- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
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|
These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9
LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of
original core rope program modules, as follows:
|
019695,000002: ## Copyright: Public domain.
019696,000003: ## Filename: P20-P25.agc
019697,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
019698,000005: ## as closely as possible with available information. Sundance
019699,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
019700,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
019701,000008: ## using the mixed-revision SundanceXXX as a starting point, and
019702,000009: ## pulling back features from Luminary 69 believed to have been
019703,000010: ## added based on memos, checklists, observed address changes,
019704,000011: ## or the Sundance GSOPs.
019705,000012: ## Assembler: yaYUL
019706,000013: ## Contact: Ron Burkey <info@sandroid.org>.
019707,000014: ## Website: www.ibiblio.org/apollo/index.html
019708,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
019709,000016: ## 2020-07-29 MAS Changed R22 restart protection to be closer
019710,000017: ## to Luminary 69.
019711,000018: ## 2021-05-30 ABS Replaced use of various descriptive *BIT symbols
019712,000019: ## with less descriptive BIT* symbols to match
019713,000020: ## Luminary 69.
019714,000021:
019715,000022:
019716,000023: # RENDEZVOUS NAVIGATION PROGRAM 20
019717,000024: # PROGRAM DESCRIPTION
019718,000025: # MOD NO - 2
019719,000026: # BY P. VOLANTE
019720,000027: # FUNCTIONAL DESCRIPTION
019721,000028:
019722,000029: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
019723,000030: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
019724,000031: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
019725,000032: # ON THE BASIS OF THE RR TRACKING DATA.
019726,000033: # CALLING SEQUENCE -
019727,000034:
019728,000035: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
019729,000036: # SUBROUTINES CALLED
019730,000037: # R02BOTH (IMU STATUS CHECK) FLAGUP
019731,000038: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
019732,000039: # R23LEM (MANUAL ACQUISITION) BANKCALL
019733,000040: # LS201 (LOS DETERMINATION) TASKOVER
019734,000041: # LS202 (RANGE LIMIT TEST)
019735,000042: # R61LEM (PREFERRED TRACKING ATTITUDE)
019736,000043: # R21LEM (RR DESIGNATE) ENDOFJOB
019737,000044: # R22LEM (DATA READ) GOPERF1
019738,000045: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
019739,000046: # PRIOLARM (PRIORITY DISPLAY)
019740,000047: # NORMAL EXIT MODES-
019741,000048: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
019742,000049: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
019743,000050: # ALARM OR ABORT EXIT MODES-
019744,000051: # RANGE GREATER THAN 400 NM DISPLAY
019745,000052: # OUTPUT
019746,000053: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
019747,000054: # ERASABLE INITIALIZATION REQUIRED
019748,000055: # FLAGS SET + RESET
019749,000056: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
019750,000057: # DEBRIS
019751,000058: # CENTRALS-A,Q,L
019752,000059: 25,2053 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
019753,000060:
019754,000061: 33,2000 BANK 33
019755,000062: 24,2000 SETLOC P20S
019756,000063: 24,2000 BANK
019757,000064:
019758,000065: 24,2000 E7,1433 EBANK= LOSCOUNT
019759,000066: 24,2000 COUNT* $$/P20
019760,000067: 24,2000 05403 PROG20 TC 2PHSCHNG
019761,000068: 24,2001 00004 OCT 4
019762,000069: 24,2002 05022 OCT 05022
019763,000070: 24,2003 26000 OCT 26000 # PRIORITY 26
019764,000071:
019765,000072: 24,2004 00004 INHINT
019766,000073: 24,2005 45017 CS SURFFBIT
019767,000074: 24,2006 70104 MASK FLAGWRD8
019768,000075: 24,2007 54104 TS FLAGWRD8
019769,000076: 24,2010 00003 RELINT
019770,000077:
019771,000078: 24,2011 05600 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
019772,000079: 24,2012 00026 ADRES VEHUPFLG # TO BE UPDATED
019773,000080: 24,2013 04655 PROG20A TC BANKCALL
019774,000081: 24,2014 11067 CADR R02BOTH
019775,000082: 24,2015 05566 TC UPFLAG
019776,000083: 24,2016 00027 ADRES UPDATFLG # SET UPDATE FLAG
019777,000084: 24,2017 05566 TC UPFLAG
019778,000085: 24,2020 00031 ADRES TRACKFLG # SET TRACK FLAG
019779,000086: 24,2021 05566 TC UPFLAG
019780,000087: 24,2022 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
019781,000088: 24,2023 05600 TC DOWNFLAG
019782,000089: 24,2024 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
019783,000090:
019784,000091: 24,2025 05600 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
019785,000092: 24,2026 00040 ADRES ACMODFLG
019786,000093: 24,2027 05600 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
019787,000094: 24,2030 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
019788,000095: 24,2031 05600 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
019789,000096: 24,2032 00126 ADRES NORRMON # (RESET NORRMON FLAG)
019790,000097: 24,2033 06014 TC INTPRET
019791,000098: 24,2034 77624 CALL
019792,000099: 24,2035 50257 UPPSV
019793,000100: 24,2036 77776 EXIT
019794,000101: 24,2037 05423 P20LEM1 TC PHASCHNG
019795,000102: 24,2040 04022 OCT 04022
019796,000103: 24,2041 35030 CAF ZERO # ZERO MARK COUNTER
019797,000104: 24,2042 55447 TS MARKCTR
019798,000105: 24,2043 06014 TC INTPRET # LOS DETERMINATION ROUTINE
019799,000106: 24,2044 77634 RTB
019800,000107: 24,2045 21454 LOADTIME
019801,000108: 24,2046 34041 STCALL TDEC1
019802,000109: 24,2047 53521 LPS20.1
019803,000110: 24,2050 77624 CALL
019804,000111: 24,2051 53560 LPS20.2 # TEST RANGE R/UTINE
019805,000112: 24,2052 77776 EXIT
019806,000113: 24,2053 50154 INDEX MPAC
019807,000114: 24,2054 02055 TC +1
019808,000115: 24,2055 02065 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
019809,000116: 24,2056 32253 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
019810,000117: 24,2057 04655 TC BANKCALL
019811,000118: 24,2060 21443 CADR PRIOLARM
019812,000119: 24,2061 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
019813,000120: 24,2062 02056 TC -4 # PROC (ILLEGAL
019814,000121: 24,2063 02037 TC P20LEM1 # ENTER RECYCLE
019815,000122: 24,2064 05225 TC ENDOFJOB
019816,000123:
019817,000124:
019818,000125: 24,2065 05423 P20LEMA TC PHASCHNG
019819,000126: 24,2066 04022 OCT 04022
019820,000127: 24,2067 02655 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
019821,000128: 24,2070 02073 TC P20LEMB
019822,000129: 24,2071 04655 TC BANKCALL
019823,000130: 24,2072 46037 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
019824,000131: 24,2073 05423 P20LEMB TC PHASCHNG
019825,000132: 24,2074 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
019826,000133: 24,2075 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
019827,000134: 24,2076 37666 CAF PRIO26 # RESTORE PRIORITY 26
019828,000135: 24,2077 05216 TC PRIOCHNG
019829,000136: 24,2100 35025 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
019830,000137: 24,2101 00006 EXTEND
019831,000138: 24,2102 02033 RAND CHAN33
019832,000139:
019833,000140: 24,2103 00006 EXTEND
019834,000141: 24,2104 12141 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
019835,000142:
019836,000143: 24,2105 44112 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
019837,000144: 24,2106 61012 AD MODREG # MAJOR MODE IS 20
019838,000145: 24,2107 00006 EXTEND
019839,000146: 24,2110 12124 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
019840,000147:
019841,000148: 24,2111 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
019842,000149: 24,2112 75022 MASK TRACKBIT
019843,000150: 24,2113 00006 EXTEND
019844,000151: 24,2114 12207 BZF P20LMWT1 # BRANCH - NO - WAIT FOR IT TO BE SET
019845,000152: 24,2115 32255 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
019846,000153: 24,2116 04655 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
019847,000154: 24,2117 21443 CADR PRIOLARM
019848,000155: 24,2120 06000 TC GOTOV56 # TERMINATE EXITS VIA V56
019849,000156: 24,2121 02100 TC P20LEMB7 # PROCEED AND ENTER BOTH GO BACK
019850,000157: 24,2122 02100 TC P20LEMB7 # TO CHECK AUTO MODE AGAIN
019851,000158: 24,2123 05225 TC ENDOFJOB
019852,000159: 24,2124 32254 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
019853,000160: 24,2125 04655 TC BANKCALL
019854,000161: 24,2126 20532 CADR GOPERF1
019855,000162: 24,2127 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
019856,000163: 24,2130 02073 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
019857,000164: 24,2131 02655 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
019858,000165: 24,2132 02137 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
019859,000166: 24,2133 02764 TC R23LEM # NO - DO MANUAL ACQUISITION
019860,000167:
019861,000168:
019862,000169: 24,2134 05566 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
019863,000170: 24,2135 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
019864,000171: 24,2136 02073 TC P20LEMB # RR AUTO MODE
019865,000172:
019866,000173:
019867,000174: 24,2137 04376 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
019868,000175: 24,2140 02073 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
019869,000176:
019870,000177:
019871,000178: 24,2141 41101 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
019872,000179: 24,2142 75012 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
019873,000180: 24,2143 00006 EXTEND
019874,000181: 24,2144 12156 BZF P20LEMB4 # BRANCH - YES - WAIT
019875,000182: 24,2145 34367 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
019876,000183: 24,2146 70076 MASK FLAGWRD2
019877,000184: 24,2147 00006 EXTEND
019878,000185: 24,2150 12162 BZF P20LEMC # ZERO MEANS AUTOMATIC RR ACQUISTION
019879,000186: 24,2151 05600 TC DOWNFLAG # RESET TO AUTO MODE
019880,000187: 24,2152 00037 ADRES SRCHOPTN
019881,000188: 24,2153 05600 TC DOWNFLAG
019882,000189:
019883,000190: 24,2154 00040 ADRES ACMODFLG
019884,000191: 24,2155 02177 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
019885,000192:
019886,000193:
019887,000194: 24,2156 32252 P20LEMB4 CAF 250DEC
019888,000195: 24,2157 04655 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
019889,000196: 24,2160 01732 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
019890,000197: 24,2161 02141 TC P20LEMB3
019891,000198:
019892,000199: 24,2162 05423 P20LEMC TC PHASCHNG
019893,000200: 24,2163 04022 OCT 04022
019894,000201: 24,2164 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
019895,000202: 24,2165 75020 MASK RNDVZBIT
019896,000203: 24,2166 00006 EXTEND
019897,000204: 24,2167 15225 BZF ENDOFJOB # NO - EXIT P20
019898,000205: 24,2170 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
019899,000206: 24,2171 75022 MASK TRACKBIT
019900,000207: 24,2172 00006 EXTEND
019901,000208: 24,2173 12232 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
019902,000209: 24,2174 05566 P20LEMF TC UPFLAG
019903,000210: 24,2175 00041 ADRES LOSCMFLG
019904,000211: 24,2176 02663 TC R21LEM
019905,000212:
019906,000213:
019907,000214: 24,2177 32252 P20LEMWT CAF 250DEC
019908,000215: 24,2200 00004 INHINT
019909,000216: 24,2201 05243 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
019910,000217: 24,2202 02212 ADRES P20LEMC1 # WAIT 2.5 SECONDS
019911,000218: 24,2203 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
019912,000219: 24,2204 75022 MASK TRACKBIT
019913,000220: 24,2205 00006 EXTEND
019914,000221: 24,2206 15225 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
019915,000222: 24,2207 05423 P20LMWT1 TC PHASCHNG
019916,000223: 24,2210 40072 OCT 40072
019917,000224: 24,2211 05225 TC ENDOFJOB
019918,000225:
019919,000226:
019920,000227: 24,2212 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
019921,000228:
019922,000229: 24,2213 75020 MASK RNDVZBIT
019923,000230: 24,2214 00006 EXTEND
019924,000231: 24,2215 15331 BZF TASKOVER # NO - EXIT P20/R22
019925,000232: 24,2216 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
019926,000233: 24,2217 75022 MASK TRACKBIT
019927,000234: 24,2220 00006 EXTEND
019928,000235: 24,2221 12227 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
019929,000236: 24,2222 37666 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
019930,000237: 24,2223 05155 TC FINDVAC
019931,000238: 24,2224 E7,1433 EBANK= LOSCOUNT
019932,000239: 24,2224 02441 50067 2CADR R22LEM
019933,000240: 24,2226 05331 TC TASKOVER
019934,000241:
019935,000242:
019936,000243: 24,2227 05271 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
019937,000244: 24,2230 02734 DEC 1500 B-14 # AND CHECK AGAIN
019938,000245:
019939,000246: 24,2231 02212 TC P20LEMC1
019940,000247:
019941,000248: 24,2232 32651 P20LEMD CAF 1500DEC
019942,000249: 24,2233 05243 TC TWIDDLE # WAITLIST FOR 15 SECONDS
019943,000250: 24,2234 02236 ADRES P20LEMD1
019944,000251: 24,2235 05225 TC ENDOFJOB
019945,000252:
019946,000253:
019947,000254: 24,2236 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
019948,000255: 24,2237 75022 MASK TRACKBIT
019949,000256: 24,2240 10000 CCS A
019950,000257: 24,2241 12245 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
019951,000258: 24,2242 05271 TC FIXDELAY # NO-WAIT 15 SECONDS
019952,000259: 24,2243 02734 DEC 1500 B-14
019953,000260: 24,2244 02236 TC P20LEMD1
019954,000261:
019955,000262:
019956,000263: 24,2245 37666 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
019957,000264: 24,2246 05155 TC FINDVAC
019958,000265: 24,2247 E7,1433 EBANK= LOSCOUNT
019959,000266: 24,2247 02174 50067 2CADR P20LEMF # START AT PERM. MEMORY INTEGRATION
019960,000267: 24,2251 05331 TC TASKOVER
019961,000268:
019962,000269:
019963,000270: 24,2252 00372 250DEC DEC 250 B-14
019964,000271: 24,2253 00526 ALRM526 OCT 00526
019965,000272: 24,2254 00201 OCT201 OCT 00201
019966,000273: 24,2255 00514 ALRM514 OCT 514
019967,000274: 24,2256 00074 MAXTRIES DEC 60 B-14
019968,000275:
019969,000276: 24,2257 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
019970,000277: 24,2260 03431 LS21X # TO PRESENT TIME
019971,000278: 24,2261 27362 INTSTALL
019972,000279: 24,2262 77624 CALL
019973,000280: 24,2263 26622 SETIFLGS
019974,000281: 24,2264 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
019975,000282: 24,2265 02756 RENDWFLG
019976,000283: 24,2266 50277 UPPSV1
019977,000284: 24,2267 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
019978,000285: 24,2270 43014 BON SET
019979,000286: 24,2271 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
019980,000287: 24,2272 50274 UPPSV5
019981,000288: 24,2273 01475 D6OR9FLG # OTHERWISE 9X9
019982,000289: 24,2274 77614 UPPSV5 BOF
019983,000290: 24,2275 00747 VEHUPFLG
019984,000291: 24,2276 50321 UPPSV3
019985,000292: 24,2277 47014 UPPSV1 SET RTB # CSM STATE BEING CORRECTED
019986,000293: 24,2300 01474 VINTFLAG
019987,000294: 24,2301 21454 LOADTIME
019988,000295: 24,2302 34041 STCALL TDEC1 # INTEGRATE CSM STATE WITH W-MATRIX
019989,000296: 24,2303 27105 INTEGRV
019990,000297: 24,2304 77624 CALL # GROUP 2 PHASE CHANGE
019991,000298: 24,2305 11057 GRP2PC # TO PROTECT INTEGRATION
019992,000299: 24,2306 77624 CALL
019993,000300: 24,2307 27362 INTSTALL
019994,000301: 24,2310 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
019995,000302: 24,2311 01571 TETCSM
019996,000303: 24,2312 01674 VINTFLAG
019997,000304: 24,2313 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
019998,000305: 24,2314 26622 SETIFLGS # WITHOUT W-MATRIX
019999,000306: 24,2315 34041 STCALL TDEC1
020000,000307: 24,2316 27105 INTEGRV
020001,000308: 24,2317 77650 GOTO
020002,000309: 24,2320 03431 LS21X
020003,000310:
020004,000311:
020005,000312: 24,2321 47014 UPPSV3 CLEAR RTB
020006,000313: 24,2322 01674 VINTFLAG
020007,000314: 24,2323 21454 LOADTIME
020008,000315: 24,2324 34041 STCALL TDEC1 # INTEGRATE LM STATE WITH W-MATRIX
020009,000316: 24,2325 27105 INTEGRV
020010,000317: 24,2326 77624 CALL
020011,000318: 24,2327 11057 GRP2PC
020012,000319: 24,2330 77624 CALL
020013,000320: 24,2331 27362 INTSTALL
020014,000321: 24,2332 71214 SET DLOAD
020015,000322: 24,2333 01474 VINTFLAG
020016,000323:
020017,000324: 24,2334 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
020018,000325: 24,2335 77650 GOTO
020019,000326: 24,2336 50313 UPPSV4
020020,000327:
020021,000328:
020022,000329: 24,2337 E7,1433 EBANK= LOSCOUNT
020023,000330: 24,2337 COUNT* $$/P22
020024,000331:
020025,000332: 24,2337 05403 PROG22 TC 2PHSCHNG
020026,000333: 24,2340 00004 OCT 4
020027,000334: 24,2341 05022 OCT 05022
020028,000335: 24,2342 06000 OCT 06000
020029,000336:
020030,000337: 24,2343 00004 INHINT
020031,000338: 24,2344 40104 CS FLAGWRD8
020032,000339: 24,2345 75017 MASK SURFFBIT
020033,000340: 24,2346 26104 ADS FLAGWRD8
020034,000341: 24,2347 00003 RELINT
020035,000342:
020036,000343: 24,2350 05566 TC UPFLAG
020037,000344: 24,2351 00026 ADRES VEHUPFLG
020038,000345:
020039,000346: 24,2352 02013 TC PROG20A
020040,000347:
020041,000348: # PROGRAM DESCRIPTION
020042,000349: # PREFERRED TRACKING ATTITUDE PROGRAM P25
020043,000350: # MOD NO - 3
020044,000351: # BY P. VOLANTE
020045,000352: # FUNCTIONAL DESCRIPTION
020046,000353:
020047,000354: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
020048,000355: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
020049,000356: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
020050,000357: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
020051,000358: # CALLING SEQUENCE -
020052,000359: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
020053,000360: # SUBROUTINES CALLED -
020054,000361: # BANKCALL FLAGUP
020055,000362: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
020056,000363: # R61LEM (PREF TRK ATT ROUT) WAITLIST
020057,000364: # TASKOVER FINDVAC
020058,000365: # NORMAL EXIT MODES -
020059,000366: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
020060,000367: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
020061,000368: # ALARM OR ABORT EXIT MODES -
020062,000369: # NONE
020063,000370: # OUTPUT
020064,000371: # ERASABLE INITIALIZATION REQUIRED
020065,000372: # FLAGS SET + RESET
020066,000373: # TRACKFLG,P25FLAG
020067,000374: # DEBRIS
020068,000375: # NONE
020069,000376: 24,2353 E7,1433 EBANK= LOSCOUNT
020070,000377: 24,2353 COUNT* $$/P25
020071,000378: 24,2353 05403 PROG25 TC 2PHSCHNG
020072,000379: 24,2354 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
020073,000380: 24,2355 05022 OCT 05022
020074,000381: 24,2356 26000 OCT 26000 # PRIORITY 26
020075,000382:
020076,000383: 24,2357 04655 TC BANKCALL
020077,000384: 24,2360 11067 CADR R02BOTH # IMU STATUS CHECK
020078,000385: 24,2361 05566 TC UPFLAG
020079,000386: 24,2362 00031 ADRES TRACKFLG # SET TRACK FLAG
020080,000387: 24,2363 05566 TC UPFLAG
020081,000388: 24,2364 00006 ADRES P25FLAG # SET P25FLAG
020082,000389: 24,2365 04655 TC BANKCALL
020083,000390: 24,2366 46037 CADR R61LEM
020084,000391: 24,2367 35016 P25LEM1 CAF P25FLBIT
020085,000392: 24,2370 70074 MASK STATE # IS P25FLAG SET
020086,000393: 24,2371 00006 EXTEND
020087,000394: 24,2372 15225 BZF ENDOFJOB
020088,000395: 24,2373 35022 CAF TRACKBIT # IS TRACKFLAG SET?
020089,000396: 24,2374 70075 MASK STATE +1
020090,000397: 24,2375 00006 EXTEND
020091,000398: 24,2376 12422 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
020092,000399: 24,2377 06014 TC INTPRET
020093,000400: 24,2400 77634 RTB
020094,000401: 24,2401 21454 LOADTIME
020095,000402: 24,2402 34041 STCALL TDEC1
020096,000403: 24,2403 53521 LPS20.1
020097,000404: 24,2404 77624 CALL
020098,000405: 24,2405 47335 CDUTRIG
020099,000406: 24,2406 45175 VLOAD CALL
020100,000407: 24,2407 01105 RRTARGET
020101,000408: 24,2410 47477 *SMNB*
020102,000409: 24,2411 65545 DLOAD ACOS
020103,000410: 24,2412 00162 MPAC +5
020104,000411: 24,2413 50025 DSU BMN
020105,000412: 24,2414 10436 30DEGS
020106,000413: 24,2415 50437 P25OK
020107,000414: 24,2416 77776 EXIT
020108,000415:
020109,000416: 24,2417 02365 TC P25LEM1 -2 # THEN GO CHECK FLAGS
020110,000417: 24,2420 05423 P25LEMWT TC PHASCHNG
020111,000418: 24,2421 00112 OCT 00112
020112,000419: 24,2422 32434 P25LMWT1 CAF 60SCNDS
020113,000420: 24,2423 00004 INHINT
020114,000421: 24,2424 05243 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
020115,000422: 24,2425 02427 ADRES P25LEM2
020116,000423: 24,2426 05225 TC ENDOFJOB
020117,000424: 24,2427 35074 P25LEM2 CAF PRIO14
020118,000425: 24,2430 05155 TC FINDVAC
020119,000426: 24,2431 E7,1433 EBANK= LOSCOUNT
020120,000427: 24,2431 02367 50067 2CADR P25LEM1
020121,000428: 24,2433 05331 TC TASKOVER
020122,000429: 24,2434 13560 60SCNDS DEC 6000 B-14
020123,000430: 24,2435 02525 12525 30DEGS 2DEC .083333333
020124,000431: 24,2437 77776 P25OK EXIT
020125,000432: 24,2440 02420 TC P25LEMWT
020126,000433:
020127,000434: # DATA READ ROUTINE 22 (LEM)
020128,000435: # PROGRAM DESCRIPTION
020129,000436: # MOD NO - 2
020130,000437: # BY P VOLANTE
020131,000438: # FUNCTIONAL DESCRIPTION
020132,000439:
020133,000440: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
020134,000441: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
020135,000442: # CALLING SEQUENCE -
020136,000443: # TC BANKCALL
020137,000444: # CADR R22LEM
020138,000445: # SUBROUTINES CALLED -
020139,000446: # LSR22.1 GOFLASH WAITLIST
020140,000447: # LSR22.2 PRIOLARM BANKCALL
020141,000448: # LSR22.3 R61LEM
020142,000449: # NORMAL EXIT MODES-
020143,000450: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
020144,000451: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
020145,000452: # R22 WILL TERMINATE SELF.
020146,000453: # ALARM OR ABORT EXIT MODES-
020147,000454: # PRIORITY ALARM
020148,000455: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
020149,000456: # OUTPUT
020150,000457: # SEE OUTPUT FROM LSR22.3
020151,000458: # ERASABLE INITIALIZATION REQUIRED
020152,000459: # SEE LSR22.1,LSR22.2,LSR22.3
020153,000460: # FLAGS SET + RESET
020154,000461: # NOANGFLG
020155,000462: # DEBRIS
020156,000463: # SEE LSR22.1,LSR22.2,LSR22.3
020157,000464: 24,2441 E7,1732 EBANK= LRS22.1X
020158,000465: 24,2441 COUNT* $$/R22
020159,000466: 24,2441 05423 R22LEM TC PHASCHNG
|
|
This may have been changed from 00152 in Sundance 306. |
020161,000468: 24,2442 04022 OCT 04022
020162,000469: 24,2443 35020 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
020163,000470: 24,2444 70074 MASK STATE
020164,000471: 24,2445 00006 EXTEND
020165,000472: 24,2446 15225 BZF ENDOFJOB # NO-EXIT R22 AND P20
020166,000473: 24,2447 35022 CAF TRACKBIT # IS TRACKFLAG SET?
020167,000474: 24,2450 70075 MASK STATE +1
020168,000475: 24,2451 00006 EXTEND
020169,000476: 24,2452 12621 BZF R22WAIT # NO WAIT
020170,000477: 24,2453 35011 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
020171,000478: 24,2454 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
020172,000479: 24,2455 02012 RAND CHAN12
020173,000480: 24,2456 00006 EXTEND
020174,000481: 24,2457 12065 BZF P20LEMA # NO - RETURN TO P20
020175,000482: 24,2460 35025 CAF BIT2 # YES
020176,000483: 24,2461 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
020177,000484: 24,2462 02033 RAND CHAN33
020178,000485:
020179,000486: 24,2463 00006 EXTEND
020180,000487: 24,2464 12466 BZF +2 # YES CONTINUE
020181,000488: 24,2465 02105 TC P20LEMB5 # NO - SET IT
020182,000489: 24,2466 41101 CS RADMODES # ARE RR CDUS BEING ZEROED
020183,000490: 24,2467 75012 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
020184,000491: 24,2470 00006 EXTEND
020185,000492: 24,2471 12621 BZF R22WAIT # CDUS BEING ZEROED
|
|
The following PHASCHNG may have been added in Sundance 306. |
020187,000494: 24,2472 05423 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
020188,000495: 24,2473 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
020189,000496: 24,2474 04655 TC BANKCALL # YES READ DATA + CALCULATE LOS
020190,000497: 24,2475 53574 CADR LRS22.1 # DATA READ SUBROUTINE
020191,000498: 24,2476 50154 INDEX MPAC
020192,000499: 24,2477 02500 TC +1
020193,000500: 24,2500 02521 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
020194,000501: 24,2501 02162 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
020195,000502: 24,2502 32646 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
020196,000503: 24,2503 04655 TC BANKCALL
020197,000504: 24,2504 21443 CADR PRIOLARM
020198,000505: 24,2505 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020199,000506: 24,2506 02511 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
020200,000507: 24,2507 02502 TC -5 # ENTER (ILLEGAL OPTION)
020201,000508: 24,2510 05225 TC ENDOFJOB
020202,000509:
020203,000510:
020204,000511: 24,2511 05423 R22LEM1 TC PHASCHNG
020205,000512: 24,2512 04022 OCT 04022
020206,000513: 24,2513 32647 CAF V06N05 # DISPLAY DELTA THETA
020207,000514: 24,2514 04655 TC BANKCALL
020208,000515: 24,2515 20417 CADR PRIODSP
020209,000516: 24,2516 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020210,000517: 24,2517 02521 TC R22LEM2 # PROC (OK CONTINUE)
020211,000518: 24,2520 02162 TC P20LEMC # ENTER(RECYCLE)
020212,000519: 24,2521 05423 R22LEM2 TC PHASCHNG
020213,000520: 24,2522 04022 OCT 04022
020214,000521: 24,2523 02655 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
020215,000522: 24,2524 02541 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
020216,000523: 24,2525 30075 CA FLAGWRD1 # IS TRACK FLAG SET
020217,000524: 24,2526 75022 MASK TRACKBIT
020218,000525: 24,2527 00006 EXTEND
020219,000526: 24,2530 12621 BZF R22WAIT # NO - WAIT
020220,000527: 24,2531 04655 TC BANKCALL # YES
020221,000528: 24,2532 53746 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
020222,000529: 24,2533 50154 INDEX MPAC
020223,000530: 24,2534 02535 TC +1
020224,000531: 24,2535 02541 TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
020225,000532: 24,2536 04655 TC BANKCALL
020226,000533: 24,2537 46037 CADR R61LEM
020227,000534: 24,2540 02621 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
020228,000535: 24,2541 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
020229,000536: 24,2542 75021 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
020230,000537:
020231,000538: 24,2543 00006 EXTEND
020232,000539: 24,2544 12613 BZF R22LEM42 # BRANCH-YES
020233,000540: 24,2545 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
020234,000541: 24,2546 75020 MASK UPDATBIT
020235,000542: 24,2547 00006 EXTEND
020236,000543: 24,2550 12621 BZF R22WAIT # UPDATE FLAG NOT SET
020237,000544: 24,2551 37666 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
020238,000545: 24,2552 55057 TS PHSPRDT2
020239,000546:
020240,000547: 24,2553 06014 TC INTPRET
020241,000548: 24,2554 77650 GOTO
020242,000549: 24,2555 54425 LSR22.3
020243,000550: 24,2556 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
020244,000551: 24,2557 12612 TCF R22LEM44
020245,000552: 24,2560 77776 R22LEM96 EXIT
020246,000553: 24,2561 35030 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
020247,000554: 24,2562 55732 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
020248,000555: 24,2563 05423 TC PHASCHNG
020249,000556: 24,2564 04022 OCT 04022 # TO PROTECT DISPLAY
020250,000557: 24,2565 37666 CAF PRIO26 # PROTECT DISPLAY
020251,000558: 24,2566 05216 TC PRIOCHNG
020252,000559:
020253,000560: 24,2567 32650 CAF V06N49NB
020254,000561: 24,2570 04655 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
020255,000562: 24,2571 20414 CADR PRIODSPR # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
020256,000563: 24,2572 02623 TC N49TERM # TERMINATE - EXIT R22 AND P20
020257,000564: 24,2573 02626 TC N49PROC # PROCEED - N49FLAG = -1
020258,000565: 24,2574 02631 TC N49RECYC # RECYCLE - N49FLAG = + VALUE
020259,000566: 24,2575 37664 CAF PRIO24
020260,000567: 24,2576 05216 TC PRIOCHNG
020261,000568: 24,2577 06014 TC INTPRET
020262,000569: 24,2600 00155 STORE MPAC
020263,000570: 24,2601 53135 SLOAD BZE # LOOP TO CHECK IF FLAG
020264,000571: 24,2602 03733 N49FLAG
020265,000572: 24,2603 50600 -3 # SETTING CHANGED-BRANCH - NO
020266,000573: 24,2604 45040 BMN CALL
020267,000574: 24,2605 50634 R22LEM7 # PROCEED
020268,000575: 24,2606 11057 GRP2PC # PHASE CHANGE AND
020269,000576: 24,2607 77650 GOTO # GO TO INCORPORATE DATA.
020270,000577: 24,2610 55351 ASTOK
020271,000578: 24,2611 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
020272,000579: 24,2612 25447 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
020273,000580: 24,2613 02655 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
020274,000581: 24,2614 02617 TC R22LEM46 # YES - WAIT 2 SECONDS
020275,000582:
020276,000583: 24,2615 32653 R22LEM45 CAF 45SECNDS
020277,000584: 24,2616 02200 TC P20LEMWT +1
020278,000585:
020279,000586: 24,2617 32654 R22LEM46 CAF 30SECNDS
020280,000587: 24,2620 02200 TC P20LEMWT +1
020281,000588:
020282,000589: 24,2621 32651 R22WAIT CAF 1500DEC
020283,000590: 24,2622 02200 TC P20LEMWT +1
020284,000591:
020285,000592: 24,2623 45026 N49TERM CS ONE
020286,000593: 24,2624 55732 TS N49FLAG
020287,000594: 24,2625 06000 TC GOTOV56
020288,000595:
020289,000596: 24,2626 35026 N49PROC CAF ONE
020290,000597: 24,2627 55732 TS N49FLAG
020291,000598: 24,2630 05225 TC ENDOFJOB
020292,000599:
020293,000600: 24,2631 45026 N49RECYC CS ONE
020294,000601: 24,2632 55732 TS N49FLAG
020295,000602: 24,2633 02441 TC R22LEM
020296,000603:
020297,000604: 24,2634 77776 R22LEM7 EXIT
020298,000605: 24,2635 05225 TC ENDOFJOB
020299,000606:
020300,000607: 24,2636 05423 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
020301,000608: 24,2637 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
020302,000609: 24,2640 04655 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
020303,000610: 24,2641 53055 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
020304,000611: 24,2642 04655 TC BANKCALL # BAD DATA
020305,000612: 24,2643 17623 CADR RADSTALL # WAIT FOR READ COMPLETE
020306,000613: 24,2644 02162 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
020307,000614: 24,2645 02441 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
020308,000615:
020309,000616: 24,2646 00525 ALRM525 OCT 00525
020310,000617: 24,2647 01405 V06N05 VN 00605
020311,000618: 24,2650 01461 V06N49NB VN 00649
020312,000619: 24,2651 02734 1500DEC DEC 1500 B-14
020313,000620: 24,2652 00120 80DEC DEC 80 B-14
020314,000621: 24,2653 10624 45SECNDS DEC 4500 B-14
020315,000622: 24,2654 05670 30SECNDS DEC 3000 B-14
020316,000623: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
020317,000624: # RETURNS TO CALLER +1 IF P22FLAG SET
020318,000625: # TO CALLER +2 IF P22FLAG NOT SET
020319,000626:
020320,000627:
020321,000628: 24,2655 COUNT* $$/P22
020322,000629: 24,2655 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
020323,000630: 24,2656 75017 MASK SURFFBIT # IS SURFFLAG SET?
020324,000631: 24,2657 00006 EXTEND # BRANCH - P22FLAG SET
020325,000632: 24,2660 12662 BZF +2
020326,000633: 24,2661 24002 INCR Q # NOT SET
020327,000634: 24,2662 00002 TC Q # RETURN
020328,000635:
020329,000636: # RR DESIGNATE ROUTINE (R21LEM)
020330,000637: # PROGRAM DESCRIPTION
020331,000638: # MOD NO - 2
020332,000639: # BY P VOLANTE
020333,000640: # FUNCTIONAL DESCRIPTION
020334,000641:
020335,000642: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
020336,000643: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
020337,000644: # CALLING SEQUENCE -
020338,000645: # TC BANKCALL
020339,000646: # CADR R21LEM
020340,000647: # SUBROUTINES CALLED -
020341,000648: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
020342,000649: # NOVAC INTPRET LPS20.1 PHASCHNG
020343,000650: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
020344,000651: # TASKOVER BANKCALL RADSTALL RRDESSM
020345,000652: # NORMAL EXIT MODES
020346,000653: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
020347,000654: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
020348,000655: # ALARM OR ABORT EXIT MODES-
020349,000656: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
020350,000657: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
020351,000658: # ACQUISITION
020352,000659: # OUTPUT
020353,000660: # SEE LPS20.1,RRDESSM
020354,000661: # ERASABLE INITIALIZATION REQUIRED
020355,000662: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
020356,000663: # FLAGS SET + RESET
020357,000664: # LOSCMFLG LOKONSW
020358,000665: # DEBRIS
020359,000666: # SEE LPS20.1,RRDESSM
020360,000667: 24,2663 E7,1433 EBANK= LOSCOUNT
020361,000668: 24,2663 COUNT* $$/R21
020362,000669: 24,2663 32256 R21LEM CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECS.) TO
020363,000670: 24,2664 55117 TS DESCOUNT # DESIGNATE AND LOCKON
020364,000671: 24,2665 45011 CS BIT14 # REMOVE RR SELF TRACK ENABLE
020365,000672: 24,2666 00006 EXTEND
020366,000673: 24,2667 03012 WAND CHAN12
020367,000674: 24,2670 35024 R21LEM2 CAF FOUR
020368,000675: 24,2671 55433 TS LOSCOUNT
020369,000676: 24,2672 02655 TC LUNSFCHK
020370,000677: 24,2673 02675 TC +2
020371,000678: 24,2674 02714 TC R21LEM1
020372,000679: 24,2675 41101 CS RADMODES
020373,000680: 24,2676 75013 MASK BIT12
020374,000681: 24,2677 00006 EXTEND
020375,000682: 24,2700 12714 BZF R21LEM1
020376,000683: 24,2701 35011 CAF BIT14
020377,000684: 24,2702 00004 INHINT
020378,000685: 24,2703 27101 ADS RADMODES
020379,000686: 24,2704 35025 CAF TWO
020380,000687: 24,2705 05252 TC WAITLIST
020381,000688: 24,2706 E7,1433 EBANK= LOSCOUNT
020382,000689: 24,2706 02162 52067 2CADR REMODE
020383,000690: 24,2710 00003 RELINT
020384,000691: 24,2711 04655 TC BANKCALL
020385,000692: 24,2712 17623 CADR RADSTALL
020386,000693: 24,2713 02714 TC +1
020387,000694: 24,2714 06014 R21LEM1 TC INTPRET
020388,000695: 24,2715 77634 RTB
020389,000696: 24,2716 21454 LOADTIME
020390,000697: 24,2717 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
020391,000698: 24,2720 53521 LPS20.1
020392,000699: 24,2721 77776 EXIT
020393,000700: 24,2722 05566 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
020394,000701: 24,2723 00012 ADRES LOKONSW
020395,000702: 24,2724 06014 TC INTPRET
020396,000703: 24,2725 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
020397,000704: 24,2726 52352 RRDESSM # DESIGNATE ROUTINE
020398,000705: 24,2727 77776 EXIT
020399,000706: 24,2730 02755 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
020400,000707: # ON LUNAR SURFACE
020401,000708: 24,2731 02065 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
020402,000709: 24,2732 04655 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
020403,000710: 24,2733 17623 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
020404,000711: 24,2734 02736 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
020405,000712: 24,2735 02745 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
020406,000713: 24,2736 32753 R21-503 CAF ALRM503 # ISSUE ALARM 503
020407,000714: 24,2737 04655 TC BANKCALL
020408,000715: 24,2740 21443 CADR PRIOLARM
020409,000716: 24,2741 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020410,000717: 24,2742 02750 TC R21SRCH # PROC
020411,000718: 24,2743 02663 TC R21LEM
020412,000719: 24,2744 05225 TC ENDOFJOB
020413,000720: 24,2745 05600 R21END TC DOWNFLAG
020414,000721: 24,2746 00041 ADRES LOSCMFLG # RESET LOSCMFLG
020415,000722: 24,2747 02177 TC P20LEMWT # EXIT R21 TO PERFORM DATA READ
020416,000723: 24,2750 05423 R21SRCH TC PHASCHNG
020417,000724: 24,2751 04022 OCT 04022
020418,000725: 24,2752 03035 TC R24LEM # SEARCH ROUTINE
020419,000726: 24,2753 00503 ALRM503 OCT 00503
020420,000727: 24,2754 00527 ALRM527 OCT 527
020421,000728:
020422,000729:
020423,000730: 24,2755 32754 R21LEM4 CAF ALRM527 # ALARM 527-LOS NOT IN MODE 2 COVERAGE
020424,000731: 24,2756 04655 TC BANKCALL # ON LUNAR SURFACE
020425,000732: 24,2757 21443 CADR PRIOLARM
020426,000733:
020427,000734: 24,2760 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020428,000735: 24,2761 02714 TC R21LEM1
020429,000736: 24,2762 02755 TC -5 # ENTER
020430,000737: 24,2763 05225 TC ENDOFJOB
020431,000738:
020432,000739: # MANUAL ACQUISITION ROUTINE R23LEM
020433,000740: # PROGRAM DESCRIPTION
020434,000741: # MOD NO - 2
020435,000742: # BY P VOLANTE
020436,000743: # FUNCTIONAL DESCRIPTION
020437,000744:
020438,000745: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
020439,000746: # CALLING SEQUENCE -
020440,000747: # TC R23LEM
020441,000748: # SUBROUTINES CALLED
020442,000749: # BANKCALL R61LEM
020443,000750: # SETMINDB GOPERF1
020444,000751: # NORMAL EXIT MODES -
020445,000752: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
020446,000753: # ,SELECTION OF PROC WILL CONTINUE R23
020447,000754: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
020448,000755: # ALARM OR ABORT EXIT MODES -
020449,000756: # SEE NORMAL EXIT MODES ABOVE
020450,000757: # OUTPUT
020451,000758: # N.A.
020452,000759: # ERASABLE INITIALIZATION REQUIRED-
020453,000760: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
020454,000761: 24,2764 1154 EBANK= GENRET
020455,000762: 24,2764 COUNT* $$/R23
020456,000763: 24,2764 05566 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
020457,000764: 24,2765 00126 ADRES NORRMON
020458,000765: 24,2766 00004 INHINT
020459,000766: 24,2767 04737 TC IBNKCALL # SELECT MINIMUM DEADBAND
020460,000767: 24,2770 40221 CADR SETMINDB
020461,000768: 24,2771 00003 RELINT
020462,000769: 24,2772 35011 R23LEM1 CAF BIT14 # ENABLE TRACKER
020463,000770: 24,2773 00006 EXTEND
020464,000771: 24,2774 05012 WOR CHAN12
020465,000772: 24,2775 33034 CAF OCT205
020466,000773: 24,2776 04655 TC BANKCALL
020467,000774: 24,2777 20532 CADR GOPERF1
020468,000775: 24,3000 03025 TC R23LEM2 # TERMINATE
020469,000776: 24,3001 03003 TC R23LEM11 # PROCEDE
020470,000777: 24,3002 03030 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
020471,000778: 24,3003 00004 R23LEM11 INHINT
020472,000779: 24,3004 04737 TC IBNKCALL # RESTORE DEADBAND TO
020473,000780: 24,3005 40204 CADR RESTORDB # ASTRONAUT SELECTED VALUE
020474,000781: 24,3006 04540 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
020475,000782: 24,3007 00035 ADRES CDUT
020476,000783: 24,3010 03015 TC OUTOFLIM # NOT WITHIN LIMITS
020477,000784: 24,3011 00003 RELINT
020478,000785: 24,3012 05600 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
020479,000786: 24,3013 00126 ADRES NORRMON
020480,000787: 24,3014 02134 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
020481,000788: 24,3015 00003 OUTOFLIM RELINT
020482,000789:
020483,000790: 24,3016 33033 CAF OCT501PV
020484,000791: 24,3017 04655 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
020485,000792: 24,3020 21443 CADR PRIOLARM # LIMITS
020486,000793: 24,3021 03025 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
020487,000794: 24,3022 03016 TC OUTOFLIM +1 # PROCEED ILLEGAL
020488,000795: 24,3023 03030 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
020489,000796: 24,3024 05225 TC ENDOFJOB
020490,000797: 24,3025 05600 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
020491,000798: 24,3026 00126 ADRES NORRMON
020492,000799: 24,3027 06000 TC GOTOV56 # AND EXIT VIA V56
020493,000800: 24,3030 04655 R23LEM3 TC BANKCALL
020494,000801: 24,3031 46037 CADR R61LEM
020495,000802: 24,3032 02772 TC R23LEM1
020496,000803:
020497,000804: 24,3033 00501 OCT501PV OCT 501
020498,000805: 24,3034 00205 OCT205 OCT 205
020499,000806:
020500,000807: # SEARCH ROUTINE R24LEM
020501,000808: # PROGRAM DESCRIPTION
020502,000809: # MOD NO - 2
020503,000810: # BY P. VOLANTE
020504,000811: # FUNCTIONAL DESCRIPTION
020505,000812:
020506,000813: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
020507,000814: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
020508,000815: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
020509,000816: # CALLING SEQUENCE
020510,000817: # CAF PRIONN
020511,000818: # TC FINDVAC
020512,000819: # EBANK= DATAGOOD
020513,000820: # 2CADR R24LEM
020514,000821: # SUBROUTINES CALLED
020515,000822: # FLAGUP FLAGDOWN BANKCALL
020516,000823: # R61LEM GOFLASHR FINDVAC
020517,000824: # ENDOFJOB NOVAC LSR24.1
020518,000825: # NORMAL EXIT MODES-
020519,000826: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
020520,000827: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
020521,000828: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
020522,000829: # ALARM OR ABORT EXIT MODES-
020523,000830: # SEE NORMAL EXIT MODES ABOVE
020524,000831: # OUTPUT -
020525,000832: # SEE OUTPUT FROM LSR24.1 + R61LEM
020526,000833: # ERASABLE INITIALIZATION REQUIRED
020527,000834: # SEE INPUT FOR LSR24.1
020528,000835: # FLAGS SET + RESET
020529,000836: # SRCHOPT,ACMODFLG
020530,000837: 24,3035 E7,1720 EBANK= DATAGOOD
020531,000838: 24,3035 COUNT* $$/R24
020532,000839: 24,3035 05566 R24LEM TC UPFLAG
020533,000840: 24,3036 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
020534,000841: 24,3037 35030 R24LEM1 CAF ZERO
020535,000842: 24,3040 55720 TS DATAGOOD # ZERO OUT DATA INDICATOR
020536,000843: 24,3041 55721 TS OMEGAD # ZERO OMEGA DISPLAY REGS
020537,000844: 24,3042 55722 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
020538,000845: 24,3043 05423 R24LEM2 TC PHASCHNG
020539,000846: 24,3044 04022 OCT 04022
020540,000847: 24,3045 33117 CAF V16N80
020541,000848: 24,3046 04655 TC BANKCALL
020542,000849: 24,3047 20414 CADR PRIODSPR
020543,000850: 24,3050 06000 TC GOTOV56
020544,000851: 24,3051 03055 TC R24END # PROCEED EXIT R24 TO P20LEM1
020545,000852:
020546,000853:
020547,000854: 24,3052 03073 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
020548,000855:
020549,000856: 24,3053 04655 TC BANKCALL
020550,000857: 24,3054 55362 CADR LRS24.1
020551,000858: 24,3055 00004 R24END INHINT
020552,000859: 24,3056 06005 TC KILLTASK
020553,000860: 24,3057 55575 CADR CALLDGCH
020554,000861: 24,3060 00003 RELINT
020555,000862: 24,3061 03063 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
020556,000863: 24,3062 02037 TC P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
020557,000864:
020558,000865: 24,3063 43116 CLRADMOD CS BIT10+15
020559,000866: 24,3064 00004 INHINT
020560,000867: 24,3065 71101 MASK RADMODES
020561,000868: 24,3066 55101 TS RADMODES
020562,000869: 24,3067 45025 CS BIT2 # DISABLE RR ERROR COUNTERS
020563,000870: 24,3070 00006 EXTEND
020564,000871: 24,3071 03012 WAND CHAN12 # USER WILL RELINT
020565,000872:
020566,000873: 24,3072 00002 TC Q
020567,000874:
020568,000875: 24,3073 05423 R24LEM3 TC PHASCHNG
020569,000876: 24,3074 04022 OCT 04022
020570,000877: 24,3075 00004 INHINT
020571,000878: 24,3076 06005 TC KILLTASK
020572,000879: 24,3077 52556 CADR STDESIG # KILL WAITLIST FOR NEXT POINT IN PATTERN
020573,000880: 24,3100 00003 RELINT # HALF SECOND DESIGNATE LOOP
020574,000881: 24,3101 03063 TC CLRADMOD
020575,000882: 24,3102 45025 CS BIT2
020576,000883: 24,3103 00006 EXTEND
020577,000884: 24,3104 03012 WAND CHAN12
020578,000885: 24,3105 02655 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
020579,000886: 24,3106 03043 TC R24LEM2 # YES-DONT DO ATTITUDE MANEUVER
020580,000887: 24,3107 05566 TC UPFLAG
020581,000888: 24,3110 00152 ADRES MANUFLAG
020582,000889: 24,3111 04655 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
020583,000890: 24,3112 46037 CADR R61LEM # ATTITUDE MANEUVER
020584,000891: 24,3113 05600 TC DOWNFLAG
020585,000892: 24,3114 00152 ADRES MANUFLAG
020586,000893: 24,3115 03043 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
020587,000894:
020588,000895: 24,3116 41000 BIT10+15 OCT 41000
020589,000896: 24,3117 04120 V16N80 VN 01680
020590,000897:
020591,000898: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
020592,000899: # PROGRAM DESCRIPTION
020593,000900: # MOD NO : 3 DATE : 4-11-67
020594,000901: # MOD BY : P VOLANTE SDC
020595,000902:
020596,000903:
020597,000904: # FUNCTIONAL DESCRIPTION-
020598,000905: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
020599,000906: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
020600,000907: # ATTITUDE.
020601,000908: # CALLING SEQUENCE-
020602,000909: # TC BANKCALL
020603,000910: # CADR R61LEM
020604,000911: # SUBROUTINES CALLED
020605,000912: # LPS20.1 VECPOINT
020606,000913: # KALCMAN3
020607,000914:
020608,000915:
020609,000916: # NORMAL EXIT MODES-
020610,000917: # NORMAL RETURN IS TO CALLER + 1
020611,000918: # ALARM OR ABORT EXIT MODES-
020612,000919: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
020613,000920: # RENDEZVOUS FLAG ARE NOT SET.
020614,000921: # OUTPUT -
020615,000922: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
020616,000923: # ERASABLE INITIALIZATION REQUIRED
020617,000924: # GENRET USED TO SAVE Q FOR RETURN
020618,000925: # FLAGS SET + RESET
020619,000926: # 3AXISFLG
020620,000927: # DEBRIS
020621,000928: # SEE SUBROUTINES
020622,000929: 23,2000 SETLOC R61
020623,000930: 23,2000 BANK
020624,000931: 23,2037 E7,1433 EBANK= LOSCOUNT
020625,000932: 23,2037 COUNT* $$/R61
020626,000933: 23,2037 04704 R61LEM TC MAKECADR
020627,000934: 23,2040 55154 TS GENRET
020628,000935: 23,2041 05423 TC PHASCHNG
020629,000936: 23,2042 04022 OCT 04022
020630,000937: 23,2043 35022 R61C+L01 CAF TRACKBIT # TRACKFLAG
020631,000938: 23,2044 70075 MASK STATE +1
020632,000939: 23,2045 00006 EXTEND
020633,000940: 23,2046 12076 BZF R61C+L1 # NOT SET
020634,000941: 23,2047 06014 R61C+L03 TC INTPRET # SET
020635,000942: 23,2050 77775 VLOAD
020636,000943: 23,2051 06225 HIUNITZ
020637,000944: 23,2052 01250 STORE SCAXIS # TRACK AXIS UNIT VECTOR
020638,000945: 23,2053 77634 RTB
020639,000946: 23,2054 21454 LOADTIME # PRESENT TIME
020640,000947: 23,2055 34041 STCALL TDEC1
020641,000948: 23,2056 53521 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
020642,000949: 23,2057 77775 VLOAD
020643,000950: 23,2060 01105 RRTARGET
020644,000951: 23,2061 01256 STORE POINTVSM # DIRECTION IN WHICH TRACK AXIS IS TO BE
020645,000952: 23,2062 77414 CLEAR EXIT
020646,000953: 23,2063 02671 3AXISFLG
020647,000954: 23,2064 05566 TC UPFLAG
020648,000955: 23,2065 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
020649,000956: 23,2066 04655 TC BANKCALL
020650,000957: 23,2067 54103 CADR R60LEM
020651,000958: 23,2070 05423 TC PHASCHNG
020652,000959: 23,2071 04022 OCT 04022
020653,000960: 23,2072 05600 TC DOWNFLAG
020654,000961: 23,2073 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
020655,000962:
020656,000963: 23,2074 31154 R61C+L4 CAE GENRET
020657,000964: 23,2075 14677 TCF BANKJUMP # EXIT R61
020658,000965: 23,2076 32103 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
020659,000966: 23,2077 70074 MASK STATE
020660,000967: 23,2100 00006 EXTEND
020661,000968: 23,2101 15225 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
020662,000969: 23,2102 02074 TC R61C+L4 # YES EXIT ROUTINE
020663,000970: 23,2103 00500 BIT7+9PV OCT 00500
020664,000971:
020665,000972:
020666,000973: 4524 BLOCK 02
020667,000974: 4000 SETLOC RADARFF
020668,000975: 4000 BANK
020669,000976:
020670,000977: 4524 E7,1433 EBANK= LOSCOUNT
020671,000978: 4524 COUNT* $$/RRSUB
020672,000979:
020673,000980: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
020674,000981: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
020675,000982:
020676,000983: 4524 00006 MAGSUB EXTEND
020677,000984: 4525 64527 BZMF +2
020678,000985: 4526 14530 TCF +2
020679,000986: 4527 40000 COM
020680,000987:
020681,000988: 4530 50002 INDEX Q
020682,000989: 4531 60000 AD 0
020683,000990: 4532 00006 EXTEND
020684,000991: 4533 64536 BZMF +3
020685,000992:
020686,000993: 4534 50002 INDEX Q
020687,000994: 4535 00001 TC 1
020688,000995:
020689,000996: 4536 50002 INDEX Q
020690,000997: 4537 00002 TC 2
020691,000998:
020692,000999: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
020693,001000:
020694,001001: # FUNCTIONAL DESCRIPTION_
020695,001002: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
020696,001003: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
020697,001004: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
020698,001005: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
020699,001006: # MODE 1 AND =1 FOR MODE 2.
020700,001007: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
020701,001008: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
020702,001009: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
020703,001010: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
020704,001011: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
020705,001012: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
020706,001013: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
020707,001014: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
020708,001015: # TO L +3.
020709,001016:
020710,001017: # CALLING SEQUENCE:
020711,001018: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
020712,001019: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
020713,001020:
020714,001021: # ERASABLE INITIALIZATION REQUIRED:
020715,001022: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
020716,001023: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
020717,001024: # CURRENT EBANK).
020718,001025:
020719,001026: # SUBROUTINES CALLED_ MAGSUB
020720,001027:
020721,001028: # JOBS OR TASKS INITIATED_ NONE
020722,001029:
020723,001030: # ALARMS_ NONE
020724,001031:
020725,001032: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
020726,001033: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
020727,001034:
020728,001035: 4540 00006 RRLIMCHK EXTEND
020729,001036: 4541 50002 INDEX Q
020730,001037: 4542 50000 INDEX 0
020731,001038: 4543 30001 DCA 0
020732,001039: 4544 24002 INCR Q
020733,001040: 4545 52062 DXCH ITEMP1
020734,001041: 4546 22002 LXCH Q # L(CALLER +2) TO L.
020735,001042:
020736,001043: 4547 35013 CAF BIT12 # SEE WHICH MODE RR IS IN.
020737,001044: 4550 71101 MASK RADMODES
020738,001045: 4551 10000 CCS A
020739,001046: 4552 14565 TCF MODE2CHK
020740,001047:
020741,001048: 4553 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
020742,001049:
020743,001050: 4554 04524 TC MAGSUB # 1. ABS(T) L 55 DEGS.
020744,001051: 4555 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
020745,001052: 4556 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
020746,001053:
020747,001054: 4557 34577 CAF 5.5DEGS
020748,001055: 4560 60062 AD ITEMP2 # S
020749,001056: 4561 04524 TC MAGSUB
020750,001057: 4562 64420 DEC -.35833 # 64.5 DEGS
020751,001058: 4563 00001 TC L
020752,001059: 4564 04575 TC RRLIMOK # IN LIMITS.
020753,001060:
020754,001061: 4565 34600 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
020755,001062: 4566 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
020756,001063: 4567 04524 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
020757,001064: 4570 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
020758,001065: 4571 00001 TC L
020759,001066:
020760,001067: 4572 30061 CA ITEMP1
020761,001068: 4573 04524 TC MAGSUB
020762,001069: 4574 51615 DEC -.69444 # 125 DEGS
020763,001070:
020764,001071: 4575 50001 RRLIMOK INDEX L
020765,001072: 4576 00001 TC L # ( = TC 1 )
020766,001073:
020767,001074: 4577 00765 5.5DEGS DEC .03056
020768,001075: 4600 16450 82DEGS DEC .45556
020769,001076:
020770,001077: # PROGRAM NAME_ SETTRKF . IF EITHER:
020771,001078:
020772,001079: # FUNCTIONAL DESCRIPTION_
020773,001080: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
020774,001081: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
020775,001082: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
020776,001083: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
020777,001084: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
020778,001085: # AUTO MODE (RADMODES BITS 13, 7, 2).
020779,001086: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
020780,001087: # 8,5)
020781,001088: # 3) NO RR DATA (RADMODES BIT 4)
020782,001089: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
020783,001090: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
020784,001091: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
020785,001092: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
020786,001093: # TRACKER FAIL LAMP IS TURNED ON IF_
020787,001094: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
020788,001095: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
020789,001096: # EITHER THE ALT OR VEL INFORMATION
020790,001097: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
020791,001098: # WITH EITHER THE AL
020792,001099:
020793,001100: # CALLING SEQUENCE:
020794,001101: # L TC SETTRKF
020795,001102:
020796,001103: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
020797,001104: # SUBROUTINES CALLED_ NONE
020798,001105:
020799,001106: # JOBS OR TASKS INITIATED_ NONE
020800,001107:
020801,001108: # ALARMS_ TRACKER FAIL LAMP
020802,001109:
020803,001110: # EXIT_ L +1 (ALWAYS) ED.
020804,001111:
020805,001112: 4601 35026 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
020806,001113: 4602 71305 MASK IMODES33
020807,001114: 4603 10000 CCS A
020808,001115: 4604 00002 TC Q
020809,001116:
020810,001117: 4605 34654 CAF 13,7,2 # SEE IF CDU FAILED.
020811,001118: 4606 71101 MASK RADMODES
020812,001119: 4607 00006 EXTEND
020813,001120: 4610 14634 BZF TRKFLON # CONDITION 3 ABOVE.
020814,001121:
020815,001122: 4611 00006 EXTEND
020816,001123: 4612 00013 READ CHAN13
020817,001124: 4613 75032 MASK LOW3
020818,001125: 4614 54001 TS L
020819,001126: 4615 75024 MASK BIT3
020820,001127: 4616 00006 EXTEND
020821,001128: 4617 14631 BZF RRCHECK
020822,001129:
020823,001130: 4620 35032 CAF LOW3
020824,001131: 4621 00006 EXTEND
020825,001132: 4622 06001 RXOR LCHAN
020826,001133: 4623 10000 CCS A
020827,001134: 4624 14651 TCF LRVELCHK
020828,001135:
020829,001136: 4625 41101 LRALTCHK CS RADMODES
020830,001137: 4626 75022 MASK LRALTBIT
020831,001138: 4627 00006 LRCHECK EXTEND
020832,001139: 4630 14634 BZF TRKFLON
020833,001140:
020834,001141: 4631 35023 RRCHECK CAF BIT4 # SEE IF RR DATA FAILED.
020835,001142: 4632 71101 MASK RADMODES
020836,001143:
020837,001144: 4633 10000 CCS A
020838,001145: 4634 35017 TRKFLON CAF BIT8
020839,001146: 4635 61037 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
020840,001147: 4636 75017 MASK BIT8
020841,001148: 4637 00006 EXTEND
020842,001149: 4640 16716 BZF TCQ # NO CHANGE.
020843,001150:
020844,001151: 4641 54001 FLIP TS L
020845,001152: 4642 31037 CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
020846,001153: 4643 00006 EXTEND
020847,001154: 4644 06001 RXOR LCHAN
020848,001155: 4645 75006 MASK POSMAX
020849,001156: 4646 65010 AD BIT15
020850,001157: 4647 55037 TS DSPTAB +11D
020851,001158: 4650 00002 TC Q
020852,001159:
020853,001160: 4651 41101 LRVELCHK CS RADMODES
020854,001161: 4652 75017 MASK LRVELBIT
020855,001162: 4653 14627 TCF LRCHECK
020856,001163:
020857,001164: 4654 10102 13,7,2 OCT 10102
020858,001165: 4655 ENDRMODF EQUALS
020859,001166:
020860,001167:
020861,001168: # PROGRAM NAME_ RRTURNON
020862,001169:
020863,001170: # FUNCTIONAL DESCRIPTION_
020864,001171:
020865,001172: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
020866,001173: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
020867,001174: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
020868,001175: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
020869,001176: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
020870,001177: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
020871,001178: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
020872,001179: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
020873,001180: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
020874,001181: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
020875,001182: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
020876,001183: # TO TASKOVER.
020877,001184:
020878,001185: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
020879,001186: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
020880,001187: # THE RR (STATE BIT 7).
020881,001188:
020882,001189: # ERASABLE INITIALIZATION REQUIRED:
020883,001190: # RADMODES, STATE
020884,001191:
020885,001192: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
020886,001193:
020887,001194: # JOBS OR TASKS INITIATED_
020888,001195: # NONE
020889,001196:
020890,001197: # ALARMS_ NONE (SEE RRZEROSB)
020891,001198:
020892,001199: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
020893,001200:
020894,001201: 24,3120 BANK 24
020895,001202: 25,2000 SETLOC P20S1
020896,001203: 25,2000 BANK
020897,001204:
020898,001205: 25,2053 E7,1433 EBANK= LOSCOUNT
020899,001206: 25,2053 COUNT* $$/RSUB
020900,001207: 25,2053 02062 RRTURNON TC RRZEROSB
020901,001208: 25,2054 05271 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
020902,001209: 25,2055 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
020903,001210: 25,2056 45026 CS BIT1
020904,001211: 25,2057 71101 MASK RADMODES
020905,001212: 25,2060 55101 TS RADMODES
020906,001213: 25,2061 15331 TCF TASKOVER
020907,001214:
020908,001215: # PROGRAM NAME_ RRZEROSB
020909,001216:
020910,001217: # FUNCTIONAL DESCRIPTION_
020911,001218: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
020912,001219: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
020913,001220: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
020914,001221: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
020915,001222: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
020916,001223: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
020917,001224: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
020918,001225: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
020919,001226: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
020920,001227: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
020921,001228: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
020922,001229: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
020923,001230: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
020924,001231: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
020925,001232: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
020926,001233:
020927,001234: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
020928,001235: # ERASABLE INITIALIZATION REQUIRED:
020929,001236: # RADMODES (BIT 13 SET), DSPTAB +11D
020930,001237:
020931,001238: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
020932,001239:
020933,001240: # JOBS OR TASKS INITIATED_
020934,001241: # NONE
020935,001242:
020936,001243: # ALARMS_ TRACKER FAIL
020937,001244:
020938,001245: # EXIT_ L +1 (ALWAYS)
020939,001246:
020940,001247: 25,2062 00006 RRZEROSB EXTEND
020941,001248: 25,2063 22111 QXCH RRRET
020942,001249: 25,2064 35026 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
020943,001250: 25,2065 00006 EXTEND # COMING HERE.
020944,001251: 25,2066 05012 WOR CHAN12 # TURN ON ZERO RR CDU
020945,001252: 25,2067 05271 TC FIXDELAY
020946,001253: 25,2070 00002 DEC 2 B-14
020947,001254:
020948,001255: 25,2071 35030 CAF ZERO
020949,001256: 25,2072 54035 TS CDUT
020950,001257: 25,2073 54036 TS CDUS
020951,001258: 25,2074 45026 CS ONE # REMOVE ZEROING BIT.
020952,001259: 25,2075 00006 EXTEND
020953,001260: 25,2076 03012 WAND CHAN12
020954,001261: 25,2077 05271 TC FIXDELAY
020955,001262: 25,2100 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
020956,001263:
020957,001264: 25,2101 45012 CS BIT13 # REMOVE ZEROING IN PROCESS BIT.
020958,001265:
020959,001266: 25,2102 71101 MASK RADMODES
020960,001267: 25,2103 55101 TS RADMODES
020961,001268:
020962,001269: 25,2104 30035 CA CDUT
020963,001270: 25,2105 04524 TC MAGSUB
020964,001271: 25,2106 57777 DEC -.5
020965,001272: 25,2107 12112 TCF +3 # IF MODE 2.
020966,001273:
020967,001274: 25,2110 35030 CAF ZERO
020968,001275: 25,2111 12113 TCF +2
020969,001276: 25,2112 35013 CAF BIT12
020970,001277: 25,2113 57101 XCH RADMODES
020971,001278: 25,2114 77712 MASK -BIT12
020972,001279: 25,2115 27101 ADS RADMODES
020973,001280:
020974,001281: 25,2116 04601 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
020975,001282:
020976,001283: 25,2117 00111 TC RRRET # DONE.
020977,001284:
020978,001285: 25,2120 7712 -BIT12 EQUALS -1/8 # IN SPROOT
020979,001286:
020980,001287: # PROGRAM NAME_ DORREPOS
020981,001288: # FUNCTIONAL DESCRIPTION_
020982,001289: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
020983,001290: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
020984,001291: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
020985,001292: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
020986,001293: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
020987,001294: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
020988,001295: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
020989,001296: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
020990,001297: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
020991,001298: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
020992,001299: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
020993,001300: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
020994,001301: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
020995,001302: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
020996,001303: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
020997,001304: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
020998,001305: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
020999,001306: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
021000,001307: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
021001,001308: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
021002,001309: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
021003,001310: # TASKOVER.
021004,001311:
021005,001312: # CALLING SEQUENCE:
021006,001313: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
021007,001314: # NOT WITHIN LIMITS OF CURRENT MODE.
021008,001315:
021009,001316: # ERASABLE INITIALIZATION REQUIRED:
021010,001317: # RADMODES
021011,001318:
021012,001319: # SUBROUTINES CALLED_
021013,001320: # RRTONLY, RRSONLY, BEGDES (EXIT)
021014,001321:
021015,001322: # JOBS OR TASKS INITIATED_
021016,001323: # NONE
021017,001324:
021018,001325: # ALARMS- NONE
021019,001326:
021020,001327: # EXIT_ TASKOVER, BEGDES
021021,001328:
021022,001329: 25,2120 02147 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
021023,001330:
021024,001331: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
021025,001332:
021026,001333: 25,2121 05271 TC FIXDELAY
021027,001334: 25,2122 00002 DEC 2 B-14
021028,001335:
021029,001336: 25,2123 35013 CAF BIT12 # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
021030,001337:
021031,001338: 25,2124 71101 MASK RADMODES
021032,001339: 25,2125 10000 CCS A
021033,001340: 25,2126 35010 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
021034,001341: 25,2127 02220 TC RRTONLY
021035,001342:
021036,001343: 25,2130 35013 CAF BIT12 # NOW PUT SHAFT IN RIGHT POSITION.
021037,001344: 25,2131 71101 MASK RADMODES
021038,001345: 25,2132 10000 CCS A
021039,001346: 25,2133 45011 CS HALF # -90 FOR MODE 2.
021040,001347: 25,2134 02223 TC RRSONLY
021041,001348:
021042,001349: 25,2135 45014 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
021043,001350: # REQUESTED DURING REPOSITION.
021044,001351: 25,2136 71101 MASK RADMODES # REMOVE REPOSITION BIT.
021045,001352: 25,2137 55101 TS RADMODES
021046,001353: 25,2140 75015 MASK BIT10 # SEE IF SOMEONE IS WAITING TO DESIGNATE.
021047,001354: 25,2141 10000 CCS A
021048,001355: 25,2142 12547 TCF BEGDES
021049,001356: 25,2143 45025 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
021050,001357: 25,2144 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
021051,001358: 25,2145 03012 WAND CHAN12
021052,001359: 25,2146 15331 TCF TASKOVER
021053,001360:
021054,001361: 25,2147 35025 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
021055,001362: 25,2150 00006 EXTEND
021056,001363: 25,2151 02012 RAND CHAN12
021057,001364: 25,2152 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
021058,001365: 25,2153 00002 TC Q # ERROR COUNTERS ARE ENABLED.
021059,001366:
021060,001367: 25,2154 55322 TS LASTYCMD
021061,001368: 25,2155 55323 TS LASTXCMD
021062,001369: 25,2156 35025 CAF BIT2
021063,001370: 25,2157 00006 EXTEND
021064,001371: 25,2160 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
021065,001372: 25,2161 00002 TC Q
021066,001373:
021067,001374: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
021068,001375:
021069,001376: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
021070,001377: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
021071,001378: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
021072,001379: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
021073,001380: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
021074,001381: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
021075,001382: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
021076,001383: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
021077,001384: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
021078,001385: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
021079,001386: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
021080,001387: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
021081,001388: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
021082,001389: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
021083,001390: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
021084,001391: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
021085,001392: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
021086,001393: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
021087,001394: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
021088,001395: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
021089,001396:
021090,001397: # CALLING SEQUENCE:
021091,001398: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
021092,001399: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
021093,001400: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
021094,001401: # OTHER MODE.
021095,001402:
021096,001403: # ERASABLE INITIALIZATION REQUIRED:
021097,001404: # RADMODES
021098,001405:
021099,001406: # SUBROUTINES CALLED_
021100,001407: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
021101,001408:
021102,001409: # JOBS OR TASKS INITIATED_
021103,001410: # NONE
021104,001411:
021105,001412: # ALARMS_ NONE
021106,001413:
021107,001414: # EXIT_ STDESIG
021108,001415:
021109,001416: 25,2162 35013 REMODE CAF BIT12 # DRIVE TRUNNION TO 0 (180).
021110,001417: 25,2163 71101 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
021111,001418: 25,2164 10000 CCS A
021112,001419: 25,2165 35010 CAF BIT15
021113,001420: 25,2166 02220 TC RRTONLY
021114,001421:
021115,001422: 25,2167 37711 CAF -45DEGSR
021116,001423: 25,2170 02223 TC RRSONLY
021117,001424:
021118,001425: 25,2171 41101 CS RADMODES
021119,001426: 25,2172 75013 MASK BIT12
021120,001427: 25,2173 10000 CCS A
021121,001428: 25,2174 32211 CAF -80DEGSR # GO TO T = -130 (-50).
021122,001429: 25,2175 62210 AD -50DEGSR
021123,001430: 25,2176 02220 TC RRTONLY
021124,001431:
021125,001432: 25,2177 02212 TC RMODINV
021126,001433:
021127,001434: 25,2200 45011 CS BIT14 # END OF REMODE.
021128,001435: 25,2201 71101 MASK RADMODES
021129,001436: 25,2202 55101 TS RADMODES
021130,001437:
021131,001438: 25,2203 35015 CAF BIT10 # WAS REMODE CALLED DURING DESIGNATE
021132,001439: 25,2204 71101 MASK RADMODES # (BIT10 RADMODES = 1)
021133,001440: 25,2205 00006 EXTEND
021134,001441: 25,2206 13511 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
021135,001442: 25,2207 02556 TC STDESIG # YES - RETURN TO DESIGNATE
021136,001443: 25,2210 7711 -45DEGSR = 13,14,15
021137,001444: 25,2210 67070 -50DEGSR DEC -.27778
021138,001445: 25,2211 61615 -80DEGSR DEC -.44444
021139,001446:
021140,001447: 25,2212 23101 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
021141,001448: 25,2213 35013 CAF BIT12
021142,001449: 25,2214 00006 EXTEND
021143,001450: 25,2215 06001 RXOR LCHAN
021144,001451: 25,2216 55101 TS RADMODES
021145,001452: 25,2217 00002 TC Q
021146,001453:
021147,001454: # PROGRAM NAMES_ RRTONLY, RRSONLY
021148,001455:
021149,001456: # FUNCTIONAL DESCRIPTION_
021150,001457: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
021151,001458: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
021152,001459: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
021153,001460: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
021154,001461: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
021155,001462: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
021156,001463: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
021157,001464: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
021158,001465: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
021159,001466: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
021160,001467: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
021161,001468: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
021162,001469: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
021163,001470: # REPEATED.
021164,001471:
021165,001472: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
021166,001473: # L TC RRTONLY (TRUNNION ONLY)
021167,001474: # RRSONLY (SHAFT ONLY)
021168,001475: # RRTONLY IS CALLED BY PREPOS29;
021169,001476: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
021170,001477:
021171,001478: # ERASABLE INITIALIZATION REQUIRED:
021172,001479: # C(A) = DESIRED ANGLE, RADMODES
021173,001480:
021174,001481: # SUBROUTINES CALLED_
021175,001482: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
021176,001483:
021177,001484: # JOBS OR TASKS INITIATED_
021178,001485: # NONE
021179,001486:
021180,001487: # ALARMS_ NONE
021181,001488:
021182,001489: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
021183,001490: # BITS 14, 11)
021184,001491: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
021185,001492:
021186,001493: 25,2220 54112 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
021187,001494: 25,2221 35030 CAF ZERO
021188,001495: 25,2222 12225 TCF RR1AXIS
021189,001496:
021190,001497: 25,2223 54112 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
021191,001498: 25,2224 35026 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
021192,001499:
021193,001500: 25,2225 54113 RR1AXIS TS RRINDEX
021194,001501: 25,2226 00006 EXTEND
021195,001502: 25,2227 22111 QXCH RRRET
021196,001503: 25,2230 12233 TCF RR1AX2
021197,001504:
021198,001505: 25,2231 05271 NXTRR1AX TC FIXDELAY
021199,001506: 25,2232 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
021200,001507:
021201,001508: 25,2233 41101 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
021202,001509: 25,2234 77662 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
021203,001510: 25,2235 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
021204,001511: 25,2236 12135 BZF REPOSRPT # REMODE IMMEDIATELY.
021205,001512:
021206,001513: 25,2237 30112 CA RDES
021207,001514: 25,2240 00006 EXTEND
021208,001515: 25,2241 50113 INDEX RRINDEX
021209,001516: 25,2242 20035 MSU CDUT
021210,001517: 25,2243 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
021211,001518: 25,2244 00006 EXTEND
021212,001519: 25,2245 72264 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
021213,001520: 25,2246 54001 TS L
021214,001521: 25,2247 31101 CA RADMODES
021215,001522: 25,2250 75025 MASK BIT2
021216,001523: 25,2251 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
021217,001524: 25,2252 04524 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
021218,001525: 25,2253 77644 DEC -.00555 # SCALED IN HALF-REVS.
021219,001526:
021220,001527: 25,2254 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
021221,001528: 25,2255 00111 TC RRRET # RETURN TO CALLER.
021222,001529:
021223,001530: 25,2256 10113 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
021224,001531: 25,2257 12261 TCF +2 # SETTING A TO 0.
021225,001532: 25,2260 56001 XCH L
021226,001533: 25,2261 53113 DXCH TANG
021227,001534:
021228,001535: 25,2262 02265 TC RROUT
021229,001536:
021230,001537: 25,2263 12231 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
021231,001538:
021232,001539: 25,2264 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
021233,001540:
021234,001541: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
021235,001542:
021236,001543: # FUNCTIONAL DESCRIPTION_
021237,001544: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
021238,001545: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
021239,001546: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
021240,001547: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
021241,001548: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
021242,001549: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
021243,001550: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
021244,001551: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
021245,001552: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
021246,001553: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
021247,001554: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
021248,001555: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
021249,001556: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
021250,001557:
021251,001558: # CALLING SEQUENCE:
021252,001559: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
021253,001560: # RRTONLY, RRSONLY, AND DODES
021254,001561:
021255,001562: # ERASABLE INITIALIZATION REQUIRED:
021256,001563: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
021257,001564: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
021258,001565:
021259,001566: # SUBROUTINES CALLED_
021260,001567: # MAGSUB
021261,001568:
021262,001569: # JOBS OR TASKS INITIATED_
021263,001570: # NONE
021264,001571:
021265,001572: # ALARMS_ NONE
021266,001573:
021267,001574: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
021268,001575:
021269,001576: 25,2265 22002 RROUT LXCH Q # SAVE RETURN.
021270,001577: 25,2266 35026 CAF ONE # LOOP TWICE.
021271,001578: 25,2267 54062 RROUT2 TS ITEMP2
021272,001579: 25,2270 50000 INDEX A
021273,001580: 25,2271 31112 CA TANG
021274,001581: 25,2272 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
021275,001582:
021276,001583: 25,2273 04524 TC MAGSUB # SEE IF WITHIN LMITS.
021277,001584: 25,2274 77177 -RRLIMIT DEC -384 B-14
021278,001585: 25,2275 12314 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
021279,001586:
021280,001587: 25,2276 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
021281,001588: 25,2277 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
021282,001589: 25,2300 57322 XCH LASTYCMD # LASTYCMD AND LASTXCMD
021283,001590: 25,2301 40000 COM
021284,001591:
021285,001592: 25,2302 60061 AD ITEMP1
021286,001593: 25,2303 65027 AD NEG0 # PREVENT +0 IN OUTCOUNTER
021287,001594: 25,2304 50062 INDEX ITEMP2
021288,001595: 25,2305 54053 TS CDUTCMD
021289,001596:
021290,001597: 25,2306 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
021291,001598: 25,2307 12267 TCF RROUT2
021292,001599:
021293,001600: 25,2310 35070 CAF PRIO6 # ENABLE COUNTERS.
021294,001601: 25,2311 00006 EXTEND
021295,001602: 25,2312 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
021296,001603: 25,2313 00001 TC L # RETURN.
021297,001604:
021298,001605: 25,2314 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
021299,001606: 25,2315 42274 CS -RRLIMIT
021300,001607: 25,2316 12320 TCF +2
021301,001608: 25,2317 32274 CA -RRLIMIT
021302,001609: 25,2320 54061 TS ITEMP1
021303,001610: 25,2321 12277 TCF SETRRCTR +1
021304,001611:
021305,001612: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
021306,001613:
021307,001614: 25,2322 32351 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
021308,001615: 25,2323 71101 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
021309,001616: 25,2324 10000 CCS A
021310,001617: 25,2325 13464 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
021311,001618:
021312,001619: 25,2326 00004 INHINT
021313,001620: 25,2327 45012 CS BIT13 # SET FLAG TO SHOW ZEROING IN PROGRESS.
021314,001621: 25,2330 71101 MASK RADMODES
021315,001622: 25,2331 65012 AD BIT13
021316,001623: 25,2332 55101 TS RADMODES
021317,001624:
021318,001625: 25,2333 35026 CAF ONE
021319,001626: 25,2334 05252 TC WAITLIST
021320,001627: 25,2335 E7,1433 EBANK= LOSCOUNT
021321,001628: 25,2335 02347 52067 2CADR RRZ2
021322,001629:
021323,001630: 25,2337 41101 CS RADMODES # SEE IF IN AUTO MODE.
021324,001631: 25,2340 75025 MASK BIT2
021325,001632: 25,2341 10000 CCS A
021326,001633: 25,2342 12345 TCF ROADBACK
021327,001634: 25,2343 05651 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
021328,001635: 25,2344 00510 OCT 510
021329,001636: 25,2345 00003 ROADBACK RELINT
021330,001637: 25,2346 14670 TCF SWRETURN
021331,001638:
021332,001639: 25,2347 02062 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
021333,001640: 25,2350 13502 TCF ENDRADAR
021334,001641:
021335,001642: 25,2351 02001 BIT11+1 OCT 02001
021336,001643:
021337,001644: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
021338,001645:
021339,001646: # FUNCTIONAL DESCRIPTION_
021340,001647: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
021341,001648: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
021342,001649: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
021343,001650: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
021344,001651: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
021345,001652: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
021346,001653: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
021347,001654: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
021348,001655: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
021349,001656: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
021350,001657: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
021351,001658: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
021352,001659: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
021353,001660: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
021354,001661: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
021355,001662: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
021356,001663: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
021357,001664: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
021358,001665: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
021359,001666: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
021360,001667: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
021361,001668: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
021362,001669:
021363,001670: # CALLING SEQUENCE:
021364,001671: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
021365,001672: # L+1 RRDESSM
021366,001673: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
021367,001674: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
021368,001675:
021369,001676: # ERASABLE INITIALIZATION REQUIRED:
021370,001677: # RRTARGET, RADMODES
021371,001678:
021372,001679: # SUBROUTINES CALLED_
021373,001680: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
021374,001681: # PART OF), RMODINV
021375,001682:
021376,001683: # JOBS OR TASKS INITIATED_
021377,001684: # NONE
021378,001685:
021379,001686: # ALARMS_ NONE
021380,001687:
021381,001688: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
021382,001689: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
021383,001690: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
021384,001691:
021385,001692: 25,2352 43020 RRDESSM STQ CLEAR
021386,001693: 25,2353 01116 DESRET
021387,001694: 25,2354 00271 RRNBSW
021388,001695: 25,2355 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
021389,001696: 25,2356 47335 CDUTRIG
021390,001697: 25,2357 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
021391,001698: 25,2360 01105 RRTARGET
021392,001699: 25,2361 47477 *SMNB*
021393,001700:
021394,001701: 25,2362 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
021395,001702: 25,2363 26105 RRANGLES # ALTERNATE MODE.
021396,001703: 25,2364 77776 EXIT
021397,001704:
021398,001705: 25,2365 00004 INHINT
021399,001706: 25,2366 04540 TC RRLIMCHK
021400,001707: 25,2367 01112 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
021401,001708: 25,2370 02373 TC +3 # NOT IN CURRENT MODE
021402,001709: 25,2371 25116 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
021403,001710: 25,2372 02405 TC STARTDES # SHOW DESIGNATE REQUIRED
021404,001711: 25,2373 40104 CS FLAGWRD8
021405,001712: 25,2374 75017 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
021406,001713: 25,2375 00006 EXTEND
021407,001714: 25,2376 12431 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
021408,001715: 25,2377 02434 TC TRYSWS
021409,001716:
021410,001717:
021411,001718: 25,2400 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
021412,001719: 25,2401 75017 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
021413,001720: 25,2402 00006 EXTEND
021414,001721: 25,2403 12431 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
021415,001722: 25,2404 02444 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
021416,001723:
021417,001724: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
021418,001725:
021419,001726: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
021420,001727: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
021421,001728: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
021422,001729: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
021423,001730: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
021424,001731: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
021425,001732: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
021426,001733: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
021427,001734: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
021428,001735: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
021429,001736: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
021430,001737: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
021431,001738: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
021432,001739: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
021433,001740: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
021434,001741: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
021435,001742: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
021436,001743: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
021437,001744: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
021438,001745: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
021439,001746: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
021440,001747:
021441,001748: # CALLING SEQUENCE:
021442,001749: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
021443,001750:
021444,001751: # ERASABLE INITIALIZATION REQUIRED:
021445,001752: # RADMODES, (SEE DODES)
021446,001753:
021447,001754: # SUBROUTINES CALLED_
021448,001755: # SETRRECR, WAITLIST
021449,001756:
021450,001757: # JOBS OR TASKS INITIATED_
021451,001758: # BEGDES
021452,001759:
021453,001760: # ALARMS_ NONE
021454,001761:
021455,001762: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
021456,001763: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
021457,001764:
021458,001765: 25,2405 25116 STARTDES INCR DESRET
021459,001766: 25,2406 41101 CS RADMODES
021460,001767: 25,2407 75015 MASK BIT10
021461,001768: 25,2410 27101 ADS RADMODES
021462,001769: 25,2411 75014 MASK BIT11 # SEE IF REPOSITION IN PROGRESS.
021463,001770: 25,2412 10000 CCS A
021464,001771: 25,2413 12421 TCF DESRETRN # ECTR ALREADY SET UP.
021465,001772:
021466,001773: 25,2414 02147 TC SETRRECR # SET UP ERROR COUNTERS.
021467,001774: 25,2415 35025 CAF TWO
021468,001775: 25,2416 05252 TC WAITLIST
021469,001776: 25,2417 E7,1433 EBANK= LOSCOUNT
021470,001777: 25,2417 02547 52067 2CADR BEGDES
021471,001778:
021472,001779: 25,2421 31310 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
021473,001780: 25,2422 00006 EXTEND
021474,001781: 25,2423 12425 BZF DESRTRN # YES SET EXIT
021475,001782: 25,2424 05225 TC ENDOFJOB # NO
021476,001783: 25,2425 00003 DESRTRN RELINT
021477,001784: 25,2426 25116 INCR DESRET
021478,001785: 25,2427 31116 CA DESRET
021479,001786: 25,2430 14677 TCF BANKJUMP
021480,001787:
021481,001788: 25,2431 35030 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
021482,001789: 25,2432 55310 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
021483,001790: 25,2433 12425 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
021484,001791:
021485,001792: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
021486,001793:
021487,001794: 25,2434 02212 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
021488,001795: 25,2435 04540 TC RRLIMCHK # TRY DIFFERENT MODE.
021489,001796: 25,2436 01114 ADRES MODEB
021490,001797: 25,2437 12444 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
021491,001798:
021492,001799: 25,2440 02212 TC RMODINV # RESET BIT12
021493,001800: 25,2441 35011 CAF BIT14 # SET FLAG FOR REMODE.
021494,001801: 25,2442 27101 ADS RADMODES
021495,001802:
021496,001803: 25,2443 12371 TCF OKDESSM
021497,001804:
021498,001805: 25,2444 02212 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
021499,001806: 25,2445 25116 INCR DESRET # TO CALLER +2
021500,001807: 25,2446 12431 TCF NORDSTAL
021501,001808:
021502,001809: 25,2447 00074 MAXTRYS DEC 60 B-14
021503,001810:
021504,001811: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
021505,001812: # TANG AND TANG +1.
021506,001813:
021507,001814: 25,2450 04704 RRDESNB TC MAKECADR
021508,001815: 25,2451 55116 TS DESRET
021509,001816:
021510,001817: 25,2452 32447 CA MAXTRYS # SET TIME LIMIT COUNTER
021511,001818: 25,2453 55117 TS DESCOUNT # FOR DESIGNATE
021512,001819: 25,2454 00004 INHINT # SEE IF CURRENT MODE OK.
021513,001820: 25,2455 02514 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
021514,001821: 25,2456 01112 ADRES TANG
021515,001822: 25,2457 12474 TCF TRYSWN # SEE IF IN OTHER MODE.
021516,001823:
021517,001824: 25,2460 00003 OKDESNB RELINT
021518,001825: 25,2461 00006 EXTEND
021519,001826: 25,2462 31113 DCA TANG
021520,001827: 25,2463 53744 DXCH TANGNB
021521,001828: 25,2464 06014 TC INTPRET
021522,001829:
021523,001830: 25,2465 77624 CALL # GET LOS IN NB COORDS.
021524,001831: 25,2466 46000 RRNB
021525,001832: 25,2467 01105 STORE RRTARGET
021526,001833:
021527,001834: 25,2470 77414 SET EXIT
021528,001835: 25,2471 00071 RRNBSW
021529,001836:
021530,001837: 25,2472 00004 INHINT
021531,001838: 25,2473 12406 TCF STARTDES +1
021532,001839: 25,2474 02212 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
021533,001840: 25,2475 02514 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
021534,001841: 25,2476 01112 ADRES TANG
021535,001842: 25,2477 12504 TCF NODESNB # NOT POSSIBLE.
021536,001843:
021537,001844: 25,2500 02212 TC RMODINV
021538,001845: 25,2501 35011 CAF BIT14 # CALL FOR REMODE.
021539,001846: 25,2502 27101 ADS RADMODES
021540,001847: 25,2503 12460 TCF OKDESNB
021541,001848:
021542,001849: 25,2504 35026 NODESNB CAF ONE
021543,001850: 25,2505 05252 TC WAITLIST
021544,001851: 25,2506 E7,1433 EBANK= LOSCOUNT
021545,001852: 25,2506 03516 52067 2CADR RDBADEND
021546,001853:
021547,001854: 25,2510 02212 TC RMODINV # REINVERT MODE BIT.
021548,001855: 25,2511 05651 TC ALARM # BAD INPUT ANGLES.
021549,001856: 25,2512 00502 OCT 502
021550,001857: 25,2513 12426 TCF DESRTRN +1 # AVOID 503 ALARM.
021551,001858:
021552,001859: 25,2514 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
021553,001860: 25,2515 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
021554,001861: 25,2516 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
021555,001862: 25,2517 00006 EXTEND
021556,001863:
021557,001864: 25,2520 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
021558,001865: 25,2521 30001 DCA 0
021559,001866: 25,2522 52062 DXCH ITEMP1
021560,001867: 25,2523 22002 LXCH Q # L(CALLER +2) TO L
021561,001868:
021562,001869: 25,2524 35013 CAF BIT12 # SEE WHICH MODE RR IS IN
021563,001870: 25,2525 71101 MASK RADMODES
021564,001871: 25,2526 10000 CCS A
021565,001872: 25,2527 14565 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
021566,001873: 25,2530 30061 CA ITEMP1
021567,001874: 25,2531 04524 TC MAGSUB # MODE 1 IS DEFINED AS
021568,001875: 25,2532 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
021569,001876: 25,2533 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
021570,001877:
021571,001878: 25,2534 30062 CA ITEMP2 # LOAD SHAFT ANGLE
021572,001879: 25,2535 00006 EXTEND
021573,001880: 25,2536 62544 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
021574,001881: 25,2537 64577 AD 5.5DEGS
021575,001882: 25,2540 04524 SHAFTLIM TC MAGSUB
021576,001883: 25,2541 64420 DEC -.35833 # 64.5 DEGREES
021577,001884: 25,2542 00001 TC L # NOT IN LIMITS
021578,001885: 25,2543 04575 TC RRLIMOK # IN LIMITS
021579,001886: 25,2544 62546 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
021580,001887: 25,2545 12540 TCF SHAFTLIM
021581,001888:
021582,001889:
021583,001890: 25,2546 03512 20.5DEGS DEC .11389
021584,001891:
021585,001892: # PROGRAM NAME_ BEGDES
021586,001893:
021587,001894: # FUNCTIONAL DESCRIPTION_
021588,001895: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
021589,001896: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
021590,001897: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
021591,001898: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
021592,001899: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
021593,001900: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
021594,001901: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
021595,001902: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
021596,001903: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
021597,001904: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
021598,001905: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
021599,001906: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
021600,001907: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
021601,001908: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
021602,001909: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
021603,001910: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
021604,001911: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
021605,001912: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
021606,001913: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
021607,001914: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
021608,001915: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
021609,001916: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
021610,001917: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
021611,001918: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
021612,001919: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
021613,001920:
021614,001921: # CALLING SEQUENCE:
021615,001922: # WAITLIST CALL FROM STARTDES
021616,001923: # TCF BEGDES FROM DORREPOS
021617,001924: # TC STDESIG RETURNING, FROM REMODE
021618,001925:
021619,001926: # ERASABLE INITIALIZATION REQUIRED:
021620,001927: # DESCOUNT, RADMODES
021621,001928:
021622,001929: # SUBROUTINES CALLED_
021623,001930: # ENDRADAR, FINDVAC
021624,001931:
021625,001932: # JOBS OR TASKS INITIATED_ DODES
021626,001933:
021627,001934: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
021628,001935: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
021629,001936:
021630,001937: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
021631,001938: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
021632,001939: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
021633,001940:
021634,001941: 25,2547 41101 BEGDES CS RADMODES
021635,001942:
021636,001943: 25,2550 75011 MASK BIT14
021637,001944: 25,2551 10000 CCS A
021638,001945: 25,2552 02556 TC STDESIG
021639,001946: 25,2553 02162 TC REMODE
021640,001947: 25,2554 05271 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
021641,001948: 25,2555 00062 DEC 50 B-14
021642,001949:
021643,001950: 25,2556 35014 STDESIG CAF BIT11
021644,001951: 25,2557 71101 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
021645,001952: 25,2560 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
021646,001953: 25,2561 12613 TCF BADDES # REPOSITION TO BE IN PROGRESS.
021647,001954:
021648,001955: 25,2562 11101 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
021649,001956: 25,2563 12566 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
021650,001957: 25,2564 12566 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
021651,001958: 25,2565 12620 TCF MOREDES +1
021652,001959:
021653,001960: 25,2566 41101 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
021654,001961: 25,2567 75015 MASK BIT10 # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
021655,001962: 25,2570 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
021656,001963: 25,2571 13502 TCF ENDRADAR # CHECKING RR CDU FAIL.
021657,001964:
021658,001965: 25,2572 35013 CAF LOSCMBIT
021659,001966: 25,2573 70076 MASK FLAGWRD2
021660,001967: 25,2574 00006 EXTEND
021661,001968: 25,2575 12606 BZF STDESIG1
021662,001969: 25,2576 11433 CCS LOSCOUNT
021663,001970: 25,2577 02605 TC STDESIG1 -1
021664,001971:
021665,001972: 25,2600 37666 CAF PRIO26
021666,001973: 25,2601 05155 TC FINDVAC
021667,001974: 25,2602 E7,1433 EBANK= LOSCOUNT
021668,001975: 25,2602 02670 50067 2CADR R21LEM2
021669,001976: 25,2604 05331 TC TASKOVER
021670,001977:
021671,001978: 25,2605 55433 TS LOSCOUNT
021672,001979: 25,2606 11117 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
021673,001980: 25,2607 12617 TCF MOREDES
021674,001981:
021675,001982: 25,2610 42625 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
021676,001983: 25,2611 00006 EXTEND
021677,001984: 25,2612 03012 WAND CHAN12
021678,001985: 25,2613 45015 BADDES CS BIT10 # REMOVE DESIGNATE FLAG.
021679,001986: 25,2614 71101 MASK RADMODES
021680,001987: 25,2615 55101 TS RADMODES
021681,001988: 25,2616 13516 TCF RDBADEND
021682,001989:
021683,001990: 25,2617 55117 MOREDES TS DESCOUNT
021684,001991: 25,2620 37666 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
021685,001992: 25,2621 05155 TC FINDVAC
021686,001993: 25,2622 E7,1433 EBANK= LOSCOUNT
021687,001994: 25,2622 02626 52067 2CADR DODES
021688,001995:
021689,001996: 25,2624 12554 TCF DESLOOP
021690,001997:
021691,001998: 25,2625 20002 B14+B2 OCT 20002
021692,001999:
021693,002000: # PROGRAM NAME_ DODES
021694,002001:
021695,002002: # FUNCTIONAL DESCRIPTION_
021696,002003: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
021697,002004: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
021698,002005: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
021699,002006: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
021700,002007: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
021701,002008: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
021702,002009: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
021703,002010: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
021704,002011: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
021705,002012: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
021706,002013: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
021707,002014: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
021708,002015: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
021709,002016: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
021710,002017: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
021711,002018: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
021712,002019: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
021713,002020: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
021714,002021: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
021715,002022: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
021716,002023: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
021717,002024: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
021718,002025: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
021719,002026: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
021720,002027: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
021721,002028: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
021722,002029: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
021723,002030: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
021724,002031: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
021725,002032: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
021726,002033: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
021727,002034: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
021728,002035: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
021729,002036: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
021730,002037: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
021731,002038: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
021732,002039: # VIA ENDOFJOB.
021733,002040:
021734,002041: # CALLING SEQUENCE:
021735,002042: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
021736,002043:
021737,002044: # ERASABLE INITIALIZATION REQUIRED:
021738,002045: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
021739,002046: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
021740,002047:
021741,002048: # SUBROUTINES CALLED_
021742,002049: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
021743,002050:
021744,002051: # JOBS OR TASKS INITIATED_
021745,002052: # NONE
021746,002053:
021747,002054: # ALARMS_ NONE
021748,002055:
021749,002056: # EXIT_ ENDOFJOB (ALWAYS)
021750,002057:
021751,002058: 25,2626 00006 DODES EXTEND
021752,002059: 25,2627 30036 DCA CDUT
021753,002060: 25,2630 53113 DXCH TANG
021754,002061:
021755,002062: 25,2631 06014 TC INTPRET
021756,002063:
021757,002064: 25,2632 77201 SETPD VLOAD
021758,002065: 25,2633 00001 0
021759,002066: 25,2634 01105 RRTARGET
021760,002067: 25,2635 74214 BON VXSC
021761,002068: 25,2636 00311 RRNBSW
021762,002069: 25,2637 52651 DONBRD # TARGET IN NAV-BASE COORDINATES
021763,002070: 25,2640 03443 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
021764,002071: 25,2641 63372 VSL1 PDVL
021765,002072: 25,2642 03435 LOSVEL
021766,002073: 25,2643 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
021767,002074: 25,2644 13044 MCTOMS
021768,002075: 25,2645 45056 UNIT CALL
021769,002076: 25,2646 47335 CDUTRIG
021770,002077: 25,2647 77624 CALL
021771,002078: 25,2650 47477 *SMNB*
021772,002079:
021773,002080: 25,2651 00041 DONBRD STORE 32D
021774,002081: 25,2652 77735 SLOAD
021775,002082: 25,2653 01114 TANG +1
021776,002083: 25,2654 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
021777,002084: 25,2655 21457 CDULOGIC # (-SIN(S)).
021778,002085: 25,2656 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
021779,002086: 25,2657 41546 COS PUSH
021780,002087: 25,2660 65205 DMP PDDL
021781,002088: 25,2661 00041 32D
021782,002089: 25,2662 00045 36D
021783,002090: 25,2663 44205 DMP BDSU
021784,002091: 25,2664 00001 0
021785,002092: 25,2665 77626 STADR
021786,002093: 25,2666 76663 STORE TANG +1 # SHAFT COMMAND
021787,002094:
021788,002095: 25,2667 47135 SLOAD RTB
021789,002096: 25,2670 01113 TANG
021790,002097: 25,2671 21457 CDULOGIC
021791,002098: 25,2672 71406 PUSH COS # COS(T) TO 4.
021792,002099: 25,2673 73525 PDDL SIN
021793,002100: 25,2674 41206 PUSH DMP # SIN(T) TO 6.
021794,002101: 25,2675 00003 2
021795,002102:
021796,002103: 25,2676 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
021797,002104: 25,2677 00005 4 # (COS(T) )
021798,002105: 25,2700 41325 PDDL DMP # (SIN(T)COS(S))
021799,002106: 25,2701 00007 6
021800,002107: 25,2702 00001 0
021801,002108: 25,2703 55552 SL1 VDEF
021802,002109: 25,2704 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
021803,002110: 25,2705 00041 32D
021804,002111:
021805,002112: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
021806,002113: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
021807,002114:
021808,002115: 25,2706 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
021809,002116: 25,2707 00006 EXTEND
021810,002117: 25,2710 73040 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
021811,002118: 25,2711 55112 TS TANG # TRUNNION COMMAND.
021812,002119: 25,2712 41101 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
021813,002120: 25,2713 75013 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
021814,002121: 25,2714 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
021815,002122: 25,2715 12720 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
021816,002123: 25,2716 31113 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
021817,002124: 25,2717 12721 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
021818,002125: 25,2720 41113 +3 CS TANG +1
021819,002126: 25,2721 00006 EXTEND
021820,002127: 25,2722 73040 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
021821,002128: 25,2723 55113 TS TANG +1 # SHAFT COMMAND.
021822,002129: 25,2724 06014 TC INTPRET
021823,002130:
021824,002131: 25,2725 41345 DLOAD DMP
021825,002132: 25,2726 00003 2 # COS(S).
021826,002133: 25,2727 00005 4 # COS(T).
021827,002134: 25,2730 65352 SL1 PDDL # Z COMPONENT OF URR.
021828,002135: 25,2731 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
021829,002136: 25,2732 00001 0 # SIN(S).
021830,002137: 25,2733 72405 DMP SL1
021831,002138: 25,2734 00005 4 # COS(T).
021832,002139: 25,2735 43066 VDEF BON # FORM URR IN NB AXES.
021833,002140: 25,2736 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
021834,002141: 25,2737 52742 +3
021835,002142: 25,2740 77624 CALL
021836,002143: 25,2741 47501 *NBSM* # GET URR IN SM AXES.
021837,002144: 25,2742 77441 DOT EXIT
021838,002145: 25,2743 01105 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
021839,002146:
021840,002147: 25,2744 00006 EXTEND
021841,002148: 25,2745 43042 DCS COS1/2DG
021842,002149: 25,2746 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
021843,002150: 25,2747 10154 CCS MPAC
021844,002151: 25,2750 35030 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
021845,002152: 25,2751 12753 TCF +2
021846,002153: 25,2752 35026 CA ONE
021847,002154: 25,2753 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
021848,002155:
021849,002156: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
021850,002157:
021851,002158: 25,2754 11101 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
021852,002159: 25,2755 12760 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
021853,002160: 25,2756 12760 TCF SIGNLCHK # ERROR SIGNALS
021854,002161: 25,2757 13011 TCF DORROUT
021855,002162: 25,2760 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
021856,002163: 25,2761 12771 TCF DGOODCHK
021857,002164: 25,2762 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
021858,002165: 25,2763 75022 MASK LOKONBIT # PROBLEM IS FINISHED.
021859,002166: 25,2764 10000 CCS A
021860,002167: 25,2765 12776 TCF RRDESDUN
021861,002168:
021862,002169: 25,2766 35011 CAF BIT14 # ENABLE THE TRACKER.
021863,002170: 25,2767 00006 EXTEND
021864,002171: 25,2770 05012 WOR CHAN12
021865,002172:
021866,002173: 25,2771 35023 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
021867,002174: 25,2772 00006 EXTEND
021868,002175: 25,2773 02033 RAND CHAN33
021869,002176: 25,2774 10000 CCS A
021870,002177: 25,2775 13011 TCF DORROUT
021871,002178:
021872,002179: 25,2776 00004 RRDESDUN INHINT
021873,002180: 25,2777 45015 CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
021874,002181: 25,3000 71101 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
021875,002182: 25,3001 55101 TS RADMODES
021876,002183: 25,3002 00003 RELINT
021877,002184:
021878,002185: 25,3003 05600 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
021879,002186: 25,3004 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
021880,002187: 25,3005 45025 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
021881,002188: 25,3006 00006 EXTEND
021882,002189: 25,3007 03012 WAND CHAN12
021883,002190: 25,3010 15225 TCF ENDOFJOB # WITH ECTR DISABLED.
021884,002191:
021885,002192: 25,3011 06014 DORROUT TC INTPRET
021886,002193: 25,3012 77614 BOFF # IF NOT IN P20/P22 BUT V41,DON'T DO
021887,002194: 25,3013 00350 RNDVZFLG # VELOCITY CORRECTION.
021888,002195: 25,3014 53031 NOTP20
021889,002196: 25,3015 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
021890,002197: 25,3016 01105 RRTARGET
021891,002198: 25,3017 03443 MLOSV
021892,002199: 25,3020 41572 VSL1 PUSH
021893,002200: 25,3021 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
021894,002201: 25,3022 03435 LOSVEL # TO LOS VECTOR
021895,002202: 25,3023 13044 MCTOMS
021896,002203: 25,3024 53362 VSR1 VAD
021897,002204: 25,3025 77656 UNIT
021898,002205: 25,3026 15105 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
021899,002206:
021900,002207: 25,3027 00045 36D
021901,002208: 25,3030 03443 STORE MLOSV # AND STORE MAGNITUDE
021902,002209: 25,3031 77776 NOTP20 EXIT
021903,002210: 25,3032 00004 INHINT
021904,002211: 25,3033 41101 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
021905,002212: 25,3034 75014 MASK BIT11 # REPOSITION HAS TAKEN OVER.
021906,002213: 25,3035 10000 CCS A
021907,002214: 25,3036 02265 TC RROUT
021908,002215:
021909,002216: 25,3037 15225 TCF ENDOFJOB
021910,002217:
021911,002218:
021912,002219: 25,3040 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
021913,002220: 25,3041 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
021914,002221: 25,3043 00000 14400 MCTOMS 2DEC 100 B-22
021915,002222:
021916,002223: # RADAR READ INITIALIZATION
021917,002224:
021918,002225: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
021919,002226:
021920,002227: 25,3045 03065 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
021921,002228: 25,3046 00017 ALLREAD OCT 17
021922,002229:
021923,002230: 25,3047 03066 LRVELZ TC INITREAD
021924,002231: 25,3050 00016 OCT 16
021925,002232:
021926,002233: 25,3051 03066 LRVELY TC INITREAD
021927,002234: 25,3052 00015 OCT 15
021928,002235:
021929,002236: 25,3053 03066 LRVELX TC INITREAD
021930,002237: 25,3054 00014 OCT 14
021931,002238:
021932,002239: 25,3055 03065 RRRDOT TC INITREAD -1
021933,002240: 25,3056 00012 OCT 12
021934,002241:
021935,002242: 25,3057 03065 RRRANGE TC INITREAD -1
021936,002243: 25,3060 00011 OCT 11
021937,002244:
021938,002245: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
021939,002246: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
021940,002247:
021941,002248: 25,3061 55110 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
021942,002249: 25,3062 35031 CAF FIVE # SPECIFY FIVE SAMPLES
021943,002250: 25,3063 51110 INDEX TIMEHOLD
021944,002251: 25,3064 13047 TCF LRVELZ
021945,002252:
021946,002253: 25,3065 35026 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
021947,002254: 25,3066 00004 INITREAD INHINT
021948,002255:
021949,002256: 25,3067 55110 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
021950,002257: 25,3070 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
021951,002258: 25,3071 75024 MP BIT3 # ENCOUNTERED).
021952,002259: 25,3072 53111 DXCH TIMEHOLD
021953,002260:
021954,002261: 25,3073 10000 CCS A
021955,002262: 25,3074 55114 TS NSAMP
021956,002263: 25,3075 65026 AD ONE
021957,002264: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
021958,002265: # DOUBLE
021959,002266: 25,3076 55103 TS SAMPLIM
021960,002267:
021961,002268: 25,3077 33121 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
021962,002269: 25,3100 00006 EXTEND
021963,002270: 25,3101 02033 RAND CHAN33
021964,002271: 25,3102 55116 TS OLDATAGD
021965,002272:
021966,002273: 25,3103 43046 CS ALLREAD
021967,002274: 25,3104 00006 EXTEND
021968,002275: 25,3105 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
021969,002276:
021970,002277: 25,3106 50002 INDEX Q
021971,002278: 25,3107 30000 CAF 0
021972,002279: 25,3110 00006 EXTEND
021973,002280: 25,3111 05013 WOR CHAN13 # SET NEW RADAR BITS
021974,002281:
021975,002282: 25,3112 00006 EXTEND
021976,002283: 25,3113 30025 DCA TIME2
021977,002284: 25,3114 21111 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
021978,002285:
021979,002286: 25,3115 35030 CAF ZERO
021980,002287: 25,3116 54001 TS L
021981,002288: 25,3117 53105 DXCH SAMPLSUM
021982,002289: 25,3120 12345 TCF ROADBACK
021983,002290:
021984,002291: 25,3121 00230 DGBITS OCT 230
021985,002292:
021986,002293: # RADAR RUPT READER
021987,002294:
021988,002295: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
021989,002296:
021990,002297: 25,2000 SETLOC RADARUPT
021991,002298: 25,2000 BANK
021992,002299:
021993,002300: 25,3122 COUNT* $$/RRUPT
021994,002301: 25,3122 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
021995,002302: 25,3123 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
021996,002303: 25,3124 54016 TS BANKRUPT
021997,002304: 25,3125 00006 EXTEND
021998,002305: 25,3126 22012 QXCH QRUPT
021999,002306:
022000,002307: 25,3127 35032 CAF SEVEN
022001,002308: 25,3130 00006 EXTEND
022002,002309: 25,3131 02013 RAND CHAN13
022003,002310: 25,3132 55341 TS DNINDEX
022004,002311: 25,3133 30046 CA RNRAD
022005,002312: 25,3134 51341 INDEX DNINDEX
022006,002313: 25,3135 55336 TS DNRRANGE -1
022007,002314:
022008,002315: 25,3136 00006 ANGLREAD EXTEND
022009,002316: 25,3137 30036 DCA OPTY
022010,002317: 25,3140 53107 DXCH OPTYHOLD # SAVE RAW CDU ANGLES
022011,002318:
022012,002319: 25,3141 11103 TRYCOUNT CCS SAMPLIM
022013,002320: 25,3142 13160 TCF PLENTY
022014,002321: 25,3143 13147 TCF NOMORE
022015,002322: 25,3144 05651 TC ALARM
022016,002323: 25,3145 00520 OCT 520
022017,002324: 25,3146 05340 TC RESUME
022018,002325:
022019,002326: 25,3147 40077 NOMORE CS FLAGWRD3 # CHECK R04FLAG.
022020,002327: 25,3150 75016 MASK R04FLBIT # IF 1,R04 IS RUNNING. DO NOT ALARM-
022021,002328: 25,3151 00006 EXTEND
022022,002329: 25,3152 13155 BZF BADRAD
022023,002330:
022024,002331: 25,3153 05651 TC ALARM # P20 WANTS THE ALARM.
022025,002332: 25,3154 00521 OCT 521
022026,002333: 25,3155 45026 BADRAD CS ONE
022027,002334: 25,3156 55103 TS SAMPLIM
022028,002335: 25,3157 03514 TC RDBADEND -2
022029,002336: 25,3160 55103 PLENTY TS SAMPLIM
022030,002337: 25,3161 35024 CAF BIT3
022031,002338: 25,3162 00006 EXTEND
022032,002339: 25,3163 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
022033,002340: 25,3164 00006 EXTEND
022034,002341:
022035,002342: 25,3165 13245 BZF RENDRAD
022036,002343:
022037,002344: 25,3166 31101 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
022038,002345: 25,3167 00006 EXTEND
022039,002346: 25,3170 06033 RXOR CHAN33
022040,002347: 25,3171 75021 MASK BIT6
022041,002348: 25,3172 00006 EXTEND
022042,002349: 25,3173 13177 BZF VELCHK
022043,002350:
022044,002351: 25,3174 05651 TC ALARM
022045,002352: 25,3175 00522 OCT 522
022046,002353: 25,3176 03155 TC BADRAD
022047,002354:
022048,002355: 25,3177 36221 VELCHK CAF BIN3 # = 00003 OCT
022049,002356: 25,3200 00006 EXTEND
022050,002357: 25,3201 06013 RXOR CHAN13 # RESET ACTIVITY BIT
022051,002358: 25,3202 76221 MASK BIN3
022052,002359: 25,3203 00006 EXTEND
022053,002360: 25,3204 13241 BZF LRHEIGHT # TAKE A LR RANGE READING
022054,002361:
022055,002362: 25,3205 35006 CAF POSMAX
022056,002363: 25,3206 70046 MASK RNRAD
022057,002364: 25,3207 63417 AD LVELBIAS
022058,002365: 25,3210 54001 TS L
022059,002366: 25,3211 30046 CAE RNRAD
022060,002367: 25,3212 60000 DOUBLE
022061,002368: 25,3213 75026 MASK BIT1
022062,002369: 25,3214 52064 DXCH ITEMP3
022063,002370:
022064,002371: 25,3215 03334 TC R77CHECK
022065,002372:
022066,002373: 25,3216 35017 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
022067,002374: 25,3217 03367 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
022068,002375: # INDEPENDENT OF DATA GOOD.
022069,002376:
022070,002377: 25,3220 11114 CCS NSAMP
022071,002378: 25,3221 03231 TC NOEND
022072,002379: 25,3222 45026 GOODRAD CS ONE
022073,002380: 25,3223 55103 TS SAMPLIM
022074,002381: 25,3224 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
022075,002382: 25,3225 71101 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
022076,002383: 25,3226 55101 TS RADMODES
022077,002384: 25,3227 04601 TC SETTRKF # LAMP MIGHT GO OFF IF DATA JUST GOOD.
022078,002385: 25,3230 03507 TC RGOODEND -2
022079,002386:
022080,002387: 25,3231 55114 NOEND TS NSAMP
022081,002388: 25,3232 11103 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
022082,002389: 25,3233 13235 TCF +2
022083,002390: 25,3234 13406 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
022084,002391: 25,3235 35023 CAF BIT4 # RESET ACTIVITY BIT.
022085,002392: 25,3236 00006 EXTEND
022086,002393:
022087,002394: 25,3237 05013 WOR CHAN13 # RESET ACTIVITY BIT
022088,002395: 25,3240 05340 TC RESUME
022089,002396:
022090,002397:
022091,002398: 25,3241 35022 LRHEIGHT CAF BIT5
022092,002399: 25,3242 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
022093,002400:
022094,002401: 25,3243 35016 CAF BIT9
022095,002402: 25,3244 03267 TC SCALECHK -1
022096,002403:
022097,002404: 25,3245 35014 RENDRAD CAF BIT11 # MAKE SURE ANTENNA HAS NOT GONE OUT OF
022098,002405: 25,3246 71101 MASK RADMODES # LIMITS.
022099,002406: 25,3247 10000 CCS A
022100,002407: 25,3250 13155 TCF BADRAD
022101,002408:
022102,002409: 25,3251 41101 CS RADMODES # BE SURE RR CDU HASNT FAILED.
022103,002410: 25,3252 75020 MASK BIT7
022104,002411: 25,3253 10000 CCS A
022105,002412: 25,3254 13155 TCF BADRAD
022106,002413:
022107,002414: 25,3255 35023 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
022108,002415: 25,3256 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
022109,002416:
022110,002417: 25,3257 35026 CAF BIT1 # SEE IF RR RDOT.
022111,002418: 25,3260 00006 EXTEND
022112,002419: 25,3261 02013 RAND CHAN13
022113,002420: 25,3262 54002 TS Q # FOR LATER TESTING.
022114,002421: 25,3263 10000 CCS A
022115,002422: 25,3264 13266 TCF +2
022116,002423: 25,3265 13300 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
022117,002424: 25,3266 35024 CAF BIT3
022118,002425: 25,3267 54001 TS L
022119,002426:
022120,002427: 25,3270 00006 SCALECHK EXTEND
022121,002428: 25,3271 02033 RAND CHAN33 # SCALE STATUS NOW
022122,002429: 25,3272 56001 XCH L
022123,002430: 25,3273 71101 MASK RADMODES # SCALE STATUS BEFORE
022124,002431: 25,3274 00006 EXTEND
022125,002432: 25,3275 06001 RXOR LCHAN # SEE IF THEY DIFFER
022126,002433: 25,3276 10000 CCS A
022127,002434: 25,3277 03320 TC SCALCHNG # THEY DIFFER
022128,002435:
022129,002436: 25,3300 35006 RADIN CAF POSMAX
022130,002437: 25,3301 70046 MASK RNRAD
022131,002438: 25,3302 54064 TS ITEMP4
022132,002439:
022133,002440: 25,3303 30046 CAE RNRAD
022134,002441: 25,3304 60000 DOUBLE
022135,002442: 25,3305 75026 MASK BIT1
022136,002443: 25,3306 54063 TS ITEMP3
022137,002444:
022138,002445: 25,3307 10002 CCS Q # SEE IF RR RDOT.
022139,002446: 25,3310 13341 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
022140,002447:
022141,002448: 25,3311 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
022142,002449: 25,3312 43421 DCS RDOTBIAS
022143,002450: 25,3313 20064 DASAMPL DAS ITEMP3
022144,002451: 25,3314 03334 DGCHECK2 TC R77CHECK
022145,002452: 25,3315 30061 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
022146,002453: 25,3316 03370 TC DGCHECK +1 # AFTER TAKING SAMPLE.
022147,002454: 25,3317 03222 TC GOODRAD
022148,002455:
022149,002456: 25,3320 23101 SCALCHNG LXCH RADMODES
022150,002457: 25,3321 65026 AD BIT1
022151,002458: 25,3322 00006 EXTEND
022152,002459: 25,3323 06001 RXOR LCHAN
022153,002460: 25,3324 55101 TS RADMODES
022154,002461: 25,3325 33121 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
022155,002462: 25,3326 00006 EXTEND
022156,002463: 25,3327 02033 RAND CHAN33
022157,002464: 25,3330 55116 TS OLDATAGD
022158,002465: 25,3331 05566 TC UPFLAG # SET RNGSCFLG
022159,002466: 25,3332 00120 ADRES RNGSCFLG # FOR LRS24.1
022160,002467: 25,3333 13155 TCF BADRAD
022161,002468:
022162,002469: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
022163,002470:
022164,002471: 25,3334 35014 R77CHECK CA R77FLBIT
022165,002472: 25,3335 70101 MASK FLAGWRD5
022166,002473: 25,3336 10000 CCS A
022167,002474: 25,3337 03507 TC RGOODEND -2
022168,002475: 25,3340 00002 TC Q
022169,002476:
022170,002477: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
022171,002478:
022172,002479: 25,3341 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
022173,002480: 25,3342 13344 TCF +2 # ON HIGH SCALE.
022174,002481: 25,3343 13314 TCF DGCHECK2
022175,002482:
022176,002483: 25,3344 52064 DXCH ITEMP3
022177,002484: 25,3345 20001 DDOUBL
022178,002485: 25,3346 20001 DDOUBL
022179,002486: 25,3347 20001 DDOUBL
022180,002487: 25,3350 52064 DXCH ITEMP3
022181,002488:
022182,002489: 25,3351 35024 CAF BIT3 # SEE IF LR OR RR.
022183,002490: 25,3352 00006 EXTEND
022184,002491: 25,3353 02013 RAND 13
022185,002492: 25,3354 00006 EXTEND # IF RR, NO MORE ACTION REQUIRED.
022186,002493: 25,3355 13314 BZF DGCHECK2
022187,002494:
022188,002495: 25,3356 33416 CAF LRRATIO # IF LR, CONVERT TO LO SCALING.
022189,002496: 25,3357 00006 EXTEND
022190,002497: 25,3360 70064 MP ITEMP4
022191,002498: 25,3361 54064 TS ITEMP4
022192,002499: 25,3362 35030 CAF ZERO # (SO SUBSEQUENT DAS WILL BE OK)
022193,002500: 25,3363 56063 XCH ITEMP3
022194,002501: 25,3364 00006 EXTEND
022195,002502: 25,3365 73416 MP LRRATIO
022196,002503: 25,3366 13313 TCF DASAMPL
022197,002504:
022198,002505: 25,3367 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
022199,002506: 25,3370 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
022200,002507: 25,3371 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
022201,002508: 25,3372 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
022202,002509: 25,3373 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
022203,002510: 25,3374 71116 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
022204,002511: 25,3375 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
022205,002512: 25,3376 57116 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
022206,002513: 25,3377 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
022207,002514: 25,3400 60001 AD L
022208,002515: 25,3401 10000 CCS A # SHOULD BOTH BE ZERO.
022209,002516: 25,3402 03232 TC RESAMPLE
022210,002517: 25,3403 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
022211,002518: 25,3404 21105 DAS SAMPLSUM # ACCUMULATION.
022212,002519: 25,3405 00002 TC Q
022213,002520:
022214,002521: 25,3406 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
022215,002522: 25,3407 71101 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
022216,002523: 25,3410 60061 AD ITEMP1
022217,002524: 25,3411 55101 TS RADMODES
022218,002525:
022219,002526: 25,3412 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
022220,002527: 25,3413 53105 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
022221,002528:
022222,002529: 25,3414 04601 TC SETTRKF
022223,002530:
022224,002531: 25,3415 13147 TCF NOMORE
022225,002532:
022226,002533: 25,3416 23773 LRRATIO DEC 4.9977 B-3
022227,002534: 25,3417 47777 LVELBIAS DEC -12288 B-14 # LANDING RADAR BIAS FOR 153.6 KC.
022228,002535: 25,3420 00001 01150 RDOTBIAS 2DEC 17000 B-28 # BIAS COUNT FOR RR RANGE RATE
022229,002536:
022230,002537: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
022231,002538:
022232,002539: 25,2000 SETLOC P20S1
022233,002540: 25,2000 BANK
022234,002541:
022235,002542: 25,3422 COUNT* $$/RSUB
022236,002543: 25,3422 00004 LRPOS2 INHINT
022237,002544:
022238,002545: 25,3423 45021 CS BIT6 # DESIRED LR POSITION IS NOW 2.
022239,002546: 25,3424 71101 MASK RADMODES
022240,002547: 25,3425 65021 AD BIT6
022241,002548: 25,3426 55101 TS RADMODES
022242,002549:
022243,002550: 25,3427 35020 CAF BIT7
022244,002551: 25,3430 00006 EXTEND
022245,002552: 25,3431 02033 RAND 33 # SEE IF ALREADY THERE.
022246,002553: 25,3432 00006 EXTEND
022247,002554: 25,3433 13464 BZF RADNOOP
022248,002555:
022249,002556: 25,3434 35012 CAF BIT13
022250,002557: 25,3435 00006 EXTEND
022251,002558: 25,3436 05012 WOR CHAN12 # COMMAND TO POSITION 2
022252,002559:
022253,002560: 25,3437 33501 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
022254,002561: 25,3440 05252 TC WAITLIST
022255,002562: 25,3441 E7,1433 EBANK= LOSCOUNT
022256,002563: 25,3441 03477 52067 2CADR LRPOSCAN
022257,002564:
022258,002565: 25,3443 02345 TC ROADBACK
022259,002566:
022260,002567: 25,3444 55103 LRPOSNXT TS SAMPLIM
022261,002568: 25,3445 05271 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
022262,002569: 25,3446 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
022263,002570:
022264,002571: 25,3447 35020 CAF BIT7 # SEE IF LR POS2 IS ON
022265,002572: 25,3450 00006 EXTEND
022266,002573: 25,3451 02033 RAND CHAN33
022267,002574: 25,3452 00006 EXTEND
022268,002575: 25,3453 13471 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
022269,002576:
022270,002577: 25,3454 11103 CCS SAMPLIM # SEE IF MAX TIME UP.
022271,002578: 25,3455 13444 TCF LRPOSNXT
022272,002579:
022273,002580: 25,3456 45012 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
022274,002581: 25,3457 00006 EXTEND
022275,002582: 25,3460 03012 WAND CHAN12
022276,002583:
022277,002584: 25,3461 05651 TC ALARM # LR ANTENNA DIDNT MAKE IT.
022278,002585: 25,3462 00523 OCT 523
022279,002586: 25,3463 13516 TCF RDBADEND
022280,002587:
022281,002588: 25,3464 35026 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
022282,002589: 25,3465 05252 TC WAITLIST
022283,002590: 25,3466 E7,1433 EBANK= LOSCOUNT
022284,002591: 25,3466 03511 52067 2CADR RGOODEND
022285,002592:
022286,002593: 25,3470 02345 TC ROADBACK
022287,002594:
022288,002595: 25,3471 05271 LASTLRDT TC FIXDELAY # WAIT ONE SECOND AFTER RECEIPT OF INBIT
022289,002596: 25,3472 00144 DEC 100 B-14 # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
022290,002597:
022291,002598: 25,3473 45012 CS BIT13 # REMOVE COMMAND
022292,002599: 25,3474 00006 EXTEND
022293,002600: 25,3475 03012 WAND CHAN12
022294,002601: 25,3476 13511 TCF RGOODEND
022295,002602:
022296,002603: 25,3477 35022 LRPOSCAN CAF BIT5 # SET UP FOR 15 SAMPLES.
022297,002604: 25,3500 13444 TCF LRPOSNXT
022298,002605:
022299,002606: 25,3501 01130 6SECS DEC 600 B-14
022300,002607:
022301,002608: # SEQUENCES TO TERMINATE RR OPERATIONS.
022302,002609:
022303,002610: 25,3502 35020 ENDRADAR CAF BIT7 # PROLOG TO CHECK RR CDU FAIL BEFORE END.
022304,002611: 25,3503 71101 MASK RADMODES
022305,002612: 25,3504 10000 CCS A
022306,002613: 25,3505 13511 TCF RGOODEND
022307,002614: 25,3506 13516 TCF RDBADEND
022308,002615: 25,3507 45030 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
022309,002616: 25,3510 54734 TS RUPTAGN
022310,002617:
022311,002618: 25,3511 35025 RGOODEND CAF TWO
022312,002619: 25,3512 04674 TC POSTJUMP
022313,002620: 25,3513 17576 CADR GOODEND
022314,002621:
022315,002622: 25,3514 45030 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
022316,002623: 25,3515 54734 TS RUPTAGN
022317,002624: 25,3516 35025 RDBADEND CAF TWO
022318,002625: 25,3517 04674 TC POSTJUMP
022319,002626: 25,3520 17573 CADR BADEND
022320,002627:
022321,002628: 25,3521 6221 BIN3 EQUALS THREE
022322,002629:
022323,002630: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
022324,002631: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
022325,002632:
022326,002633:
022327,002634: # FUNCTIONAL DESCRIPTION_
022328,002635:
022329,002636: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
022330,002637: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
022331,002638: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
022332,002639:
022333,002640:
022334,002641: # CALLING SEQUENCE CALL
022335,002642: # LPS20.1
022336,002643:
022337,002644: # SUBROUTINES CALLED_
022338,002645:
022339,002646: # LEMPREC,CSMPREC
022340,002647:
022341,002648:
022342,002649: # NORMAL EXIT_ RETURN TO CALLER + 2
022343,002650:
022344,002651:
022345,002652: # ERROR EXITS_ NONE
022346,002653:
022347,002654:
022348,002655: # ALARMS_ NONE
022349,002656:
022350,002657:
022351,002658: # OUTPUT_
022352,002659:
022353,002660: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
022354,002661: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
022355,002662: # RRNBSW CLEARED
022356,002663:
022357,002664:
022358,002665: # INITIALIZED ERASEABLE
022359,002666:
022360,002667: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
022361,002668: # SEE ORBITAL INTEGRATION ROUTINE
022362,002669:
022363,002670:
022364,002671: # DEBRIS_
022365,002672:
022366,002673: # MPAC DESTROYED BY THIS ROUTINE
022367,002674:
022368,002675: 23,2104 BANK 23
022369,002676: 25,2000 SETLOC P20S1
022370,002677: 25,2000 BANK
022371,002678:
022372,002679: 25,3521 COUNT* $$/LPS20
022373,002680:
022374,002681: 25,3521 45020 LPS20.1 STQ CALL
022375,002682: 25,3522 03431 LS21X
022376,002683: 25,3523 27051 LEMCONIC # EXTRAPOLATE LEM
022377,002684: 25,3524 77775 VLOAD
022378,002685: 25,3525 00001 RATT
022379,002686: 25,3526 25105 STOVL LMPOS # SAVE LM POSITION B-29
022380,002687: 25,3527 00007 VATT
022381,002688: 25,3530 17435 STODL LMVEL # SAVE LM VELOCITY B-7
022382,002689: 25,3531 00015 TAT
022383,002690: 25,3532 34041 CSMINT STCALL TDEC1
022384,002691: 25,3533 27037 CSMCONIC # EXTRAPOLATE CSM
022385,002692: 25,3534 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
022386,002693: 25,3535 00007 VATT
022387,002694: 25,3536 03435 LMVEL
022388,002695: 25,3537 76521 MXV VSL1
022389,002696: 25,3540 01736 REFSMMAT
022390,002697: 25,3541 27435 STOVL LOSVEL
022391,002698: 25,3542 00001 RATT
022392,002699: 25,3543 47051 VSU RTB
022393,002700: 25,3544 01105 LMPOS
022394,002701: 25,3545 21670 NORMUNX1
022395,002702: 25,3546 76521 MXV VSL1
022396,002703: 25,3547 01736 REFSMMAT # CONVERT TO STABLE MEMBER
022397,002704: 25,3550 15105 STODL RRTARGET
022398,002705: 25,3551 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
022399,002706: 25,3552 77657 SL*
022400,002707: 25,3553 20201 0,1
022401,002708: 25,3554 03443 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
022402,002709: 25,3555 77614 CLRGO
022403,002710: 25,3556 00231 RRNBSW
022404,002711: 25,3557 03431 LS21X
022405,002712:
022406,002713: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
022407,002714: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
022408,002715:
022409,002716:
022410,002717: # FUNCTIONAL DESCRIPTION_
022411,002718:
022412,002719: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
022413,002720:
022414,002721:
022415,002722: # CALLING SEQUENCE CALL
022416,002723: # LPS20.2
022417,002724:
022418,002725:
022419,002726: # SUBROUTINES CALLED_ NONE
022420,002727:
022421,002728:
022422,002729: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
022423,002730:
022424,002731:
022425,002732: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
022426,002733:
022427,002734:
022428,002735: # ALARMS_ NONE
022429,002736:
022430,002737:
022431,002738: # OUTPUT_ NONE
022432,002739:
022433,002740:
022434,002741: # INITIALIZED ERASEABLE_
022435,002742:
022436,002743: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
022437,002744: # DEBRIS
022438,002745:
022439,002746: # MPAC DESTROYED BY THIS ROUTINE
022440,002747:
022441,002748: 25,2000 SETLOC P20S1
022442,002749: 25,2000 BANK
022443,002750: 25,3560 COUNT* $$/LPS20
022444,002751:
022445,002752: 25,3560 45345 LPS20.2 DLOAD DSU
022446,002753: 25,3561 03443 MLOSV # MAGNITUDE OF LOS
022447,002754: 25,3562 13573 FHNM # OVER 400NM _
022448,002755: 25,3563 77644 BPL
022449,002756: 25,3564 53567 TOFAR
022450,002757: 25,3565 43535 SLOAD RVQ
022451,002758: 25,3566 06233 ZERO/SP
022452,002759: 25,3567 43535 TOFAR SLOAD RVQ
022453,002760: 25,3570 13572 ONE/SP
022454,002761: 25,3571 00001 ONE/SP DEC 1 B-14
022455,002762:
022456,002763: 25,3572 00026 23337 FHNM 2DEC 740798 B-29 # 400 NAUTICAL MILES IN METERS B-20
022457,002764:
022458,002765: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
022459,002766: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
022460,002767:
022461,002768:
022462,002769: # FUNCTIONAL DESCRIPTION
022463,002770:
022464,002771: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
022465,002772: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
022466,002773: # RR REPOSITION AND RR CDU FAIL
022467,002774:
022468,002775: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
022469,002776:
022470,002777:
022471,002778: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
022472,002779:
022473,002780:
022474,002781: # SUBROUTINES CALLED:
022475,002782:
022476,002783: # RRRDOT LPS20.1
022477,002784: # RRRANGE BANKCALL
022478,002785: # RADSTALL CDULOGIC
022479,002786: # RRNB SMNB
022480,002787: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
022481,002788:
022482,002789:
022483,002790: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
022484,002791:
022485,002792: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
022486,002793: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
022487,002794:
022488,002795:
022489,002796: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
022490,002797: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
022491,002798:
022492,002799:
022493,002800: # OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
022494,002801: # RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
022495,002802:
022496,002803: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
022497,002804:
022498,002805: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
022499,002806: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
022500,002807: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
022501,002808: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
022502,002809: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
022503,002810:
022504,002811:
022505,002812: # ERASABLE INITIALIZATION REQUIRED:
022506,002813:
022507,002814: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
022508,002815:
022509,002816: # 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
022510,002817: # 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
022511,002818:
022512,002819: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
022513,002820:
022514,002821:
022515,002822: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
022516,002823:
022517,002824: 32,2671 BANK 32
022518,002825: 25,2000 SETLOC LRS22
022519,002826: 25,2000 BANK
022520,002827: 25,3574 COUNT* $$/LRS22
022521,002828:
022522,002829: 25,3574 04704 LRS22.1 TC MAKECADR
022523,002830: 25,3575 55732 TS LRS22.1X
022524,002831: 25,3576 05600 TC DOWNFLAG
022525,002832: 25,3577 00120 ADRES RNGSCFLG
022526,002833: 25,3600 00004 INHINT
022527,002834: 25,3601 35024 CAF BIT3
022528,002835: 25,3602 00006 EXTEND # GET RR RANGE SCALE
022529,002836: 25,3603 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
022530,002837: 25,3604 54001 TS L
022531,002838: 25,3605 45024 CS BIT3 # AND SET IN RADMODES BIT3
022532,002839: 25,3606 71101 MASK RADMODES
022533,002840: 25,3607 60001 AD L
022534,002841: 25,3610 55101 TS RADMODES
022535,002842: 25,3611 00003 RELINT
022536,002843: 25,3612 04655 READRDOT TC BANKCALL
022537,002844: 25,3613 53055 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
022538,002845: 25,3614 04655 TC BANKCALL
022539,002846: 25,3615 17623 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
022540,002847: 25,3616 13735 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
022541,002848:
022542,002849: 25,3617 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
022543,002850: 25,3620 00006 EXTEND
022544,002851: 25,3621 31105 DCA SAMPLSUM # SAVE RANGE-RATE READING
022545,002852: 25,3622 53742 DXCH RDOTMSAV
022546,002853: 25,3623 00006 EXTEND
022547,002854: 25,3624 30034 DCA CDUY # SAVE ICDU ANGLES
022548,002855: 25,3625 53445 DXCH AIG
022549,002856: 25,3626 30032 CA CDUX
022550,002857: 25,3627 55446 TS AOG
022551,002858: 25,3630 00006 EXTEND
022552,002859: 25,3631 30025 DCA TIME2 # SAVE TIME
022553,002860: 25,3632 53727 DXCH MKTIME # SAVE TIME OF CDY READINGS IN MPAC
022554,002861: 25,3633 00006 EXTEND
022555,002862: 25,3634 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
022556,002863: 25,3635 53113 DXCH TANG
022557,002864:
022558,002865: 25,3636 00003 RELINT
022559,002866: 25,3637 04655 TC BANKCALL
022560,002867: 25,3640 53057 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
022561,002868: 25,3641 04655 TC BANKCALL
022562,002869: 25,3642 17623 CADR RADSTALL # WAIT FOR READ COMPLETE
022563,002870: 25,3643 03731 TC CHEXERR # CHECK FOR ERRORS DURING READ
022564,002871: 25,3644 06014 TC INTPRET
022565,002872: 25,3645 54345 DLOAD SL
022566,002873: 25,3646 03742 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
022567,002874: 25,3647 20217 14D # FT./SECOND PER BIT
022568,002875: 25,3650 77675 DMPR # START WITH READING SCALED B-28, -.6278
022569,002876: 25,3651 13741 RDOTCONV # END WITH METERS/CENTISECOND, B-7
022570,002877: 25,3652 17721 STODL RDOTM # STORE FOR USE BY LSR22.3
022571,002878: 25,3653 01113 TANG
022572,002879: 25,3654 03744 STORE TANGNB
022573,002880: 25,3655 47135 SLOAD RTB
022574,002881: 25,3656 01113 TANG # GET TRUNION ANGLE
022575,002882: 25,3657 21457 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
022576,002883: 25,3660 03723 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
022577,002884: 25,3661 47135 SLOAD RTB
022578,002885: 25,3662 01114 TANG +1 # DITTO FOR SHAFT ANGLE
022579,002886: 25,3663 21457 CDULOGIC
022580,002887: 25,3664 17725 STODL RRSHAFT
022581,002888: 25,3665 01105 SAMPLSUM
022582,002889: 25,3666 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
022583,002890: 25,3667 13743 RANGCONV # PER BIT, END WITH METERS,SCALED -29
022584,002891: 25,3670 37731 STCALL RM
022585,002892: 25,3671 46000 RRNB # COMPUTE RADAR LOS USING RRNB
022586,002893: 25,3672 17734 STODL RRBORSIT # AND SAVE
022587,002894: 25,3673 03727 MKTIME
022588,002895: 25,3674 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
022589,002896: 25,3675 53521 LPS20.1
022590,002897: 25,3676 77776 EXIT
022591,002898: 25,3677 31444 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
022592,002899: 25,3700 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
022593,002900: 25,3701 31445 CA AMG
022594,002901: 25,3702 54770 TS CDUSPOT +2
022595,002902: 25,3703 31446 CA AOG
022596,002903: 25,3704 54772 TS CDUSPOT +4
022597,002904: 25,3705 06014 TC INTPRET
022598,002905: 25,3706 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
022599,002906: 25,3707 01105 RRTARGET
022600,002907: 25,3710 47457 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
022601,002908: 25,3711 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
022602,002909: 25,3712 03734 RRBORSIT
022603,002910: 25,3713 65552 SL1 ACOS # BETWEEN THEM
022604,002911: 25,3714 01047 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
022605,002912: 25,3715 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
022606,002913: 25,3716 13745 THREEDEG
022607,002914: 25,3717 53724 NORMEXIT # YES-NORMAL EXIT
022608,002915:
022609,002916:
022610,002917: 25,3720 77776 EXIT # ERROR EXIT 2
022611,002918: 25,3721 35025 CAF BIT2 # SET ERROR CODE
022612,002919: 25,3722 54154 TS MPAC
022613,002920: 25,3723 13727 TCF OUT22.1
022614,002921:
022615,002922: 25,3724 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
022616,002923: 25,3725 35030 CAF ZERO
022617,002924: 25,3726 54154 TS MPAC
022618,002925: 25,3727 31732 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
022619,002926: 25,3730 04677 TC BANKJUMP
022620,002927: 25,3731 30101 CHEXERR CAE FLAGWRD5
022621,002928: 25,3732 75015 MASK RNGSCBIT
022622,002929: 25,3733 10000 CCS A # CHECK IF RANGE SCALE CHANGED
022623,002930: 25,3734 13612 TCF READRDOT # YES-TAKE ANOTHER READING
022624,002931:
022625,002932: 25,3735 35026 EREXIT1 CA BIT1 # SET ERROR CODE
022626,002933: 25,3736 54154 TS MPAC
022627,002934: 25,3737 03727 TC OUT22.1
022628,002935:
022629,002936: 25,3740 70123 40702 RDOTCONV 2DEC -.0019135344 B7 # CONVERTS RR RDOT READING TO M/CS AT 2(7)
022630,002937: 25,3742 13337 10776 RANGCONV 2DEC 2.859024 B-3 # CONVERTS RR RANGE READING TO M. AT 2(-29
022631,002938: 25,3744 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
022632,002939: 25,3746 1104 RRLOSVEC EQUALS RRTARGET
022633,002940:
022634,002941: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
022635,002942:
022636,002943:
022637,002944: # MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
022638,002945:
022639,002946: # FUNCTIONAL DESCRIPTION-
022640,002947:
|
|
(Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003) |
022642,002949: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
022643,002950:
022644,002951:
022645,002952: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
022646,002953:
022647,002954:
022648,002955: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
022649,002956: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
022650,002957:
022651,002958:
022652,002959: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
022653,002960:
022654,002961:
022655,002962: # ALARMS - NONE IN THE AUTO MODE
022656,002963:
022657,002964:
022658,002965: # ERASABLE INITIALIZATION REQUIRED -
022659,002966: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
022660,002967: # RM - RR RANGE, METERS B-29, FROM LRS22.1
022661,002968: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
022662,002969:
022663,002970:
022664,002971: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
022665,002972:
022666,002973: 25,2000 SETLOC P20S1
022667,002974: 25,2000 BANK
022668,002975: 25,3746 04704 LRS22.2 TC MAKECADR
022669,002976: 25,3747 55732 TS LRS22.1X
022670,002977: 25,3750 06014 TC INTPRET
022671,002978: # CHECK IF RR LOS IS WITHIN 30 DEG OF
022672,002979: 25,3751 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
022673,002980: 25,3752 03740 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
022674,002981: # LOS VECTOR,A HALF UNIT VECTOR
022675,002982: # IN NAV BASE AXES)
022676,002983: 25,3753 50025 DSU BMN
022677,002984: 25,3754 13770 30DEG
022678,002985: 25,3755 53762 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
022679,002986: 25,3756 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
022680,002987: 25,3757 35026 CAF BIT1 # SET ERROR CODE IN MPAC
022681,002988: 25,3760 54154 TS MPAC
022682,002989: 25,3761 13765 TCF OUT22.2
022683,002990: 25,3762 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
022684,002991:
022685,002992: 25,3763 35030 CAF ZERO
022686,002993: 25,3764 54154 TS MPAC
022687,002994: 25,3765 31732 OUT22.2 CAE LRS22.1X
022688,002995: 25,3766 04677 TC BANKJUMP
022689,002996:
022690,002997: 25,3767 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
022691,002998:
022692,002999: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
022693,003000: # MOD. NO 3 LOG SECTION - P20-25
022694,003001: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
022695,003002:
022696,003003: # FUNCTIONAL DESCRIPTION
022697,003004:
022698,003005: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
022699,003006: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
022700,003007: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
022701,003008:
022702,003009: # CALLING SEQUENCE
022703,003010: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
022704,003011: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
022705,003012: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
022706,003013: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
022707,003014: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
022708,003015: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
022709,003016:
022710,003017:
022711,003018: # SUBROUTINES CALLED
022712,003019: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
022713,003020: # GETULC RARARANG INCORP2 NBSM INTSTALL
022714,003021:
022715,003022: # OUTPUT
022716,003023: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
022717,003024: # NUMBER OF MARKS INCORPORATED IN MARKCTR
022718,003025: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
022719,003026: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
022720,003027: # UPDATED W-MATRIX
022721,003028:
022722,003029:
022723,003030: # ERASABLE INITIALIZATION REQUIRED
022724,003031: # LM AND CSM STATE VECTORS
022725,003032: # W-MATRIX
022726,003033: # MARK TIME IN MKTIME
022727,003034: # RADAR RANGE IN RM METERS B-29
022728,003035: # RANGE RATE IN RDOTM METERS/CSES B-7
022729,003036: # SHAFT ANGLE IN RRSHAFT REVS.B0
022730,003037: # TRUNNION ANGLE IN RRTRUN REVS. B0
022731,003038: # GIMBAL ANGLES INNER IN AIG
022732,003039: # MIDDLE IN AMG
022733,003040: # OUTER IN AOG
022734,003041: # REFSMMAT
022735,003042: # RENDWFLG
022736,003043: # NOANGFLG
022737,003044: # VEHUPFLG
022738,003045:
022739,003046: # DEBRIS
022740,003047: # PUSHLIST--ALL
022741,003048: # MX, MY, MZ (VECTORS)
022742,003049:
022743,003050: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
022744,003051:
022745,003052: 13,2161 BANK 13
022746,003053: 26,2000 SETLOC P20S3
022747,003054: 26,2000 BANK
022748,003055:
022749,003056: 26,2425 E7,1433 EBANK= LOSCOUNT
022750,003057: 26,2425 COUNT* $$/LSR22
022751,003058: 26,2425 77624 LSR22.3 CALL
022752,003059: 26,2426 11057 GRP2PC
022753,003060: 26,2427 43014 BON SET
022754,003061: 26,2430 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
022755,003062: 26,2431 55134 LSR22.4 # YES
022756,003063: 26,2432 02466 DMENFLG
022757,003064: 26,2433 45014 BOFF CALL
022758,003065: 26,2434 00747 VEHUPFLG
022759,003066: 26,2435 54467 DOLEM
022760,003067: 26,2436 27362 INTSTALL
022761,003068: 26,2437 45014 CLEAR CALL # LM PRECISION INTEGRATION
022762,003069: 26,2440 01674 VINTFLAG
022763,003070: 26,2441 26622 SETIFLGS
022764,003071: 26,2442 77624 CALL
022765,003072: 26,2443 55176 INTGRCAL
022766,003073: 26,2444 77624 CALL
022767,003074: 26,2445 11057 GRP2PC
022768,003075: 26,2446 77624 CALL
022769,003076: 26,2447 27362 INTSTALL
022770,003077: 26,2450 43014 CLEAR BOFF
022771,003078: 26,2451 01676 DIM0FLAG
022772,003079: 26,2452 02756 RENDWFLG
022773,003080: 26,2453 54457 NOTWCSM
022774,003081: 26,2454 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
022775,003082: 26,2455 01476 DIM0FLAG
022776,003083: 26,2456 01475 D6OR9FLG
022777,003084: 26,2457 43014 NOTWCSM SET CLEAR
022778,003085: 26,2460 01474 VINTFLAG
022779,003086: 26,2461 01673 INTYPFLG
022780,003087: 26,2462 45014 SET CALL
022781,003088: 26,2463 01472 STATEFLG
022782,003089: 26,2464 55176 INTGRCAL
022783,003090: 26,2465 77650 GOTO
022784,003091: 26,2466 54517 MARKTEST
022785,003092: 26,2467 77624 DOLEM CALL
022786,003093: 26,2470 27362 INTSTALL
022787,003094: 26,2471 45014 SET CALL
022788,003095: 26,2472 01474 VINTFLAG
022789,003096: 26,2473 26622 SETIFLGS
022790,003097: 26,2474 77624 CALL
022791,003098: 26,2475 55176 INTGRCAL
022792,003099:
022793,003100: 26,2476 77624 CALL
022794,003101: 26,2477 11057 GRP2PC
022795,003102: 26,2500 77624 CALL
022796,003103: 26,2501 27362 INTSTALL
022797,003104: 26,2502 43014 CLEAR BOFF
022798,003105: 26,2503 01676 DIM0FLAG
022799,003106: 26,2504 02756 RENDWFLG
022800,003107: 26,2505 54511 NOTWLEM
022801,003108: 26,2506 43014 SET SET # LM WITH W-MATRIX INTEGRATION
022802,003109: 26,2507 01476 DIM0FLAG
022803,003110: 26,2510 01475 D6OR9FLG
022804,003111: 26,2511 43014 NOTWLEM CLEAR CLEAR
022805,003112: 26,2512 01673 INTYPFLG
022806,003113: 26,2513 01674 VINTFLAG
022807,003114: 26,2514 45014 SET CALL
022808,003115: 26,2515 01472 STATEFLG
022809,003116: 26,2516 55176 INTGRCAL
022810,003117: 26,2517 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
022811,003118: 26,2520 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
022812,003119: 26,2521 54523 RANGEBQ
022813,003120: 26,2522 55205 WLINIT # YES - REINITIALIZE
022814,003121:
022815,003122: 26,2523 43174 RANGEBQ AXT,2 BON # CLEAR X2.
022816,003123: 26,2524 00000 0
022817,003124: 26,2525 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
022818,003125: 26,2526 54531 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
022819,003126: 26,2527 77714 INCR,2
022820,003127: 26,2530 00002 2
022821,003128: 26,2531 45134 SETX2 SXA,2 CALL
022822,003129: 26,2532 03705 SCALSHFT # 0-MOON. 2-EARTH
022823,003130: 26,2533 11057 GRP2PC
022824,003131: 26,2534 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
022825,003132: 26,2535 55252 GETULC # B-VECTORS FOR RANGE
022826,003133: 26,2536 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
022827,003134: 26,2537 00707 VEHUPFLG
022828,003135: 26,2540 54541 +1
022829,003136: 26,2541 27512 STOVL BVECTOR
022830,003137: 26,2542 06233 ZEROVECS
022831,003138: 26,2543 03520 STORE BVECTOR +6 # B1
022832,003139:
022833,003140: 26,2544 17526 STODL BVECTOR +12D # B2
022834,003141: 26,2545 00045 36D
022835,003142: 26,2546 44257 SRR* BDSU
022836,003143: 26,2547 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
022837,003144: 26,2550 03731 RM # RM - (MAGNITUDE RCSM-RLM)
022838,003145: 26,2551 77657 SLR*
022839,003146: 26,2552 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
022840,003147: 26,2553 17534 STODL DELTAQ # EARTH B-29. MOON B-27
022841,003148: 26,2554 00045 36D # RLC B-29/B-27
022842,003149: 26,2555 63501 NORM DSQ # NORMALIZE AND SQUARE
022843,003150: 26,2556 00047 X1
022844,003151: 26,2557 53605 DMP SR*
022845,003152: 26,2560 02365 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
022846,003153: 26,2561 20577 0 -2,1 # UNNORMALIZE
022847,003154: 26,2562 53657 SR* SR*
022848,003155: 26,2563 20601 0,1
022849,003156: 26,2564 57176 0,2
022850,003157: 26,2565 47057 SR* RTB
022851,003158: 26,2566 57176 0,2
022852,003159: 26,2567 21531 TPMODE
022853,003160: 26,2570 02707 STORE VARIANCE # B-40
022854,003161: 26,2571 76276 DCOMP TAD
022855,003162: 26,2572 02371 RVARMIN # B-40
022856,003163: 26,2573 72240 BMN TLOAD
022857,003164: 26,2574 54577 QOK
022858,003165: 26,2575 02371 RVARMIN # B-40
022859,003166: 26,2576 02707 STORE VARIANCE
022860,003167: 26,2577 77624 QOK CALL
022861,003168: 26,2600 55321 LGCUPDTE
022862,003169:
022863,003170: 26,2601 77624 CALL
022864,003171: 26,2602 11057 GRP2PC
022865,003172: 26,2603 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
022866,003173: 26,2604 55252 GETULC
022867,003174: 26,2605 53725 PDDL SR* # GET RLC SCALED B-29/B-27
022868,003175: 26,2606 00045 36D # AND SHIFT TO B-23
022869,003176: 26,2607 57205 0 -7,2
022870,003177: 26,2610 24045 STOVL 36D # THEN STORE BACK IN 36D
022871,003178: 26,2611 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
022872,003179: 26,2612 00707 VEHUPFLG
022873,003180: 26,2613 54614 +1
022874,003181: 26,2614 77761 VXSC
022875,003182: 26,2615 00045 36D # B1 = RLC (B-24/B-22)
022876,003183: 26,2616 27520 STOVL BVECTOR +6
022877,003184: 26,2617 01653 NUVLEM
022878,003185: 26,2620 53257 VSR* VAD
022879,003186: 26,2621 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
022880,003187: 26,2622 01667 VCVLEM # EARTH B-7. MOON B-5
022881,003188: 26,2623 53715 PDVL VSR* # VL TO PD6
022882,003189: 26,2624 01601 NUVCSM
022883,003190:
022884,003191: 26,2625 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
022885,003192: 26,2626 52255 VAD VSU
022886,003193: 26,2627 01615 VCVCSM
022887,003194: 26,2630 50315 PDVL DOT # VC - VL = VLC TO PD6
022888,003195: 26,2631 00001 0
022889,003196: 26,2632 00007 6
022890,003197: 26,2633 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
022891,003198: 26,2634 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
022892,003199: 26,2635 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
022893,003200: 26,2636 02367 RATEVAR
022894,003201: 26,2637 41275 DMPR DMP
022895,003202: 26,2640 00045 36D
022896,003203: 26,2641 00045 36D
022897,003204: 26,2642 47112 VSL4 RTB
022898,003205: 26,2643 21531 TPMODE
022899,003206: 26,2644 02707 STORE VARIANCE
022900,003207: 26,2645 63545 DLOAD DSQ
022901,003208: 26,2646 00045 36D
022902,003209: 26,2647 47005 DMP RTB
022903,003210: 26,2650 02374 VVARMIN
022904,003211: 26,2651 21531 TPMODE
022905,003212: 26,2652 00037 STORE 30D
022906,003213: 26,2653 76276 DCOMP TAD
022907,003214: 26,2654 02707 VARIANCE
022908,003215: 26,2655 72244 BPL TLOAD
022909,003216: 26,2656 54661 +3
022910,003217: 26,2657 00037 30D
022911,003218: 26,2660 02707 STORE VARIANCE
022912,003219: 26,2661 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
022913,003220: 26,2662 53725 PDDL SLR* # TO B-10/B-8
022914,003221: 26,2663 03721 RDOTM # SHIFT TO EARTH/MOON SPHERE
022915,003222: 26,2664 56577 0 -1,2 # B-7 TO B-10/B-8
022916,003223: 26,2665 77625 DSU
022917,003224: 26,2666 77675 DMPR
022918,003225: 26,2667 00045 36D
022919,003226: 26,2670 27534 STOVL DELTAQ # B-33
022920,003227: 26,2671 00001 0 # NOW GET B0
022921,003228: 26,2672 47235 VXV VXV # (ULC X VLC) X ULC
022922,003229: 26,2673 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
022923,003230: 26,2674 00707 VEHUPFLG
022924,003231: 26,2675 54676 +1
022925,003232: 26,2676 53604 BOVB VSR*
022926,003233: 26,2677 57702 TCDANZIG
022927,003234: 26,2700 57203 0 -5,2 # SCALED B-5
022928,003235: 26,2701 52000 BOV GOTO
022929,003236: 26,2702 54704 VOK1
022930,003237: 26,2703 54706 VOK2
022931,003238: 26,2704 77775 VOK1 VLOAD
022932,003239: 26,2705 06233 ZEROVECS
022933,003240: 26,2706 27512 VOK2 STOVL BVECTOR
022934,003241: 26,2707 06233 ZEROVECS
022935,003242: 26,2710 37526 STCALL BVECTOR +12D
022936,003243: 26,2711 55321 LGCUPDTE
022937,003244:
022938,003245: 26,2712 77624 CALL
022939,003246: 26,2713 11057 GRP2PC
022940,003247: 26,2714 77414 BON EXIT # ARE ANGLES TO BE DONE
022941,003248: 26,2715 04307 SURFFLAG
022942,003249: 26,2716 55132 RENDEND # NO
022943,003250: 26,2717 E7,1444 EBANK= AIG
022944,003251: 26,2717 33251 MXMYMZ CAF AIGBANK
022945,003252: 26,2720 54006 TS BBANK
022946,003253: 26,2721 31444 CA AIG # YES, COMPUTE MX, MY, MZ
022947,003254: 26,2722 54766 TS CDUSPOT
022948,003255: 26,2723 31445 CA AMG
022949,003256: 26,2724 54770 TS CDUSPOT +2
022950,003257: 26,2725 31446 CA AOG
022951,003258: 26,2726 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
022952,003259: 26,2727 06014 TC INTPRET
022953,003260: 26,2730 45175 VLOAD CALL
022954,003261: 26,2731 06231 UNITX
022955,003262: 26,2732 47472 TRG*NBSM
022956,003263: 26,2733 76505 VXM VSL1
022957,003264: 26,2734 01736 REFSMMAT
022958,003265: 26,2735 27664 STOVL MX
022959,003266: 26,2736 06227 UNITY
022960,003267:
022961,003268: 26,2737 77624 CALL
022962,003269: 26,2740 47501 *NBSM*
022963,003270: 26,2741 76505 VXM VSL1
022964,003271: 26,2742 01736 REFSMMAT
022965,003272: 26,2743 27672 STOVL MY
022966,003273: 26,2744 06225 UNITZ
022967,003274: 26,2745 77624 CALL
022968,003275: 26,2746 47501 *NBSM*
022969,003276: 26,2747 76505 VXM VSL1
022970,003277: 26,2750 01736 REFSMMAT
022971,003278: 26,2751 37700 SHAFTBQ STCALL MZ
022972,003279: 26,2752 55301 RADARANG
022973,003280: 26,2753 77624 CALL
022974,003281: 26,2754 11057 GRP2PC
022975,003282: 26,2755 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
022976,003283: 26,2756 03711 ULC
022977,003284: 26,2757 03664 MX
022978,003285: 26,2760 77752 SL1
022979,003286: 26,2761 24023 STOVL SINTH # 18D
022980,003287: 26,2762 03711 ULC
022981,003288: 26,2763 72441 DOT SL1
022982,003289: 26,2764 03700 MZ
022983,003290: 26,2765 34021 STCALL COSTH # 16D
022984,003291: 26,2766 26464 ARCTAN
022985,003292: 26,2767 41221 BDSU DMP
022986,003293: 26,2770 03725 RRSHAFT
022987,003294: 26,2771 15361 2PI/8
022988,003295: 26,2772 41472 SL3R PUSH
022989,003296: 26,2773 52545 DLOAD SL3
022990,003297: 26,2774 01701 X789
022991,003298: 26,2775 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
022992,003299: 26,2776 56176 0,2
022993,003300: 26,2777 53605 DMP SRR*
022994,003301: 26,3000 03707 RXZ
022995,003302: 26,3001 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
022996,003303: 26,3002 27534 STOVL DELTAQ # EARTH B-29. MOON B-27
022997,003304: 26,3003 03711 ULC
022998,003305: 26,3004 76435 VXV VSL1
022999,003306: 26,3005 03672 MY
023000,003307: 26,3006 77656 UNIT
023001,003308: 26,3007 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
023002,003309: 26,3010 00747 VEHUPFLG
023003,003310: 26,3011 55012 +1
023004,003311: 26,3012 27512 STOVL BVECTOR
023005,003312: 26,3013 06233 ZEROVECS
023006,003313: 26,3014 03520 STORE BVECTOR +6
023007,003314: 26,3015 17526 STODL BVECTOR +12D
023008,003315: 26,3016 03707 RXZ
023009,003316: 26,3017 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
023010,003317: 26,3020 20577 0 -2,1
023011,003318:
023012,003319: 26,3021 56176 0,2
023013,003320: 26,3022 03526 STORE BVECTOR +12D
023014,003321: 26,3023 77735 SLOAD
023015,003322: 26,3024 02007 SHAFTVAR
023016,003323: 26,3025 41215 DAD DMP
023017,003324: 26,3026 15356 IMUVAR # RAD**2 B12
023018,003325: 26,3027 03707 RXZ
023019,003326: 26,3030 41257 SRR* DMP
023020,003327: 26,3031 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
023021,003328: 26,3032 03707 RXZ
023022,003329: 26,3033 53657 SR* SR*
023023,003330: 26,3034 20577 0 -2,1
023024,003331: 26,3035 57176 0,2
023025,003332: 26,3036 47057 SR* RTB
023026,003333: 26,3037 57176 0,2
023027,003334: 26,3040 21531 TPMODE # STORE VARIANCE TRIPLE PRECISION
023028,003335: 26,3041 36707 STCALL VARIANCE # B-40
023029,003336: 26,3042 55321 LGCUPDTE
023030,003337:
023031,003338: 26,3043 77624 CALL
023032,003339: 26,3044 11057 GRP2PC
023033,003340: 26,3045 77624 TRUNBQ CALL
023034,003341: 26,3046 55301 RADARANG
023035,003342: 26,3047 77624 CALL
023036,003343: 26,3050 11057 GRP2PC
023037,003344: 26,3051 47375 VLOAD VXV
023038,003345: 26,3052 03711 ULC
023039,003346: 26,3053 03672 MY
023040,003347: 26,3054 47372 VSL1 VXV
023041,003348: 26,3055 03711 ULC
023042,003349: 26,3056 77772 VSL1 # (ULC X MY) X ULC
023043,003350: 26,3057 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
023044,003351: 26,3060 00747 VEHUPFLG
023045,003352: 26,3061 55062 +1
023046,003353: 26,3062 27512 STOVL BVECTOR
023047,003354: 26,3063 06233 ZEROVECS
023048,003355: 26,3064 03520 STORE BVECTOR +6
023049,003356: 26,3065 17526 STODL BVECTOR +12D
023050,003357: 26,3066 03707 RXZ
023051,003358: 26,3067 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
023052,003359: 26,3070 20577 0 -2,1
023053,003360: 26,3071 56176 0,2
023054,003361: 26,3072 03530 STORE BVECTOR +14D
023055,003362: 26,3073 77735 SLOAD
023056,003363: 26,3074 02010 TRUNVAR
023057,003364: 26,3075 41215 DAD DMP
023058,003365: 26,3076 15356 IMUVAR
023059,003366: 26,3077 03707 RXZ
023060,003367: 26,3100 41257 SRR* DMP
023061,003368: 26,3101 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
023062,003369:
023063,003370: 26,3102 03707 RXZ
023064,003371: 26,3103 53657 SR* SR*
023065,003372: 26,3104 20577 0 -2,1
023066,003373: 26,3105 57176 0,2
023067,003374: 26,3106 47057 SR* RTB
023068,003375: 26,3107 57176 0,2
023069,003376: 26,3110 21531 TPMODE # STORE VARIANCE TRIPLE PRECISION
023070,003377: 26,3111 16707 STODL VARIANCE
023071,003378: 26,3112 03717 SINTHETA
023072,003379: 26,3113 44336 ASIN BDSU # SIN THETA IN PD6
023073,003380: 26,3114 03723 RRTRUN
023074,003381: 26,3115 56405 DMP SL3R
023075,003382: 26,3116 15361 2PI/8
023076,003383: 26,3117 52525 PDDL SL3
023077,003384: 26,3120 01703 X789 +2
023078,003385: 26,3121 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
023079,003386: 26,3122 56176 0,2
023080,003387: 26,3123 53605 DMP SRR*
023081,003388: 26,3124 03707 RXZ
023082,003389: 26,3125 21601 0,1
023083,003390: 26,3126 37534 STCALL DELTAQ # EARTH B-29. MOON B-27
023084,003391: 26,3127 55321 LGCUPDTE
023085,003392: 26,3130 77624 CALL
023086,003393: 26,3131 11057 GRP2PC
023087,003394: 26,3132 77650 RENDEND GOTO
023088,003395: 26,3133 50556 R22LEM93
023089,003396: # FUNCTIONAL DESCRIPTION
023090,003397:
023091,003398: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
023092,003399: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
023093,003400: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
023094,003401:
023095,003402: # SUBROUTINES CALLED
023096,003403: # INSTALL LGCUPDTE INCORP1 RP-TO-R
023097,003404: # INTEGRV GETULC INCORP2
023098,003405:
023099,003406: # OUTPUT
023100,003407: # CORRECTED CSM STATE VECTOR (PERMANENT)
023101,003408: # NUMBER OF MARKS INCORPORATED IN MARKCTR
023102,003409: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
023103,003410: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
023104,003411: # UPDATED W-MATRIX
023105,003412:
023106,003413: # ERASABLE INITIALIZATION REQUIRED
023107,003414: # LM AND CSM STATE VECTORS
023108,003415: # W-MATRIX
023109,003416: # MARK TIME IN MKTIME
023110,003417: # RADAR RANGE IN RM METERS B-29
023111,003418: # RANGE RATE IN RDOTM METERS/CSEC B-7
023112,003419: # VEHUPFLG
023113,003420:
023114,003421: 26,3134 77624 LSR22.4 CALL
023115,003422: 26,3135 27362 INTSTALL
023116,003423: 26,3136 43014 SET CLEAR
023117,003424: 26,3137 01472 STATEFLG
023118,003425: 26,3140 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
023119,003426: 26,3141 77624 CALL
023120,003427: 26,3142 55176 INTGRCAL
023121,003428: 26,3143 77624 CALL
023122,003429: 26,3144 11057 GRP2PC
023123,003430: 26,3145 45014 CLEAR CALL
023124,003431: 26,3146 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
023125,003432: 26,3147 27362 INTSTALL
023126,003433: 26,3150 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
023127,003434: 26,3151 03450 MARKCTR
023128,003435: 26,3152 55165 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
023129,003436: 26,3153 43014 CLEAR SET
023130,003437: 26,3154 01675 D6OR9FLG
023131,003438: 26,3155 01476 DIM0FLAG
023132,003439: 26,3156 43014 SET CLEAR
023133,003440: 26,3157 01474 VINTFLAG
023134,003441: 26,3160 01673 INTYPFLG
023135,003442: 26,3161 77624 CALL
023136,003443: 26,3162 55176 INTGRCAL
023137,003444: 26,3163 77650 GOTO
023138,003445: 26,3164 54523 RANGEBQ
023139,003446:
023140,003447: 26,3165 77624 INITWMX6 CALL
023141,003448: 26,3166 55205 WLINIT # INITIALIZE W-MATRIX
023142,003449: 26,3167 45014 SET CALL
023143,003450: 26,3170 01474 VINTFLAG
023144,003451: 26,3171 26622 SETIFLGS
023145,003452: 26,3172 77624 CALL
023146,003453: 26,3173 55176 INTGRCAL
023147,003454: 26,3174 77650 GOTO
023148,003455: 26,3175 54523 RANGEBQ
023149,003456:
023150,003457: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
023151,003458:
023152,003459: 26,3176 71220 INTGRCAL STQ DLOAD
023153,003460: 26,3177 03662 IGRET
023154,003461: 26,3200 03727 MKTIME
023155,003462: 26,3201 34041 STCALL TDEC1
023156,003463: 26,3202 27105 INTEGRV
023157,003464: 26,3203 77650 GOTO
023158,003465: 26,3204 03662 IGRET
023159,003466:
023160,003467: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
023161,003468: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
023162,003469:
023163,003470: 26,3205 E5,1400 EBANK= W
023164,003471:
023165,003472: 26,3205 77776 WLINIT EXIT
023166,003473: 26,3206 33250 CAF WBANK
023167,003474: 26,3207 54006 TS BBANK
023168,003475: 26,3210 33357 CAF WSIZE
023169,003476: 26,3211 55257 TS W.IND
023170,003477: 26,3212 35030 CAF ZERO
023171,003478: 26,3213 51257 INDEX W.IND
023172,003479: 26,3214 55400 TS W
023173,003480: 26,3215 11257 CCS W.IND
023174,003481: 26,3216 03211 TC -5
023175,003482: 26,3217 33251 CAF AIGBANK # RESTORE EBANK 7
023176,003483: 26,3220 54006 TS BBANK
023177,003484: 26,3221 06014 TC INTPRET
023178,003485: 26,3222 54335 SLOAD SR # SHIFT TO B-19 SCALE
023179,003486: 26,3223 02001 WRENDPOS
023180,003487: 26,3224 20606 5
023181,003488: 26,3225 02401 STORE W
023182,003489: 26,3226 02411 STORE W +8D
023183,003490: 26,3227 02421 STORE W +16D
023184,003491: 26,3230 77735 SLOAD
023185,003492: 26,3231 02002 WRENDVEL
023186,003493: 26,3232 02511 STORE W +72D
023187,003494: 26,3233 02521 STORE W +80D
023188,003495: 26,3234 02531 STORE W +88D
023189,003496: 26,3235 77735 SLOAD
023190,003497: 26,3236 02003 WSHAFT
023191,003498: 26,3237 02621 STORE W +144D
023192,003499: 26,3240 77735 SLOAD
023193,003500: 26,3241 02004 WTRUN
023194,003501: 26,3242 02631 STORE W +152D
023195,003502: 26,3243 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
023196,003503: 26,3244 02476 RENDWFLG
023197,003504: 26,3245 03450 MARKCTR # SET MARK COUNTER EQUAL ZERO
023198,003505: 26,3246 00000 0
023199,003506: 26,3247 77616 RVQ
023200,003507:
023201,003508: 26,3250 E5,1400 EBANK= W
023202,003509:
023203,003510: 26,3250 54065 WBANK BBCON WLINIT
023204,003511: 26,3251 E7,1444 EBANK= AIG
023205,003512: 26,3251 54067 AIGBANK BBCON LSR22.3
023206,003513:
023207,003514: # GETULC
023208,003515:
023209,003516: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
023210,003517: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
023211,003518: # MAGNITUDE IN 36D.
023212,003519:
023213,003520: 26,3252 77201 GETULC SETPD VLOAD
023214,003521: 26,3253 00001 0
023215,003522: 26,3254 01645 DELTALEM
023216,003523: 26,3255 77754 LXA,2
023217,003524: 26,3256 03705 SCALSHFT # LOAD X2 WITH SCALE SHIFT
023218,003525: 26,3257 53257 VSR* VAD
023219,003526: 26,3260 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
023220,003527: 26,3261 01661 RCVLEM
023221,003528: 26,3262 53715 PDVL VSR*
023222,003529: 26,3263 01573 DELTACSM
023223,003530: 26,3264 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
023224,003531: 26,3265 52255 VAD VSU
023225,003532: 26,3266 01607 RCVCSM
023226,003533: 26,3267 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
023227,003534: 26,3270 21670 NORMUNX1
023228,003535: 26,3271 17711 STODL ULC
023229,003536: 26,3272 00045 36D
023230,003537: 26,3273 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
023231,003538: 26,3274 20201 0,1
023232,003539: 26,3275 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
023233,003540: 26,3276 03711 ULC
023234,003541: 26,3277 77616 RVQ
023235,003542:
023236,003543: 26,3300 43406 PUSH RVQ
023237,003544:
023238,003545: # RADARANG
023239,003546:
023240,003547: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
023241,003548: # RXZ = (SQRT (1-SINTHETA**2))RLC
023242,003549: # OUTPUT
023243,003550: # ULC IN ULC, PD0
023244,003551: # RLC IN PD36D
023245,003552: # SIN THETA IN SINTHETA AND PD6
023246,003553: # RXZ NORM IN RXZ (N IN X1)
023247,003554: 26,3301 45020 RADARANG STQ CALL
023248,003555: 26,3302 03662 RDRET
023249,003556: 26,3303 55252 GETULC
023250,003557: 26,3304 50276 VCOMP DOT
023251,003558: 26,3305 03672 MY
023252,003559: 26,3306 41572 SL1R PUSH # SIN THETA TO PD6
023253,003560: 26,3307 03717 STORE SINTHETA
023254,003561: 26,3310 44316 DSQ BDSU
023255,003562: 26,3311 06223 DP1/4TH # 1 - (SIN THETA)**2
023256,003563:
023257,003564: 26,3312 41366 SQRT DMP
023258,003565: 26,3313 00045 36D
023259,003566: 26,3314 60352 SL1 NORM
023260,003567: 26,3315 00047 X1 # SET SHIFT COUNTER IN X1
023261,003568: 26,3316 03707 STORE RXZ
023262,003569: 26,3317 77650 GOTO # EXIT
023263,003570: 26,3320 03662 RDRET
023264,003571: 26,3321 45020 LGCUPDTE STQ CALL
023265,003572: 26,3322 03662 LGRET
023266,003573: 26,3323 46242 INCORP1
023267,003574: 26,3324 51575 VLOAD ABVAL
023268,003575: 26,3325 02673 DELTAX +6
023269,003576: 26,3326 53754 LXA,2 SRR*
023270,003577: 26,3327 03705 SCALSHFT # 0 - MOON. 2 - EARTH
023271,003578: 26,3330 56174 2,2 # SET VEL DISPLAY TO B-7
023272,003579: 26,3331 25051 STOVL R22DISP +2
023273,003580: 26,3332 02665 DELTAX
023274,003581: 26,3333 53646 ABVAL SRR*
023275,003582: 26,3334 56174 2,2 # SET POS DISPLAY TO B-29
023276,003583: 26,3335 01047 STORE R22DISP
023277,003584: 26,3336 54335 SLOAD SR
023278,003585: 26,3337 02005 RMAX
023279,003586: 26,3340 20613 10D
023280,003587: 26,3341 50025 DSU BMN
023281,003588: 26,3342 01047 R22DISP
023282,003589: 26,3343 50560 R22LEM96 # GO DISPLAY
023283,003590: 26,3344 45335 SLOAD DSU
023284,003591: 26,3345 02006 VMAX
023285,003592: 26,3346 01051 R22DISP +2 # VMAX MINUS VEL. DEVIATION
023286,003593: 26,3347 77640 BMN
023287,003594: 26,3350 50560 R22LEM96 # GO DISPLAY
023288,003595: 26,3351 77624 ASTOK CALL
023289,003596: 26,3352 46454 INCORP2
023290,003597: 26,3353 77650 GOTO
023291,003598: 26,3354 03662 LGRET
023292,003599: 26,3355 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
023293,003600:
023294,003601: 26,3357 00241 WSIZE DEC 161 B-14
023295,003602: 26,3360 31103 36652 2PI/8 2DEC 3.141592653 B-2
023296,003603: 26,3362 E7,1433 EBANK= LOSCOUNT
023297,003604:
023298,003605: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
023299,003606: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
023300,003607:
023301,003608:
023302,003609: # FUNCTIONAL DESCRIPTION
023303,003610:
023304,003611: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
023305,003612: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
023306,003613: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
023307,003614: # ATTITUDE MANEUVER.
023308,003615:
023309,003616:
023310,003617: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
023311,003618:
023312,003619:
023313,003620: # SUBROUTINES CALLED
023314,003621:
023315,003622: # LEMCONIC R61LEM
023316,003623: # CSMCONIC RRDESSM
023317,003624: # JOBDELAY FLAGDOWN
023318,003625: # WAITLIST FLAGUP
023319,003626: # RRNB BANKCALL
023320,003627:
023321,003628:
023322,003629: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
023323,003630:
023324,003631:
023325,003632: # OUTPUT
023326,003633:
023327,003634: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
023328,003635: # 11111 INDICATES LOCKON ACHIEVED
023329,003636: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
023330,003637:
023331,003638: # ERASABLE INITIALIZATION REQUIRED
023332,003639: # SEARCH FLAG MUST BE SET
023333,003640: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
023334,003641: # DEBRIS
023335,003642:
023336,003643: # RLMSRCH UXVECT
023337,003644: # VXRLM UYVECT
023338,003645: # LOSDESRD NSRCHPNT
023339,003646: # DATAGOOD OMEGAD
023340,003647: # MPAC PUSHLIST
023341,003648:
023342,003649: 26,3362 COUNT* $$/LRS24
023343,003650: 26,3362 35030 LRS24.1 CAF ZERO
023344,003651: 26,3363 55723 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
023345,003652: 26,3364 35011 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
023346,003653: 26,3365 00006 EXTEND
023347,003654:
023348,003655: 26,3366 05012 WOR CHAN12
023349,003656: 26,3367 35011 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
023350,003657: 26,3370 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
023351,003658: 26,3371 00006 EXTEND
023352,003659: 26,3372 15225 BZF ENDOFJOB # NO-TERMINATE JOB
023353,003660:
023354,003661: 26,3373 35011 CAF MANUFBIT
023355,003662: 26,3374 70103 MASK FLAGWRD7
023356,003663: 26,3375 10000 CCS A
023357,003664: 26,3376 05225 TC ENDOFJOB
023358,003665:
023359,003666: 26,3377 33645 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
023360,003667: 26,3400 00004 INHINT
023361,003668: 26,3401 05252 TC WAITLIST # IN 6 SECONDS
023362,003669: 26,3402 E7,1433 EBANK= LOSCOUNT
023363,003670: 26,3402 03575 54067 2CADR CALLDGCH
023364,003671: 26,3404 00003 RELINT
023365,003672: 26,3405 41101 CS RADMODES # IS REMODE IN PROGRESS
023366,003673: 26,3406 75011 MASK BIT14 # (BIT 14 RADMODES = 1)
023367,003674: 26,3407 00006 EXTEND
023368,003675: 26,3410 15225 BZF ENDOFJOB # YES- WAIT SIX SECONDS
023369,003676: 26,3411 06014 TC INTPRET
023370,003677:
023371,003678: 26,3412 77634 RTB
023372,003679: 26,3413 21454 LOADTIME
023373,003680: 26,3414 34041 LRS24.11 STCALL TDEC1
023374,003681: 26,3415 27051 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
023375,003682: 26,3416 77775 VLOAD
023376,003683: 26,3417 00001 RATT
023377,003684: 26,3420 27663 STOVL RLMSRCH # SAVE LEM POSITION
023378,003685: 26,3421 00007 VATT
023379,003686: 26,3422 17725 STODL SAVLEMV # SAVE LEM VELOCITY
023380,003687: 26,3423 00015 TAT
023381,003688: 26,3424 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
023382,003689: 26,3425 27037 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
023383,003690: 26,3426 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
023384,003691: 26,3427 00001 RATT
023385,003692: 26,3430 03663 RLMSRCH
023386,003693: 26,3431 77656 UNIT
023387,003694: 26,3432 27677 STOVL LOSDESRD # STORE DESIRED LOS
023388,003695: 26,3433 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
023389,003696: 26,3434 47256 UNIT VXV
023390,003697: 26,3435 00001 RATT
023391,003698: 26,3436 77656 UNIT
023392,003699: 26,3437 03671 STORE VXRCM
023393,003700: 26,3440 52375 VLOAD VSU
023394,003701: 26,3441 00007 VATT
023395,003702: 26,3442 03725 SAVLEMV
023396,003703: 26,3443 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
023397,003704: 26,3444 01736 REFSMMAT
023398,003705: 26,3445 03725 STORE SAVLEMV # VLC = V(CSM) - V(LM)
023399,003706: 26,3446 53135 SLOAD BZE # CHECK IF N=0
023400,003707: 26,3447 03724 NSRCHPNT
023401,003708:
023402,003709: 26,3450 55570 DESGLOS # YES-DESIGNATE ALONG LOS
023403,003710: 26,3451 53025 DSU BZE # IS N=1
023404,003711: 26,3452 15643 ONEOCT # YES-CALCULATE X AND Y AXES OF
023405,003712: 26,3453 55555 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
023406,003713: 26,3454 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
023407,003714: 26,3455 03705 UXVECT
023408,003715: 26,3456 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
023409,003716: 26,3457 03713 UYVECT # UXPRIME = ORIGINAL UX
023410,003717: 26,3460 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
023411,003718: 26,3461 77761 VXSC
023412,003719: 26,3462 15637 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
023413,003720: 26,3463 27705 STOVL UXVECT
023414,003721: 26,3464 00015 UXVECTPR
023415,003722: 26,3465 53361 VXSC VAD
023416,003723: 26,3466 06231 COS60DEG
023417,003724: 26,3467 03705 UXVECT
023418,003725: 26,3470 77656 UNIT
023419,003726: 26,3471 27705 STOVL UXVECT
023420,003727: 26,3472 00015 UXVECTPR # UY=(-SIN 60)UXPR +(COS 60)UYPR
023421,003728: 26,3473 77761 VXSC
023422,003729: 26,3474 15637 SIN60DEG
023423,003730: 26,3475 27713 STOVL UYVECT
023424,003731: 26,3476 00023 UYVECTPR
023425,003732: 26,3477 52361 VXSC VSU
023426,003733: 26,3500 06231 COS60DEG
023427,003734: 26,3501 03713 UYVECT
023428,003735: 26,3502 77656 UNIT
023429,003736: 26,3503 03713 STORE UYVECT
023430,003737: 26,3504 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
023431,003738: 26,3505 15641 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
023432,003739: 26,3506 03677 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
023433,003740: 26,3507 64256 UNIT MXV
023434,003741: 26,3510 01736 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
023435,003742: 26,3511 77772 VSL1
023436,003743: 26,3512 25105 CONTDESG STOVL RRTARGET
023437,003744: 26,3513 03725 SAVLEMV
023438,003745: 26,3514 03435 STORE LOSVEL
023439,003746: 26,3515 77776 EXIT
023440,003747: 26,3516 00004 INHINT
023441,003748: 26,3517 06005 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
023442,003749: 26,3520 52556 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
023443,003750:
023444,003751: 26,3521 40103 CS FLAGWRD7
023445,003752: 26,3522 75011 MASK MANUFBIT
023446,003753: 26,3523 00006 EXTEND
023447,003754: 26,3524 15225 BZF ENDOFJOB
023448,003755: # POINT IN THE PATTERN
023449,003756: 26,3525 45010 CONTDES2 CS BIT15
023450,003757: 26,3526 71101 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
023451,003758: 26,3527 65010 AD BIT15 # A CONTINUOUS DESIGNATE WANTED
023452,003759: 26,3530 55101 TS RADMODES
023453,003760: 26,3531 00003 RELINT
023454,003761: 26,3532 06014 TC INTPRET
023455,003762:
023456,003763: 26,3533 77624 CALL
023457,003764: 26,3534 52352 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
023458,003765:
023459,003766:
023460,003767: 26,3535 77776 EXIT
023461,003768: 26,3536 03627 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
023462,003769: 26,3537 03627 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
023463,003770:
023464,003771:
023465,003772: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
023466,003773: # SPACECRAFT +Z AXIS
023467,003774: 26,3540 00004 INHINT
023468,003775: 26,3541 00006 OMEGCALC EXTEND
023469,003776: 26,3542 30036 DCA CDUT
023470,003777: 26,3543 53744 DXCH TANGNB
023471,003778: 26,3544 00003 RELINT
023472,003779: 26,3545 06014 TC INTPRET
023473,003780: 26,3546 77624 CALL
023474,003781: 26,3547 46000 RRNB
023475,003782: 26,3550 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
023476,003783: 26,3551 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
023477,003784: 26,3552 03722 STORE OMEGDISP # STORE FOR DISPLAY IN R2
023478,003785: 26,3553 77776 EXIT
023479,003786: 26,3554 05225 TC ENDOFJOB
023480,003787:
023481,003788: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
023482,003789:
023483,003790:
023484,003791: 26,3555 47375 CALCXY VLOAD VXV
023485,003792: 26,3556 03671 VXRCM
023486,003793: 26,3557 03677 LOSDESRD
023487,003794: 26,3560 77656 UNIT
023488,003795: 26,3561 27705 STOVL UXVECT # UX = (VLM X RLM) X LOS
023489,003796: 26,3562 03677 LOSDESRD
023490,003797: 26,3563 53435 VXV UNIT
023491,003798: 26,3564 03705 UXVECT
023492,003799: 26,3565 03713 STORE UYVECT # UY = LOS X UX
023493,003800: 26,3566 77650 GOTO
023494,003801: 26,3567 55504 OFFCALC
023495,003802:
023496,003803:
023497,003804: 26,3570 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
023498,003805: 26,3571 03677 LOSDESRD
023499,003806: 26,3572 01736 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
023500,003807: 26,3573 52172 VSL1 GOTO
023501,003808: 26,3574 55512 CONTDESG
023502,003809:
023503,003810:
023504,003811: 26,3575 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
023505,003812: 26,3576 75020 MASK RNDVZBIT
023506,003813: 26,3577 00006 EXTEND
023507,003814: 26,3600 15331 BZF TASKOVER # NO-EXIT R24
023508,003815: 26,3601 37665 CAF PRIO25 # YES-SCHEDULE JOB TO DRIVE RADAR TO NEXT
023509,003816: 26,3602 05155 TC FINDVAC # POINT IN SEARCH PATTERN
023510,003817: 26,3603 E7,1662 EBANK= RLMSRCH
023511,003818: 26,3603 03606 54067 2CADR DATGDCHK
023512,003819: 26,3605 05331 TC TASKOVER
023513,003820:
023514,003821:
023515,003822: 26,3606 35023 DATGDCHK CAF BIT4
023516,003823: 26,3607 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
023517,003824: 26,3610 02033 RAND CHAN33
023518,003825: 26,3611 00006 EXTEND
023519,003826: 26,3612 13621 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
023520,003827: 26,3613 46216 CS SIX
023521,003828: 26,3614 61723 AD NSRCHPNT # IS N GREATER THAN 6
023522,003829: 26,3615 00006 EXTEND
023523,003830: 26,3616 13362 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
023524,003831: 26,3617 25723 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
023525,003832: 26,3620 13364 TCF CHKSRCH # NEXT POINT IN PATTERN
023526,003833:
023527,003834:
023528,003835: 26,3621 33635 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
023529,003836: 26,3622 55720 TS DATAGOOD
023530,003837:
023531,003838: 26,3623 00004 INHINT
023532,003839: 26,3624 06005 TC KILLTASK # DELETE DESIGNATE TASK FROM
023533,003840: 26,3625 52556 CADR DESLOOP +2 # WAITLIST USING KILLTASK
023534,003841: 26,3626 05225 TC ENDOFJOB
023535,003842:
023536,003843: 26,3627 05651 LIMALARM TC ALARM # ISSUE ALARM 527- LOS NOT IN MODE2
023537,003844: 26,3630 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
023538,003845: 26,3631 00004 INHINT # REQUIRED IN P20
023539,003846: 26,3632 06005 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
023540,003847: 26,3633 55575 CADR CALLDGCH # POINT IN SEARCH PATTERN
023541,003848: 26,3634 05225 TC ENDOFJOB
023542,003849:
023543,003850:
023544,003851: 26,3635 25547 ALL1S DEC 11111 B-14
023545,003852: 26,3636 33555 01106 SIN60DEG 2DEC .86603
023546,003853: 26,3640 23,2230 COS60DEG = DPHALF # (2DEC .50)
023547,003854: 26,3640 UXVECTPR EQUALS 12D # PREVIOUS
023548,003855: 26,3640 UYVECTPR EQUALS 18D
023549,003856: 26,3640 RLMUNIT EQUALS 12D
023550,003857: 26,3640 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
023551,003858: 26,3642 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
023552,003859: 26,3643 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
023553,003860: # **** ONEOCT NEEDS A LOWER ORDER ****
023554,003861: # **** WORD OF ZEROES ****
023555,003862: 26,3645 01130 6SECONDS DEC 600 B-14
023556,003863: 26,3646 00062 DEC50 DEC 50 B-14
023557,003864: # ********************************
023558,003865:
023559,003866: # TEST PROGRAM FOR LSR22.3 --- TO BE REMOVED
023560,003867: # ********************************
023561,003868:
023562,003869: 27,2140 BANK 27
023563,003870:
023564,003871: 27,2140 E7,1444 EBANK= AIG
023565,003872: 27,2140 COUNT* $$/RTEST
023566,003873: 27,2140 35030 TEST22.3 CAF ZERO
023567,003874: 27,2141 55125 TS LONG
023568,003875: 27,2142 06014 LOOP22.3 TC INTPRET
023569,003876: 27,2143 70744 LXC,2 DLOAD*
023570,003877: 27,2144 01125 LONG
023571,003878: 27,2145 62413 JOBOVER +1,2
023572,003879: 27,2146 03445 STORE AIG
023573,003880: 27,2147 77743 DLOAD*
023574,003881: 27,2150 62412 JOBOVER +2,2
023575,003882: 27,2151 03446 STORE AMG
023576,003883: 27,2152 77743 DLOAD*
023577,003884:
023578,003885: 27,2153 62410 JOBOVER +4,2
023579,003886: 27,2154 03727 STORE MKTIME
023580,003887: 27,2155 77743 DLOAD*
023581,003888: 27,2156 62406 JOBOVER +6,2
023582,003889: 27,2157 03731 STORE RM
023583,003890: 27,2160 77743 DLOAD*
023584,003891: 27,2161 62404 JOBOVER +8D,2
023585,003892: 27,2162 03721 STORE RDOTM
023586,003893: 27,2163 77743 DLOAD*
023587,003894: 27,2164 62402 JOBOVER +10D,2
023588,003895: 27,2165 03725 STORE RRSHAFT
023589,003896: 27,2166 77743 DLOAD*
023590,003897: 27,2167 62400 JOBOVER +12D,2
023591,003898: 27,2170 03723 STORE RRTRUN
023592,003899: 27,2171 77624 CALL
023593,003900: 27,2172 54425 LSR22.3
023594,003901: 27,2173 77776 22.3ENT EXIT
023595,003902: 27,2174 31125 CA LONG
023596,003903: 27,2175 62204 AD DEC13T
023597,003904: 27,2176 55125 TS LONG
023598,003905: 27,2177 11126 CCS LONG +1
023599,003906: 27,2200 02202 TC +2
023600,003907: 27,2201 30000 STOP22.3 CA A
023601,003908: 27,2202 55126 TS LONG +1
023602,003909: 27,2203 02142 TC LOOP22.3
023603,003910: 27,2204 00015 DEC13T DEC 13 B-14
023604,003911:
023605,003912: 27,2205 26,3362 JOBOVER EQUALS LRS24.1 # **** TEMPORARY DEFINITION ******
023606,003913:
023607,003914: # END OF TEST PROGRAM
023608,003915: # ****************************************
023609,003916: 27,2205 23,2232 ZERO/SP EQUALS HI6ZEROS
023610,003917:
023611,003918: 4655 BLOCK 02
023612,003919: 6000 SETLOC FFTAG5
023613,003920: 6000 BANK
023614,003921: 6000 COUNT* $$/P20
023615,003922: 6000 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
023616,003923: 6001 36004 DCA VB56CADR # GOTOPOOH
023617,003924: 6002 15235 TCF SUPDXCHZ
023618,003925: 6003 E7,1456 EBANK= WHOCARES
023619,003926: 6003 03002 66107 VB56CADR 2CADR TRMTRACK
023620,003927:
023621,003928:
023622,003929: # W-MATRIX MONITOR
023623,003930:
023624,003931: 31,2000 BANK 31
023625,003932: 37,2000 SETLOC VB45
023626,003933: 37,2000 BANK
023627,003934: 37,3077 COUNT* $$/EXTVB
023628,003935:
023629,003936: 37,3077 E4,1606 EBANK= WWPOS
023630,003937:
023631,003938: 37,3077 07766 V45CALL TC SETXDSP
023632,003939: 37,3100 06014 TC INTPRET
023633,003940: 37,3101 77624 CALL
023634,003941: 37,3102 77161 V45WW
023635,003942: 37,3103 77776 EXIT
023636,003943: 37,3104 33234 V06N99DS CAF V06N99
023637,003944: 37,3105 04655 TC BANKCALL
023638,003945: 37,3106 20245 CADR GOXDSPFR
023639,003946: 37,3107 15564 TCF ENDEXT
023640,003947: 37,3110 03120 TC V06N9933
023641,003948: 37,3111 03115 TC +4
023642,003949: 37,3112 35024 CAF BIT3
023643,003950: 37,3113 05556 TC BLANKET
023644,003951: 37,3114 05225 TC ENDOFJOB
023645,003952: 37,3115 05566 +4 TC UPFLAG
023646,003953: 37,3116 00160 ADRES V45FLAG
023647,003954: 37,3117 03104 TC V06N99DS
023648,003955:
023649,003956: 37,3120 06014 V06N9933 TC INTPRET
023650,003957: 37,3121 77414 BON EXIT
023651,003958: 37,3122 03707 V45FLAG
023652,003959: 37,3123 77125 +2
023653,003960: 37,3124 15564 TCF ENDEXT
023654,003961: 37,3125 41345 DLOAD DMP
023655,003962:
023656,003963: 37,3126 02207 WWPOS
023657,003964: 37,3127 37236 1/SQRT3
023658,003965: 37,3130 72412 SL4 SL1
023659,003966: 37,3131 14001 STODL 0D
023660,003967: 37,3132 02211 WWVEL
023661,003968: 37,3133 77605 DMP
023662,003969: 37,3134 37236 1/SQRT3
023663,003970: 37,3135 00003 STORE 2D
023664,003971: 37,3136 72014 BON LXA,1
023665,003972: 37,3137 04307 SURFFLAG
023666,003973: 37,3140 77150 V45SURF
023667,003974: 37,3141 00000 0D
023668,003975: 37,3142 72130 SXA,1 LXA,1
023669,003976: 37,3143 02000 WRENDPOS
023670,003977: 37,3144 00002 2D
023671,003978: 37,3145 52130 SXA,1 GOTO
023672,003979: 37,3146 02001 WRENDVEL
023673,003980: 37,3147 77156 V45CLRF
023674,003981: 37,3150 66150 V45SURF LXA,1 SXA,1
023675,003982: 37,3151 00000 0D
023676,003983: 37,3152 02000 WRENDPOS
023677,003984: 37,3153 66150 LXA,1 SXA,1
023678,003985: 37,3154 00002 2D
023679,003986: 37,3155 02001 WRENDVEL
023680,003987: 37,3156 77414 V45CLRF CLEAR EXIT
023681,003988: 37,3157 02676 RENDWFLG
023682,003989: 37,3160 15564 TCF ENDEXT
023683,003990: 37,3161 40020 V45WW STQ BOV
023684,003991: 37,3162 00051 S2
023685,003992: 37,3163 77164 +1
023686,003993: 37,3164 45014 CLEAR CALL
023687,003994: 37,3165 03667 V45FLAG
023688,003995: 37,3166 27362 INTSTALL
023689,003996: 37,3167 71331 SSP DLOAD
023690,003997: 37,3170 00051 S1
023691,003998: 37,3171 00006 DEC 6 B-14
023692,003999: 37,3172 06233 ZEROVECS
023693,004000: 37,3173 02207 STORE WWPOS
023694,004001: 37,3174 02211 STORE WWVEL
023695,004002: 37,3175 77770 AXT,1
023696,004003: 37,3176 00066 DEC 54 B-14
023697,004004: 37,3177 47573 NXPOSVEL VLOAD* VSQ
023698,004005: 37,3200 02467 W +54D,1
023699,004006: 37,3201 77615 DAD
023700,004007: 37,3202 02207 WWPOS
023701,004008: 37,3203 02207 STORE WWPOS
023702,004009: 37,3204 47573 VLOAD* VSQ
023703,004010: 37,3205 02555 W +108D,1
023704,004011: 37,3206 77615 DAD
023705,004012: 37,3207 02211 WWVEL
023706,004013:
023707,004014: 37,3210 02211 STORE WWVEL
023708,004015: 37,3211 75500 TIX,1 SQRT
023709,004016: 37,3212 77177 NXPOSVEL
023710,004017: 37,3213 16211 STODL WWVEL
023711,004018: 37,3214 02207 WWPOS
023712,004019: 37,3215 77766 SQRT
023713,004020: 37,3216 02207 STORE WWPOS
023714,004021: 37,3217 52000 BOV GOTO
023715,004022: 37,3220 77222 +2
023716,004023: 37,3221 77226 V45XXX
023717,004024: 37,3222 77745 DLOAD
023718,004025: 37,3223 06241 DPPOSMAX
023719,004026: 37,3224 02207 STORE WWPOS
023720,004027: 37,3225 02211 STORE WWVEL
023721,004028: 37,3226 66150 V45XXX LXA,1 SXA,1
023722,004029: 37,3227 00051 S2
023723,004030: 37,3230 00052 QPRET
023724,004031: 37,3231 77776 EXIT
023725,004032: 37,3232 04674 TC POSTJUMP
023726,004033: 37,3233 27400 CADR INTWAKE
023727,004034:
023728,004035: 37,3234 01543 V06N99 VN 0699
023729,004036: 37,3235 22363 11620 1/SQRT3 2DEC 0.5773502
023730,004037:
023731,004038: # RADMODES BIT DEFINITIONS
023732,004039: 37,3237 5011 REMODBIT = BIT14 # ANTENNA MODE CHANGE REQUESTED FLAG
023733,004040: 37,3237 5013 ANTENBIT = BIT12 # RR ANTENNA MODE FLAG
023734,004041: 37,3237 5014 REPOSBIT = BIT11 # RR REPOSITION TAKING PLACE FLAG
023735,004042: 37,3237 5017 LRVELBIT = BIT8 # LR VELOCITY DATA FAIL FLAG
023736,004043: 37,3237 5020 RCDUFBIT = BIT7 # RR CDU FAIL OCCURRED FLAG
023737,004044: 37,3237 5022 LRALTBIT = BIT5 # LR ALTITUDE DATA FAIL FLAG
023738,004045: 37,3237 5025 AUTOMBIT = BIT2 # RR AUTO MODE DISCRETE FLAG
End of include-file P20-P25.agc. Parent file is MAIN.agc