 *NBSM*
025706,003945: 26,3007 76505 VXM VSL1
025707,003946: 26,3010 01732 REFSMMAT
025708,003947: 26,3011 27705 STOVL MY
025709,003948: 26,3012 06462 UNITZ
025710,003949: 26,3013 77624 CALL
025711,003950: 26,3014 47650 *NBSM*
025712,003951: 26,3015 76505 VXM VSL1
025713,003952: 26,3016 01732 REFSMMAT
025714,003953: 26,3017 37713 SHAFTBQ STCALL MZ
025715,003954: 26,3020 55363 RADARANG
025716,003955: 26,3021 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025717,003956: 26,3022 01354 WHCHREAD
025718,003957: 26,3023 00003 DEC 3 B-14
025719,003958: 26,3024 03724 ULC
025720,003959: 26,3025 72441 DOT SL1
025721,003960: 26,3026 03677 MX
025722,003961: 26,3027 24023 STOVL SINTH # 18D
025723,003962: 26,3030 03724 ULC
025724,003963: 26,3031 72441 DOT SL1
025725,003964: 26,3032 03713 MZ
025726,003965: 26,3033 34021 STCALL COSTH # 16D
025727,003966: 26,3034 26506 ARCTAN
025728,003967: 26,3035 41221 BDSU DMP
025729,003968: 26,3036 03736 RRSHAFT
025730,003969: 26,3037 15443 2PI/8
025731,003970: 26,3040 41472 SL3R PUSH
025732,003971: 26,3041 52545 DLOAD SL3
025733,003972: 26,3042 01701 X789
025734,003973: 26,3043 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025735,003974: 26,3044 56176 0,2
025736,003975: 26,3045 53605 DMP SRR*
025737,003976: 26,3046 03722 RXZ
025738,003977: 26,3047 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025739,003978: 26,3050 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
025740,003979: 26,3051 03724 ULC
025741,003980: 26,3052 76435 VXV VSL1
025742,003981: 26,3053 03705 MY
025743,003982: 26,3054 77656 UNIT
025744,003983: 26,3055 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025745,003984: 26,3056 00747 VEHUPFLG
025746,003985: 26,3057 55060 +1
|
|
Page 594
|
025748,003987: 26,3060 27525 STOVL BVECTOR
025749,003988: 26,3061 06470 ZEROVECS
025750,003989: 26,3062 03533 STORE BVECTOR +6
025751,003990: 26,3063 17541 STODL BVECTOR +12D
025752,003991: 26,3064 03722 RXZ
025753,003992: 26,3065 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025754,003993: 26,3066 20577 0 -2,1
025755,003994: 26,3067 56176 0,2
025756,003995: 26,3070 03541 STORE BVECTOR +12D
025757,003996: 26,3071 77735 SLOAD
025758,003997: 26,3072 02011 SHAFTVAR
025759,003998: 26,3073 41215 DAD DMP
025760,003999: 26,3074 15440 IMUVAR # RAD**2 B12
025761,004000: 26,3075 03722 RXZ
025762,004001: 26,3076 41257 SRR* DMP
025763,004002: 26,3077 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025764,004003: 26,3100 03722 RXZ
025765,004004: 26,3101 53657 SR* SR*
025766,004005: 26,3102 20577 0 -2,1
025767,004006: 26,3103 57176 0,2
025768,004007: 26,3104 47057 SR* RTB
025769,004008: 26,3105 57176 0,2
025770,004009: 26,3106 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025771,004010: 26,3107 36707 STCALL VARIANCE # B-40
025772,004011: 26,3110 55403 LGCUPDTE
025773,004012:
025774,004013: 26,3111 77624 CALL
025775,004014: 26,3112 11216 GRP2PC
025776,004015: 26,3113 77624 TRUNBQ CALL
025777,004016: 26,3114 55363 RADARANG
025778,004017: 26,3115 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
025779,004018: 26,3116 01354 WHCHREAD
025780,004019: 26,3117 00004 DEC 4 B-14
025781,004020: 26,3120 03724 ULC
025782,004021: 26,3121 76435 VXV VSL1
025783,004022: 26,3122 03705 MY
025784,004023: 26,3123 76435 VXV VSL1 # (ULC X MY) X ULC
025785,004024: 26,3124 03724 ULC
025786,004025: 26,3125 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025787,004026: 26,3126 00747 VEHUPFLG
025788,004027: 26,3127 55130 +1
025789,004028: 26,3130 27525 STOVL BVECTOR
025790,004029: 26,3131 06470 ZEROVECS
025791,004030: 26,3132 03533 STORE BVECTOR +6
025792,004031: 26,3133 17541 STODL BVECTOR +12D
025793,004032: 26,3134 03722 RXZ
025794,004033: 26,3135 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025795,004034: 26,3136 20577 0 -2,1
025796,004035: 26,3137 56176 0,2
025797,004036: 26,3140 03543 STORE BVECTOR +14D
|
|
Page 595
|
025799,004038: 26,3141 77735 SLOAD
025800,004039: 26,3142 02012 TRUNVAR
025801,004040: 26,3143 41215 DAD DMP
025802,004041: 26,3144 15440 IMUVAR
025803,004042: 26,3145 03722 RXZ
025804,004043: 26,3146 41257 SRR* DMP
025805,004044: 26,3147 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025806,004045: 26,3150 03722 RXZ
025807,004046: 26,3151 53657 SR* SR*
025808,004047: 26,3152 20577 0 -2,1
025809,004048: 26,3153 57176 0,2
025810,004049: 26,3154 47057 SR* RTB
025811,004050: 26,3155 57176 0,2
025812,004051: 26,3156 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025813,004052: 26,3157 16707 STODL VARIANCE
025814,004053: 26,3160 03732 SINTHETA
025815,004054: 26,3161 44336 ASIN BDSU # SIN THETA IN PD6
025816,004055: 26,3162 03734 RRTRUN
025817,004056: 26,3163 56405 DMP SL3R
025818,004057: 26,3164 15443 2PI/8
025819,004058: 26,3165 52525 PDDL SL3
025820,004059: 26,3166 01703 X789 +2
025821,004060: 26,3167 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025822,004061: 26,3170 56176 0,2
025823,004062: 26,3171 53605 DMP SRR*
025824,004063: 26,3172 03722 RXZ
025825,004064: 26,3173 21601 0,1
025826,004065: 26,3174 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025827,004066: 26,3175 55403 LGCUPDTE
025828,004067: 26,3176 77624 CALL
025829,004068: 26,3177 11216 GRP2PC
025830,004069: 26,3200 77650 RENDEND GOTO
025831,004070: 26,3201 50644 R22LEM93
025832,004071: # FUNCTIONAL DESCRIPTION
025833,004072:
025834,004073: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025835,004074: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025836,004075: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025837,004076:
025838,004077: # SUBROUTINES CALLED
025839,004078: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025840,004079: # INTEGRV GETULC INCORP2
025841,004080:
025842,004081: # OUTPUT
025843,004082: # CORRECTED CSM STATE VECTOR (PERMANENT)
025844,004083: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025845,004084: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025846,004085: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025847,004086: # UPDATED W-MATRIX
025848,004087:
|
|
Page 596
|
025850,004089: # ERASABLE INITIALIZATION REQUIRED
025851,004090: # LM AND CSM STATE VECTORS
025852,004091: # W-MATRIX
025853,004092: # MARK TIME IN MKTIME
025854,004093: # RADAR RANGE IN RM METERS B-29
025855,004094: # RANGE RATE IN RDOTM METERS/CSEC B-7
025856,004095: # VEHUPFLG
025857,004096:
025858,004097:
025859,004098: 26,3202 77624 LSR22.4 CALL
025860,004099: 26,3203 27410 INTSTALL
025861,004100: 26,3204 43014 SET CLEAR
025862,004101: 26,3205 01472 STATEFLG
025863,004102: 26,3206 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025864,004103: 26,3207 77624 CALL
025865,004104: 26,3210 55244 INTGRCAL
025866,004105: 26,3211 77624 CALL
025867,004106: 26,3212 11216 GRP2PC
025868,004107: 26,3213 45014 CLEAR CALL
025869,004108: 26,3214 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025870,004109: 26,3215 27410 INTSTALL
025871,004110: 26,3216 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025872,004111: 26,3217 03463 MARKCTR
025873,004112: 26,3220 55233 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025874,004113: 26,3221 43014 CLEAR SET
025875,004114: 26,3222 01675 D6OR9FLG
025876,004115: 26,3223 01476 DIM0FLAG
025877,004116: 26,3224 43014 SET CLEAR
025878,004117: 26,3225 01474 VINTFLAG
025879,004118: 26,3226 01673 INTYPFLG
025880,004119: 26,3227 77624 CALL
025881,004120: 26,3230 55244 INTGRCAL
025882,004121: 26,3231 77650 GOTO
025883,004122: 26,3232 54516 RANGEBQ
025884,004123:
025885,004124: 26,3233 77624 INITWMX6 CALL
025886,004125: 26,3234 55253 WLINIT # INITIALIZE W-MATRIX
025887,004126: 26,3235 45014 SET CALL
025888,004127: 26,3236 01474 VINTFLAG
025889,004128: 26,3237 26643 SETIFLGS
025890,004129: 26,3240 77624 CALL
025891,004130: 26,3241 55244 INTGRCAL
025892,004131: 26,3242 77650 GOTO
025893,004132: 26,3243 54516 RANGEBQ
025894,004133:
025895,004134: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025896,004135:
025897,004136: 26,3244 71220 INTGRCAL STQ DLOAD
025898,004137: 26,3245 03675 IGRET
025899,004138: 26,3246 03755 MKTIME
|
|
Page 597
|
025901,004140: 26,3247 34041 STCALL TDEC1
025902,004141: 26,3250 27133 INTEGRV
025903,004142: 26,3251 77650 GOTO
025904,004143: 26,3252 03675 IGRET
025905,004144:
025906,004145: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025907,004146: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025908,004147:
025909,004148: 26,3253 E5,1400 EBANK= W
025910,004149: 26,3253 77776 WLINIT EXIT
025911,004150: 26,3254 33333 CAF WBANK
025912,004151: 26,3255 54006 TS BBANK
025913,004152: 26,3256 33441 CAF WSIZE
025914,004153: 26,3257 55256 TS W.IND
025915,004154: 26,3260 34755 CAF ZERO
025916,004155: 26,3261 51256 INDEX W.IND
025917,004156: 26,3262 55400 TS W
025918,004157: 26,3263 11256 CCS W.IND
025919,004158: 26,3264 03257 TC -5
025920,004159: 26,3265 33334 CAF AIGBANK # RESTORE EBANK 7
025921,004160: 26,3266 54006 TS BBANK
025922,004161: 26,3267 06042 TC INTPRET
025923,004162: 26,3270 67214 BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
025924,004163: 26,3271 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025925,004164: 26,3272 55276 WLSRFPOS # WRENDPOS AND WRENDVEL
025926,004165: 26,3273 02001 WRENDPOS
025927,004166: 26,3274 77650 GOTO
025928,004167: 26,3275 55300 WPOSTORE
025929,004168: 26,3276 77735 WLSRFPOS SLOAD
025930,004169: 26,3277 02007 WSURFPOS
025931,004170: 26,3300 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025932,004171: 26,3301 20606 5
025933,004172: 26,3302 02401 STORE W
025934,004173: 26,3303 02411 STORE W +8D
025935,004174: 26,3304 02421 STORE W +16D
025936,004175: 26,3305 67214 BON SLOAD
025937,004176: 26,3306 04307 SURFFLAG
025938,004177: 26,3307 55313 WLSRFVEL
025939,004178: 26,3310 02002 WRENDVEL
025940,004179: 26,3311 77650 GOTO
025941,004180: 26,3312 55315 WVELSTOR
025942,004181: 26,3313 77735 WLSRFVEL SLOAD
025943,004182: 26,3314 02010 WSURFVEL
025944,004183: 26,3315 02511 WVELSTOR STORE W +72D
025945,004184: 26,3316 02521 STORE W +80D
025946,004185: 26,3317 02531 STORE W +88D
025947,004186: 26,3320 77735 SLOAD
025948,004187: 26,3321 02003 WSHAFT
025949,004188: 26,3322 02621 STORE W +144D
025950,004189: 26,3323 77735 SLOAD
|
|
Page 598
|
025952,004191: 26,3324 02004 WTRUN
025953,004192: 26,3325 02631 STORE W +152D
025954,004193: 26,3326 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025955,004194: 26,3327 02476 RENDWFLG
025956,004195: 26,3330 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025957,004196: 26,3331 00000 0
025958,004197: 26,3332 77616 RVQ
025959,004198:
025960,004199: 26,3333 E5,1400 EBANK= W
025961,004200: 26,3333 54065 WBANK BBCON WLINIT
025962,004201: 26,3334 E7,1457 EBANK= AIG
025963,004202: 26,3334 54067 AIGBANK BBCON LSR22.3
025964,004203:
025965,004204: # GETULC
025966,004205:
025967,004206: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025968,004207: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025969,004208: # MAGNITUDE IN 36D.
025970,004209:
025971,004210: 26,3335 77201 GETULC SETPD VLOAD
025972,004211: 26,3336 00001 0
025973,004212: 26,3337 01645 DELTALEM
025974,004213: 26,3340 77754 LXA,2
025975,004214: 26,3341 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025976,004215: 26,3342 53257 VSR* VAD
025977,004216: 26,3343 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025978,004217: 26,3344 01661 RCVLEM
025979,004218: 26,3345 53715 PDVL VSR*
025980,004219: 26,3346 01573 DELTACSM
025981,004220: 26,3347 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025982,004221: 26,3350 52255 VAD VSU
025983,004222: 26,3351 01607 RCVCSM
025984,004223: 26,3352 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025985,004224: 26,3353 21725 NORMUNX1
025986,004225: 26,3354 17724 STODL ULC
025987,004226: 26,3355 00045 36D
025988,004227: 26,3356 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025989,004228: 26,3357 20201 0,1
025990,004229: 26,3360 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025991,004230: 26,3361 03724 ULC
025992,004231: 26,3362 77616 RVQ
025993,004232: # RADARANG
025994,004233:
025995,004234: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025996,004235: # RXZ = (SQRT (1-SINTHETA**2))RLC
025997,004236: # OUTPUT
025998,004237: # ULC IN ULC, PD0
025999,004238: # RLC IN PD36D
026000,004239: # SIN THETA IN SINTHETA AND PD6
026001,004240: # RXZ NORM IN RXZ (N IN X1)
|
|
Page 599
|
026003,004242: 26,3363 45020 RADARANG STQ CALL
026004,004243: 26,3364 03675 RDRET
026005,004244: 26,3365 55335 GETULC
026006,004245: 26,3366 50276 VCOMP DOT
026007,004246: 26,3367 03705 MY
026008,004247: 26,3370 41572 SL1R PUSH # SIN THETA TO PD6
026009,004248: 26,3371 03732 STORE SINTHETA
026010,004249: 26,3372 44316 DSQ BDSU
026011,004250: 26,3373 06460 DP1/4TH # 1 - (SIN THETA)**2
026012,004251: 26,3374 41366 SQRT DMP
026013,004252: 26,3375 00045 36D
026014,004253: 26,3376 60352 SL1 NORM
026015,004254: 26,3377 00047 X1 # SET SHIFT COUNTER IN X1
026016,004255: 26,3400 03722 STORE RXZ
026017,004256: 26,3401 77650 GOTO # EXIT
026018,004257: 26,3402 03675 RDRET
026019,004258: 26,3403 45020 LGCUPDTE STQ CALL
026020,004259: 26,3404 03675 LGRET
026021,004260: 26,3405 46477 INCORP1
026022,004261: 26,3406 51575 VLOAD ABVAL
026023,004262: 26,3407 02673 DELTAX +6
026024,004263: 26,3410 53754 LXA,2 SRR*
026025,004264: 26,3411 03720 SCALSHFT # 0-MOON. 2-EARTH
026026,004265: 26,3412 56174 2,2 # SET VEL DISPLAY TO B-7
026027,004266: 26,3413 24317 STOVL R22DISP +2
026028,004267: 26,3414 02665 DELTAX
026029,004268: 26,3415 53646 ABVAL SRR*
026030,004269: 26,3416 56174 2,2 # SET POS DISPLAY TO B-29
026031,004270: 26,3417 00315 STORE R22DISP
026032,004271: 26,3420 54335 SLOAD SR
026033,004272: 26,3421 02005 RMAX
026034,004273: 26,3422 20613 10D
026035,004274: 26,3423 50025 DSU BMN
026036,004275: 26,3424 00315 R22DISP
026037,004276: 26,3425 50650 R22LEM96 # GO DISPLAY
026038,004277: 26,3426 45335 SLOAD DSU
026039,004278: 26,3427 02006 VMAX
026040,004279: 26,3430 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
026041,004280: 26,3431 77640 BMN
026042,004281: 26,3432 50650 R22LEM96 # GO DISPLAY
026043,004282: 26,3433 77624 ASTOK CALL
026044,004283: 26,3434 46711 INCORP2
026045,004284: 26,3435 77650 GOTO
026046,004285: 26,3436 03675 LGRET
026047,004286: 26,3437 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
026048,004287:
026049,004288: 26,3441 00241 WSIZE DEC 161 B-14
026050,004289: 26,3442 31103 36652 2PI/8 2DEC 3.141592653 B-2
026051,004290:
026052,004291: 26,3444 E7,1456 EBANK= LOSCOUNT
026053,004292:
|
|
Page 600
|
026055,004294: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
026056,004295: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
026057,004296:
026058,004297:
026059,004298: # FUNCTIONAL DESCRIPTION
026060,004299:
026061,004300: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
026062,004301: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
026063,004302: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
026064,004303: # ATTITUDE MANEUVER.
026065,004304:
026066,004305:
026067,004306: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
026068,004307:
026069,004308:
026070,004309: # SUBROUTINES CALLED
026071,004310:
026072,004311: # LEMCONIC R61LEM
026073,004312: # CSMCONIC RRDESSM
026074,004313: # JOBDELAY FLAGDOWN
026075,004314: # WAITLIST FLAGUP
026076,004315: # RRNB BANKCALL
026077,004316:
026078,004317:
026079,004318: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
026080,004319:
026081,004320:
026082,004321: # OUTPUT
026083,004322:
026084,004323: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
026085,004324: # 11111 INDICATES LOCKON ACHIEVED
026086,004325: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
026087,004326:
026088,004327: # ERASABLE INITIALIZATION REQUIRED
026089,004328: # SEARCH FLAG MUST BE SET
026090,004329: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
026091,004330: # DEBRIS
026092,004331:
026093,004332: # RLMSRCH UXVECT
026094,004333: # VXRLM UYVECT
026095,004334: # LOSDESRD NSRCHPNT
026096,004335: # DATAGOOD OMEGAD
026097,004336: # MPAC PUSHLIST
026098,004337:
026099,004338:
026100,004339: 26,3444 COUNT* $$/LRS24
026101,004340: 26,3444 34755 LRS24.1 CAF ZERO
026102,004341: 26,3445 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
026103,004342: 26,3446 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
026104,004343: 26,3447 00006 EXTEND
|
|
Page 601
|
026106,004345: 26,3450 05012 WOR CHAN12
026107,004346: 26,3451 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
026108,004347: 26,3452 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
026109,004348: 26,3453 00006 EXTEND
026110,004349: 26,3454 15155 BZF ENDOFJOB # NO-TERMINATE JOB
026111,004350:
026112,004351:
026113,004352: 26,3455 33715 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
026114,004353: 26,3456 00004 INHINT
026115,004354: 26,3457 05214 TC WAITLIST # IN 6 SECONDS
026116,004355: 26,3460 E7,1456 EBANK= LOSCOUNT
026117,004356: 26,3460 03645 54067 2CADR CALLDGCH
026118,004357:
026119,004358: 26,3462 00003 RELINT
026120,004359: 26,3463 40110 CS RADMODES # IS REMODE IN PROGRESS
026121,004360: 26,3464 74736 MASK REMODBIT
026122,004361: 26,3465 00006 EXTEND
026123,004362: 26,3466 15155 BZF ENDOFJOB # YES- WAIT SIX SECONDS
026124,004363: 26,3467 06042 TC INTPRET
026125,004364:
026126,004365: 26,3470 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
026127,004366: 26,3471 21574 LOADTIME
026128,004367: 26,3472 15717 1.5SECS
026129,004368: 26,3473 34041 LRS24.11 STCALL TDEC1
026130,004369: 26,3474 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
026131,004370: 26,3475 77775 VLOAD
026132,004371: 26,3476 00001 RATT
026133,004372: 26,3477 27676 STOVL RLMSRCH # SAVE LEM POSITION
026134,004373: 26,3500 00007 VATT
026135,004374: 26,3501 17740 STODL SAVLEMV # SAVE LEM VELOCITY
026136,004375: 26,3502 00015 TAT
026137,004376: 26,3503 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
026138,004377: 26,3504 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
026139,004378: 26,3505 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
026140,004379: 26,3506 00001 RATT
026141,004380: 26,3507 03676 RLMSRCH
026142,004381: 26,3510 77656 UNIT
026143,004382: 26,3511 27712 STOVL LOSDESRD # STORE DESIRED LOS
026144,004383: 26,3512 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
026145,004384: 26,3513 47256 UNIT VXV
026146,004385: 26,3514 00001 RATT
026147,004386: 26,3515 77656 UNIT
026148,004387: 26,3516 03704 STORE VXRCM
026149,004388: 26,3517 52375 VLOAD VSU
026150,004389: 26,3520 00007 VATT
026151,004390: 26,3521 03740 SAVLEMV
026152,004391: 26,3522 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
026153,004392: 26,3523 01732 REFSMMAT
026154,004393: 26,3524 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
026155,004394: 26,3525 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 602
|
026157,004396: 26,3526 03737 NSRCHPNT
026158,004397: 26,3527 55640 DESGLOS # YES-DESIGNATE ALONG LOS
026159,004398: 26,3530 53025 DSU BZE # IS N=1
026160,004399: 26,3531 15713 ONEOCT # YES-CALCULATE X AND Y AXES OF
026161,004400: 26,3532 55625 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
026162,004401: 26,3533 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
026163,004402: 26,3534 03720 UXVECT
026164,004403: 26,3535 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
026165,004404: 26,3536 03726 UYVECT # UXPRIME = ORIGINAL UX
026166,004405: 26,3537 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
026167,004406: 26,3540 77761 VXSC
026168,004407: 26,3541 15707 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
026169,004408: 26,3542 27720 STOVL UXVECT
026170,004409: 26,3543 00015 UXVECTPR
026171,004410: 26,3544 53361 VXSC VAD
026172,004411: 26,3545 06466 COS60DEG
026173,004412: 26,3546 03720 UXVECT
026174,004413: 26,3547 77656 UNIT
026175,004414: 26,3550 27720 STOVL UXVECT
026176,004415: 26,3551 00015 UXVECTPR # UY=(-SIN60)UXPR +(COS 60)UYPR
026177,004416: 26,3552 77761 VXSC
026178,004417: 26,3553 15707 SIN60DEG
026179,004418: 26,3554 27726 STOVL UYVECT
026180,004419: 26,3555 00023 UYVECTPR
026181,004420: 26,3556 52361 VXSC VSU
026182,004421: 26,3557 06466 COS60DEG
026183,004422: 26,3560 03726 UYVECT
026184,004423: 26,3561 77656 UNIT
026185,004424: 26,3562 03726 STORE UYVECT
026186,004425: 26,3563 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
026187,004426: 26,3564 15711 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
026188,004427: 26,3565 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
026189,004428: 26,3566 64256 UNIT MXV
026190,004429: 26,3567 01732 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
026191,004430: 26,3570 77772 VSL1
026192,004431: 26,3571 25101 CONTDESG STOVL RRTARGET
026193,004432: 26,3572 03740 SAVLEMV
026194,004433: 26,3573 01757 STORE LOSVEL
026195,004434: 26,3574 77776 EXIT
026196,004435: 26,3575 00004 INHINT
026197,004436: 26,3576 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
026198,004437: 26,3577 52573 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
026199,004438: # POINT IN THE PATTERN
026200,004439: 26,3600 44735 CONTDES2 CS CDESBIT
026201,004440: 26,3601 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
026202,004441: 26,3602 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
026203,004442: 26,3603 54110 TS RADMODES
026204,004443: 26,3604 06042 TC INTPRET
026205,004444:
026206,004445: 26,3605 77624 CALL
|
|
Page 603
|
026208,004447: 26,3606 52364 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
026209,004448:
026210,004449: 26,3607 77776 EXIT
026211,004450: 26,3610 03677 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
026212,004451: 26,3611 03677 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
026213,004452:
026214,004453:
026215,004454: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
026216,004455: # SPACECRAFT +Z AXIS
026217,004456: 26,3612 00006 OMEGCALC EXTEND
026218,004457: 26,3613 30036 DCA CDUT
026219,004458: 26,3614 53753 DXCH TANGNB
026220,004459: 26,3615 06042 TC INTPRET
026221,004460: 26,3616 77624 CALL
026222,004461: 26,3617 46041 RRNB
026223,004462: 26,3620 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026224,004463: 26,3621 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026225,004464: 26,3622 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
026226,004465: 26,3623 77776 EXIT
026227,004466: 26,3624 05155 TC ENDOFJOB
026228,004467:
|
|
Page 604
|
026230,004469: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026231,004470:
026232,004471:
026233,004472: 26,3625 47375 CALCXY VLOAD VXV
026234,004473: 26,3626 03704 VXRCM
026235,004474: 26,3627 03712 LOSDESRD
026236,004475: 26,3630 77656 UNIT
026237,004476: 26,3631 27720 STOVL UXVECT # UX = (VLM X RLM)X LOS
026238,004477: 26,3632 03712 LOSDESRD
026239,004478: 26,3633 53435 VXV UNIT
026240,004479: 26,3634 03720 UXVECT
026241,004480: 26,3635 03726 STORE UYVECT # UY = LOS X UX
026242,004481: 26,3636 77650 GOTO
026243,004482: 26,3637 55563 OFFCALC
026244,004483:
026245,004484:
026246,004485: 26,3640 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
026247,004486: 26,3641 03712 LOSDESRD
026248,004487: 26,3642 01732 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
026249,004488: 26,3643 52172 VSL1 GOTO
026250,004489: 26,3644 55571 CONTDESG
026251,004490:
026252,004491:
026253,004492: 26,3645 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
026254,004493: 26,3646 74745 MASK RNDVZBIT
026255,004494: 26,3647 00006 EXTEND
026256,004495: 26,3650 15272 BZF TASKOVER # NO-EXIT R24
026257,004496: 26,3651 37716 CAF PRIO25 # YES -SCHEDULE JOB TO DRIVE RADAR TO NEXT
026258,004497: 26,3652 05105 TC FINDVAC # POINT IN SEARCH PATTERN
026259,004498: 26,3653 E7,1675 EBANK= RLMSRCH
026260,004499: 26,3653 03656 54067 2CADR DATGDCHK
026261,004500:
026262,004501: 26,3655 05272 TC TASKOVER
026263,004502:
026264,004503:
026265,004504: 26,3656 34750 DATGDCHK CAF BIT4
026266,004505: 26,3657 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
026267,004506: 26,3660 02033 RAND CHAN33
026268,004507: 26,3661 00006 EXTEND
026269,004508: 26,3662 13671 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
026270,004509: 26,3663 46245 CS SIX
026271,004510: 26,3664 61736 AD NSRCHPNT # IS N GREATER THAN 6
026272,004511: 26,3665 00006 EXTEND
026273,004512: 26,3666 13444 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
026274,004513: 26,3667 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
026275,004514: 26,3670 13446 TCF CHKSRCH # NEXT POINT IN PATTERN
026276,004515:
026277,004516:
026278,004517: 26,3671 33705 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
026279,004518: 26,3672 55733 TS DATAGOOD
|
|
Page 605
|
026281,004520: 26,3673 00004 INHINT
026282,004521: 26,3674 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
026283,004522: 26,3675 52573 CADR DESLOOP +2 # WAITLIST USING KILLTASK
026284,004523: 26,3676 05155 TC ENDOFJOB
026285,004524:
026286,004525: 26,3677 05600 LIMALARM TC ALARM # ISSUE ALARM 527-LOS NOT IN MODE2
026287,004526: 26,3700 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
026288,004527: 26,3701 00004 INHINT # REQUIRED IN P20
026289,004528: 26,3702 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
026290,004529: 26,3703 55645 CADR CALLDGCH # POINT IN SEARCH PATTERN
026291,004530: 26,3704 05155 TC ENDOFJOB
026292,004531:
026293,004532:
026294,004533: 26,3705 25547 ALL1S DEC 11111 B-14
026295,004534: 26,3706 33555 01106 SIN60DEG 2DEC .86603
026296,004535:
026297,004536: 26,3710 23,2465 COS60DEG = DPHALF # (2DEC .50)
026298,004537: 26,3710 UXVECTPR EQUALS 12D # PREVIOUS
026299,004538: 26,3710 UYVECTPR EQUALS 18D
026300,004539: 26,3710 RLMUNIT EQUALS 12D
026301,004540: 26,3710 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
026302,004541:
026303,004542: 26,3712 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
026304,004543: 26,3713 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
026305,004544:
026306,004545: # **** ONEOCT NEEDS A LOWER ORDER ****
026307,004546: # **** WORD OF ZEROES ****
026308,004547: 26,3715 01130 6SECONDS DEC 600 B-14
026309,004548: 26,3716 00000 00226 1.5SECS 2DEC 150 B-28
026310,004549:
026311,004550: 26,3720 23,2467 ZERO/SP EQUALS HI6ZEROS
026312,004551: 4616 BLOCK 02
026313,004552: 6000 SETLOC FFTAG5
026314,004553: 6000 BANK
026315,004554: 6025 COUNT* $$/P20
026316,004555: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
026317,004556: 6026 36031 DCA VB56CADR # GOTOPOOH
026318,004557: 6027 15176 TCF SUPDXCHZ
026319,004558: 6030 E7,1471 EBANK= WHOCARES
026320,004559: 6030 03047 66107 VB56CADR 2CADR TRMTRACK
026321,004560:
|
|
Page 606
|
026323,004562: # W-MATRIX MONITOR
026324,004563:
026325,004564: 31,2007 BANK 31
026326,004565: 31,2000 SETLOC VB67
026327,004566: 31,2000 BANK
026328,004567: 31,2007 COUNT* $$/EXTVB
026329,004568:
026330,004569: 31,2007 E4,1600 EBANK= WWPOS
026331,004570:
026332,004571: 31,2007 06042 V67CALL TC INTPRET
026333,004572: 31,2010 77624 CALL
026334,004573: 31,2011 62120 V67WW
026335,004574: 31,2012 77776 EXIT
026336,004575: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026337,004576: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026338,004577: 31,2015 53607 DXCH WWBIAS +2
026339,004578: 31,2016 00006 EXTEND
026340,004579: 31,2017 31603 DCA WWVEL
026341,004580: 31,2020 53611 DXCH WWBIAS +4
026342,004581: 31,2021 00006 EXTEND
026343,004582: 31,2022 31605 DCA WWBIAS
026344,004583: 31,2023 53613 DXCH WWBIAS +6
026345,004584: 31,2024 32143 V06N99DS CAF V06N99
026346,004585: 31,2025 04616 TC BANKCALL
026347,004586: 31,2026 20334 CADR GOXDSPF
026348,004587: 31,2027 15503 TCF ENDEXT
026349,004588: 31,2030 12032 TCF V6N99PRO
026350,004589: 31,2031 12024 TCF V06N99DS
026351,004590: 31,2032 22007 V6N99PRO ZL
026352,004591: 31,2033 34756 CA FIVE
026353,004592: 31,2034 54002 N99LOOP TS Q
026354,004593: 31,2035 50002 INDEX Q
026355,004594: 31,2036 41600 CS WWPOS
026356,004595: 31,2037 50002 INDEX Q
026357,004596: 31,2040 61606 AD WWPOS +6
026358,004597: 31,2041 26001 ADS L
026359,004598: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026360,004599: 31,2043 12034 TCF N99LOOP
026361,004600: 31,2044 22000 LXCH A
026362,004601: 31,2045 00006 EXTEND
026363,004602: 31,2046 12051 BZF V06N9933
026364,004603: 31,2047 05515 TC UPFLAG
026365,004604: 31,2050 00160 ADRES V67FLAG
026366,004605:
026367,004606: 31,2051 06042 V06N9933 TC INTPRET
026368,004607: 31,2052 77414 BON EXIT
026369,004608: 31,2053 03707 V67FLAG
026370,004609: 31,2054 62056 +2
026371,004610: 31,2055 15503 TCF ENDEXT
026372,004611: 31,2056 77745 DLOAD
|
|
Page 607
|
026374,004613: 31,2057 02201 WWPOS
026375,004614: 31,2060 72412 SL4 SL1
026376,004615: 31,2061 14001 STODL 0D
026377,004616: 31,2062 02203 WWVEL
026378,004617: 31,2063 14003 STODL 2D
026379,004618: 31,2064 02205 WWBIAS
026380,004619: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026381,004620: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026382,004621: 31,2067 00005 STORE 4D
026383,004622: 31,2070 72014 BON LXA,1
026384,004623: 31,2071 04307 SURFFLAG
026385,004624: 31,2072 62102 V67SURF
026386,004625: 31,2073 00000 0D
026387,004626: 31,2074 72130 SXA,1 LXA,1
026388,004627: 31,2075 02000 WRENDPOS
026389,004628: 31,2076 00002 2D
026390,004629: 31,2077 52130 SXA,1 GOTO
026391,004630: 31,2100 02001 WRENDVEL
026392,004631: 31,2101 62110 V67CLRF
026393,004632: 31,2102 66150 V67SURF LXA,1 SXA,1
026394,004633: 31,2103 00000 0D
026395,004634: 31,2104 02006 WSURFPOS
026396,004635: 31,2105 66150 LXA,1 SXA,1
026397,004636: 31,2106 00002 2D
026398,004637: 31,2107 02007 WSURFVEL
026399,004638: 31,2110 66150 V67CLRF LXA,1 SXA,1
026400,004639: 31,2111 00004 4D
026401,004640: 31,2112 02003 WTRUN
026402,004641: 31,2113 77730 SXA,1
026403,004642: 31,2114 02002 WSHAFT
026404,004643: 31,2115 77414 CLEAR EXIT
026405,004644: 31,2116 02676 RENDWFLG
026406,004645: 31,2117 15503 TCF ENDEXT
026407,004646: 31,2120 40020 V67WW STQ BOV
026408,004647: 31,2121 00051 S2
026409,004648: 31,2122 62123 +1
026410,004649: 31,2123 45014 CLEAR CALL
026411,004650: 31,2124 03667 V67FLAG
026412,004651: 31,2125 27410 INTSTALL
026413,004652: 31,2126 71331 SSP DLOAD
026414,004653: 31,2127 00051 S1
026415,004654: 31,2130 00006 DEC 6 B-14
026416,004655: 31,2131 06470 ZEROVECS
026417,004656: 31,2132 02201 STORE WWPOS
026418,004657: 31,2133 02203 STORE WWVEL
026419,004658: 31,2134 02205 STORE WWBIAS
026420,004659: 31,2135 77770 AXT,1
026421,004660: 31,2136 00066 DEC 54 B-14
026422,004661: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026423,004662: 31,2140 02467 W +54D,1
|
|
Page 608
|
026425,004664: 31,2141 77650 GOTO
026426,004665: 31,2142 60002 ADDPOS
026427,004666: 31,2143 01543 V06N99 VN 0699
026428,004667:
026429,004668: 30,2000 SETLOC VB67A
026430,004669: 30,2000 BANK
026431,004670: 30,2002 COUNT* $$/EXTVB
026432,004671:
026433,004672: 30,2002 77615 ADDPOS DAD
026434,004673: 30,2003 02201 WWPOS
026435,004674: 30,2004 02201 STORE WWPOS
026436,004675: 30,2005 47573 VLOAD* VSQ
026437,004676: 30,2006 02555 W +108D,1
026438,004677: 30,2007 77615 DAD
026439,004678: 30,2010 02203 WWVEL
026440,004679: 30,2011 02203 STORE WWVEL
026441,004680: 30,2012 47573 VLOAD* VSQ
026442,004681: 30,2013 02643 W +162D,1
026443,004682: 30,2014 77615 DAD
026444,004683: 30,2015 02205 WWBIAS
026445,004684: 30,2016 02205 STORE WWBIAS
026446,004685: 30,2017 75500 TIX,1 SQRT
026447,004686: 30,2020 62137 NXPOSVEL
026448,004687: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026449,004688: 30,2022 20613 10D # NOUN SCALING (B-5)
026450,004689: 30,2023 16205 STODL WWBIAS
026451,004690: 30,2024 02203 WWVEL
026452,004691: 30,2025 77766 SQRT
026453,004692: 30,2026 16203 STODL WWVEL
026454,004693: 30,2027 02201 WWPOS
026455,004694: 30,2030 77766 SQRT
026456,004695: 30,2031 02201 STORE WWPOS
026457,004696: 30,2032 52000 BOV GOTO
026458,004697: 30,2033 60035 +2
026459,004698: 30,2034 60042 V67XXX
026460,004699: 30,2035 77745 DLOAD
026461,004700: 30,2036 06476 DPPOSMAX
026462,004701: 30,2037 02201 STORE WWPOS
026463,004702: 30,2040 02203 STORE WWVEL
026464,004703: 30,2041 02205 STORE WWBIAS
026465,004704: 30,2042 45345 V67XXX DLOAD DSU
026466,004705: 30,2043 02201 WWPOS
026467,004706: 30,2044 20060 FT99999
026468,004707: 30,2045 71240 BMN DLOAD
026469,004708: 30,2046 60051 +3
026470,004709: 30,2047 20060 FT99999
026471,004710: 30,2050 02201 STORE WWPOS
026472,004711: 30,2051 66150 LXA,1 SXA,1
026473,004712: 30,2052 00051 S2
026474,004713: 30,2053 00052 QPRET
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Page 609
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026476,004715: 30,2054 77776 EXIT
026477,004716: 30,2055 04635 TC POSTJUMP
026478,004717: 30,2056 27421 CADR INTWAKE
026479,004718:
026480,004719: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026481,004720:
|
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Page 610
|
026483,004722: 25,3642 BANK 25
026484,004723: 25,2000 SETLOC RADARUPT
026485,004724: 25,2000 BANK
026486,004725: 25,3642 COUNT* $$/RRUPT
026487,004726:
026488,004727: 25,3642 E7,1456 EBANK= LOSCOUNT
026489,004728:
026490,004729: 25,3642 44747 RADLITES CS BIT5
026491,004730: 25,3643 60061 AD ITEMP1
026492,004731: 25,3644 10000 CCS A
026493,004732: 25,3645 44753 CS ONE
026494,004733: 25,3646 13676 TCF VLIGHT
026495,004734:
026496,004735: 25,3647 14570 TCF RRTRKF
026497,004736:
026498,004737: 25,3650 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026499,004738:
026500,004739: 25,3651 34747 CA HLITE
026501,004740: 25,3652 54001 TS L
026502,004741:
026503,004742: 25,3653 34747 CA LRALTBIT
026504,004743: 25,3654 70110 BOTHLITS MASK RADMODES
026505,004744: 25,3655 10000 CCS A
026506,004745: 25,3656 13670 TCF ONLITES
026507,004746:
026508,004747: 25,3657 30107 CA FLGWRD11
026509,004748: 25,3660 50065 INDEX ITEMP5
026510,004749: 25,3661 74753 MASK HFLSHBIT
026511,004750: 25,3662 10000 CCS A
026512,004751: 25,3663 14570 TCF RRTRKF
026513,004752:
026514,004753: 25,3664 00006 LITIT EXTEND
026515,004754: 25,3665 22066 QXCH ITEMP6
026516,004755: 25,3666 04602 TC TRKFLON +1
026517,004756:
026518,004757: 25,3667 00066 TC ITEMP6
026519,004758:
026520,004759: 25,3670 50065 ONLITES INDEX ITEMP5
026521,004760: 25,3671 44753 CS HFLSHBIT
026522,004761: 25,3672 70107 MASK FLGWRD11
026523,004762: 25,3673 54107 TS FLGWRD11
026524,004763:
026525,004764: 25,3674 30001 CA L
026526,004765: 25,3675 13664 TCF LITIT
026527,004766: 25,3676 54065 VLIGHT TS ITEMP5
026528,004767: 25,3677 34751 CA VLITE
026529,004768: 25,3700 54001 TS L
026530,004769: 25,3701 34744 CA BIT8
026531,004770: 25,3702 13654 TCF BOTHLITS
026532,004771:
|
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Page 611
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026534,004773: 25,3703 4747 HLITE EQUALS BIT5
026535,004774: 25,3703 4751 VLITE EQUALS BIT3
End of include-file P20-P25.agc. Parent file is MAIN.agc