Source Code
|
These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing. |
019640,000002: ## Copyright: Public domain.
019641,000003: ## Filename: P20-P25.agc
019642,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
019643,000005: ## It is part of the reconstructed source code for the Lunar
019644,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
019645,000007: ## No original listings of this program are available;
019646,000008: ## instead, this file was created via disassembly of dumps
019647,000009: ## of various revisions of Sundance core rope modules.
019648,000010: ## Assembler: yaYUL
019649,000011: ## Contact: Ron Burkey <info@sandroid.org>.
019650,000012: ## Website: www.ibiblio.org/apollo/index.html
019651,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
019652,000014: ## 2021-05-30 ABS Replaced use of various descriptive *BIT symbols
019653,000015: ## with less descriptive BIT* symbols to match
019654,000016: ## Luminary 69.
019655,000017:
019656,000018: ## Sundance 302
019657,000019:
019658,000020: # RENDEZVOUS NAVIGATION PROGRAM 20
019659,000021: # PROGRAM DESCRIPTION
019660,000022: # MOD NO - 2
019661,000023: # BY P. VOLANTE
019662,000024: # FUNCTIONAL DESCRIPTION
019663,000025:
019664,000026: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
019665,000027: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
019666,000028: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
019667,000029: # ON THE BASIS OF THE RR TRACKING DATA.
019668,000030: # CALLING SEQUENCE -
019669,000031:
019670,000032: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
019671,000033: # SUBROUTINES CALLED
019672,000034: # R02BOTH (IMU STATUS CHECK) FLAGUP
019673,000035: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
019674,000036: # R23LEM (MANUAL ACQUISITION) BANKCALL
019675,000037: # LS201 (LOS DETERMINATION) TASKOVER
019676,000038: # LS202 (RANGE LIMIT TEST)
019677,000039: # R61LEM (PREFERRED TRACKING ATTITUDE)
019678,000040: # R21LEM (RR DESIGNATE) ENDOFJOB
019679,000041: # R22LEM (DATA READ) GOPERF1
019680,000042: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
019681,000043: # PRIOLARM (PRIORITY DISPLAY)
019682,000044: # NORMAL EXIT MODES-
019683,000045: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
019684,000046: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
019685,000047: # ALARM OR ABORT EXIT MODES-
019686,000048: # RANGE GREATER THAN 400 NM DISPLAY
019687,000049: # OUTPUT
019688,000050: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
019689,000051: # ERASABLE INITIALIZATION REQUIRED
019690,000052: # FLAGS SET + RESET
019691,000053: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
019692,000054: # DEBRIS
019693,000055: # CENTRALS-A,Q,L
019694,000056: 25,2053 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
019695,000057:
019696,000058: 33,2000 BANK 33
019697,000059: 24,2000 SETLOC P20S
019698,000060: 24,2000 BANK
019699,000061:
019700,000062: 24,2000 E7,1433 EBANK= LOSCOUNT
019701,000063: 24,2000 COUNT* $$/P20
019702,000064: 24,2000 05373 PROG20 TC 2PHSCHNG
019703,000065: 24,2001 00004 OCT 4
019704,000066: 24,2002 05022 OCT 05022
019705,000067: 24,2003 26000 OCT 26000 # PRIORITY 26
019706,000068:
019707,000069: 24,2004 00004 INHINT
019708,000070: 24,2005 45017 CS SURFFBIT
019709,000071: 24,2006 70104 MASK FLAGWRD8
019710,000072: 24,2007 54104 TS FLAGWRD8
019711,000073: 24,2010 00003 RELINT
019712,000074:
019713,000075: 24,2011 05575 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
019714,000076: 24,2012 00026 ADRES VEHUPFLG # TO BE UPDATED
019715,000077: 24,2013 04655 PROG20A TC BANKCALL
019716,000078: 24,2014 11064 CADR R02BOTH
019717,000079: 24,2015 05563 TC UPFLAG
019718,000080: 24,2016 00027 ADRES UPDATFLG # SET UPDATE FLAG
019719,000081: 24,2017 05563 TC UPFLAG
019720,000082: 24,2020 00031 ADRES TRACKFLG # SET TRACK FLAG
019721,000083: 24,2021 05563 TC UPFLAG
019722,000084: 24,2022 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
019723,000085: 24,2023 05575 TC DOWNFLAG
019724,000086: 24,2024 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
019725,000087:
019726,000088: 24,2025 05575 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
019727,000089: 24,2026 00040 ADRES ACMODFLG
019728,000090: 24,2027 05575 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
019729,000091: 24,2030 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
019730,000092: 24,2031 05575 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
019731,000093: 24,2032 00126 ADRES NORRMON # (RESET NORRMON FLAG)
019732,000094: 24,2033 06014 TC INTPRET
019733,000095: 24,2034 77624 CALL
019734,000096: 24,2035 50257 UPPSV
019735,000097: 24,2036 77776 EXIT
019736,000098: 24,2037 05413 P20LEM1 TC PHASCHNG
019737,000099: 24,2040 04022 OCT 04022
019738,000100: 24,2041 35030 CAF ZERO # ZERO MARK COUNTER
019739,000101: 24,2042 55447 TS MARKCTR
019740,000102: 24,2043 06014 TC INTPRET # LOS DETERMINATION ROUTINE
019741,000103: 24,2044 77634 RTB
019742,000104: 24,2045 21454 LOADTIME
019743,000105: 24,2046 34041 STCALL TDEC1
019744,000106: 24,2047 53521 LPS20.1
019745,000107: 24,2050 77624 CALL
019746,000108: 24,2051 53560 LPS20.2 # TEST RANGE R/UTINE
019747,000109: 24,2052 77776 EXIT
019748,000110: 24,2053 50154 INDEX MPAC
019749,000111: 24,2054 02055 TC +1
019750,000112: 24,2055 02065 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
019751,000113: 24,2056 32253 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
019752,000114: 24,2057 04655 TC BANKCALL
019753,000115: 24,2060 21443 CADR PRIOLARM
019754,000116: 24,2061 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
019755,000117: 24,2062 02056 TC -4 # PROC (ILLEGAL
019756,000118: 24,2063 02037 TC P20LEM1 # ENTER RECYCLE
019757,000119: 24,2064 05225 TC ENDOFJOB
019758,000120:
019759,000121:
019760,000122: 24,2065 05413 P20LEMA TC PHASCHNG
019761,000123: 24,2066 04022 OCT 04022
019762,000124: 24,2067 02653 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
019763,000125: 24,2070 02073 TC P20LEMB
019764,000126: 24,2071 04655 TC BANKCALL
019765,000127: 24,2072 46037 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
019766,000128: 24,2073 05413 P20LEMB TC PHASCHNG
019767,000129: 24,2074 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
019768,000130: 24,2075 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
019769,000131: 24,2076 37666 CAF PRIO26 # RESTORE PRIORITY 26
019770,000132: 24,2077 05216 TC PRIOCHNG
019771,000133: 24,2100 35025 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
019772,000134: 24,2101 00006 EXTEND
019773,000135: 24,2102 02033 RAND CHAN33
019774,000136:
019775,000137: 24,2103 00006 EXTEND
019776,000138: 24,2104 12141 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
019777,000139:
019778,000140: 24,2105 44112 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
019779,000141: 24,2106 61012 AD MODREG # MAJOR MODE IS 20
019780,000142: 24,2107 00006 EXTEND
019781,000143: 24,2110 12124 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
019782,000144:
019783,000145: 24,2111 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
019784,000146: 24,2112 75022 MASK TRACKBIT
019785,000147: 24,2113 00006 EXTEND
019786,000148: 24,2114 12207 BZF P20LMWT1 # BRANCH - NO - WAIT FOR IT TO BE SET
019787,000149: 24,2115 32255 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
019788,000150: 24,2116 04655 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
019789,000151: 24,2117 21443 CADR PRIOLARM
019790,000152: 24,2120 06000 TC GOTOV56 # TERMINATE EXITS VIA V56
019791,000153: 24,2121 02100 TC P20LEMB7 # PROCEED AND ENTER BOTH GO BACK
019792,000154: 24,2122 02100 TC P20LEMB7 # TO CHECK AUTO MODE AGAIN
019793,000155: 24,2123 05225 TC ENDOFJOB
019794,000156: 24,2124 32254 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
019795,000157: 24,2125 04655 TC BANKCALL
019796,000158: 24,2126 20532 CADR GOPERF1
019797,000159: 24,2127 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
019798,000160: 24,2130 02073 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
019799,000161: 24,2131 02653 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
019800,000162: 24,2132 02137 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
019801,000163: 24,2133 02762 TC R23LEM # NO - DO MANUAL ACQUISITION
019802,000164:
019803,000165:
019804,000166: 24,2134 05563 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
019805,000167: 24,2135 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
019806,000168: 24,2136 02073 TC P20LEMB # RR AUTO MODE
019807,000169:
019808,000170:
019809,000171: 24,2137 04376 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
019810,000172: 24,2140 02073 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
019811,000173:
019812,000174:
019813,000175: 24,2141 41101 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
019814,000176: 24,2142 75012 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
019815,000177: 24,2143 00006 EXTEND
019816,000178: 24,2144 12156 BZF P20LEMB4 # BRANCH - YES - WAIT
019817,000179: 24,2145 34367 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
019818,000180: 24,2146 70076 MASK FLAGWRD2
019819,000181: 24,2147 00006 EXTEND
019820,000182: 24,2150 12162 BZF P20LEMC # ZERO MEANS AUTOMATIC RR ACQUISTION
019821,000183: 24,2151 05575 TC DOWNFLAG # RESET TO AUTO MODE
019822,000184: 24,2152 00037 ADRES SRCHOPTN
019823,000185: 24,2153 05575 TC DOWNFLAG
019824,000186:
019825,000187: 24,2154 00040 ADRES ACMODFLG
019826,000188: 24,2155 02177 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
019827,000189:
019828,000190:
019829,000191: 24,2156 32252 P20LEMB4 CAF 250DEC
019830,000192: 24,2157 04655 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
019831,000193: 24,2160 01730 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
019832,000194: 24,2161 02141 TC P20LEMB3
019833,000195:
019834,000196: 24,2162 05413 P20LEMC TC PHASCHNG
019835,000197: 24,2163 04022 OCT 04022
019836,000198: 24,2164 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
019837,000199: 24,2165 75020 MASK RNDVZBIT
019838,000200: 24,2166 00006 EXTEND
019839,000201: 24,2167 15225 BZF ENDOFJOB # NO - EXIT P20
019840,000202: 24,2170 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
019841,000203: 24,2171 75022 MASK TRACKBIT
019842,000204: 24,2172 00006 EXTEND
019843,000205: 24,2173 12232 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
019844,000206: 24,2174 05563 P20LEMF TC UPFLAG
019845,000207: 24,2175 00041 ADRES LOSCMFLG
019846,000208: 24,2176 02661 TC R21LEM
019847,000209:
019848,000210:
019849,000211: 24,2177 32252 P20LEMWT CAF 250DEC
019850,000212: 24,2200 00004 INHINT
019851,000213: 24,2201 05243 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
019852,000214: 24,2202 02212 ADRES P20LEMC1 # WAIT 2.5 SECONDS
019853,000215: 24,2203 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
019854,000216: 24,2204 75022 MASK TRACKBIT
019855,000217: 24,2205 00006 EXTEND
019856,000218: 24,2206 15225 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
019857,000219: 24,2207 05413 P20LMWT1 TC PHASCHNG
019858,000220: 24,2210 40072 OCT 40072
019859,000221: 24,2211 05225 TC ENDOFJOB
019860,000222:
019861,000223:
019862,000224: 24,2212 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
019863,000225:
019864,000226: 24,2213 75020 MASK RNDVZBIT
019865,000227: 24,2214 00006 EXTEND
019866,000228: 24,2215 15321 BZF TASKOVER # NO - EXIT P20/R22
019867,000229: 24,2216 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
019868,000230: 24,2217 75022 MASK TRACKBIT
019869,000231: 24,2220 00006 EXTEND
019870,000232: 24,2221 12227 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
019871,000233: 24,2222 37666 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
019872,000234: 24,2223 05155 TC FINDVAC
019873,000235: 24,2224 E7,1433 EBANK= LOSCOUNT
019874,000236: 24,2224 02441 50067 2CADR R22LEM
019875,000237: 24,2226 05321 TC TASKOVER
019876,000238:
019877,000239:
019878,000240: 24,2227 05271 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
019879,000241: 24,2230 02734 DEC 1500 B-14 # AND CHECK AGAIN
019880,000242:
019881,000243: 24,2231 02212 TC P20LEMC1
019882,000244:
019883,000245: 24,2232 32647 P20LEMD CAF 1500DEC
019884,000246: 24,2233 05243 TC TWIDDLE # WAITLIST FOR 15 SECONDS
019885,000247: 24,2234 02236 ADRES P20LEMD1
019886,000248: 24,2235 05225 TC ENDOFJOB
019887,000249:
019888,000250:
019889,000251: 24,2236 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
019890,000252: 24,2237 75022 MASK TRACKBIT
019891,000253: 24,2240 10000 CCS A
019892,000254: 24,2241 12245 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
019893,000255: 24,2242 05271 TC FIXDELAY # NO-WAIT 15 SECONDS
019894,000256: 24,2243 02734 DEC 1500 B-14
019895,000257: 24,2244 02236 TC P20LEMD1
019896,000258:
019897,000259:
019898,000260: 24,2245 37666 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
019899,000261: 24,2246 05155 TC FINDVAC
019900,000262: 24,2247 E7,1433 EBANK= LOSCOUNT
019901,000263: 24,2247 02174 50067 2CADR P20LEMF # START AT PERM. MEMORY INTEGRATION
019902,000264: 24,2251 05321 TC TASKOVER
019903,000265:
019904,000266:
019905,000267: 24,2252 00372 250DEC DEC 250 B-14
019906,000268: 24,2253 00526 ALRM526 OCT 00526
019907,000269: 24,2254 00201 OCT201 OCT 00201
019908,000270: 24,2255 00514 ALRM514 OCT 514
019909,000271: 24,2256 00074 MAXTRIES DEC 60 B-14
019910,000272:
019911,000273: 24,2257 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
019912,000274: 24,2260 03431 LS21X # TO PRESENT TIME
019913,000275: 24,2261 27362 INTSTALL
019914,000276: 24,2262 77624 CALL
019915,000277: 24,2263 26622 SETIFLGS
019916,000278: 24,2264 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
019917,000279: 24,2265 02756 RENDWFLG
019918,000280: 24,2266 50277 UPPSV1
019919,000281: 24,2267 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
019920,000282: 24,2270 43014 BON SET
019921,000283: 24,2271 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
019922,000284: 24,2272 50274 UPPSV5
019923,000285: 24,2273 01475 D6OR9FLG # OTHERWISE 9X9
019924,000286: 24,2274 77614 UPPSV5 BOF
019925,000287: 24,2275 00747 VEHUPFLG
019926,000288: 24,2276 50321 UPPSV3
019927,000289: 24,2277 47014 UPPSV1 SET RTB # CSM STATE BEING CORRECTED
019928,000290: 24,2300 01474 VINTFLAG
019929,000291: 24,2301 21454 LOADTIME
019930,000292: 24,2302 34041 STCALL TDEC1 # INTEGRATE CSM STATE WITH W-MATRIX
019931,000293: 24,2303 27105 INTEGRV
019932,000294: 24,2304 77624 CALL # GROUP 2 PHASE CHANGE
019933,000295: 24,2305 11054 GRP2PC # TO PROTECT INTEGRATION
019934,000296: 24,2306 77624 CALL
019935,000297: 24,2307 27362 INTSTALL
019936,000298: 24,2310 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
019937,000299: 24,2311 01571 TETCSM
019938,000300: 24,2312 01674 VINTFLAG
019939,000301: 24,2313 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
019940,000302: 24,2314 26622 SETIFLGS # WITHOUT W-MATRIX
019941,000303: 24,2315 34041 STCALL TDEC1
019942,000304: 24,2316 27105 INTEGRV
019943,000305: 24,2317 77650 GOTO
019944,000306: 24,2320 03431 LS21X
019945,000307:
019946,000308:
019947,000309: 24,2321 47014 UPPSV3 CLEAR RTB
019948,000310: 24,2322 01674 VINTFLAG
019949,000311: 24,2323 21454 LOADTIME
019950,000312: 24,2324 34041 STCALL TDEC1 # INTEGRATE LM STATE WITH W-MATRIX
019951,000313: 24,2325 27105 INTEGRV
019952,000314: 24,2326 77624 CALL
019953,000315: 24,2327 11054 GRP2PC
019954,000316: 24,2330 77624 CALL
019955,000317: 24,2331 27362 INTSTALL
019956,000318: 24,2332 71214 SET DLOAD
019957,000319: 24,2333 01474 VINTFLAG
019958,000320:
019959,000321: 24,2334 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
019960,000322: 24,2335 77650 GOTO
019961,000323: 24,2336 50313 UPPSV4
019962,000324:
019963,000325:
019964,000326: 24,2337 E7,1433 EBANK= LOSCOUNT
019965,000327: 24,2337 COUNT* $$/P22
019966,000328:
019967,000329: 24,2337 05373 PROG22 TC 2PHSCHNG
019968,000330: 24,2340 00004 OCT 4
019969,000331: 24,2341 05022 OCT 05022
019970,000332: 24,2342 06000 OCT 06000
019971,000333:
019972,000334: 24,2343 00004 INHINT
019973,000335: 24,2344 40104 CS FLAGWRD8
019974,000336: 24,2345 75017 MASK SURFFBIT
019975,000337: 24,2346 26104 ADS FLAGWRD8
019976,000338: 24,2347 00003 RELINT
019977,000339:
019978,000340: 24,2350 05563 TC UPFLAG
019979,000341: 24,2351 00026 ADRES VEHUPFLG
019980,000342:
019981,000343: 24,2352 02013 TC PROG20A
019982,000344:
019983,000345: # PROGRAM DESCRIPTION
019984,000346: # PREFERRED TRACKING ATTITUDE PROGRAM P25
019985,000347: # MOD NO - 3
019986,000348: # BY P. VOLANTE
019987,000349: # FUNCTIONAL DESCRIPTION
019988,000350:
019989,000351: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
019990,000352: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
019991,000353: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
019992,000354: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
019993,000355: # CALLING SEQUENCE -
019994,000356: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
019995,000357: # SUBROUTINES CALLED -
019996,000358: # BANKCALL FLAGUP
019997,000359: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
019998,000360: # R61LEM (PREF TRK ATT ROUT) WAITLIST
019999,000361: # TASKOVER FINDVAC
020000,000362: # NORMAL EXIT MODES -
020001,000363: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
020002,000364: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
020003,000365: # ALARM OR ABORT EXIT MODES -
020004,000366: # NONE
020005,000367: # OUTPUT
020006,000368: # ERASABLE INITIALIZATION REQUIRED
020007,000369: # FLAGS SET + RESET
020008,000370: # TRACKFLG,P25FLAG
020009,000371: # DEBRIS
020010,000372: # NONE
020011,000373: 24,2353 E7,1433 EBANK= LOSCOUNT
020012,000374: 24,2353 COUNT* $$/P25
020013,000375: 24,2353 05373 PROG25 TC 2PHSCHNG
020014,000376: 24,2354 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
020015,000377: 24,2355 05022 OCT 05022
020016,000378: 24,2356 26000 OCT 26000 # PRIORITY 26
020017,000379:
020018,000380: 24,2357 04655 TC BANKCALL
020019,000381: 24,2360 11064 CADR R02BOTH # IMU STATUS CHECK
020020,000382: 24,2361 05563 TC UPFLAG
020021,000383: 24,2362 00031 ADRES TRACKFLG # SET TRACK FLAG
020022,000384: 24,2363 05563 TC UPFLAG
020023,000385: 24,2364 00006 ADRES P25FLAG # SET P25FLAG
020024,000386: 24,2365 04655 TC BANKCALL
020025,000387: 24,2366 46037 CADR R61LEM
020026,000388: 24,2367 35016 P25LEM1 CAF P25FLBIT
020027,000389: 24,2370 70074 MASK STATE # IS P25FLAG SET
020028,000390: 24,2371 00006 EXTEND
020029,000391: 24,2372 15225 BZF ENDOFJOB
020030,000392: 24,2373 35022 CAF TRACKBIT # IS TRACKFLAG SET?
020031,000393: 24,2374 70075 MASK STATE +1
020032,000394: 24,2375 00006 EXTEND
020033,000395: 24,2376 12422 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
020034,000396: 24,2377 06014 TC INTPRET
020035,000397: 24,2400 77634 RTB
020036,000398: 24,2401 21454 LOADTIME
020037,000399: 24,2402 34041 STCALL TDEC1
020038,000400: 24,2403 53521 LPS20.1
020039,000401: 24,2404 77624 CALL
020040,000402: 24,2405 47251 CDUTRIG
020041,000403: 24,2406 45175 VLOAD CALL
020042,000404: 24,2407 01105 RRTARGET
020043,000405: 24,2410 47413 *SMNB*
020044,000406: 24,2411 65545 DLOAD ACOS
020045,000407: 24,2412 00162 MPAC +5
020046,000408: 24,2413 50025 DSU BMN
020047,000409: 24,2414 10436 30DEGS
020048,000410: 24,2415 50437 P25OK
020049,000411: 24,2416 77776 EXIT
020050,000412:
020051,000413: 24,2417 02365 TC P25LEM1 -2 # THEN GO CHECK FLAGS
020052,000414: 24,2420 05413 P25LEMWT TC PHASCHNG
020053,000415: 24,2421 00112 OCT 00112
020054,000416: 24,2422 32434 P25LMWT1 CAF 60SCNDS
020055,000417: 24,2423 00004 INHINT
020056,000418: 24,2424 05243 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
020057,000419: 24,2425 02427 ADRES P25LEM2
020058,000420: 24,2426 05225 TC ENDOFJOB
020059,000421: 24,2427 35074 P25LEM2 CAF PRIO14
020060,000422: 24,2430 05155 TC FINDVAC
020061,000423: 24,2431 E7,1433 EBANK= LOSCOUNT
020062,000424: 24,2431 02367 50067 2CADR P25LEM1
020063,000425: 24,2433 05321 TC TASKOVER
020064,000426: 24,2434 13560 60SCNDS DEC 6000 B-14
020065,000427: 24,2435 02525 12525 30DEGS 2DEC .083333333
020066,000428: 24,2437 77776 P25OK EXIT
020067,000429: 24,2440 02420 TC P25LEMWT
020068,000430:
020069,000431: # DATA READ ROUTINE 22 (LEM)
020070,000432: # PROGRAM DESCRIPTION
020071,000433: # MOD NO - 2
020072,000434: # BY P VOLANTE
020073,000435: # FUNCTIONAL DESCRIPTION
020074,000436:
020075,000437: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
020076,000438: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
020077,000439: # CALLING SEQUENCE -
020078,000440: # TC BANKCALL
020079,000441: # CADR R22LEM
020080,000442: # SUBROUTINES CALLED -
020081,000443: # LSR22.1 GOFLASH WAITLIST
020082,000444: # LSR22.2 PRIOLARM BANKCALL
020083,000445: # LSR22.3 R61LEM
020084,000446: # NORMAL EXIT MODES-
020085,000447: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
020086,000448: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
020087,000449: # R22 WILL TERMINATE SELF.
020088,000450: # ALARM OR ABORT EXIT MODES-
020089,000451: # PRIORITY ALARM
020090,000452: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
020091,000453: # OUTPUT
020092,000454: # SEE OUTPUT FROM LSR22.3
020093,000455: # ERASABLE INITIALIZATION REQUIRED
020094,000456: # SEE LSR22.1,LSR22.2,LSR22.3
020095,000457: # FLAGS SET + RESET
020096,000458: # NOANGFLG
020097,000459: # DEBRIS
020098,000460: # SEE LSR22.1,LSR22.2,LSR22.3
020099,000461: 24,2441 E7,1732 EBANK= LRS22.1X
020100,000462: 24,2441 COUNT* $$/R22
020101,000463: 24,2441 05413 R22LEM TC PHASCHNG
020102,000464: 24,2442 00152 OCT 00152
020103,000465: 24,2443 35020 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
020104,000466: 24,2444 70074 MASK STATE
020105,000467: 24,2445 00006 EXTEND
020106,000468: 24,2446 15225 BZF ENDOFJOB # NO-EXIT R22 AND P20
020107,000469: 24,2447 35022 CAF TRACKBIT # IS TRACKFLAG SET?
020108,000470: 24,2450 70075 MASK STATE +1
020109,000471: 24,2451 00006 EXTEND
020110,000472: 24,2452 12617 BZF R22WAIT # NO WAIT
020111,000473: 24,2453 35011 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
020112,000474: 24,2454 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
020113,000475: 24,2455 02012 RAND CHAN12
020114,000476: 24,2456 00006 EXTEND
020115,000477: 24,2457 12065 BZF P20LEMA # NO - RETURN TO P20
020116,000478: 24,2460 35025 CAF BIT2 # YES
020117,000479: 24,2461 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
020118,000480: 24,2462 02033 RAND CHAN33
020119,000481:
020120,000482: 24,2463 00006 EXTEND
020121,000483: 24,2464 12466 BZF +2 # YES CONTINUE
020122,000484: 24,2465 02105 TC P20LEMB5 # NO - SET IT
020123,000485: 24,2466 41101 CS RADMODES # ARE RR CDUS BEING ZEROED
020124,000486: 24,2467 75012 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
020125,000487: 24,2470 00006 EXTEND
020126,000488: 24,2471 12617 BZF R22WAIT # CDUS BEING ZEROED
020127,000489: 24,2472 04655 TC BANKCALL # YES READ DATA + CALCULATE LOS
020128,000490: 24,2473 53574 CADR LRS22.1 # DATA READ SUBROUTINE
020129,000491: 24,2474 50154 INDEX MPAC
020130,000492: 24,2475 02476 TC +1
020131,000493: 24,2476 02517 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
020132,000494: 24,2477 02162 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
020133,000495: 24,2500 32644 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
020134,000496: 24,2501 04655 TC BANKCALL
020135,000497: 24,2502 21443 CADR PRIOLARM
020136,000498: 24,2503 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020137,000499: 24,2504 02507 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
020138,000500: 24,2505 02500 TC -5 # ENTER (ILLEGAL OPTION)
020139,000501: 24,2506 05225 TC ENDOFJOB
020140,000502:
020141,000503:
020142,000504: 24,2507 05413 R22LEM1 TC PHASCHNG
020143,000505: 24,2510 04022 OCT 04022
020144,000506: 24,2511 32645 CAF V06N05 # DISPLAY DELTA THETA
020145,000507: 24,2512 04655 TC BANKCALL
020146,000508: 24,2513 20417 CADR PRIODSP
020147,000509: 24,2514 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020148,000510: 24,2515 02517 TC R22LEM2 # PROC (OK CONTINUE)
020149,000511: 24,2516 02162 TC P20LEMC # ENTER(RECYCLE)
020150,000512: 24,2517 05413 R22LEM2 TC PHASCHNG
020151,000513: 24,2520 04022 OCT 04022
020152,000514: 24,2521 02653 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
020153,000515: 24,2522 02537 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
020154,000516: 24,2523 30075 CA FLAGWRD1 # IS TRACK FLAG SET
020155,000517: 24,2524 75022 MASK TRACKBIT
020156,000518: 24,2525 00006 EXTEND
020157,000519: 24,2526 12617 BZF R22WAIT # NO - WAIT
020158,000520: 24,2527 04655 TC BANKCALL # YES
020159,000521: 24,2530 53746 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
020160,000522: 24,2531 50154 INDEX MPAC
020161,000523: 24,2532 02533 TC +1
020162,000524: 24,2533 02537 TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
020163,000525: 24,2534 04655 TC BANKCALL
020164,000526: 24,2535 46037 CADR R61LEM
020165,000527: 24,2536 02617 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
020166,000528: 24,2537 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
020167,000529: 24,2540 75021 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
020168,000530:
020169,000531: 24,2541 00006 EXTEND
020170,000532: 24,2542 12611 BZF R22LEM42 # BRANCH-YES
020171,000533: 24,2543 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
020172,000534: 24,2544 75020 MASK UPDATBIT
020173,000535: 24,2545 00006 EXTEND
020174,000536: 24,2546 12617 BZF R22WAIT # UPDATE FLAG NOT SET
020175,000537: 24,2547 37666 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
020176,000538: 24,2550 55057 TS PHSPRDT2
020177,000539:
020178,000540: 24,2551 06014 TC INTPRET
020179,000541: 24,2552 77650 GOTO
020180,000542: 24,2553 54425 LSR22.3
020181,000543: 24,2554 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
020182,000544: 24,2555 12610 TCF R22LEM44
020183,000545: 24,2556 77776 R22LEM96 EXIT
020184,000546: 24,2557 35030 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
020185,000547: 24,2560 55732 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
020186,000548: 24,2561 05413 TC PHASCHNG
020187,000549: 24,2562 04022 OCT 04022 # TO PROTECT DISPLAY
020188,000550: 24,2563 37666 CAF PRIO26 # PROTECT DISPLAY
020189,000551: 24,2564 05216 TC PRIOCHNG
020190,000552:
020191,000553: 24,2565 32646 CAF V06N49NB
020192,000554: 24,2566 04655 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
020193,000555: 24,2567 20414 CADR PRIODSPR # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
020194,000556: 24,2570 02621 TC N49TERM # TERMINATE - EXIT R22 AND P20
020195,000557: 24,2571 02624 TC N49PROC # PROCEED - N49FLAG = -1
020196,000558: 24,2572 02627 TC N49RECYC # RECYCLE - N49FLAG = + VALUE
020197,000559: 24,2573 37664 CAF PRIO24
020198,000560: 24,2574 05216 TC PRIOCHNG
020199,000561: 24,2575 06014 TC INTPRET
020200,000562: 24,2576 00155 STORE MPAC
020201,000563: 24,2577 53135 SLOAD BZE # LOOP TO CHECK IF FLAG
020202,000564: 24,2600 03733 N49FLAG
020203,000565: 24,2601 50576 -3 # SETTING CHANGED-BRANCH - NO
020204,000566: 24,2602 45040 BMN CALL
020205,000567: 24,2603 50632 R22LEM7 # PROCEED
020206,000568: 24,2604 11054 GRP2PC # PHASE CHANGE AND
020207,000569: 24,2605 77650 GOTO # GO TO INCORPORATE DATA.
020208,000570: 24,2606 55351 ASTOK
020209,000571: 24,2607 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
020210,000572: 24,2610 25447 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
020211,000573: 24,2611 02653 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
020212,000574: 24,2612 02615 TC R22LEM46 # YES - WAIT 2 SECONDS
020213,000575:
020214,000576: 24,2613 32651 R22LEM45 CAF 45SECNDS
020215,000577: 24,2614 02200 TC P20LEMWT +1
020216,000578:
020217,000579: 24,2615 32652 R22LEM46 CAF 30SECNDS
020218,000580: 24,2616 02200 TC P20LEMWT +1
020219,000581:
020220,000582: 24,2617 32647 R22WAIT CAF 1500DEC
020221,000583: 24,2620 02200 TC P20LEMWT +1
020222,000584:
020223,000585: 24,2621 45026 N49TERM CS ONE
020224,000586: 24,2622 55732 TS N49FLAG
020225,000587: 24,2623 06000 TC GOTOV56
020226,000588:
020227,000589: 24,2624 35026 N49PROC CAF ONE
020228,000590: 24,2625 55732 TS N49FLAG
020229,000591: 24,2626 05225 TC ENDOFJOB
020230,000592:
020231,000593: 24,2627 45026 N49RECYC CS ONE
020232,000594: 24,2630 55732 TS N49FLAG
020233,000595: 24,2631 02441 TC R22LEM
020234,000596:
020235,000597: 24,2632 77776 R22LEM7 EXIT
020236,000598: 24,2633 05225 TC ENDOFJOB
020237,000599:
020238,000600: 24,2634 05413 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
020239,000601: 24,2635 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
020240,000602: 24,2636 04655 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
020241,000603: 24,2637 53055 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
020242,000604: 24,2640 04655 TC BANKCALL # BAD DATA
020243,000605: 24,2641 17623 CADR RADSTALL # WAIT FOR READ COMPLETE
020244,000606: 24,2642 02162 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
020245,000607: 24,2643 02441 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
020246,000608:
020247,000609: 24,2644 00525 ALRM525 OCT 00525
020248,000610: 24,2645 01405 V06N05 VN 00605
020249,000611: 24,2646 01461 V06N49NB VN 00649
020250,000612: 24,2647 02734 1500DEC DEC 1500 B-14
020251,000613: 24,2650 00120 80DEC DEC 80 B-14
020252,000614: 24,2651 10624 45SECNDS DEC 4500 B-14
020253,000615: 24,2652 05670 30SECNDS DEC 3000 B-14
020254,000616: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
020255,000617: # RETURNS TO CALLER +1 IF P22FLAG SET
020256,000618: # TO CALLER +2 IF P22FLAG NOT SET
020257,000619:
020258,000620:
020259,000621: 24,2653 COUNT* $$/P22
020260,000622: 24,2653 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
020261,000623: 24,2654 75017 MASK SURFFBIT # IS SURFFLAG SET?
020262,000624: 24,2655 00006 EXTEND # BRANCH - P22FLAG SET
020263,000625: 24,2656 12660 BZF +2
020264,000626: 24,2657 24002 INCR Q # NOT SET
020265,000627: 24,2660 00002 TC Q # RETURN
020266,000628:
020267,000629: # RR DESIGNATE ROUTINE (R21LEM)
020268,000630: # PROGRAM DESCRIPTION
020269,000631: # MOD NO - 2
020270,000632: # BY P VOLANTE
020271,000633: # FUNCTIONAL DESCRIPTION
020272,000634:
020273,000635: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
020274,000636: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
020275,000637: # CALLING SEQUENCE -
020276,000638: # TC BANKCALL
020277,000639: # CADR R21LEM
020278,000640: # SUBROUTINES CALLED -
020279,000641: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
020280,000642: # NOVAC INTPRET LPS20.1 PHASCHNG
020281,000643: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
020282,000644: # TASKOVER BANKCALL RADSTALL RRDESSM
020283,000645: # NORMAL EXIT MODES
020284,000646: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
020285,000647: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
020286,000648: # ALARM OR ABORT EXIT MODES-
020287,000649: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
020288,000650: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
020289,000651: # ACQUISITION
020290,000652: # OUTPUT
020291,000653: # SEE LPS20.1,RRDESSM
020292,000654: # ERASABLE INITIALIZATION REQUIRED
020293,000655: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
020294,000656: # FLAGS SET + RESET
020295,000657: # LOSCMFLG LOKONSW
020296,000658: # DEBRIS
020297,000659: # SEE LPS20.1,RRDESSM
020298,000660: 24,2661 E7,1433 EBANK= LOSCOUNT
020299,000661: 24,2661 COUNT* $$/R21
020300,000662: 24,2661 32256 R21LEM CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECS.) TO
020301,000663: 24,2662 55117 TS DESCOUNT # DESIGNATE AND LOCKON
020302,000664: 24,2663 45011 CS BIT14 # REMOVE RR SELF TRACK ENABLE
020303,000665: 24,2664 00006 EXTEND
020304,000666: 24,2665 03012 WAND CHAN12
020305,000667: 24,2666 35024 R21LEM2 CAF FOUR
020306,000668: 24,2667 55433 TS LOSCOUNT
020307,000669: 24,2670 02653 TC LUNSFCHK
020308,000670: 24,2671 02673 TC +2
020309,000671: 24,2672 02712 TC R21LEM1
020310,000672: 24,2673 41101 CS RADMODES
020311,000673: 24,2674 75013 MASK BIT12
020312,000674: 24,2675 00006 EXTEND
020313,000675: 24,2676 12712 BZF R21LEM1
020314,000676: 24,2677 35011 CAF BIT14
020315,000677: 24,2700 00004 INHINT
020316,000678: 24,2701 27101 ADS RADMODES
020317,000679: 24,2702 35025 CAF TWO
020318,000680: 24,2703 05252 TC WAITLIST
020319,000681: 24,2704 E7,1433 EBANK= LOSCOUNT
020320,000682: 24,2704 02162 52067 2CADR REMODE
020321,000683: 24,2706 00003 RELINT
020322,000684: 24,2707 04655 TC BANKCALL
020323,000685: 24,2710 17623 CADR RADSTALL
020324,000686: 24,2711 02712 TC +1
020325,000687: 24,2712 06014 R21LEM1 TC INTPRET
020326,000688: 24,2713 77634 RTB
020327,000689: 24,2714 21454 LOADTIME
020328,000690: 24,2715 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
020329,000691: 24,2716 53521 LPS20.1
020330,000692: 24,2717 77776 EXIT
020331,000693: 24,2720 05563 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
020332,000694: 24,2721 00012 ADRES LOKONSW
020333,000695: 24,2722 06014 TC INTPRET
020334,000696: 24,2723 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
020335,000697: 24,2724 52352 RRDESSM # DESIGNATE ROUTINE
020336,000698: 24,2725 77776 EXIT
020337,000699: 24,2726 02753 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
020338,000700: # ON LUNAR SURFACE
020339,000701: 24,2727 02065 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
020340,000702: 24,2730 04655 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
020341,000703: 24,2731 17623 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
020342,000704: 24,2732 02734 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
020343,000705: 24,2733 02743 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
020344,000706: 24,2734 32751 R21-503 CAF ALRM503 # ISSUE ALARM 503
020345,000707: 24,2735 04655 TC BANKCALL
020346,000708: 24,2736 21443 CADR PRIOLARM
020347,000709: 24,2737 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020348,000710: 24,2740 02746 TC R21SRCH # PROC
020349,000711: 24,2741 02661 TC R21LEM
020350,000712: 24,2742 05225 TC ENDOFJOB
020351,000713: 24,2743 05575 R21END TC DOWNFLAG
020352,000714: 24,2744 00041 ADRES LOSCMFLG # RESET LOSCMFLG
020353,000715: 24,2745 02177 TC P20LEMWT # EXIT R21 TO PERFORM DATA READ
020354,000716: 24,2746 05413 R21SRCH TC PHASCHNG
020355,000717: 24,2747 04022 OCT 04022
020356,000718: 24,2750 03033 TC R24LEM # SEARCH ROUTINE
020357,000719: 24,2751 00503 ALRM503 OCT 00503
020358,000720: 24,2752 00527 ALRM527 OCT 527
020359,000721:
020360,000722:
020361,000723: 24,2753 32752 R21LEM4 CAF ALRM527 # ALARM 527-LOS NOT IN MODE 2 COVERAGE
020362,000724: 24,2754 04655 TC BANKCALL # ON LUNAR SURFACE
020363,000725: 24,2755 21443 CADR PRIOLARM
020364,000726:
020365,000727: 24,2756 06000 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020366,000728: 24,2757 02712 TC R21LEM1
020367,000729: 24,2760 02753 TC -5 # ENTER
020368,000730: 24,2761 05225 TC ENDOFJOB
020369,000731:
020370,000732: # MANUAL ACQUISITION ROUTINE R23LEM
020371,000733: # PROGRAM DESCRIPTION
020372,000734: # MOD NO - 2
020373,000735: # BY P VOLANTE
020374,000736: # FUNCTIONAL DESCRIPTION
020375,000737:
020376,000738: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
020377,000739: # CALLING SEQUENCE -
020378,000740: # TC R23LEM
020379,000741: # SUBROUTINES CALLED
020380,000742: # BANKCALL R61LEM
020381,000743: # SETMINDB GOPERF1
020382,000744: # NORMAL EXIT MODES -
020383,000745: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
020384,000746: # ,SELECTION OF PROC WILL CONTINUE R23
020385,000747: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
020386,000748: # ALARM OR ABORT EXIT MODES -
020387,000749: # SEE NORMAL EXIT MODES ABOVE
020388,000750: # OUTPUT
020389,000751: # N.A.
020390,000752: # ERASABLE INITIALIZATION REQUIRED-
020391,000753: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
020392,000754: 24,2762 1154 EBANK= GENRET
020393,000755: 24,2762 COUNT* $$/R23
020394,000756: 24,2762 05563 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
020395,000757: 24,2763 00126 ADRES NORRMON
020396,000758: 24,2764 00004 INHINT
020397,000759: 24,2765 04737 TC IBNKCALL # SELECT MINIMUM DEADBAND
020398,000760: 24,2766 40221 CADR SETMINDB
020399,000761: 24,2767 00003 RELINT
020400,000762: 24,2770 35011 R23LEM1 CAF BIT14 # ENABLE TRACKER
020401,000763: 24,2771 00006 EXTEND
020402,000764: 24,2772 05012 WOR CHAN12
020403,000765: 24,2773 33032 CAF OCT205
020404,000766: 24,2774 04655 TC BANKCALL
020405,000767: 24,2775 20532 CADR GOPERF1
020406,000768: 24,2776 03023 TC R23LEM2 # TERMINATE
020407,000769: 24,2777 03001 TC R23LEM11 # PROCEDE
020408,000770: 24,3000 03026 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
020409,000771: 24,3001 00004 R23LEM11 INHINT
020410,000772: 24,3002 04737 TC IBNKCALL # RESTORE DEADBAND TO
020411,000773: 24,3003 40204 CADR RESTORDB # ASTRONAUT SELECTED VALUE
020412,000774: 24,3004 04540 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
020413,000775: 24,3005 00035 ADRES CDUT
020414,000776: 24,3006 03013 TC OUTOFLIM # NOT WITHIN LIMITS
020415,000777: 24,3007 00003 RELINT
020416,000778: 24,3010 05575 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
020417,000779: 24,3011 00126 ADRES NORRMON
020418,000780: 24,3012 02134 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
020419,000781: 24,3013 00003 OUTOFLIM RELINT
020420,000782:
020421,000783: 24,3014 33031 CAF OCT501PV
020422,000784: 24,3015 04655 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
020423,000785: 24,3016 21443 CADR PRIOLARM # LIMITS
020424,000786: 24,3017 03023 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
020425,000787: 24,3020 03014 TC OUTOFLIM +1 # PROCEED ILLEGAL
020426,000788: 24,3021 03026 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
020427,000789: 24,3022 05225 TC ENDOFJOB
020428,000790: 24,3023 05575 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
020429,000791: 24,3024 00126 ADRES NORRMON
020430,000792: 24,3025 06000 TC GOTOV56 # AND EXIT VIA V56
020431,000793: 24,3026 04655 R23LEM3 TC BANKCALL
020432,000794: 24,3027 46037 CADR R61LEM
020433,000795: 24,3030 02770 TC R23LEM1
020434,000796:
020435,000797: 24,3031 00501 OCT501PV OCT 501
020436,000798: 24,3032 00205 OCT205 OCT 205
020437,000799:
020438,000800: # SEARCH ROUTINE R24LEM
020439,000801: # PROGRAM DESCRIPTION
020440,000802: # MOD NO - 2
020441,000803: # BY P. VOLANTE
020442,000804: # FUNCTIONAL DESCRIPTION
020443,000805:
020444,000806: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
020445,000807: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
020446,000808: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
020447,000809: # CALLING SEQUENCE
020448,000810: # CAF PRIONN
020449,000811: # TC FINDVAC
020450,000812: # EBANK= DATAGOOD
020451,000813: # 2CADR R24LEM
020452,000814: # SUBROUTINES CALLED
020453,000815: # FLAGUP FLAGDOWN BANKCALL
020454,000816: # R61LEM GOFLASHR FINDVAC
020455,000817: # ENDOFJOB NOVAC LSR24.1
020456,000818: # NORMAL EXIT MODES-
020457,000819: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
020458,000820: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
020459,000821: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
020460,000822: # ALARM OR ABORT EXIT MODES-
020461,000823: # SEE NORMAL EXIT MODES ABOVE
020462,000824: # OUTPUT -
020463,000825: # SEE OUTPUT FROM LSR24.1 + R61LEM
020464,000826: # ERASABLE INITIALIZATION REQUIRED
020465,000827: # SEE INPUT FOR LSR24.1
020466,000828: # FLAGS SET + RESET
020467,000829: # SRCHOPT,ACMODFLG
020468,000830: 24,3033 E7,1720 EBANK= DATAGOOD
020469,000831: 24,3033 COUNT* $$/R24
020470,000832: 24,3033 05563 R24LEM TC UPFLAG
020471,000833: 24,3034 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
020472,000834: 24,3035 35030 R24LEM1 CAF ZERO
020473,000835: 24,3036 55720 TS DATAGOOD # ZERO OUT DATA INDICATOR
020474,000836: 24,3037 55721 TS OMEGAD # ZERO OMEGA DISPLAY REGS
020475,000837: 24,3040 55722 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
020476,000838: 24,3041 05413 R24LEM2 TC PHASCHNG
020477,000839: 24,3042 04022 OCT 04022
020478,000840: 24,3043 33115 CAF V16N80
020479,000841: 24,3044 04655 TC BANKCALL
020480,000842: 24,3045 20414 CADR PRIODSPR
020481,000843: 24,3046 06000 TC GOTOV56
020482,000844: 24,3047 03053 TC R24END # PROCEED EXIT R24 TO P20LEM1
020483,000845:
020484,000846:
020485,000847: 24,3050 03071 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
020486,000848:
020487,000849: 24,3051 04655 TC BANKCALL
020488,000850: 24,3052 55362 CADR LRS24.1
020489,000851: 24,3053 00004 R24END INHINT
020490,000852: 24,3054 06005 TC KILLTASK
020491,000853: 24,3055 55575 CADR CALLDGCH
020492,000854: 24,3056 00003 RELINT
020493,000855: 24,3057 03061 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
020494,000856: 24,3060 02037 TC P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
020495,000857:
020496,000858: 24,3061 43114 CLRADMOD CS BIT10+15
020497,000859: 24,3062 00004 INHINT
020498,000860: 24,3063 71101 MASK RADMODES
020499,000861: 24,3064 55101 TS RADMODES
020500,000862: 24,3065 45025 CS BIT2 # DISABLE RR ERROR COUNTERS
020501,000863: 24,3066 00006 EXTEND
020502,000864: 24,3067 03012 WAND CHAN12 # USER WILL RELINT
020503,000865:
020504,000866: 24,3070 00002 TC Q
020505,000867:
020506,000868: 24,3071 05413 R24LEM3 TC PHASCHNG
020507,000869: 24,3072 04022 OCT 04022
020508,000870: 24,3073 00004 INHINT
020509,000871: 24,3074 06005 TC KILLTASK
020510,000872: 24,3075 52556 CADR STDESIG # KILL WAITLIST FOR NEXT POINT IN PATTERN
020511,000873: 24,3076 00003 RELINT # HALF SECOND DESIGNATE LOOP
020512,000874: 24,3077 03061 TC CLRADMOD
020513,000875: 24,3100 45025 CS BIT2
020514,000876: 24,3101 00006 EXTEND
020515,000877: 24,3102 03012 WAND CHAN12
020516,000878: 24,3103 02653 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
020517,000879: 24,3104 03041 TC R24LEM2 # YES-DONT DO ATTITUDE MANEUVER
020518,000880: 24,3105 05563 TC UPFLAG
020519,000881: 24,3106 00152 ADRES MANUFLAG
020520,000882: 24,3107 04655 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
020521,000883: 24,3110 46037 CADR R61LEM # ATTITUDE MANEUVER
020522,000884: 24,3111 05575 TC DOWNFLAG
020523,000885: 24,3112 00152 ADRES MANUFLAG
020524,000886: 24,3113 03041 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
020525,000887:
020526,000888: 24,3114 41000 BIT10+15 OCT 41000
020527,000889: 24,3115 04120 V16N80 VN 01680
020528,000890:
020529,000891: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
020530,000892: # PROGRAM DESCRIPTION
020531,000893: # MOD NO : 3 DATE : 4-11-67
020532,000894: # MOD BY : P VOLANTE SDC
020533,000895:
020534,000896:
020535,000897: # FUNCTIONAL DESCRIPTION-
020536,000898: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
020537,000899: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
020538,000900: # ATTITUDE.
020539,000901: # CALLING SEQUENCE-
020540,000902: # TC BANKCALL
020541,000903: # CADR R61LEM
020542,000904: # SUBROUTINES CALLED
020543,000905: # LPS20.1 VECPOINT
020544,000906: # KALCMAN3
020545,000907:
020546,000908:
020547,000909: # NORMAL EXIT MODES-
020548,000910: # NORMAL RETURN IS TO CALLER + 1
020549,000911: # ALARM OR ABORT EXIT MODES-
020550,000912: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
020551,000913: # RENDEZVOUS FLAG ARE NOT SET.
020552,000914: # OUTPUT -
020553,000915: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
020554,000916: # ERASABLE INITIALIZATION REQUIRED
020555,000917: # GENRET USED TO SAVE Q FOR RETURN
020556,000918: # FLAGS SET + RESET
020557,000919: # 3AXISFLG
020558,000920: # DEBRIS
020559,000921: # SEE SUBROUTINES
020560,000922: 23,2000 SETLOC R61
020561,000923: 23,2000 BANK
020562,000924: 23,2037 E7,1433 EBANK= LOSCOUNT
020563,000925: 23,2037 COUNT* $$/R61
020564,000926: 23,2037 04704 R61LEM TC MAKECADR
020565,000927: 23,2040 55154 TS GENRET
020566,000928: 23,2041 05413 TC PHASCHNG
020567,000929: 23,2042 04022 OCT 04022
020568,000930: 23,2043 35022 R61C+L01 CAF TRACKBIT # TRACKFLAG
020569,000931: 23,2044 70075 MASK STATE +1
020570,000932: 23,2045 00006 EXTEND
020571,000933: 23,2046 12076 BZF R61C+L1 # NOT SET
020572,000934: 23,2047 06014 R61C+L03 TC INTPRET # SET
020573,000935: 23,2050 77775 VLOAD
020574,000936: 23,2051 06225 HIUNITZ
020575,000937: 23,2052 01250 STORE SCAXIS # TRACK AXIS UNIT VECTOR
020576,000938: 23,2053 77634 RTB
020577,000939: 23,2054 21454 LOADTIME # PRESENT TIME
020578,000940: 23,2055 34041 STCALL TDEC1
020579,000941: 23,2056 53521 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
020580,000942: 23,2057 77775 VLOAD
020581,000943: 23,2060 01105 RRTARGET
020582,000944: 23,2061 01256 STORE POINTVSM # DIRECTION IN WHICH TRACK AXIS IS TO BE
020583,000945: 23,2062 77414 CLEAR EXIT
020584,000946: 23,2063 02671 3AXISFLG
020585,000947: 23,2064 05563 TC UPFLAG
020586,000948: 23,2065 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
020587,000949: 23,2066 04655 TC BANKCALL
020588,000950: 23,2067 54103 CADR R60LEM
020589,000951: 23,2070 05413 TC PHASCHNG
020590,000952: 23,2071 04022 OCT 04022
020591,000953: 23,2072 05575 TC DOWNFLAG
020592,000954: 23,2073 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
020593,000955:
020594,000956: 23,2074 31154 R61C+L4 CAE GENRET
020595,000957: 23,2075 14677 TCF BANKJUMP # EXIT R61
020596,000958: 23,2076 32103 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
020597,000959: 23,2077 70074 MASK STATE
020598,000960: 23,2100 00006 EXTEND
020599,000961: 23,2101 15225 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
020600,000962: 23,2102 02074 TC R61C+L4 # YES EXIT ROUTINE
020601,000963: 23,2103 00500 BIT7+9PV OCT 00500
020602,000964:
|
|
Sundance 292 |
020604,000966:
020605,000967: 4524 BLOCK 02
020606,000968: 4000 SETLOC RADARFF
020607,000969: 4000 BANK
020608,000970:
020609,000971: 4524 E7,1433 EBANK= LOSCOUNT
020610,000972: 4524 COUNT* $$/RRSUB
020611,000973:
020612,000974: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
020613,000975: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
020614,000976:
020615,000977: 4524 00006 MAGSUB EXTEND
020616,000978: 4525 64527 BZMF +2
020617,000979: 4526 14530 TCF +2
020618,000980: 4527 40000 COM
020619,000981:
020620,000982: 4530 50002 INDEX Q
020621,000983: 4531 60000 AD 0
020622,000984: 4532 00006 EXTEND
020623,000985: 4533 64536 BZMF +3
020624,000986:
020625,000987: 4534 50002 INDEX Q
020626,000988: 4535 00001 TC 1
020627,000989:
020628,000990: 4536 50002 INDEX Q
020629,000991: 4537 00002 TC 2
020630,000992:
020631,000993: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
020632,000994:
020633,000995: # FUNCTIONAL DESCRIPTION_
020634,000996: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
020635,000997: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
020636,000998: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
020637,000999: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
020638,001000: # MODE 1 AND =1 FOR MODE 2.
020639,001001: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
020640,001002: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
020641,001003: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
020642,001004: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
020643,001005: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
020644,001006: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
020645,001007: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
020646,001008: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
020647,001009: # TO L +3.
020648,001010:
020649,001011: # CALLING SEQUENCE:
020650,001012: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
020651,001013: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
020652,001014:
020653,001015: # ERASABLE INITIALIZATION REQUIRED:
020654,001016: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
020655,001017: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
020656,001018: # CURRENT EBANK).
020657,001019:
020658,001020: # SUBROUTINES CALLED_ MAGSUB
020659,001021:
020660,001022: # JOBS OR TASKS INITIATED_ NONE
020661,001023:
020662,001024: # ALARMS_ NONE
020663,001025:
020664,001026: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
020665,001027: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
020666,001028:
020667,001029: 4540 00006 RRLIMCHK EXTEND
020668,001030: 4541 50002 INDEX Q
020669,001031: 4542 50000 INDEX 0
020670,001032: 4543 30001 DCA 0
020671,001033: 4544 24002 INCR Q
020672,001034: 4545 52062 DXCH ITEMP1
020673,001035: 4546 22002 LXCH Q # L(CALLER +2) TO L.
020674,001036:
020675,001037: 4547 35013 CAF BIT12 # SEE WHICH MODE RR IS IN.
020676,001038: 4550 71101 MASK RADMODES
020677,001039: 4551 10000 CCS A
020678,001040: 4552 14565 TCF MODE2CHK
020679,001041:
020680,001042: 4553 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
020681,001043:
020682,001044: 4554 04524 TC MAGSUB # 1. ABS(T) L 55 DEGS.
020683,001045: 4555 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
020684,001046: 4556 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
020685,001047:
020686,001048: 4557 34577 CAF 5.5DEGS
020687,001049: 4560 60062 AD ITEMP2 # S
020688,001050: 4561 04524 TC MAGSUB
020689,001051: 4562 64420 DEC -.35833 # 64.5 DEGS
020690,001052: 4563 00001 TC L
020691,001053: 4564 04575 TC RRLIMOK # IN LIMITS.
020692,001054:
020693,001055: 4565 34600 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
020694,001056: 4566 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
020695,001057: 4567 04524 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
020696,001058: 4570 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
020697,001059: 4571 00001 TC L
020698,001060:
020699,001061: 4572 30061 CA ITEMP1
020700,001062: 4573 04524 TC MAGSUB
020701,001063: 4574 51615 DEC -.69444 # 125 DEGS
020702,001064:
020703,001065: 4575 50001 RRLIMOK INDEX L
020704,001066: 4576 00001 TC L # ( = TC 1 )
020705,001067:
020706,001068: 4577 00765 5.5DEGS DEC .03056
020707,001069: 4600 16450 82DEGS DEC .45556
020708,001070:
020709,001071: # PROGRAM NAME_ SETTRKF . IF EITHER:
020710,001072:
020711,001073: # FUNCTIONAL DESCRIPTION_
020712,001074: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
020713,001075: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
020714,001076: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
020715,001077: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
020716,001078: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
020717,001079: # AUTO MODE (RADMODES BITS 13, 7, 2).
020718,001080: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
020719,001081: # 8,5)
020720,001082: # 3) NO RR DATA (RADMODES BIT 4)
020721,001083: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
020722,001084: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
020723,001085: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
020724,001086: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
020725,001087: # TRACKER FAIL LAMP IS TURNED ON IF_
020726,001088: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
020727,001089: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
020728,001090: # EITHER THE ALT OR VEL INFORMATION
020729,001091: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
020730,001092: # WITH EITHER THE AL
020731,001093:
020732,001094: # CALLING SEQUENCE:
020733,001095: # L TC SETTRKF
020734,001096:
020735,001097: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
020736,001098: # SUBROUTINES CALLED_ NONE
020737,001099:
020738,001100: # JOBS OR TASKS INITIATED_ NONE
020739,001101:
020740,001102: # ALARMS_ TRACKER FAIL LAMP
020741,001103:
020742,001104: # EXIT_ L +1 (ALWAYS) ED.
020743,001105:
020744,001106: 4601 35026 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
020745,001107: 4602 71305 MASK IMODES33
020746,001108: 4603 10000 CCS A
020747,001109: 4604 00002 TC Q
020748,001110:
020749,001111: 4605 34654 CAF 13,7,2 # SEE IF CDU FAILED.
020750,001112: 4606 71101 MASK RADMODES
020751,001113: 4607 00006 EXTEND
020752,001114: 4610 14634 BZF TRKFLON # CONDITION 3 ABOVE.
020753,001115:
020754,001116: 4611 00006 EXTEND
020755,001117: 4612 00013 READ CHAN13
020756,001118: 4613 75032 MASK LOW3
020757,001119: 4614 54001 TS L
020758,001120: 4615 75024 MASK BIT3
020759,001121: 4616 00006 EXTEND
020760,001122: 4617 14631 BZF RRCHECK
020761,001123:
020762,001124: 4620 35032 CAF LOW3
020763,001125: 4621 00006 EXTEND
020764,001126: 4622 06001 RXOR LCHAN
020765,001127: 4623 10000 CCS A
020766,001128: 4624 14651 TCF LRVELCHK
020767,001129:
020768,001130: 4625 41101 LRALTCHK CS RADMODES
020769,001131: 4626 75022 MASK LRALTBIT
020770,001132: 4627 00006 LRCHECK EXTEND
020771,001133: 4630 14634 BZF TRKFLON
020772,001134:
020773,001135: 4631 35023 RRCHECK CAF BIT4 # SEE IF RR DATA FAILED.
020774,001136: 4632 71101 MASK RADMODES
020775,001137:
020776,001138: 4633 10000 CCS A
020777,001139: 4634 35017 TRKFLON CAF BIT8
020778,001140: 4635 61037 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
020779,001141: 4636 75017 MASK BIT8
020780,001142: 4637 00006 EXTEND
020781,001143: 4640 16716 BZF TCQ # NO CHANGE.
020782,001144:
020783,001145: 4641 54001 FLIP TS L
020784,001146: 4642 31037 CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
020785,001147: 4643 00006 EXTEND
020786,001148: 4644 06001 RXOR LCHAN
020787,001149: 4645 75006 MASK POSMAX
020788,001150: 4646 65010 AD BIT15
020789,001151: 4647 55037 TS DSPTAB +11D
020790,001152: 4650 00002 TC Q
020791,001153:
020792,001154: 4651 41101 LRVELCHK CS RADMODES
020793,001155: 4652 75017 MASK LRVELBIT
020794,001156: 4653 14627 TCF LRCHECK
020795,001157:
020796,001158: 4654 10102 13,7,2 OCT 10102
020797,001159: 4655 ENDRMODF EQUALS
020798,001160:
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Sundance 302 |
020800,001162:
020801,001163: # PROGRAM NAME_ RRTURNON
020802,001164:
020803,001165: # FUNCTIONAL DESCRIPTION_
020804,001166:
020805,001167: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
020806,001168: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
020807,001169: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
020808,001170: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
020809,001171: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
020810,001172: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
020811,001173: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
020812,001174: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
020813,001175: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
020814,001176: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
020815,001177: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
020816,001178: # TO TASKOVER.
020817,001179:
020818,001180: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
020819,001181: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
020820,001182: # THE RR (STATE BIT 7).
020821,001183:
020822,001184: # ERASABLE INITIALIZATION REQUIRED:
020823,001185: # RADMODES, STATE
020824,001186:
020825,001187: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
020826,001188:
020827,001189: # JOBS OR TASKS INITIATED_
020828,001190: # NONE
020829,001191:
020830,001192: # ALARMS_ NONE (SEE RRZEROSB)
020831,001193:
020832,001194: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
020833,001195:
020834,001196: 24,3116 BANK 24
020835,001197: 25,2000 SETLOC P20S1
020836,001198: 25,2000 BANK
020837,001199:
020838,001200: 25,2053 E7,1433 EBANK= LOSCOUNT
020839,001201: 25,2053 COUNT* $$/RSUB
020840,001202: 25,2053 02062 RRTURNON TC RRZEROSB
020841,001203: 25,2054 05271 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
020842,001204: 25,2055 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
020843,001205: 25,2056 45026 CS BIT1
020844,001206: 25,2057 71101 MASK RADMODES
020845,001207: 25,2060 55101 TS RADMODES
020846,001208: 25,2061 15321 TCF TASKOVER
020847,001209:
020848,001210: # PROGRAM NAME_ RRZEROSB
020849,001211:
020850,001212: # FUNCTIONAL DESCRIPTION_
020851,001213: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
020852,001214: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
020853,001215: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
020854,001216: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
020855,001217: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
020856,001218: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
020857,001219: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
020858,001220: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
020859,001221: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
020860,001222: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
020861,001223: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
020862,001224: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
020863,001225: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
020864,001226: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
020865,001227: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
020866,001228:
020867,001229: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
020868,001230: # ERASABLE INITIALIZATION REQUIRED:
020869,001231: # RADMODES (BIT 13 SET), DSPTAB +11D
020870,001232:
020871,001233: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
020872,001234:
020873,001235: # JOBS OR TASKS INITIATED_
020874,001236: # NONE
020875,001237:
020876,001238: # ALARMS_ TRACKER FAIL
020877,001239:
020878,001240: # EXIT_ L +1 (ALWAYS)
020879,001241:
020880,001242: 25,2062 00006 RRZEROSB EXTEND
020881,001243: 25,2063 22111 QXCH RRRET
020882,001244: 25,2064 35026 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
020883,001245: 25,2065 00006 EXTEND # COMING HERE.
020884,001246: 25,2066 05012 WOR CHAN12 # TURN ON ZERO RR CDU
020885,001247: 25,2067 05271 TC FIXDELAY
020886,001248: 25,2070 00002 DEC 2 B-14
020887,001249:
020888,001250: 25,2071 35030 CAF ZERO
020889,001251: 25,2072 54035 TS CDUT
020890,001252: 25,2073 54036 TS CDUS
020891,001253: 25,2074 45026 CS ONE # REMOVE ZEROING BIT.
020892,001254: 25,2075 00006 EXTEND
020893,001255: 25,2076 03012 WAND CHAN12
020894,001256: 25,2077 05271 TC FIXDELAY
020895,001257: 25,2100 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
020896,001258:
020897,001259: 25,2101 45012 CS BIT13 # REMOVE ZEROING IN PROCESS BIT.
020898,001260:
020899,001261: 25,2102 71101 MASK RADMODES
020900,001262: 25,2103 55101 TS RADMODES
020901,001263:
020902,001264: 25,2104 30035 CA CDUT
020903,001265: 25,2105 04524 TC MAGSUB
020904,001266: 25,2106 57777 DEC -.5
020905,001267: 25,2107 12112 TCF +3 # IF MODE 2.
020906,001268:
020907,001269: 25,2110 35030 CAF ZERO
020908,001270: 25,2111 12113 TCF +2
020909,001271: 25,2112 35013 CAF BIT12
020910,001272: 25,2113 57101 XCH RADMODES
020911,001273: 25,2114 77712 MASK -BIT12
020912,001274: 25,2115 27101 ADS RADMODES
020913,001275:
020914,001276: 25,2116 04601 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
020915,001277:
020916,001278: 25,2117 00111 TC RRRET # DONE.
020917,001279:
020918,001280: 25,2120 7712 -BIT12 EQUALS -1/8 # IN SPROOT
020919,001281:
020920,001282: # PROGRAM NAME_ DORREPOS
020921,001283: # FUNCTIONAL DESCRIPTION_
020922,001284: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
020923,001285: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
020924,001286: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
020925,001287: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
020926,001288: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
020927,001289: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
020928,001290: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
020929,001291: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
020930,001292: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
020931,001293: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
020932,001294: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
020933,001295: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
020934,001296: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
020935,001297: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
020936,001298: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
020937,001299: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
020938,001300: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
020939,001301: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
020940,001302: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
020941,001303: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
020942,001304: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
020943,001305: # TASKOVER.
020944,001306:
020945,001307: # CALLING SEQUENCE:
020946,001308: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
020947,001309: # NOT WITHIN LIMITS OF CURRENT MODE.
020948,001310:
020949,001311: # ERASABLE INITIALIZATION REQUIRED:
020950,001312: # RADMODES
020951,001313:
020952,001314: # SUBROUTINES CALLED_
020953,001315: # RRTONLY, RRSONLY, BEGDES (EXIT)
020954,001316:
020955,001317: # JOBS OR TASKS INITIATED_
020956,001318: # NONE
020957,001319:
020958,001320: # ALARMS- NONE
020959,001321:
020960,001322: # EXIT_ TASKOVER, BEGDES
020961,001323:
020962,001324: 25,2120 02147 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
020963,001325:
020964,001326: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
020965,001327:
020966,001328: 25,2121 05271 TC FIXDELAY
020967,001329: 25,2122 00002 DEC 2 B-14
020968,001330:
020969,001331: 25,2123 35013 CAF BIT12 # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
020970,001332:
020971,001333: 25,2124 71101 MASK RADMODES
020972,001334: 25,2125 10000 CCS A
020973,001335: 25,2126 35010 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
020974,001336: 25,2127 02220 TC RRTONLY
020975,001337:
020976,001338: 25,2130 35013 CAF BIT12 # NOW PUT SHAFT IN RIGHT POSITION.
020977,001339: 25,2131 71101 MASK RADMODES
020978,001340: 25,2132 10000 CCS A
020979,001341: 25,2133 45011 CS HALF # -90 FOR MODE 2.
020980,001342: 25,2134 02223 TC RRSONLY
020981,001343:
020982,001344: 25,2135 45014 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
020983,001345: # REQUESTED DURING REPOSITION.
020984,001346: 25,2136 71101 MASK RADMODES # REMOVE REPOSITION BIT.
020985,001347: 25,2137 55101 TS RADMODES
020986,001348: 25,2140 75015 MASK BIT10 # SEE IF SOMEONE IS WAITING TO DESIGNATE.
020987,001349: 25,2141 10000 CCS A
020988,001350: 25,2142 12547 TCF BEGDES
020989,001351: 25,2143 45025 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
020990,001352: 25,2144 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
020991,001353: 25,2145 03012 WAND CHAN12
020992,001354: 25,2146 15321 TCF TASKOVER
020993,001355:
020994,001356: 25,2147 35025 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
020995,001357: 25,2150 00006 EXTEND
020996,001358: 25,2151 02012 RAND CHAN12
020997,001359: 25,2152 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
020998,001360: 25,2153 00002 TC Q # ERROR COUNTERS ARE ENABLED.
020999,001361:
021000,001362: 25,2154 55322 TS LASTYCMD
021001,001363: 25,2155 55323 TS LASTXCMD
021002,001364: 25,2156 35025 CAF BIT2
021003,001365: 25,2157 00006 EXTEND
021004,001366: 25,2160 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
021005,001367: 25,2161 00002 TC Q
021006,001368:
021007,001369: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
021008,001370:
021009,001371: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
021010,001372: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
021011,001373: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
021012,001374: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
021013,001375: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
021014,001376: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
021015,001377: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
021016,001378: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
021017,001379: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
021018,001380: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
021019,001381: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
021020,001382: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
021021,001383: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
021022,001384: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
021023,001385: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
021024,001386: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
021025,001387: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
021026,001388: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
021027,001389: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
021028,001390: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
021029,001391:
021030,001392: # CALLING SEQUENCE:
021031,001393: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
021032,001394: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
021033,001395: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
021034,001396: # OTHER MODE.
021035,001397:
021036,001398: # ERASABLE INITIALIZATION REQUIRED:
021037,001399: # RADMODES
021038,001400:
021039,001401: # SUBROUTINES CALLED_
021040,001402: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
021041,001403:
021042,001404: # JOBS OR TASKS INITIATED_
021043,001405: # NONE
021044,001406:
021045,001407: # ALARMS_ NONE
021046,001408:
021047,001409: # EXIT_ STDESIG
021048,001410:
021049,001411: 25,2162 35013 REMODE CAF BIT12 # DRIVE TRUNNION TO 0 (180).
021050,001412: 25,2163 71101 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
021051,001413: 25,2164 10000 CCS A
021052,001414: 25,2165 35010 CAF BIT15
021053,001415: 25,2166 02220 TC RRTONLY
021054,001416:
021055,001417: 25,2167 37711 CAF -45DEGSR
021056,001418: 25,2170 02223 TC RRSONLY
021057,001419:
021058,001420: 25,2171 41101 CS RADMODES
021059,001421: 25,2172 75013 MASK BIT12
021060,001422: 25,2173 10000 CCS A
021061,001423: 25,2174 32211 CAF -80DEGSR # GO TO T = -130 (-50).
021062,001424: 25,2175 62210 AD -50DEGSR
021063,001425: 25,2176 02220 TC RRTONLY
021064,001426:
021065,001427: 25,2177 02212 TC RMODINV
021066,001428:
021067,001429: 25,2200 45011 CS BIT14 # END OF REMODE.
021068,001430: 25,2201 71101 MASK RADMODES
021069,001431: 25,2202 55101 TS RADMODES
021070,001432:
021071,001433: 25,2203 35015 CAF BIT10 # WAS REMODE CALLED DURING DESIGNATE
021072,001434: 25,2204 71101 MASK RADMODES # (BIT10 RADMODES = 1)
021073,001435: 25,2205 00006 EXTEND
021074,001436: 25,2206 13511 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
021075,001437: 25,2207 02556 TC STDESIG # YES - RETURN TO DESIGNATE
021076,001438: 25,2210 7711 -45DEGSR = 13,14,15
021077,001439: 25,2210 67070 -50DEGSR DEC -.27778
021078,001440: 25,2211 61615 -80DEGSR DEC -.44444
021079,001441:
021080,001442: 25,2212 23101 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
021081,001443: 25,2213 35013 CAF BIT12
021082,001444: 25,2214 00006 EXTEND
021083,001445: 25,2215 06001 RXOR LCHAN
021084,001446: 25,2216 55101 TS RADMODES
021085,001447: 25,2217 00002 TC Q
021086,001448:
021087,001449: # PROGRAM NAMES_ RRTONLY, RRSONLY
021088,001450:
021089,001451: # FUNCTIONAL DESCRIPTION_
021090,001452: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
021091,001453: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
021092,001454: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
021093,001455: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
021094,001456: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
021095,001457: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
021096,001458: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
021097,001459: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
021098,001460: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
021099,001461: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
021100,001462: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
021101,001463: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
021102,001464: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
021103,001465: # REPEATED.
021104,001466:
021105,001467: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
021106,001468: # L TC RRTONLY (TRUNNION ONLY)
021107,001469: # RRSONLY (SHAFT ONLY)
021108,001470: # RRTONLY IS CALLED BY PREPOS29;
021109,001471: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
021110,001472:
021111,001473: # ERASABLE INITIALIZATION REQUIRED:
021112,001474: # C(A) = DESIRED ANGLE, RADMODES
021113,001475:
021114,001476: # SUBROUTINES CALLED_
021115,001477: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
021116,001478:
021117,001479: # JOBS OR TASKS INITIATED_
021118,001480: # NONE
021119,001481:
021120,001482: # ALARMS_ NONE
021121,001483:
021122,001484: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
021123,001485: # BITS 14, 11)
021124,001486: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
021125,001487:
021126,001488: 25,2220 54112 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
021127,001489: 25,2221 35030 CAF ZERO
021128,001490: 25,2222 12225 TCF RR1AXIS
021129,001491:
021130,001492: 25,2223 54112 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
021131,001493: 25,2224 35026 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
021132,001494:
021133,001495: 25,2225 54113 RR1AXIS TS RRINDEX
021134,001496: 25,2226 00006 EXTEND
021135,001497: 25,2227 22111 QXCH RRRET
021136,001498: 25,2230 12233 TCF RR1AX2
021137,001499:
021138,001500: 25,2231 05271 NXTRR1AX TC FIXDELAY
021139,001501: 25,2232 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
021140,001502:
021141,001503: 25,2233 41101 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
021142,001504: 25,2234 77662 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
021143,001505: 25,2235 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
021144,001506: 25,2236 12135 BZF REPOSRPT # REMODE IMMEDIATELY.
021145,001507:
021146,001508: 25,2237 30112 CA RDES
021147,001509: 25,2240 00006 EXTEND
021148,001510: 25,2241 50113 INDEX RRINDEX
021149,001511: 25,2242 20035 MSU CDUT
021150,001512: 25,2243 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
021151,001513: 25,2244 00006 EXTEND
021152,001514: 25,2245 72264 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
021153,001515: 25,2246 54001 TS L
021154,001516: 25,2247 31101 CA RADMODES
021155,001517: 25,2250 75025 MASK BIT2
021156,001518: 25,2251 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
021157,001519: 25,2252 04524 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
021158,001520: 25,2253 77644 DEC -.00555 # SCALED IN HALF-REVS.
021159,001521:
021160,001522: 25,2254 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
021161,001523: 25,2255 00111 TC RRRET # RETURN TO CALLER.
021162,001524:
021163,001525: 25,2256 10113 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
021164,001526: 25,2257 12261 TCF +2 # SETTING A TO 0.
021165,001527: 25,2260 56001 XCH L
021166,001528: 25,2261 53113 DXCH TANG
021167,001529:
021168,001530: 25,2262 02265 TC RROUT
021169,001531:
021170,001532: 25,2263 12231 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
021171,001533:
021172,001534: 25,2264 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
021173,001535:
021174,001536: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
021175,001537:
021176,001538: # FUNCTIONAL DESCRIPTION_
021177,001539: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
021178,001540: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
021179,001541: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
021180,001542: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
021181,001543: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
021182,001544: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
021183,001545: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
021184,001546: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
021185,001547: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
021186,001548: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
021187,001549: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
021188,001550: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
021189,001551: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
021190,001552:
021191,001553: # CALLING SEQUENCE:
021192,001554: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
021193,001555: # RRTONLY, RRSONLY, AND DODES
021194,001556:
021195,001557: # ERASABLE INITIALIZATION REQUIRED:
021196,001558: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
021197,001559: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
021198,001560:
021199,001561: # SUBROUTINES CALLED_
021200,001562: # MAGSUB
021201,001563:
021202,001564: # JOBS OR TASKS INITIATED_
021203,001565: # NONE
021204,001566:
021205,001567: # ALARMS_ NONE
021206,001568:
021207,001569: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
021208,001570:
021209,001571: 25,2265 22002 RROUT LXCH Q # SAVE RETURN.
021210,001572: 25,2266 35026 CAF ONE # LOOP TWICE.
021211,001573: 25,2267 54062 RROUT2 TS ITEMP2
021212,001574: 25,2270 50000 INDEX A
021213,001575: 25,2271 31112 CA TANG
021214,001576: 25,2272 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
021215,001577:
021216,001578: 25,2273 04524 TC MAGSUB # SEE IF WITHIN LMITS.
021217,001579: 25,2274 77177 -RRLIMIT DEC -384 B-14
021218,001580: 25,2275 12314 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
021219,001581:
021220,001582: 25,2276 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
021221,001583: 25,2277 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
021222,001584: 25,2300 57322 XCH LASTYCMD # LASTYCMD AND LASTXCMD
021223,001585: 25,2301 40000 COM
021224,001586:
021225,001587: 25,2302 60061 AD ITEMP1
021226,001588: 25,2303 65027 AD NEG0 # PREVENT +0 IN OUTCOUNTER
021227,001589: 25,2304 50062 INDEX ITEMP2
021228,001590: 25,2305 54053 TS CDUTCMD
021229,001591:
021230,001592: 25,2306 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
021231,001593: 25,2307 12267 TCF RROUT2
021232,001594:
021233,001595: 25,2310 35070 CAF PRIO6 # ENABLE COUNTERS.
021234,001596: 25,2311 00006 EXTEND
021235,001597: 25,2312 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
021236,001598: 25,2313 00001 TC L # RETURN.
021237,001599:
021238,001600: 25,2314 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
021239,001601: 25,2315 42274 CS -RRLIMIT
021240,001602: 25,2316 12320 TCF +2
021241,001603: 25,2317 32274 CA -RRLIMIT
021242,001604: 25,2320 54061 TS ITEMP1
021243,001605: 25,2321 12277 TCF SETRRCTR +1
021244,001606:
021245,001607: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
021246,001608:
021247,001609: 25,2322 32351 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
021248,001610: 25,2323 71101 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
021249,001611: 25,2324 10000 CCS A
021250,001612: 25,2325 13464 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
021251,001613:
021252,001614: 25,2326 00004 INHINT
021253,001615: 25,2327 45012 CS BIT13 # SET FLAG TO SHOW ZEROING IN PROGRESS.
021254,001616: 25,2330 71101 MASK RADMODES
021255,001617: 25,2331 65012 AD BIT13
021256,001618: 25,2332 55101 TS RADMODES
021257,001619:
021258,001620: 25,2333 35026 CAF ONE
021259,001621: 25,2334 05252 TC WAITLIST
021260,001622: 25,2335 E7,1433 EBANK= LOSCOUNT
021261,001623: 25,2335 02347 52067 2CADR RRZ2
021262,001624:
021263,001625: 25,2337 41101 CS RADMODES # SEE IF IN AUTO MODE.
021264,001626: 25,2340 75025 MASK BIT2
021265,001627: 25,2341 10000 CCS A
021266,001628: 25,2342 12345 TCF ROADBACK
021267,001629: 25,2343 05646 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
021268,001630: 25,2344 00510 OCT 510
021269,001631: 25,2345 00003 ROADBACK RELINT
021270,001632: 25,2346 14670 TCF SWRETURN
021271,001633:
021272,001634: 25,2347 02062 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
021273,001635: 25,2350 13502 TCF ENDRADAR
021274,001636:
021275,001637: 25,2351 02001 BIT11+1 OCT 02001
021276,001638:
021277,001639: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
021278,001640:
021279,001641: # FUNCTIONAL DESCRIPTION_
021280,001642: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
021281,001643: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
021282,001644: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
021283,001645: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
021284,001646: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
021285,001647: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
021286,001648: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
021287,001649: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
021288,001650: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
021289,001651: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
021290,001652: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
021291,001653: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
021292,001654: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
021293,001655: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
021294,001656: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
021295,001657: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
021296,001658: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
021297,001659: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
021298,001660: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
021299,001661: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
021300,001662: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
021301,001663: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
021302,001664:
021303,001665: # CALLING SEQUENCE:
021304,001666: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
021305,001667: # L+1 RRDESSM
021306,001668: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
021307,001669: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
021308,001670:
021309,001671: # ERASABLE INITIALIZATION REQUIRED:
021310,001672: # RRTARGET, RADMODES
021311,001673:
021312,001674: # SUBROUTINES CALLED_
021313,001675: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
021314,001676: # PART OF), RMODINV
021315,001677:
021316,001678: # JOBS OR TASKS INITIATED_
021317,001679: # NONE
021318,001680:
021319,001681: # ALARMS_ NONE
021320,001682:
021321,001683: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
021322,001684: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
021323,001685: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
021324,001686:
021325,001687: 25,2352 43020 RRDESSM STQ CLEAR
021326,001688: 25,2353 01116 DESRET
021327,001689: 25,2354 00271 RRNBSW
021328,001690: 25,2355 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
021329,001691: 25,2356 47251 CDUTRIG
021330,001692: 25,2357 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
021331,001693: 25,2360 01105 RRTARGET
021332,001694: 25,2361 47413 *SMNB*
021333,001695:
021334,001696: 25,2362 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
021335,001697: 25,2363 26105 RRANGLES # ALTERNATE MODE.
021336,001698: 25,2364 77776 EXIT
021337,001699:
021338,001700: 25,2365 00004 INHINT
021339,001701: 25,2366 04540 TC RRLIMCHK
021340,001702: 25,2367 01112 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
021341,001703: 25,2370 02373 TC +3 # NOT IN CURRENT MODE
021342,001704: 25,2371 25116 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
021343,001705: 25,2372 02405 TC STARTDES # SHOW DESIGNATE REQUIRED
021344,001706: 25,2373 40104 CS FLAGWRD8
021345,001707: 25,2374 75017 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
021346,001708: 25,2375 00006 EXTEND
021347,001709: 25,2376 12431 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
021348,001710: 25,2377 02434 TC TRYSWS
021349,001711:
021350,001712:
021351,001713: 25,2400 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
021352,001714: 25,2401 75017 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
021353,001715: 25,2402 00006 EXTEND
021354,001716: 25,2403 12431 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
021355,001717: 25,2404 02444 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
021356,001718:
021357,001719: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
021358,001720:
021359,001721: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
021360,001722: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
021361,001723: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
021362,001724: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
021363,001725: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
021364,001726: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
021365,001727: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
021366,001728: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
021367,001729: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
021368,001730: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
021369,001731: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
021370,001732: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
021371,001733: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
021372,001734: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
021373,001735: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
021374,001736: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
021375,001737: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
021376,001738: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
021377,001739: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
021378,001740: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
021379,001741: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
021380,001742:
021381,001743: # CALLING SEQUENCE:
021382,001744: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
021383,001745:
021384,001746: # ERASABLE INITIALIZATION REQUIRED:
021385,001747: # RADMODES, (SEE DODES)
021386,001748:
021387,001749: # SUBROUTINES CALLED_
021388,001750: # SETRRECR, WAITLIST
021389,001751:
021390,001752: # JOBS OR TASKS INITIATED_
021391,001753: # BEGDES
021392,001754:
021393,001755: # ALARMS_ NONE
021394,001756:
021395,001757: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
021396,001758: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
021397,001759:
021398,001760: 25,2405 25116 STARTDES INCR DESRET
021399,001761: 25,2406 41101 CS RADMODES
021400,001762: 25,2407 75015 MASK BIT10
021401,001763: 25,2410 27101 ADS RADMODES
021402,001764: 25,2411 75014 MASK BIT11 # SEE IF REPOSITION IN PROGRESS.
021403,001765: 25,2412 10000 CCS A
021404,001766: 25,2413 12421 TCF DESRETRN # ECTR ALREADY SET UP.
021405,001767:
021406,001768: 25,2414 02147 TC SETRRECR # SET UP ERROR COUNTERS.
021407,001769: 25,2415 35025 CAF TWO
021408,001770: 25,2416 05252 TC WAITLIST
021409,001771: 25,2417 E7,1433 EBANK= LOSCOUNT
021410,001772: 25,2417 02547 52067 2CADR BEGDES
021411,001773:
021412,001774: 25,2421 31310 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
021413,001775: 25,2422 00006 EXTEND
021414,001776: 25,2423 12425 BZF DESRTRN # YES SET EXIT
021415,001777: 25,2424 05225 TC ENDOFJOB # NO
021416,001778: 25,2425 00003 DESRTRN RELINT
021417,001779: 25,2426 25116 INCR DESRET
021418,001780: 25,2427 31116 CA DESRET
021419,001781: 25,2430 14677 TCF BANKJUMP
021420,001782:
021421,001783: 25,2431 35030 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
021422,001784: 25,2432 55310 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
021423,001785: 25,2433 12425 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
021424,001786:
021425,001787: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
021426,001788:
021427,001789: 25,2434 02212 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
021428,001790: 25,2435 04540 TC RRLIMCHK # TRY DIFFERENT MODE.
021429,001791: 25,2436 01114 ADRES MODEB
021430,001792: 25,2437 12444 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
021431,001793:
021432,001794: 25,2440 02212 TC RMODINV # RESET BIT12
021433,001795: 25,2441 35011 CAF BIT14 # SET FLAG FOR REMODE.
021434,001796: 25,2442 27101 ADS RADMODES
021435,001797:
021436,001798: 25,2443 12371 TCF OKDESSM
021437,001799:
021438,001800: 25,2444 02212 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
021439,001801: 25,2445 25116 INCR DESRET # TO CALLER +2
021440,001802: 25,2446 12431 TCF NORDSTAL
021441,001803:
021442,001804: 25,2447 00074 MAXTRYS DEC 60 B-14
021443,001805:
021444,001806: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
021445,001807: # TANG AND TANG +1.
021446,001808:
021447,001809: 25,2450 04704 RRDESNB TC MAKECADR
021448,001810: 25,2451 55116 TS DESRET
021449,001811:
021450,001812: 25,2452 32447 CA MAXTRYS # SET TIME LIMIT COUNTER
021451,001813: 25,2453 55117 TS DESCOUNT # FOR DESIGNATE
021452,001814: 25,2454 00004 INHINT # SEE IF CURRENT MODE OK.
021453,001815: 25,2455 02514 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
021454,001816: 25,2456 01112 ADRES TANG
021455,001817: 25,2457 12474 TCF TRYSWN # SEE IF IN OTHER MODE.
021456,001818:
021457,001819: 25,2460 00003 OKDESNB RELINT
021458,001820: 25,2461 00006 EXTEND
021459,001821: 25,2462 31113 DCA TANG
021460,001822: 25,2463 53744 DXCH TANGNB
021461,001823: 25,2464 06014 TC INTPRET
021462,001824:
021463,001825: 25,2465 77624 CALL # GET LOS IN NB COORDS.
021464,001826: 25,2466 46000 RRNB
021465,001827: 25,2467 01105 STORE RRTARGET
021466,001828:
021467,001829: 25,2470 77414 SET EXIT
021468,001830: 25,2471 00071 RRNBSW
021469,001831:
021470,001832: 25,2472 00004 INHINT
021471,001833: 25,2473 12406 TCF STARTDES +1
021472,001834: 25,2474 02212 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
021473,001835: 25,2475 02514 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
021474,001836: 25,2476 01112 ADRES TANG
021475,001837: 25,2477 12504 TCF NODESNB # NOT POSSIBLE.
021476,001838:
021477,001839: 25,2500 02212 TC RMODINV
021478,001840: 25,2501 35011 CAF BIT14 # CALL FOR REMODE.
021479,001841: 25,2502 27101 ADS RADMODES
021480,001842: 25,2503 12460 TCF OKDESNB
021481,001843:
021482,001844: 25,2504 35026 NODESNB CAF ONE
021483,001845: 25,2505 05252 TC WAITLIST
021484,001846: 25,2506 E7,1433 EBANK= LOSCOUNT
021485,001847: 25,2506 03516 52067 2CADR RDBADEND
021486,001848:
021487,001849: 25,2510 02212 TC RMODINV # REINVERT MODE BIT.
021488,001850: 25,2511 05646 TC ALARM # BAD INPUT ANGLES.
021489,001851: 25,2512 00502 OCT 502
021490,001852: 25,2513 12426 TCF DESRTRN +1 # AVOID 503 ALARM.
021491,001853:
021492,001854: 25,2514 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
021493,001855: 25,2515 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
021494,001856: 25,2516 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
021495,001857: 25,2517 00006 EXTEND
021496,001858:
021497,001859: 25,2520 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
021498,001860: 25,2521 30001 DCA 0
021499,001861: 25,2522 52062 DXCH ITEMP1
021500,001862: 25,2523 22002 LXCH Q # L(CALLER +2) TO L
021501,001863:
021502,001864: 25,2524 35013 CAF BIT12 # SEE WHICH MODE RR IS IN
021503,001865: 25,2525 71101 MASK RADMODES
021504,001866: 25,2526 10000 CCS A
021505,001867: 25,2527 14565 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
021506,001868: 25,2530 30061 CA ITEMP1
021507,001869: 25,2531 04524 TC MAGSUB # MODE 1 IS DEFINED AS
021508,001870: 25,2532 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
021509,001871: 25,2533 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
021510,001872:
021511,001873: 25,2534 30062 CA ITEMP2 # LOAD SHAFT ANGLE
021512,001874: 25,2535 00006 EXTEND
021513,001875: 25,2536 62544 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
021514,001876: 25,2537 64577 AD 5.5DEGS
021515,001877: 25,2540 04524 SHAFTLIM TC MAGSUB
021516,001878: 25,2541 64420 DEC -.35833 # 64.5 DEGREES
021517,001879: 25,2542 00001 TC L # NOT IN LIMITS
021518,001880: 25,2543 04575 TC RRLIMOK # IN LIMITS
021519,001881: 25,2544 62546 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
021520,001882: 25,2545 12540 TCF SHAFTLIM
021521,001883:
021522,001884:
021523,001885: 25,2546 03512 20.5DEGS DEC .11389
021524,001886:
021525,001887: # PROGRAM NAME_ BEGDES
021526,001888:
021527,001889: # FUNCTIONAL DESCRIPTION_
021528,001890: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
021529,001891: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
021530,001892: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
021531,001893: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
021532,001894: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
021533,001895: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
021534,001896: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
021535,001897: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
021536,001898: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
021537,001899: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
021538,001900: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
021539,001901: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
021540,001902: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
021541,001903: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
021542,001904: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
021543,001905: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
021544,001906: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
021545,001907: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
021546,001908: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
021547,001909: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
021548,001910: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
021549,001911: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
021550,001912: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
021551,001913: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
021552,001914: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
021553,001915:
021554,001916: # CALLING SEQUENCE:
021555,001917: # WAITLIST CALL FROM STARTDES
021556,001918: # TCF BEGDES FROM DORREPOS
021557,001919: # TC STDESIG RETURNING, FROM REMODE
021558,001920:
021559,001921: # ERASABLE INITIALIZATION REQUIRED:
021560,001922: # DESCOUNT, RADMODES
021561,001923:
021562,001924: # SUBROUTINES CALLED_
021563,001925: # ENDRADAR, FINDVAC
021564,001926:
021565,001927: # JOBS OR TASKS INITIATED_ DODES
021566,001928:
021567,001929: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
021568,001930: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
021569,001931:
021570,001932: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
021571,001933: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
021572,001934: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
021573,001935:
021574,001936: 25,2547 41101 BEGDES CS RADMODES
021575,001937:
021576,001938: 25,2550 75011 MASK BIT14
021577,001939: 25,2551 10000 CCS A
021578,001940: 25,2552 02556 TC STDESIG
021579,001941: 25,2553 02162 TC REMODE
021580,001942: 25,2554 05271 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
021581,001943: 25,2555 00062 DEC 50 B-14
021582,001944:
021583,001945: 25,2556 35014 STDESIG CAF BIT11
021584,001946: 25,2557 71101 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
021585,001947: 25,2560 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
021586,001948: 25,2561 12613 TCF BADDES # REPOSITION TO BE IN PROGRESS.
021587,001949:
021588,001950: 25,2562 11101 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
021589,001951: 25,2563 12566 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
021590,001952: 25,2564 12566 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
021591,001953: 25,2565 12620 TCF MOREDES +1
021592,001954:
021593,001955: 25,2566 41101 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
021594,001956: 25,2567 75015 MASK BIT10 # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
021595,001957: 25,2570 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
021596,001958: 25,2571 13502 TCF ENDRADAR # CHECKING RR CDU FAIL.
021597,001959:
021598,001960: 25,2572 35013 CAF LOSCMBIT
021599,001961: 25,2573 70076 MASK FLAGWRD2
021600,001962: 25,2574 00006 EXTEND
021601,001963: 25,2575 12606 BZF STDESIG1
021602,001964: 25,2576 11433 CCS LOSCOUNT
021603,001965: 25,2577 02605 TC STDESIG1 -1
021604,001966:
021605,001967: 25,2600 37666 CAF PRIO26
021606,001968: 25,2601 05155 TC FINDVAC
021607,001969: 25,2602 E7,1433 EBANK= LOSCOUNT
021608,001970: 25,2602 02666 50067 2CADR R21LEM2
021609,001971: 25,2604 05321 TC TASKOVER
021610,001972:
021611,001973: 25,2605 55433 TS LOSCOUNT
021612,001974: 25,2606 11117 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
021613,001975: 25,2607 12617 TCF MOREDES
021614,001976:
021615,001977: 25,2610 42625 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
021616,001978: 25,2611 00006 EXTEND
021617,001979: 25,2612 03012 WAND CHAN12
021618,001980: 25,2613 45015 BADDES CS BIT10 # REMOVE DESIGNATE FLAG.
021619,001981: 25,2614 71101 MASK RADMODES
021620,001982: 25,2615 55101 TS RADMODES
021621,001983: 25,2616 13516 TCF RDBADEND
021622,001984:
021623,001985: 25,2617 55117 MOREDES TS DESCOUNT
021624,001986: 25,2620 37666 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
021625,001987: 25,2621 05155 TC FINDVAC
021626,001988: 25,2622 E7,1433 EBANK= LOSCOUNT
021627,001989: 25,2622 02626 52067 2CADR DODES
021628,001990:
021629,001991: 25,2624 12554 TCF DESLOOP
021630,001992:
021631,001993: 25,2625 20002 B14+B2 OCT 20002
021632,001994:
021633,001995: # PROGRAM NAME_ DODES
021634,001996:
021635,001997: # FUNCTIONAL DESCRIPTION_
021636,001998: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
021637,001999: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
021638,002000: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
021639,002001: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
021640,002002: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
021641,002003: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
021642,002004: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
021643,002005: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
021644,002006: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
021645,002007: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
021646,002008: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
021647,002009: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
021648,002010: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
021649,002011: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
021650,002012: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
021651,002013: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
021652,002014: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
021653,002015: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
021654,002016: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
021655,002017: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
021656,002018: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
021657,002019: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
021658,002020: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
021659,002021: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
021660,002022: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
021661,002023: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
021662,002024: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
021663,002025: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
021664,002026: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
021665,002027: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
021666,002028: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
021667,002029: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
021668,002030: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
021669,002031: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
021670,002032: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
021671,002033: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
021672,002034: # VIA ENDOFJOB.
021673,002035:
021674,002036: # CALLING SEQUENCE:
021675,002037: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
021676,002038:
021677,002039: # ERASABLE INITIALIZATION REQUIRED:
021678,002040: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
021679,002041: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
021680,002042:
021681,002043: # SUBROUTINES CALLED_
021682,002044: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
021683,002045:
021684,002046: # JOBS OR TASKS INITIATED_
021685,002047: # NONE
021686,002048:
021687,002049: # ALARMS_ NONE
021688,002050:
021689,002051: # EXIT_ ENDOFJOB (ALWAYS)
021690,002052:
021691,002053: 25,2626 00006 DODES EXTEND
021692,002054: 25,2627 30036 DCA CDUT
021693,002055: 25,2630 53113 DXCH TANG
021694,002056:
021695,002057: 25,2631 06014 TC INTPRET
021696,002058:
021697,002059: 25,2632 77201 SETPD VLOAD
021698,002060: 25,2633 00001 0
021699,002061: 25,2634 01105 RRTARGET
021700,002062: 25,2635 74214 BON VXSC
021701,002063: 25,2636 00311 RRNBSW
021702,002064: 25,2637 52651 DONBRD # TARGET IN NAV-BASE COORDINATES
021703,002065: 25,2640 03443 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
021704,002066: 25,2641 63372 VSL1 PDVL
021705,002067: 25,2642 03435 LOSVEL
021706,002068: 25,2643 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
021707,002069: 25,2644 13044 MCTOMS
021708,002070: 25,2645 45056 UNIT CALL
021709,002071: 25,2646 47251 CDUTRIG
021710,002072: 25,2647 77624 CALL
021711,002073: 25,2650 47413 *SMNB*
021712,002074:
021713,002075: 25,2651 00041 DONBRD STORE 32D
021714,002076: 25,2652 77735 SLOAD
021715,002077: 25,2653 01114 TANG +1
021716,002078: 25,2654 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
021717,002079: 25,2655 21457 CDULOGIC # (-SIN(S)).
021718,002080: 25,2656 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
021719,002081: 25,2657 41546 COS PUSH
021720,002082: 25,2660 65205 DMP PDDL
021721,002083: 25,2661 00041 32D
021722,002084: 25,2662 00045 36D
021723,002085: 25,2663 44205 DMP BDSU
021724,002086: 25,2664 00001 0
021725,002087: 25,2665 77626 STADR
021726,002088: 25,2666 76663 STORE TANG +1 # SHAFT COMMAND
021727,002089:
021728,002090: 25,2667 47135 SLOAD RTB
021729,002091: 25,2670 01113 TANG
021730,002092: 25,2671 21457 CDULOGIC
021731,002093: 25,2672 71406 PUSH COS # COS(T) TO 4.
021732,002094: 25,2673 73525 PDDL SIN
021733,002095: 25,2674 41206 PUSH DMP # SIN(T) TO 6.
021734,002096: 25,2675 00003 2
021735,002097:
021736,002098: 25,2676 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
021737,002099: 25,2677 00005 4 # (COS(T) )
021738,002100: 25,2700 41325 PDDL DMP # (SIN(T)COS(S))
021739,002101: 25,2701 00007 6
021740,002102: 25,2702 00001 0
021741,002103: 25,2703 55552 SL1 VDEF
021742,002104: 25,2704 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
021743,002105: 25,2705 00041 32D
021744,002106:
021745,002107: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
021746,002108: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
021747,002109:
021748,002110: 25,2706 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
021749,002111: 25,2707 00006 EXTEND
021750,002112: 25,2710 73040 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
021751,002113: 25,2711 55112 TS TANG # TRUNNION COMMAND.
021752,002114: 25,2712 41101 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
021753,002115: 25,2713 75013 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
021754,002116: 25,2714 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
021755,002117: 25,2715 12720 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
021756,002118: 25,2716 31113 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
021757,002119: 25,2717 12721 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
021758,002120: 25,2720 41113 +3 CS TANG +1
021759,002121: 25,2721 00006 EXTEND
021760,002122: 25,2722 73040 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
021761,002123: 25,2723 55113 TS TANG +1 # SHAFT COMMAND.
021762,002124: 25,2724 06014 TC INTPRET
021763,002125:
021764,002126: 25,2725 41345 DLOAD DMP
021765,002127: 25,2726 00003 2 # COS(S).
021766,002128: 25,2727 00005 4 # COS(T).
021767,002129: 25,2730 65352 SL1 PDDL # Z COMPONENT OF URR.
021768,002130: 25,2731 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
021769,002131: 25,2732 00001 0 # SIN(S).
021770,002132: 25,2733 72405 DMP SL1
021771,002133: 25,2734 00005 4 # COS(T).
021772,002134: 25,2735 43066 VDEF BON # FORM URR IN NB AXES.
021773,002135: 25,2736 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
021774,002136: 25,2737 52742 +3
021775,002137: 25,2740 77624 CALL
021776,002138: 25,2741 47415 *NBSM* # GET URR IN SM AXES.
021777,002139: 25,2742 77441 DOT EXIT
021778,002140: 25,2743 01105 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
021779,002141:
021780,002142: 25,2744 00006 EXTEND
021781,002143: 25,2745 43042 DCS COS1/2DG
021782,002144: 25,2746 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
021783,002145: 25,2747 10154 CCS MPAC
021784,002146: 25,2750 35030 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
021785,002147: 25,2751 12753 TCF +2
021786,002148: 25,2752 35026 CA ONE
021787,002149: 25,2753 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
021788,002150:
021789,002151: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
021790,002152:
021791,002153: 25,2754 11101 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
021792,002154: 25,2755 12760 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
021793,002155: 25,2756 12760 TCF SIGNLCHK # ERROR SIGNALS
021794,002156: 25,2757 13011 TCF DORROUT
021795,002157: 25,2760 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
021796,002158: 25,2761 12771 TCF DGOODCHK
021797,002159: 25,2762 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
021798,002160: 25,2763 75022 MASK LOKONBIT # PROBLEM IS FINISHED.
021799,002161: 25,2764 10000 CCS A
021800,002162: 25,2765 12776 TCF RRDESDUN
021801,002163:
021802,002164: 25,2766 35011 CAF BIT14 # ENABLE THE TRACKER.
021803,002165: 25,2767 00006 EXTEND
021804,002166: 25,2770 05012 WOR CHAN12
021805,002167:
021806,002168: 25,2771 35023 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
021807,002169: 25,2772 00006 EXTEND
021808,002170: 25,2773 02033 RAND CHAN33
021809,002171: 25,2774 10000 CCS A
021810,002172: 25,2775 13011 TCF DORROUT
021811,002173:
021812,002174: 25,2776 00004 RRDESDUN INHINT
021813,002175: 25,2777 45015 CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
021814,002176: 25,3000 71101 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
021815,002177: 25,3001 55101 TS RADMODES
021816,002178: 25,3002 00003 RELINT
021817,002179:
021818,002180: 25,3003 05575 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
021819,002181: 25,3004 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
021820,002182: 25,3005 45025 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
021821,002183: 25,3006 00006 EXTEND
021822,002184: 25,3007 03012 WAND CHAN12
021823,002185: 25,3010 15225 TCF ENDOFJOB # WITH ECTR DISABLED.
021824,002186:
021825,002187: 25,3011 06014 DORROUT TC INTPRET
021826,002188: 25,3012 77614 BOFF # IF NOT IN P20/P22 BUT V41,DON'T DO
021827,002189: 25,3013 00350 RNDVZFLG # VELOCITY CORRECTION.
021828,002190: 25,3014 53031 NOTP20
021829,002191: 25,3015 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
021830,002192: 25,3016 01105 RRTARGET
021831,002193: 25,3017 03443 MLOSV
021832,002194: 25,3020 41572 VSL1 PUSH
021833,002195: 25,3021 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
021834,002196: 25,3022 03435 LOSVEL # TO LOS VECTOR
021835,002197: 25,3023 13044 MCTOMS
021836,002198: 25,3024 53362 VSR1 VAD
021837,002199: 25,3025 77656 UNIT
021838,002200: 25,3026 15105 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
021839,002201:
021840,002202: 25,3027 00045 36D
021841,002203: 25,3030 03443 STORE MLOSV # AND STORE MAGNITUDE
021842,002204: 25,3031 77776 NOTP20 EXIT
021843,002205: 25,3032 00004 INHINT
021844,002206: 25,3033 41101 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
021845,002207: 25,3034 75014 MASK BIT11 # REPOSITION HAS TAKEN OVER.
021846,002208: 25,3035 10000 CCS A
021847,002209: 25,3036 02265 TC RROUT
021848,002210:
021849,002211: 25,3037 15225 TCF ENDOFJOB
021850,002212:
021851,002213:
021852,002214: 25,3040 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
021853,002215: 25,3041 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
021854,002216: 25,3043 00000 14400 MCTOMS 2DEC 100 B-22
021855,002217:
021856,002218: # RADAR READ INITIALIZATION
021857,002219:
021858,002220: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
021859,002221:
021860,002222: 25,3045 03065 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
021861,002223: 25,3046 00017 ALLREAD OCT 17
021862,002224:
021863,002225: 25,3047 03066 LRVELZ TC INITREAD
021864,002226: 25,3050 00016 OCT 16
021865,002227:
021866,002228: 25,3051 03066 LRVELY TC INITREAD
021867,002229: 25,3052 00015 OCT 15
021868,002230:
021869,002231: 25,3053 03066 LRVELX TC INITREAD
021870,002232: 25,3054 00014 OCT 14
021871,002233:
021872,002234: 25,3055 03065 RRRDOT TC INITREAD -1
021873,002235: 25,3056 00012 OCT 12
021874,002236:
021875,002237: 25,3057 03065 RRRANGE TC INITREAD -1
021876,002238: 25,3060 00011 OCT 11
021877,002239:
021878,002240: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
021879,002241: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
021880,002242:
021881,002243: 25,3061 55110 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
021882,002244: 25,3062 35031 CAF FIVE # SPECIFY FIVE SAMPLES
021883,002245: 25,3063 51110 INDEX TIMEHOLD
021884,002246: 25,3064 13047 TCF LRVELZ
021885,002247:
021886,002248: 25,3065 35026 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
021887,002249: 25,3066 00004 INITREAD INHINT
021888,002250:
021889,002251: 25,3067 55110 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
021890,002252: 25,3070 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
021891,002253: 25,3071 75024 MP BIT3 # ENCOUNTERED).
021892,002254: 25,3072 53111 DXCH TIMEHOLD
021893,002255:
021894,002256: 25,3073 10000 CCS A
021895,002257: 25,3074 55114 TS NSAMP
021896,002258: 25,3075 65026 AD ONE
021897,002259: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
021898,002260: # DOUBLE
021899,002261: 25,3076 55103 TS SAMPLIM
021900,002262:
021901,002263: 25,3077 33121 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
021902,002264: 25,3100 00006 EXTEND
021903,002265: 25,3101 02033 RAND CHAN33
021904,002266: 25,3102 55116 TS OLDATAGD
021905,002267:
021906,002268: 25,3103 43046 CS ALLREAD
021907,002269: 25,3104 00006 EXTEND
021908,002270: 25,3105 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
021909,002271:
021910,002272: 25,3106 50002 INDEX Q
021911,002273: 25,3107 30000 CAF 0
021912,002274: 25,3110 00006 EXTEND
021913,002275: 25,3111 05013 WOR CHAN13 # SET NEW RADAR BITS
021914,002276:
021915,002277: 25,3112 00006 EXTEND
021916,002278: 25,3113 30025 DCA TIME2
021917,002279: 25,3114 21111 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
021918,002280:
021919,002281: 25,3115 35030 CAF ZERO
021920,002282: 25,3116 54001 TS L
021921,002283: 25,3117 53105 DXCH SAMPLSUM
021922,002284: 25,3120 12345 TCF ROADBACK
021923,002285:
021924,002286: 25,3121 00230 DGBITS OCT 230
021925,002287:
021926,002288: # RADAR RUPT READER
021927,002289:
021928,002290: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
021929,002291:
021930,002292: 25,2000 SETLOC RADARUPT
021931,002293: 25,2000 BANK
021932,002294:
021933,002295: 25,3122 COUNT* $$/RRUPT
021934,002296: 25,3122 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
021935,002297: 25,3123 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
021936,002298: 25,3124 54016 TS BANKRUPT
021937,002299: 25,3125 00006 EXTEND
021938,002300: 25,3126 22012 QXCH QRUPT
021939,002301:
021940,002302: 25,3127 35032 CAF SEVEN
021941,002303: 25,3130 00006 EXTEND
021942,002304: 25,3131 02013 RAND CHAN13
021943,002305: 25,3132 55341 TS DNINDEX
021944,002306: 25,3133 30046 CA RNRAD
021945,002307: 25,3134 51341 INDEX DNINDEX
021946,002308: 25,3135 55336 TS DNRRANGE -1
021947,002309:
021948,002310: 25,3136 00006 ANGLREAD EXTEND
021949,002311: 25,3137 30036 DCA OPTY
021950,002312: 25,3140 53107 DXCH OPTYHOLD # SAVE RAW CDU ANGLES
021951,002313:
021952,002314: 25,3141 11103 TRYCOUNT CCS SAMPLIM
021953,002315: 25,3142 13160 TCF PLENTY
021954,002316: 25,3143 13147 TCF NOMORE
021955,002317: 25,3144 05646 TC ALARM
021956,002318: 25,3145 00520 OCT 520
021957,002319: 25,3146 05330 TC RESUME
021958,002320:
021959,002321: 25,3147 40077 NOMORE CS FLAGWRD3 # CHECK R04FLAG.
021960,002322: 25,3150 75016 MASK R04FLBIT # IF 1,R04 IS RUNNING. DO NOT ALARM-
021961,002323: 25,3151 00006 EXTEND
021962,002324: 25,3152 13155 BZF BADRAD
021963,002325:
021964,002326: 25,3153 05646 TC ALARM # P20 WANTS THE ALARM.
021965,002327: 25,3154 00521 OCT 521
021966,002328: 25,3155 45026 BADRAD CS ONE
021967,002329: 25,3156 55103 TS SAMPLIM
021968,002330: 25,3157 03514 TC RDBADEND -2
021969,002331: 25,3160 55103 PLENTY TS SAMPLIM
021970,002332: 25,3161 35024 CAF BIT3
021971,002333: 25,3162 00006 EXTEND
021972,002334: 25,3163 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
021973,002335: 25,3164 00006 EXTEND
021974,002336:
021975,002337: 25,3165 13245 BZF RENDRAD
021976,002338:
021977,002339: 25,3166 31101 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
021978,002340: 25,3167 00006 EXTEND
021979,002341: 25,3170 06033 RXOR CHAN33
021980,002342: 25,3171 75021 MASK BIT6
021981,002343: 25,3172 00006 EXTEND
021982,002344: 25,3173 13177 BZF VELCHK
021983,002345:
021984,002346: 25,3174 05646 TC ALARM
021985,002347: 25,3175 00522 OCT 522
021986,002348: 25,3176 03155 TC BADRAD
021987,002349:
021988,002350: 25,3177 36221 VELCHK CAF BIN3 # = 00003 OCT
021989,002351: 25,3200 00006 EXTEND
021990,002352: 25,3201 06013 RXOR CHAN13 # RESET ACTIVITY BIT
021991,002353: 25,3202 76221 MASK BIN3
021992,002354: 25,3203 00006 EXTEND
021993,002355: 25,3204 13241 BZF LRHEIGHT # TAKE A LR RANGE READING
021994,002356:
021995,002357: 25,3205 35006 CAF POSMAX
021996,002358: 25,3206 70046 MASK RNRAD
021997,002359: 25,3207 63417 AD LVELBIAS
021998,002360: 25,3210 54001 TS L
021999,002361: 25,3211 30046 CAE RNRAD
022000,002362: 25,3212 60000 DOUBLE
022001,002363: 25,3213 75026 MASK BIT1
022002,002364: 25,3214 52064 DXCH ITEMP3
022003,002365:
022004,002366: 25,3215 03334 TC R77CHECK
022005,002367:
022006,002368: 25,3216 35017 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
022007,002369: 25,3217 03367 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
022008,002370: # INDEPENDENT OF DATA GOOD.
022009,002371:
022010,002372: 25,3220 11114 CCS NSAMP
022011,002373: 25,3221 03231 TC NOEND
022012,002374: 25,3222 45026 GOODRAD CS ONE
022013,002375: 25,3223 55103 TS SAMPLIM
022014,002376: 25,3224 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
022015,002377: 25,3225 71101 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
022016,002378: 25,3226 55101 TS RADMODES
022017,002379: 25,3227 04601 TC SETTRKF # LAMP MIGHT GO OFF IF DATA JUST GOOD.
022018,002380: 25,3230 03507 TC RGOODEND -2
022019,002381:
022020,002382: 25,3231 55114 NOEND TS NSAMP
022021,002383: 25,3232 11103 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
022022,002384: 25,3233 13235 TCF +2
022023,002385: 25,3234 13406 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
022024,002386: 25,3235 35023 CAF BIT4 # RESET ACTIVITY BIT.
022025,002387: 25,3236 00006 EXTEND
022026,002388:
022027,002389: 25,3237 05013 WOR CHAN13 # RESET ACTIVITY BIT
022028,002390: 25,3240 05330 TC RESUME
022029,002391:
022030,002392:
022031,002393: 25,3241 35022 LRHEIGHT CAF BIT5
022032,002394: 25,3242 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
022033,002395:
022034,002396: 25,3243 35016 CAF BIT9
022035,002397: 25,3244 03267 TC SCALECHK -1
022036,002398:
022037,002399: 25,3245 35014 RENDRAD CAF BIT11 # MAKE SURE ANTENNA HAS NOT GONE OUT OF
022038,002400: 25,3246 71101 MASK RADMODES # LIMITS.
022039,002401: 25,3247 10000 CCS A
022040,002402: 25,3250 13155 TCF BADRAD
022041,002403:
022042,002404: 25,3251 41101 CS RADMODES # BE SURE RR CDU HASNT FAILED.
022043,002405: 25,3252 75020 MASK BIT7
022044,002406: 25,3253 10000 CCS A
022045,002407: 25,3254 13155 TCF BADRAD
022046,002408:
022047,002409: 25,3255 35023 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
022048,002410: 25,3256 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
022049,002411:
022050,002412: 25,3257 35026 CAF BIT1 # SEE IF RR RDOT.
022051,002413: 25,3260 00006 EXTEND
022052,002414: 25,3261 02013 RAND CHAN13
022053,002415: 25,3262 54002 TS Q # FOR LATER TESTING.
022054,002416: 25,3263 10000 CCS A
022055,002417: 25,3264 13266 TCF +2
022056,002418: 25,3265 13300 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
022057,002419: 25,3266 35024 CAF BIT3
022058,002420: 25,3267 54001 TS L
022059,002421:
022060,002422: 25,3270 00006 SCALECHK EXTEND
022061,002423: 25,3271 02033 RAND CHAN33 # SCALE STATUS NOW
022062,002424: 25,3272 56001 XCH L
022063,002425: 25,3273 71101 MASK RADMODES # SCALE STATUS BEFORE
022064,002426: 25,3274 00006 EXTEND
022065,002427: 25,3275 06001 RXOR LCHAN # SEE IF THEY DIFFER
022066,002428: 25,3276 10000 CCS A
022067,002429: 25,3277 03320 TC SCALCHNG # THEY DIFFER
022068,002430:
022069,002431: 25,3300 35006 RADIN CAF POSMAX
022070,002432: 25,3301 70046 MASK RNRAD
022071,002433: 25,3302 54064 TS ITEMP4
022072,002434:
022073,002435: 25,3303 30046 CAE RNRAD
022074,002436: 25,3304 60000 DOUBLE
022075,002437: 25,3305 75026 MASK BIT1
022076,002438: 25,3306 54063 TS ITEMP3
022077,002439:
022078,002440: 25,3307 10002 CCS Q # SEE IF RR RDOT.
022079,002441: 25,3310 13341 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
022080,002442:
022081,002443: 25,3311 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
022082,002444: 25,3312 43421 DCS RDOTBIAS
022083,002445: 25,3313 20064 DASAMPL DAS ITEMP3
022084,002446: 25,3314 03334 DGCHECK2 TC R77CHECK
022085,002447: 25,3315 30061 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
022086,002448: 25,3316 03370 TC DGCHECK +1 # AFTER TAKING SAMPLE.
022087,002449: 25,3317 03222 TC GOODRAD
022088,002450:
022089,002451: 25,3320 23101 SCALCHNG LXCH RADMODES
022090,002452: 25,3321 65026 AD BIT1
022091,002453: 25,3322 00006 EXTEND
022092,002454: 25,3323 06001 RXOR LCHAN
022093,002455: 25,3324 55101 TS RADMODES
022094,002456: 25,3325 33121 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
022095,002457: 25,3326 00006 EXTEND
022096,002458: 25,3327 02033 RAND CHAN33
022097,002459: 25,3330 55116 TS OLDATAGD
022098,002460: 25,3331 05563 TC UPFLAG # SET RNGSCFLG
022099,002461: 25,3332 00120 ADRES RNGSCFLG # FOR LRS24.1
022100,002462: 25,3333 13155 TCF BADRAD
022101,002463:
022102,002464: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
022103,002465:
022104,002466: 25,3334 35014 R77CHECK CA R77FLBIT
022105,002467: 25,3335 70101 MASK FLAGWRD5
022106,002468: 25,3336 10000 CCS A
022107,002469: 25,3337 03507 TC RGOODEND -2
022108,002470: 25,3340 00002 TC Q
022109,002471:
022110,002472: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
022111,002473:
022112,002474: 25,3341 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
022113,002475: 25,3342 13344 TCF +2 # ON HIGH SCALE.
022114,002476: 25,3343 13314 TCF DGCHECK2
022115,002477:
022116,002478: 25,3344 52064 DXCH ITEMP3
022117,002479: 25,3345 20001 DDOUBL
022118,002480: 25,3346 20001 DDOUBL
022119,002481: 25,3347 20001 DDOUBL
022120,002482: 25,3350 52064 DXCH ITEMP3
022121,002483:
022122,002484: 25,3351 35024 CAF BIT3 # SEE IF LR OR RR.
022123,002485: 25,3352 00006 EXTEND
022124,002486: 25,3353 02013 RAND 13
022125,002487: 25,3354 00006 EXTEND # IF RR, NO MORE ACTION REQUIRED.
022126,002488: 25,3355 13314 BZF DGCHECK2
022127,002489:
022128,002490: 25,3356 33416 CAF LRRATIO # IF LR, CONVERT TO LO SCALING.
022129,002491: 25,3357 00006 EXTEND
022130,002492: 25,3360 70064 MP ITEMP4
022131,002493: 25,3361 54064 TS ITEMP4
022132,002494: 25,3362 35030 CAF ZERO # (SO SUBSEQUENT DAS WILL BE OK)
022133,002495: 25,3363 56063 XCH ITEMP3
022134,002496: 25,3364 00006 EXTEND
022135,002497: 25,3365 73416 MP LRRATIO
022136,002498: 25,3366 13313 TCF DASAMPL
022137,002499:
022138,002500: 25,3367 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
022139,002501: 25,3370 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
022140,002502: 25,3371 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
022141,002503: 25,3372 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
022142,002504: 25,3373 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
022143,002505: 25,3374 71116 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
022144,002506: 25,3375 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
022145,002507: 25,3376 57116 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
022146,002508: 25,3377 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
022147,002509: 25,3400 60001 AD L
022148,002510: 25,3401 10000 CCS A # SHOULD BOTH BE ZERO.
022149,002511: 25,3402 03232 TC RESAMPLE
022150,002512: 25,3403 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
022151,002513: 25,3404 21105 DAS SAMPLSUM # ACCUMULATION.
022152,002514: 25,3405 00002 TC Q
022153,002515:
022154,002516: 25,3406 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
022155,002517: 25,3407 71101 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
022156,002518: 25,3410 60061 AD ITEMP1
022157,002519: 25,3411 55101 TS RADMODES
022158,002520:
022159,002521: 25,3412 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
022160,002522: 25,3413 53105 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
022161,002523:
022162,002524: 25,3414 04601 TC SETTRKF
022163,002525:
022164,002526: 25,3415 13147 TCF NOMORE
022165,002527:
022166,002528: 25,3416 23773 LRRATIO DEC 4.9977 B-3
022167,002529: 25,3417 47777 LVELBIAS DEC -12288 B-14 # LANDING RADAR BIAS FOR 153.6 KC.
022168,002530: 25,3420 00001 01150 RDOTBIAS 2DEC 17000 B-28 # BIAS COUNT FOR RR RANGE RATE
022169,002531:
022170,002532: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
022171,002533:
022172,002534: 25,2000 SETLOC P20S1
022173,002535: 25,2000 BANK
022174,002536:
022175,002537: 25,3422 COUNT* $$/RSUB
022176,002538: 25,3422 00004 LRPOS2 INHINT
022177,002539:
022178,002540: 25,3423 45021 CS BIT6 # DESIRED LR POSITION IS NOW 2.
022179,002541: 25,3424 71101 MASK RADMODES
022180,002542: 25,3425 65021 AD BIT6
022181,002543: 25,3426 55101 TS RADMODES
022182,002544:
022183,002545: 25,3427 35020 CAF BIT7
022184,002546: 25,3430 00006 EXTEND
022185,002547: 25,3431 02033 RAND 33 # SEE IF ALREADY THERE.
022186,002548: 25,3432 00006 EXTEND
022187,002549: 25,3433 13464 BZF RADNOOP
022188,002550:
022189,002551: 25,3434 35012 CAF BIT13
022190,002552: 25,3435 00006 EXTEND
022191,002553: 25,3436 05012 WOR CHAN12 # COMMAND TO POSITION 2
022192,002554:
022193,002555: 25,3437 33501 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
022194,002556: 25,3440 05252 TC WAITLIST
022195,002557: 25,3441 E7,1433 EBANK= LOSCOUNT
022196,002558: 25,3441 03477 52067 2CADR LRPOSCAN
022197,002559:
022198,002560: 25,3443 02345 TC ROADBACK
022199,002561:
022200,002562: 25,3444 55103 LRPOSNXT TS SAMPLIM
022201,002563: 25,3445 05271 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
022202,002564: 25,3446 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
022203,002565:
022204,002566: 25,3447 35020 CAF BIT7 # SEE IF LR POS2 IS ON
022205,002567: 25,3450 00006 EXTEND
022206,002568: 25,3451 02033 RAND CHAN33
022207,002569: 25,3452 00006 EXTEND
022208,002570: 25,3453 13471 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
022209,002571:
022210,002572: 25,3454 11103 CCS SAMPLIM # SEE IF MAX TIME UP.
022211,002573: 25,3455 13444 TCF LRPOSNXT
022212,002574:
022213,002575: 25,3456 45012 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
022214,002576: 25,3457 00006 EXTEND
022215,002577: 25,3460 03012 WAND CHAN12
022216,002578:
022217,002579: 25,3461 05646 TC ALARM # LR ANTENNA DIDNT MAKE IT.
022218,002580: 25,3462 00523 OCT 523
022219,002581: 25,3463 13516 TCF RDBADEND
022220,002582:
022221,002583: 25,3464 35026 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
022222,002584: 25,3465 05252 TC WAITLIST
022223,002585: 25,3466 E7,1433 EBANK= LOSCOUNT
022224,002586: 25,3466 03511 52067 2CADR RGOODEND
022225,002587:
022226,002588: 25,3470 02345 TC ROADBACK
022227,002589:
022228,002590: 25,3471 05271 LASTLRDT TC FIXDELAY # WAIT ONE SECOND AFTER RECEIPT OF INBIT
022229,002591: 25,3472 00144 DEC 100 B-14 # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
022230,002592:
022231,002593: 25,3473 45012 CS BIT13 # REMOVE COMMAND
022232,002594: 25,3474 00006 EXTEND
022233,002595: 25,3475 03012 WAND CHAN12
022234,002596: 25,3476 13511 TCF RGOODEND
022235,002597:
022236,002598: 25,3477 35022 LRPOSCAN CAF BIT5 # SET UP FOR 15 SAMPLES.
022237,002599: 25,3500 13444 TCF LRPOSNXT
022238,002600:
022239,002601: 25,3501 01130 6SECS DEC 600 B-14
022240,002602:
022241,002603: # SEQUENCES TO TERMINATE RR OPERATIONS.
022242,002604:
022243,002605: 25,3502 35020 ENDRADAR CAF BIT7 # PROLOG TO CHECK RR CDU FAIL BEFORE END.
022244,002606: 25,3503 71101 MASK RADMODES
022245,002607: 25,3504 10000 CCS A
022246,002608: 25,3505 13511 TCF RGOODEND
022247,002609: 25,3506 13516 TCF RDBADEND
022248,002610: 25,3507 45030 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
022249,002611: 25,3510 54734 TS RUPTAGN
022250,002612:
022251,002613: 25,3511 35025 RGOODEND CAF TWO
022252,002614: 25,3512 04674 TC POSTJUMP
022253,002615: 25,3513 17576 CADR GOODEND
022254,002616:
022255,002617: 25,3514 45030 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
022256,002618: 25,3515 54734 TS RUPTAGN
022257,002619: 25,3516 35025 RDBADEND CAF TWO
022258,002620: 25,3517 04674 TC POSTJUMP
022259,002621: 25,3520 17573 CADR BADEND
022260,002622:
022261,002623: 25,3521 6221 BIN3 EQUALS THREE
022262,002624:
022263,002625: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
022264,002626: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
022265,002627:
022266,002628:
022267,002629: # FUNCTIONAL DESCRIPTION_
022268,002630:
022269,002631: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
022270,002632: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
022271,002633: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
022272,002634:
022273,002635:
022274,002636: # CALLING SEQUENCE CALL
022275,002637: # LPS20.1
022276,002638:
022277,002639: # SUBROUTINES CALLED_
022278,002640:
022279,002641: # LEMPREC,CSMPREC
022280,002642:
022281,002643:
022282,002644: # NORMAL EXIT_ RETURN TO CALLER + 2
022283,002645:
022284,002646:
022285,002647: # ERROR EXITS_ NONE
022286,002648:
022287,002649:
022288,002650: # ALARMS_ NONE
022289,002651:
022290,002652:
022291,002653: # OUTPUT_
022292,002654:
022293,002655: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
022294,002656: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
022295,002657: # RRNBSW CLEARED
022296,002658:
022297,002659:
022298,002660: # INITIALIZED ERASEABLE
022299,002661:
022300,002662: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
022301,002663: # SEE ORBITAL INTEGRATION ROUTINE
022302,002664:
022303,002665:
022304,002666: # DEBRIS_
022305,002667:
022306,002668: # MPAC DESTROYED BY THIS ROUTINE
022307,002669:
022308,002670: 23,2104 BANK 23
022309,002671: 25,2000 SETLOC P20S1
022310,002672: 25,2000 BANK
022311,002673:
022312,002674: 25,3521 COUNT* $$/LPS20
022313,002675:
022314,002676: 25,3521 45020 LPS20.1 STQ CALL
022315,002677: 25,3522 03431 LS21X
022316,002678: 25,3523 27051 LEMCONIC # EXTRAPOLATE LEM
022317,002679: 25,3524 77775 VLOAD
022318,002680: 25,3525 00001 RATT
022319,002681: 25,3526 25105 STOVL LMPOS # SAVE LM POSITION B-29
022320,002682: 25,3527 00007 VATT
022321,002683: 25,3530 17435 STODL LMVEL # SAVE LM VELOCITY B-7
022322,002684: 25,3531 00015 TAT
022323,002685: 25,3532 34041 CSMINT STCALL TDEC1
022324,002686: 25,3533 27037 CSMCONIC # EXTRAPOLATE CSM
022325,002687: 25,3534 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
022326,002688: 25,3535 00007 VATT
022327,002689: 25,3536 03435 LMVEL
022328,002690: 25,3537 76521 MXV VSL1
022329,002691: 25,3540 01736 REFSMMAT
022330,002692: 25,3541 27435 STOVL LOSVEL
022331,002693: 25,3542 00001 RATT
022332,002694: 25,3543 47051 VSU RTB
022333,002695: 25,3544 01105 LMPOS
022334,002696: 25,3545 21670 NORMUNX1
022335,002697: 25,3546 76521 MXV VSL1
022336,002698: 25,3547 01736 REFSMMAT # CONVERT TO STABLE MEMBER
022337,002699: 25,3550 15105 STODL RRTARGET
022338,002700: 25,3551 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
022339,002701: 25,3552 77657 SL*
022340,002702: 25,3553 20201 0,1
022341,002703: 25,3554 03443 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
022342,002704: 25,3555 77614 CLRGO
022343,002705: 25,3556 00231 RRNBSW
022344,002706: 25,3557 03431 LS21X
022345,002707:
022346,002708: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
022347,002709: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
022348,002710:
022349,002711:
022350,002712: # FUNCTIONAL DESCRIPTION_
022351,002713:
022352,002714: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
022353,002715:
022354,002716:
022355,002717: # CALLING SEQUENCE CALL
022356,002718: # LPS20.2
022357,002719:
022358,002720:
022359,002721: # SUBROUTINES CALLED_ NONE
022360,002722:
022361,002723:
022362,002724: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
022363,002725:
022364,002726:
022365,002727: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
022366,002728:
022367,002729:
022368,002730: # ALARMS_ NONE
022369,002731:
022370,002732:
022371,002733: # OUTPUT_ NONE
022372,002734:
022373,002735:
022374,002736: # INITIALIZED ERASEABLE_
022375,002737:
022376,002738: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
022377,002739: # DEBRIS
022378,002740:
022379,002741: # MPAC DESTROYED BY THIS ROUTINE
022380,002742:
022381,002743: 25,2000 SETLOC P20S1
022382,002744: 25,2000 BANK
022383,002745: 25,3560 COUNT* $$/LPS20
022384,002746:
022385,002747: 25,3560 45345 LPS20.2 DLOAD DSU
022386,002748: 25,3561 03443 MLOSV # MAGNITUDE OF LOS
022387,002749: 25,3562 13573 FHNM # OVER 400NM _
022388,002750: 25,3563 77644 BPL
022389,002751: 25,3564 53567 TOFAR
022390,002752: 25,3565 43535 SLOAD RVQ
022391,002753: 25,3566 06233 ZERO/SP
022392,002754: 25,3567 43535 TOFAR SLOAD RVQ
022393,002755: 25,3570 13572 ONE/SP
022394,002756: 25,3571 00001 ONE/SP DEC 1 B-14
022395,002757:
022396,002758: 25,3572 00026 23337 FHNM 2DEC 740798 B-29 # 400 NAUTICAL MILES IN METERS B-20
022397,002759:
022398,002760: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
022399,002761: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
022400,002762:
022401,002763:
022402,002764: # FUNCTIONAL DESCRIPTION
022403,002765:
022404,002766: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
022405,002767: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
022406,002768: # RR REPOSITION AND RR CDU FAIL
022407,002769:
022408,002770: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
022409,002771:
022410,002772:
022411,002773: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
022412,002774:
022413,002775:
022414,002776: # SUBROUTINES CALLED:
022415,002777:
022416,002778: # RRRDOT LPS20.1
022417,002779: # RRRANGE BANKCALL
022418,002780: # RADSTALL CDULOGIC
022419,002781: # RRNB SMNB
022420,002782: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
022421,002783:
022422,002784:
022423,002785: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
022424,002786:
022425,002787: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
022426,002788: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
022427,002789:
022428,002790:
022429,002791: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
022430,002792: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
022431,002793:
022432,002794:
022433,002795: # OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
022434,002796: # RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
022435,002797:
022436,002798: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
022437,002799:
022438,002800: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
022439,002801: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
022440,002802: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
022441,002803: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
022442,002804: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
022443,002805:
022444,002806:
022445,002807: # ERASABLE INITIALIZATION REQUIRED:
022446,002808:
022447,002809: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
022448,002810:
022449,002811: # 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
022450,002812: # 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
022451,002813:
022452,002814: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
022453,002815:
022454,002816:
022455,002817: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
022456,002818:
022457,002819: 32,2671 BANK 32
022458,002820: 25,2000 SETLOC LRS22
022459,002821: 25,2000 BANK
022460,002822: 25,3574 COUNT* $$/LRS22
022461,002823:
022462,002824: 25,3574 04704 LRS22.1 TC MAKECADR
022463,002825: 25,3575 55732 TS LRS22.1X
022464,002826: 25,3576 05575 TC DOWNFLAG
022465,002827: 25,3577 00120 ADRES RNGSCFLG
022466,002828: 25,3600 00004 INHINT
022467,002829: 25,3601 35024 CAF BIT3
022468,002830: 25,3602 00006 EXTEND # GET RR RANGE SCALE
022469,002831: 25,3603 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
022470,002832: 25,3604 54001 TS L
022471,002833: 25,3605 45024 CS BIT3 # AND SET IN RADMODES BIT3
022472,002834: 25,3606 71101 MASK RADMODES
022473,002835: 25,3607 60001 AD L
022474,002836: 25,3610 55101 TS RADMODES
022475,002837: 25,3611 00003 RELINT
022476,002838: 25,3612 04655 READRDOT TC BANKCALL
022477,002839: 25,3613 53055 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
022478,002840: 25,3614 04655 TC BANKCALL
022479,002841: 25,3615 17623 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
022480,002842: 25,3616 13735 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
022481,002843:
022482,002844: 25,3617 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
022483,002845: 25,3620 00006 EXTEND
022484,002846: 25,3621 31105 DCA SAMPLSUM # SAVE RANGE-RATE READING
022485,002847: 25,3622 53742 DXCH RDOTMSAV
022486,002848: 25,3623 00006 EXTEND
022487,002849: 25,3624 30034 DCA CDUY # SAVE ICDU ANGLES
022488,002850: 25,3625 53445 DXCH AIG
022489,002851: 25,3626 30032 CA CDUX
022490,002852: 25,3627 55446 TS AOG
022491,002853: 25,3630 00006 EXTEND
022492,002854: 25,3631 30025 DCA TIME2 # SAVE TIME
022493,002855: 25,3632 53727 DXCH MKTIME # SAVE TIME OF CDY READINGS IN MPAC
022494,002856: 25,3633 00006 EXTEND
022495,002857: 25,3634 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
022496,002858: 25,3635 53113 DXCH TANG
022497,002859:
022498,002860: 25,3636 00003 RELINT
022499,002861: 25,3637 04655 TC BANKCALL
022500,002862: 25,3640 53057 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
022501,002863: 25,3641 04655 TC BANKCALL
022502,002864: 25,3642 17623 CADR RADSTALL # WAIT FOR READ COMPLETE
022503,002865: 25,3643 03731 TC CHEXERR # CHECK FOR ERRORS DURING READ
022504,002866: 25,3644 06014 TC INTPRET
022505,002867: 25,3645 54345 DLOAD SL
022506,002868: 25,3646 03742 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
022507,002869: 25,3647 20217 14D # FT./SECOND PER BIT
022508,002870: 25,3650 77675 DMPR # START WITH READING SCALED B-28, -.6278
022509,002871: 25,3651 13741 RDOTCONV # END WITH METERS/CENTISECOND, B-7
022510,002872: 25,3652 17721 STODL RDOTM # STORE FOR USE BY LSR22.3
022511,002873: 25,3653 01113 TANG
022512,002874: 25,3654 03744 STORE TANGNB
022513,002875: 25,3655 47135 SLOAD RTB
022514,002876: 25,3656 01113 TANG # GET TRUNION ANGLE
022515,002877: 25,3657 21457 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
022516,002878: 25,3660 03723 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
022517,002879: 25,3661 47135 SLOAD RTB
022518,002880: 25,3662 01114 TANG +1 # DITTO FOR SHAFT ANGLE
022519,002881: 25,3663 21457 CDULOGIC
022520,002882: 25,3664 17725 STODL RRSHAFT
022521,002883: 25,3665 01105 SAMPLSUM
022522,002884: 25,3666 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
022523,002885: 25,3667 13743 RANGCONV # PER BIT, END WITH METERS,SCALED -29
022524,002886: 25,3670 37731 STCALL RM
022525,002887: 25,3671 46000 RRNB # COMPUTE RADAR LOS USING RRNB
022526,002888: 25,3672 17734 STODL RRBORSIT # AND SAVE
022527,002889: 25,3673 03727 MKTIME
022528,002890: 25,3674 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
022529,002891: 25,3675 53521 LPS20.1
022530,002892: 25,3676 77776 EXIT
022531,002893: 25,3677 31444 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
022532,002894: 25,3700 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
022533,002895: 25,3701 31445 CA AMG
022534,002896: 25,3702 54770 TS CDUSPOT +2
022535,002897: 25,3703 31446 CA AOG
022536,002898: 25,3704 54772 TS CDUSPOT +4
022537,002899: 25,3705 06014 TC INTPRET
022538,002900: 25,3706 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
022539,002901: 25,3707 01105 RRTARGET
022540,002902: 25,3710 47373 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
022541,002903: 25,3711 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
022542,002904: 25,3712 03734 RRBORSIT
022543,002905: 25,3713 65552 SL1 ACOS # BETWEEN THEM
022544,002906: 25,3714 01047 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
022545,002907: 25,3715 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
022546,002908: 25,3716 13745 THREEDEG
022547,002909: 25,3717 53724 NORMEXIT # YES-NORMAL EXIT
022548,002910:
022549,002911:
022550,002912: 25,3720 77776 EXIT # ERROR EXIT 2
022551,002913: 25,3721 35025 CAF BIT2 # SET ERROR CODE
022552,002914: 25,3722 54154 TS MPAC
022553,002915: 25,3723 13727 TCF OUT22.1
022554,002916:
022555,002917: 25,3724 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
022556,002918: 25,3725 35030 CAF ZERO
022557,002919: 25,3726 54154 TS MPAC
022558,002920: 25,3727 31732 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
022559,002921: 25,3730 04677 TC BANKJUMP
022560,002922: 25,3731 30101 CHEXERR CAE FLAGWRD5
022561,002923: 25,3732 75015 MASK RNGSCBIT
022562,002924: 25,3733 10000 CCS A # CHECK IF RANGE SCALE CHANGED
022563,002925: 25,3734 13612 TCF READRDOT # YES-TAKE ANOTHER READING
022564,002926:
022565,002927: 25,3735 35026 EREXIT1 CA BIT1 # SET ERROR CODE
022566,002928: 25,3736 54154 TS MPAC
022567,002929: 25,3737 03727 TC OUT22.1
022568,002930:
022569,002931: 25,3740 70123 40702 RDOTCONV 2DEC -.0019135344 B7 # CONVERTS RR RDOT READING TO M/CS AT 2(7)
022570,002932: 25,3742 13337 10776 RANGCONV 2DEC 2.859024 B-3 # CONVERTS RR RANGE READING TO M. AT 2(-29
022571,002933: 25,3744 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
022572,002934: 25,3746 1104 RRLOSVEC EQUALS RRTARGET
022573,002935:
022574,002936: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
022575,002937:
022576,002938:
022577,002939: # MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
022578,002940:
022579,002941: # FUNCTIONAL DESCRIPTION-
022580,002942:
|
|
(Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003) |
022582,002944: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
022583,002945:
022584,002946:
022585,002947: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
022586,002948:
022587,002949:
022588,002950: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
022589,002951: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
022590,002952:
022591,002953:
022592,002954: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
022593,002955:
022594,002956:
022595,002957: # ALARMS - NONE IN THE AUTO MODE
022596,002958:
022597,002959:
022598,002960: # ERASABLE INITIALIZATION REQUIRED -
022599,002961: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
022600,002962: # RM - RR RANGE, METERS B-29, FROM LRS22.1
022601,002963: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
022602,002964:
022603,002965:
022604,002966: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
022605,002967:
022606,002968: 25,2000 SETLOC P20S1
022607,002969: 25,2000 BANK
022608,002970: 25,3746 04704 LRS22.2 TC MAKECADR
022609,002971: 25,3747 55732 TS LRS22.1X
022610,002972: 25,3750 06014 TC INTPRET
022611,002973: # CHECK IF RR LOS IS WITHIN 30 DEG OF
022612,002974: 25,3751 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
022613,002975: 25,3752 03740 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
022614,002976: # LOS VECTOR,A HALF UNIT VECTOR
022615,002977: # IN NAV BASE AXES)
022616,002978: 25,3753 50025 DSU BMN
022617,002979: 25,3754 13770 30DEG
022618,002980: 25,3755 53762 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
022619,002981: 25,3756 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
022620,002982: 25,3757 35026 CAF BIT1 # SET ERROR CODE IN MPAC
022621,002983: 25,3760 54154 TS MPAC
022622,002984: 25,3761 13765 TCF OUT22.2
022623,002985: 25,3762 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
022624,002986:
022625,002987: 25,3763 35030 CAF ZERO
022626,002988: 25,3764 54154 TS MPAC
022627,002989: 25,3765 31732 OUT22.2 CAE LRS22.1X
022628,002990: 25,3766 04677 TC BANKJUMP
022629,002991:
022630,002992: 25,3767 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
022631,002993:
022632,002994: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
022633,002995: # MOD. NO 3 LOG SECTION - P20-25
022634,002996: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
022635,002997:
022636,002998: # FUNCTIONAL DESCRIPTION
022637,002999:
022638,003000: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
022639,003001: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
022640,003002: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
022641,003003:
022642,003004: # CALLING SEQUENCE
022643,003005: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
022644,003006: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
022645,003007: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
022646,003008: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
022647,003009: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
022648,003010: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
022649,003011:
022650,003012:
022651,003013: # SUBROUTINES CALLED
022652,003014: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
022653,003015: # GETULC RARARANG INCORP2 NBSM INTSTALL
022654,003016:
022655,003017: # OUTPUT
022656,003018: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
022657,003019: # NUMBER OF MARKS INCORPORATED IN MARKCTR
022658,003020: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
022659,003021: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
022660,003022: # UPDATED W-MATRIX
022661,003023:
022662,003024:
022663,003025: # ERASABLE INITIALIZATION REQUIRED
022664,003026: # LM AND CSM STATE VECTORS
022665,003027: # W-MATRIX
022666,003028: # MARK TIME IN MKTIME
022667,003029: # RADAR RANGE IN RM METERS B-29
022668,003030: # RANGE RATE IN RDOTM METERS/CSES B-7
022669,003031: # SHAFT ANGLE IN RRSHAFT REVS.B0
022670,003032: # TRUNNION ANGLE IN RRTRUN REVS. B0
022671,003033: # GIMBAL ANGLES INNER IN AIG
022672,003034: # MIDDLE IN AMG
022673,003035: # OUTER IN AOG
022674,003036: # REFSMMAT
022675,003037: # RENDWFLG
022676,003038: # NOANGFLG
022677,003039: # VEHUPFLG
022678,003040:
022679,003041: # DEBRIS
022680,003042: # PUSHLIST--ALL
022681,003043: # MX, MY, MZ (VECTORS)
022682,003044:
022683,003045: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
022684,003046:
022685,003047: 13,2161 BANK 13
022686,003048: 26,2000 SETLOC P20S3
022687,003049: 26,2000 BANK
022688,003050:
022689,003051: 26,2425 E7,1433 EBANK= LOSCOUNT
022690,003052: 26,2425 COUNT* $$/LSR22
022691,003053: 26,2425 77624 LSR22.3 CALL
022692,003054: 26,2426 11054 GRP2PC
022693,003055: 26,2427 43014 BON SET
022694,003056: 26,2430 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
022695,003057: 26,2431 55134 LSR22.4 # YES
022696,003058: 26,2432 02466 DMENFLG
022697,003059: 26,2433 45014 BOFF CALL
022698,003060: 26,2434 00747 VEHUPFLG
022699,003061: 26,2435 54467 DOLEM
022700,003062: 26,2436 27362 INTSTALL
022701,003063: 26,2437 45014 CLEAR CALL # LM PRECISION INTEGRATION
022702,003064: 26,2440 01674 VINTFLAG
022703,003065: 26,2441 26622 SETIFLGS
022704,003066: 26,2442 77624 CALL
022705,003067: 26,2443 55176 INTGRCAL
022706,003068: 26,2444 77624 CALL
022707,003069: 26,2445 11054 GRP2PC
022708,003070: 26,2446 77624 CALL
022709,003071: 26,2447 27362 INTSTALL
022710,003072: 26,2450 43014 CLEAR BOFF
022711,003073: 26,2451 01676 DIM0FLAG
022712,003074: 26,2452 02756 RENDWFLG
022713,003075: 26,2453 54457 NOTWCSM
022714,003076: 26,2454 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
022715,003077: 26,2455 01476 DIM0FLAG
022716,003078: 26,2456 01475 D6OR9FLG
022717,003079: 26,2457 43014 NOTWCSM SET CLEAR
022718,003080: 26,2460 01474 VINTFLAG
022719,003081: 26,2461 01673 INTYPFLG
022720,003082: 26,2462 45014 SET CALL
022721,003083: 26,2463 01472 STATEFLG
022722,003084: 26,2464 55176 INTGRCAL
022723,003085: 26,2465 77650 GOTO
022724,003086: 26,2466 54517 MARKTEST
022725,003087: 26,2467 77624 DOLEM CALL
022726,003088: 26,2470 27362 INTSTALL
022727,003089: 26,2471 45014 SET CALL
022728,003090: 26,2472 01474 VINTFLAG
022729,003091: 26,2473 26622 SETIFLGS
022730,003092: 26,2474 77624 CALL
022731,003093: 26,2475 55176 INTGRCAL
022732,003094:
022733,003095: 26,2476 77624 CALL
022734,003096: 26,2477 11054 GRP2PC
022735,003097: 26,2500 77624 CALL
022736,003098: 26,2501 27362 INTSTALL
022737,003099: 26,2502 43014 CLEAR BOFF
022738,003100: 26,2503 01676 DIM0FLAG
022739,003101: 26,2504 02756 RENDWFLG
022740,003102: 26,2505 54511 NOTWLEM
022741,003103: 26,2506 43014 SET SET # LM WITH W-MATRIX INTEGRATION
022742,003104: 26,2507 01476 DIM0FLAG
022743,003105: 26,2510 01475 D6OR9FLG
022744,003106: 26,2511 43014 NOTWLEM CLEAR CLEAR
022745,003107: 26,2512 01673 INTYPFLG
022746,003108: 26,2513 01674 VINTFLAG
022747,003109: 26,2514 45014 SET CALL
022748,003110: 26,2515 01472 STATEFLG
022749,003111: 26,2516 55176 INTGRCAL
022750,003112: 26,2517 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
022751,003113: 26,2520 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
022752,003114: 26,2521 54523 RANGEBQ
022753,003115: 26,2522 55205 WLINIT # YES - REINITIALIZE
022754,003116:
022755,003117: 26,2523 43174 RANGEBQ AXT,2 BON # CLEAR X2.
022756,003118: 26,2524 00000 0
022757,003119: 26,2525 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
022758,003120: 26,2526 54531 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
022759,003121: 26,2527 77714 INCR,2
022760,003122: 26,2530 00002 2
022761,003123: 26,2531 45134 SETX2 SXA,2 CALL
022762,003124: 26,2532 03705 SCALSHFT # 0-MOON. 2-EARTH
022763,003125: 26,2533 11054 GRP2PC
022764,003126: 26,2534 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
022765,003127: 26,2535 55252 GETULC # B-VECTORS FOR RANGE
022766,003128: 26,2536 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
022767,003129: 26,2537 00707 VEHUPFLG
022768,003130: 26,2540 54541 +1
022769,003131: 26,2541 27512 STOVL BVECTOR
022770,003132: 26,2542 06233 ZEROVECS
022771,003133: 26,2543 03520 STORE BVECTOR +6 # B1
022772,003134:
022773,003135: 26,2544 17526 STODL BVECTOR +12D # B2
022774,003136: 26,2545 00045 36D
022775,003137: 26,2546 44257 SRR* BDSU
022776,003138: 26,2547 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
022777,003139: 26,2550 03731 RM # RM - (MAGNITUDE RCSM-RLM)
022778,003140: 26,2551 77657 SLR*
022779,003141: 26,2552 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
022780,003142: 26,2553 17534 STODL DELTAQ # EARTH B-29. MOON B-27
022781,003143: 26,2554 00045 36D # RLC B-29/B-27
022782,003144: 26,2555 63501 NORM DSQ # NORMALIZE AND SQUARE
022783,003145: 26,2556 00047 X1
022784,003146: 26,2557 53605 DMP SR*
022785,003147: 26,2560 02365 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
022786,003148: 26,2561 20577 0 -2,1 # UNNORMALIZE
022787,003149: 26,2562 53657 SR* SR*
022788,003150: 26,2563 20601 0,1
022789,003151: 26,2564 57176 0,2
022790,003152: 26,2565 47057 SR* RTB
022791,003153: 26,2566 57176 0,2
022792,003154: 26,2567 21531 TPMODE
022793,003155: 26,2570 02707 STORE VARIANCE # B-40
022794,003156: 26,2571 76276 DCOMP TAD
022795,003157: 26,2572 02371 RVARMIN # B-40
022796,003158: 26,2573 72240 BMN TLOAD
022797,003159: 26,2574 54577 QOK
022798,003160: 26,2575 02371 RVARMIN # B-40
022799,003161: 26,2576 02707 STORE VARIANCE
022800,003162: 26,2577 77624 QOK CALL
022801,003163: 26,2600 55321 LGCUPDTE
022802,003164:
022803,003165: 26,2601 77624 CALL
022804,003166: 26,2602 11054 GRP2PC
022805,003167: 26,2603 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
022806,003168: 26,2604 55252 GETULC
022807,003169: 26,2605 53725 PDDL SR* # GET RLC SCALED B-29/B-27
022808,003170: 26,2606 00045 36D # AND SHIFT TO B-23
022809,003171: 26,2607 57205 0 -7,2
022810,003172: 26,2610 24045 STOVL 36D # THEN STORE BACK IN 36D
022811,003173: 26,2611 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
022812,003174: 26,2612 00707 VEHUPFLG
022813,003175: 26,2613 54614 +1
022814,003176: 26,2614 77761 VXSC
022815,003177: 26,2615 00045 36D # B1 = RLC (B-24/B-22)
022816,003178: 26,2616 27520 STOVL BVECTOR +6
022817,003179: 26,2617 01653 NUVLEM
022818,003180: 26,2620 53257 VSR* VAD
022819,003181: 26,2621 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
022820,003182: 26,2622 01667 VCVLEM # EARTH B-7. MOON B-5
022821,003183: 26,2623 53715 PDVL VSR* # VL TO PD6
022822,003184: 26,2624 01601 NUVCSM
022823,003185:
022824,003186: 26,2625 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
022825,003187: 26,2626 52255 VAD VSU
022826,003188: 26,2627 01615 VCVCSM
022827,003189: 26,2630 50315 PDVL DOT # VC - VL = VLC TO PD6
022828,003190: 26,2631 00001 0
022829,003191: 26,2632 00007 6
022830,003192: 26,2633 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
022831,003193: 26,2634 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
022832,003194: 26,2635 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
022833,003195: 26,2636 02367 RATEVAR
022834,003196: 26,2637 41275 DMPR DMP
022835,003197: 26,2640 00045 36D
022836,003198: 26,2641 00045 36D
022837,003199: 26,2642 47112 VSL4 RTB
022838,003200: 26,2643 21531 TPMODE
022839,003201: 26,2644 02707 STORE VARIANCE
022840,003202: 26,2645 63545 DLOAD DSQ
022841,003203: 26,2646 00045 36D
022842,003204: 26,2647 47005 DMP RTB
022843,003205: 26,2650 02374 VVARMIN
022844,003206: 26,2651 21531 TPMODE
022845,003207: 26,2652 00037 STORE 30D
022846,003208: 26,2653 76276 DCOMP TAD
022847,003209: 26,2654 02707 VARIANCE
022848,003210: 26,2655 72244 BPL TLOAD
022849,003211: 26,2656 54661 +3
022850,003212: 26,2657 00037 30D
022851,003213: 26,2660 02707 STORE VARIANCE
022852,003214: 26,2661 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
022853,003215: 26,2662 53725 PDDL SLR* # TO B-10/B-8
022854,003216: 26,2663 03721 RDOTM # SHIFT TO EARTH/MOON SPHERE
022855,003217: 26,2664 56577 0 -1,2 # B-7 TO B-10/B-8
022856,003218: 26,2665 77625 DSU
022857,003219: 26,2666 77675 DMPR
022858,003220: 26,2667 00045 36D
022859,003221: 26,2670 27534 STOVL DELTAQ # B-33
022860,003222: 26,2671 00001 0 # NOW GET B0
022861,003223: 26,2672 47235 VXV VXV # (ULC X VLC) X ULC
022862,003224: 26,2673 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
022863,003225: 26,2674 00707 VEHUPFLG
022864,003226: 26,2675 54676 +1
022865,003227: 26,2676 53604 BOVB VSR*
022866,003228: 26,2677 57702 TCDANZIG
022867,003229: 26,2700 57203 0 -5,2 # SCALED B-5
022868,003230: 26,2701 52000 BOV GOTO
022869,003231: 26,2702 54704 VOK1
022870,003232: 26,2703 54706 VOK2
022871,003233: 26,2704 77775 VOK1 VLOAD
022872,003234: 26,2705 06233 ZEROVECS
022873,003235: 26,2706 27512 VOK2 STOVL BVECTOR
022874,003236: 26,2707 06233 ZEROVECS
022875,003237: 26,2710 37526 STCALL BVECTOR +12D
022876,003238: 26,2711 55321 LGCUPDTE
022877,003239:
022878,003240: 26,2712 77624 CALL
022879,003241: 26,2713 11054 GRP2PC
022880,003242: 26,2714 77414 BON EXIT # ARE ANGLES TO BE DONE
022881,003243: 26,2715 04307 SURFFLAG
022882,003244: 26,2716 55132 RENDEND # NO
022883,003245: 26,2717 E7,1444 EBANK= AIG
022884,003246: 26,2717 33251 MXMYMZ CAF AIGBANK
022885,003247: 26,2720 54006 TS BBANK
022886,003248: 26,2721 31444 CA AIG # YES, COMPUTE MX, MY, MZ
022887,003249: 26,2722 54766 TS CDUSPOT
022888,003250: 26,2723 31445 CA AMG
022889,003251: 26,2724 54770 TS CDUSPOT +2
022890,003252: 26,2725 31446 CA AOG
022891,003253: 26,2726 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
022892,003254: 26,2727 06014 TC INTPRET
022893,003255: 26,2730 45175 VLOAD CALL
022894,003256: 26,2731 06231 UNITX
022895,003257: 26,2732 47406 TRG*NBSM
022896,003258: 26,2733 76505 VXM VSL1
022897,003259: 26,2734 01736 REFSMMAT
022898,003260: 26,2735 27664 STOVL MX
022899,003261: 26,2736 06227 UNITY
022900,003262:
022901,003263: 26,2737 77624 CALL
022902,003264: 26,2740 47415 *NBSM*
022903,003265: 26,2741 76505 VXM VSL1
022904,003266: 26,2742 01736 REFSMMAT
022905,003267: 26,2743 27672 STOVL MY
022906,003268: 26,2744 06225 UNITZ
022907,003269: 26,2745 77624 CALL
022908,003270: 26,2746 47415 *NBSM*
022909,003271: 26,2747 76505 VXM VSL1
022910,003272: 26,2750 01736 REFSMMAT
022911,003273: 26,2751 37700 SHAFTBQ STCALL MZ
022912,003274: 26,2752 55301 RADARANG
022913,003275: 26,2753 77624 CALL
022914,003276: 26,2754 11054 GRP2PC
022915,003277: 26,2755 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
022916,003278: 26,2756 03711 ULC
022917,003279: 26,2757 03664 MX
022918,003280: 26,2760 77752 SL1
022919,003281: 26,2761 24023 STOVL SINTH # 18D
022920,003282: 26,2762 03711 ULC
022921,003283: 26,2763 72441 DOT SL1
022922,003284: 26,2764 03700 MZ
022923,003285: 26,2765 34021 STCALL COSTH # 16D
022924,003286: 26,2766 26464 ARCTAN
022925,003287: 26,2767 41221 BDSU DMP
022926,003288: 26,2770 03725 RRSHAFT
022927,003289: 26,2771 15361 2PI/8
022928,003290: 26,2772 41472 SL3R PUSH
022929,003291: 26,2773 52545 DLOAD SL3
022930,003292: 26,2774 01701 X789
022931,003293: 26,2775 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
022932,003294: 26,2776 56176 0,2
022933,003295: 26,2777 53605 DMP SRR*
022934,003296: 26,3000 03707 RXZ
022935,003297: 26,3001 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
022936,003298: 26,3002 27534 STOVL DELTAQ # EARTH B-29. MOON B-27
022937,003299: 26,3003 03711 ULC
022938,003300: 26,3004 76435 VXV VSL1
022939,003301: 26,3005 03672 MY
022940,003302: 26,3006 77656 UNIT
022941,003303: 26,3007 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
022942,003304: 26,3010 00747 VEHUPFLG
022943,003305: 26,3011 55012 +1
022944,003306: 26,3012 27512 STOVL BVECTOR
022945,003307: 26,3013 06233 ZEROVECS
022946,003308: 26,3014 03520 STORE BVECTOR +6
022947,003309: 26,3015 17526 STODL BVECTOR +12D
022948,003310: 26,3016 03707 RXZ
022949,003311: 26,3017 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
022950,003312: 26,3020 20577 0 -2,1
022951,003313:
022952,003314: 26,3021 56176 0,2
022953,003315: 26,3022 03526 STORE BVECTOR +12D
022954,003316: 26,3023 77735 SLOAD
022955,003317: 26,3024 02007 SHAFTVAR
022956,003318: 26,3025 41215 DAD DMP
022957,003319: 26,3026 15356 IMUVAR # RAD**2 B12
022958,003320: 26,3027 03707 RXZ
022959,003321: 26,3030 41257 SRR* DMP
022960,003322: 26,3031 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
022961,003323: 26,3032 03707 RXZ
022962,003324: 26,3033 53657 SR* SR*
022963,003325: 26,3034 20577 0 -2,1
022964,003326: 26,3035 57176 0,2
022965,003327: 26,3036 47057 SR* RTB
022966,003328: 26,3037 57176 0,2
022967,003329: 26,3040 21531 TPMODE # STORE VARIANCE TRIPLE PRECISION
022968,003330: 26,3041 36707 STCALL VARIANCE # B-40
022969,003331: 26,3042 55321 LGCUPDTE
022970,003332:
022971,003333: 26,3043 77624 CALL
022972,003334: 26,3044 11054 GRP2PC
022973,003335: 26,3045 77624 TRUNBQ CALL
022974,003336: 26,3046 55301 RADARANG
022975,003337: 26,3047 77624 CALL
022976,003338: 26,3050 11054 GRP2PC
022977,003339: 26,3051 47375 VLOAD VXV
022978,003340: 26,3052 03711 ULC
022979,003341: 26,3053 03672 MY
022980,003342: 26,3054 47372 VSL1 VXV
022981,003343: 26,3055 03711 ULC
022982,003344: 26,3056 77772 VSL1 # (ULC X MY) X ULC
022983,003345: 26,3057 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
022984,003346: 26,3060 00747 VEHUPFLG
022985,003347: 26,3061 55062 +1
022986,003348: 26,3062 27512 STOVL BVECTOR
022987,003349: 26,3063 06233 ZEROVECS
022988,003350: 26,3064 03520 STORE BVECTOR +6
022989,003351: 26,3065 17526 STODL BVECTOR +12D
022990,003352: 26,3066 03707 RXZ
022991,003353: 26,3067 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
022992,003354: 26,3070 20577 0 -2,1
022993,003355: 26,3071 56176 0,2
022994,003356: 26,3072 03530 STORE BVECTOR +14D
022995,003357: 26,3073 77735 SLOAD
022996,003358: 26,3074 02010 TRUNVAR
022997,003359: 26,3075 41215 DAD DMP
022998,003360: 26,3076 15356 IMUVAR
022999,003361: 26,3077 03707 RXZ
023000,003362: 26,3100 41257 SRR* DMP
023001,003363: 26,3101 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
023002,003364:
023003,003365: 26,3102 03707 RXZ
023004,003366: 26,3103 53657 SR* SR*
023005,003367: 26,3104 20577 0 -2,1
023006,003368: 26,3105 57176 0,2
023007,003369: 26,3106 47057 SR* RTB
023008,003370: 26,3107 57176 0,2
023009,003371: 26,3110 21531 TPMODE # STORE VARIANCE TRIPLE PRECISION
023010,003372: 26,3111 16707 STODL VARIANCE
023011,003373: 26,3112 03717 SINTHETA
023012,003374: 26,3113 44336 ASIN BDSU # SIN THETA IN PD6
023013,003375: 26,3114 03723 RRTRUN
023014,003376: 26,3115 56405 DMP SL3R
023015,003377: 26,3116 15361 2PI/8
023016,003378: 26,3117 52525 PDDL SL3
023017,003379: 26,3120 01703 X789 +2
023018,003380: 26,3121 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
023019,003381: 26,3122 56176 0,2
023020,003382: 26,3123 53605 DMP SRR*
023021,003383: 26,3124 03707 RXZ
023022,003384: 26,3125 21601 0,1
023023,003385: 26,3126 37534 STCALL DELTAQ # EARTH B-29. MOON B-27
023024,003386: 26,3127 55321 LGCUPDTE
023025,003387: 26,3130 77624 CALL
023026,003388: 26,3131 11054 GRP2PC
023027,003389: 26,3132 77650 RENDEND GOTO
023028,003390: 26,3133 50554 R22LEM93
023029,003391: # FUNCTIONAL DESCRIPTION
023030,003392:
023031,003393: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
023032,003394: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
023033,003395: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
023034,003396:
023035,003397: # SUBROUTINES CALLED
023036,003398: # INSTALL LGCUPDTE INCORP1 RP-TO-R
023037,003399: # INTEGRV GETULC INCORP2
023038,003400:
023039,003401: # OUTPUT
023040,003402: # CORRECTED CSM STATE VECTOR (PERMANENT)
023041,003403: # NUMBER OF MARKS INCORPORATED IN MARKCTR
023042,003404: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
023043,003405: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
023044,003406: # UPDATED W-MATRIX
023045,003407:
023046,003408: # ERASABLE INITIALIZATION REQUIRED
023047,003409: # LM AND CSM STATE VECTORS
023048,003410: # W-MATRIX
023049,003411: # MARK TIME IN MKTIME
023050,003412: # RADAR RANGE IN RM METERS B-29
023051,003413: # RANGE RATE IN RDOTM METERS/CSEC B-7
023052,003414: # VEHUPFLG
023053,003415:
023054,003416: 26,3134 77624 LSR22.4 CALL
023055,003417: 26,3135 27362 INTSTALL
023056,003418: 26,3136 43014 SET CLEAR
023057,003419: 26,3137 01472 STATEFLG
023058,003420: 26,3140 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
023059,003421: 26,3141 77624 CALL
023060,003422: 26,3142 55176 INTGRCAL
023061,003423: 26,3143 77624 CALL
023062,003424: 26,3144 11054 GRP2PC
023063,003425: 26,3145 45014 CLEAR CALL
023064,003426: 26,3146 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
023065,003427: 26,3147 27362 INTSTALL
023066,003428: 26,3150 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
023067,003429: 26,3151 03450 MARKCTR
023068,003430: 26,3152 55165 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
023069,003431: 26,3153 43014 CLEAR SET
023070,003432: 26,3154 01675 D6OR9FLG
023071,003433: 26,3155 01476 DIM0FLAG
023072,003434: 26,3156 43014 SET CLEAR
023073,003435: 26,3157 01474 VINTFLAG
023074,003436: 26,3160 01673 INTYPFLG
023075,003437: 26,3161 77624 CALL
023076,003438: 26,3162 55176 INTGRCAL
023077,003439: 26,3163 77650 GOTO
023078,003440: 26,3164 54523 RANGEBQ
023079,003441:
023080,003442: 26,3165 77624 INITWMX6 CALL
023081,003443: 26,3166 55205 WLINIT # INITIALIZE W-MATRIX
023082,003444: 26,3167 45014 SET CALL
023083,003445: 26,3170 01474 VINTFLAG
023084,003446: 26,3171 26622 SETIFLGS
023085,003447: 26,3172 77624 CALL
023086,003448: 26,3173 55176 INTGRCAL
023087,003449: 26,3174 77650 GOTO
023088,003450: 26,3175 54523 RANGEBQ
023089,003451:
023090,003452: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
023091,003453:
023092,003454: 26,3176 71220 INTGRCAL STQ DLOAD
023093,003455: 26,3177 03662 IGRET
023094,003456: 26,3200 03727 MKTIME
023095,003457: 26,3201 34041 STCALL TDEC1
023096,003458: 26,3202 27105 INTEGRV
023097,003459: 26,3203 77650 GOTO
023098,003460: 26,3204 03662 IGRET
023099,003461:
023100,003462: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
023101,003463: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
023102,003464:
023103,003465: 26,3205 E5,1400 EBANK= W
023104,003466:
023105,003467: 26,3205 77776 WLINIT EXIT
023106,003468: 26,3206 33250 CAF WBANK
023107,003469: 26,3207 54006 TS BBANK
023108,003470: 26,3210 33357 CAF WSIZE
023109,003471: 26,3211 55257 TS W.IND
023110,003472: 26,3212 35030 CAF ZERO
023111,003473: 26,3213 51257 INDEX W.IND
023112,003474: 26,3214 55400 TS W
023113,003475: 26,3215 11257 CCS W.IND
023114,003476: 26,3216 03211 TC -5
023115,003477: 26,3217 33251 CAF AIGBANK # RESTORE EBANK 7
023116,003478: 26,3220 54006 TS BBANK
023117,003479: 26,3221 06014 TC INTPRET
023118,003480: 26,3222 54335 SLOAD SR # SHIFT TO B-19 SCALE
023119,003481: 26,3223 02001 WRENDPOS
023120,003482: 26,3224 20606 5
023121,003483: 26,3225 02401 STORE W
023122,003484: 26,3226 02411 STORE W +8D
023123,003485: 26,3227 02421 STORE W +16D
023124,003486: 26,3230 77735 SLOAD
023125,003487: 26,3231 02002 WRENDVEL
023126,003488: 26,3232 02511 STORE W +72D
023127,003489: 26,3233 02521 STORE W +80D
023128,003490: 26,3234 02531 STORE W +88D
023129,003491: 26,3235 77735 SLOAD
023130,003492: 26,3236 02003 WSHAFT
023131,003493: 26,3237 02621 STORE W +144D
023132,003494: 26,3240 77735 SLOAD
023133,003495: 26,3241 02004 WTRUN
023134,003496: 26,3242 02631 STORE W +152D
023135,003497: 26,3243 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
023136,003498: 26,3244 02476 RENDWFLG
023137,003499: 26,3245 03450 MARKCTR # SET MARK COUNTER EQUAL ZERO
023138,003500: 26,3246 00000 0
023139,003501: 26,3247 77616 RVQ
023140,003502:
023141,003503: 26,3250 E5,1400 EBANK= W
023142,003504:
023143,003505: 26,3250 54065 WBANK BBCON WLINIT
023144,003506: 26,3251 E7,1444 EBANK= AIG
023145,003507: 26,3251 54067 AIGBANK BBCON LSR22.3
023146,003508:
023147,003509: # GETULC
023148,003510:
023149,003511: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
023150,003512: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
023151,003513: # MAGNITUDE IN 36D.
023152,003514:
023153,003515: 26,3252 77201 GETULC SETPD VLOAD
023154,003516: 26,3253 00001 0
023155,003517: 26,3254 01645 DELTALEM
023156,003518: 26,3255 77754 LXA,2
023157,003519: 26,3256 03705 SCALSHFT # LOAD X2 WITH SCALE SHIFT
023158,003520: 26,3257 53257 VSR* VAD
023159,003521: 26,3260 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
023160,003522: 26,3261 01661 RCVLEM
023161,003523: 26,3262 53715 PDVL VSR*
023162,003524: 26,3263 01573 DELTACSM
023163,003525: 26,3264 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
023164,003526: 26,3265 52255 VAD VSU
023165,003527: 26,3266 01607 RCVCSM
023166,003528: 26,3267 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
023167,003529: 26,3270 21670 NORMUNX1
023168,003530: 26,3271 17711 STODL ULC
023169,003531: 26,3272 00045 36D
023170,003532: 26,3273 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
023171,003533: 26,3274 20201 0,1
023172,003534: 26,3275 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
023173,003535: 26,3276 03711 ULC
023174,003536: 26,3277 77616 RVQ
023175,003537:
023176,003538: 26,3300 43406 PUSH RVQ
023177,003539:
023178,003540: # RADARANG
023179,003541:
023180,003542: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
023181,003543: # RXZ = (SQRT (1-SINTHETA**2))RLC
023182,003544: # OUTPUT
023183,003545: # ULC IN ULC, PD0
023184,003546: # RLC IN PD36D
023185,003547: # SIN THETA IN SINTHETA AND PD6
023186,003548: # RXZ NORM IN RXZ (N IN X1)
023187,003549: 26,3301 45020 RADARANG STQ CALL
023188,003550: 26,3302 03662 RDRET
023189,003551: 26,3303 55252 GETULC
023190,003552: 26,3304 50276 VCOMP DOT
023191,003553: 26,3305 03672 MY
023192,003554: 26,3306 41572 SL1R PUSH # SIN THETA TO PD6
023193,003555: 26,3307 03717 STORE SINTHETA
023194,003556: 26,3310 44316 DSQ BDSU
023195,003557: 26,3311 06223 DP1/4TH # 1 - (SIN THETA)**2
023196,003558:
023197,003559: 26,3312 41366 SQRT DMP
023198,003560: 26,3313 00045 36D
023199,003561: 26,3314 60352 SL1 NORM
023200,003562: 26,3315 00047 X1 # SET SHIFT COUNTER IN X1
023201,003563: 26,3316 03707 STORE RXZ
023202,003564: 26,3317 77650 GOTO # EXIT
023203,003565: 26,3320 03662 RDRET
023204,003566: 26,3321 45020 LGCUPDTE STQ CALL
023205,003567: 26,3322 03662 LGRET
023206,003568: 26,3323 46242 INCORP1
023207,003569: 26,3324 51575 VLOAD ABVAL
023208,003570: 26,3325 02673 DELTAX +6
023209,003571: 26,3326 53754 LXA,2 SRR*
023210,003572: 26,3327 03705 SCALSHFT # 0 - MOON. 2 - EARTH
023211,003573: 26,3330 56174 2,2 # SET VEL DISPLAY TO B-7
023212,003574: 26,3331 25051 STOVL R22DISP +2
023213,003575: 26,3332 02665 DELTAX
023214,003576: 26,3333 53646 ABVAL SRR*
023215,003577: 26,3334 56174 2,2 # SET POS DISPLAY TO B-29
023216,003578: 26,3335 01047 STORE R22DISP
023217,003579: 26,3336 54335 SLOAD SR
023218,003580: 26,3337 02005 RMAX
023219,003581: 26,3340 20613 10D
023220,003582: 26,3341 50025 DSU BMN
023221,003583: 26,3342 01047 R22DISP
023222,003584: 26,3343 50556 R22LEM96 # GO DISPLAY
023223,003585: 26,3344 45335 SLOAD DSU
023224,003586: 26,3345 02006 VMAX
023225,003587: 26,3346 01051 R22DISP +2 # VMAX MINUS VEL. DEVIATION
023226,003588: 26,3347 77640 BMN
023227,003589: 26,3350 50556 R22LEM96 # GO DISPLAY
023228,003590: 26,3351 77624 ASTOK CALL
023229,003591: 26,3352 46452 INCORP2
023230,003592: 26,3353 77650 GOTO
023231,003593: 26,3354 03662 LGRET
023232,003594: 26,3355 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
023233,003595:
023234,003596: 26,3357 00241 WSIZE DEC 161 B-14
023235,003597: 26,3360 31103 36652 2PI/8 2DEC 3.141592653 B-2
023236,003598: 26,3362 E7,1433 EBANK= LOSCOUNT
023237,003599:
023238,003600: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
023239,003601: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
023240,003602:
023241,003603:
023242,003604: # FUNCTIONAL DESCRIPTION
023243,003605:
023244,003606: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
023245,003607: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
023246,003608: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
023247,003609: # ATTITUDE MANEUVER.
023248,003610:
023249,003611:
023250,003612: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
023251,003613:
023252,003614:
023253,003615: # SUBROUTINES CALLED
023254,003616:
023255,003617: # LEMCONIC R61LEM
023256,003618: # CSMCONIC RRDESSM
023257,003619: # JOBDELAY FLAGDOWN
023258,003620: # WAITLIST FLAGUP
023259,003621: # RRNB BANKCALL
023260,003622:
023261,003623:
023262,003624: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
023263,003625:
023264,003626:
023265,003627: # OUTPUT
023266,003628:
023267,003629: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
023268,003630: # 11111 INDICATES LOCKON ACHIEVED
023269,003631: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
023270,003632:
023271,003633: # ERASABLE INITIALIZATION REQUIRED
023272,003634: # SEARCH FLAG MUST BE SET
023273,003635: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
023274,003636: # DEBRIS
023275,003637:
023276,003638: # RLMSRCH UXVECT
023277,003639: # VXRLM UYVECT
023278,003640: # LOSDESRD NSRCHPNT
023279,003641: # DATAGOOD OMEGAD
023280,003642: # MPAC PUSHLIST
023281,003643:
023282,003644: 26,3362 COUNT* $$/LRS24
023283,003645: 26,3362 35030 LRS24.1 CAF ZERO
023284,003646: 26,3363 55723 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
023285,003647: 26,3364 35011 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
023286,003648: 26,3365 00006 EXTEND
023287,003649:
023288,003650: 26,3366 05012 WOR CHAN12
023289,003651: 26,3367 35011 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
023290,003652: 26,3370 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
023291,003653: 26,3371 00006 EXTEND
023292,003654: 26,3372 15225 BZF ENDOFJOB # NO-TERMINATE JOB
023293,003655:
023294,003656: 26,3373 35011 CAF MANUFBIT
023295,003657: 26,3374 70103 MASK FLAGWRD7
023296,003658: 26,3375 10000 CCS A
023297,003659: 26,3376 05225 TC ENDOFJOB
023298,003660:
023299,003661: 26,3377 33645 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
023300,003662: 26,3400 00004 INHINT
023301,003663: 26,3401 05252 TC WAITLIST # IN 6 SECONDS
023302,003664: 26,3402 E7,1433 EBANK= LOSCOUNT
023303,003665: 26,3402 03575 54067 2CADR CALLDGCH
023304,003666: 26,3404 00003 RELINT
023305,003667: 26,3405 41101 CS RADMODES # IS REMODE IN PROGRESS
023306,003668: 26,3406 75011 MASK BIT14 # (BIT 14 RADMODES = 1)
023307,003669: 26,3407 00006 EXTEND
023308,003670: 26,3410 15225 BZF ENDOFJOB # YES- WAIT SIX SECONDS
023309,003671: 26,3411 06014 TC INTPRET
023310,003672:
023311,003673: 26,3412 77634 RTB
023312,003674: 26,3413 21454 LOADTIME
023313,003675: 26,3414 34041 LRS24.11 STCALL TDEC1
023314,003676: 26,3415 27051 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
023315,003677: 26,3416 77775 VLOAD
023316,003678: 26,3417 00001 RATT
023317,003679: 26,3420 27663 STOVL RLMSRCH # SAVE LEM POSITION
023318,003680: 26,3421 00007 VATT
023319,003681: 26,3422 17725 STODL SAVLEMV # SAVE LEM VELOCITY
023320,003682: 26,3423 00015 TAT
023321,003683: 26,3424 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
023322,003684: 26,3425 27037 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
023323,003685: 26,3426 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
023324,003686: 26,3427 00001 RATT
023325,003687: 26,3430 03663 RLMSRCH
023326,003688: 26,3431 77656 UNIT
023327,003689: 26,3432 27677 STOVL LOSDESRD # STORE DESIRED LOS
023328,003690: 26,3433 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
023329,003691: 26,3434 47256 UNIT VXV
023330,003692: 26,3435 00001 RATT
023331,003693: 26,3436 77656 UNIT
023332,003694: 26,3437 03671 STORE VXRCM
023333,003695: 26,3440 52375 VLOAD VSU
023334,003696: 26,3441 00007 VATT
023335,003697: 26,3442 03725 SAVLEMV
023336,003698: 26,3443 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
023337,003699: 26,3444 01736 REFSMMAT
023338,003700: 26,3445 03725 STORE SAVLEMV # VLC = V(CSM) - V(LM)
023339,003701: 26,3446 53135 SLOAD BZE # CHECK IF N=0
023340,003702: 26,3447 03724 NSRCHPNT
023341,003703:
023342,003704: 26,3450 55570 DESGLOS # YES-DESIGNATE ALONG LOS
023343,003705: 26,3451 53025 DSU BZE # IS N=1
023344,003706: 26,3452 15643 ONEOCT # YES-CALCULATE X AND Y AXES OF
023345,003707: 26,3453 55555 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
023346,003708: 26,3454 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
023347,003709: 26,3455 03705 UXVECT
023348,003710: 26,3456 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
023349,003711: 26,3457 03713 UYVECT # UXPRIME = ORIGINAL UX
023350,003712: 26,3460 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
023351,003713: 26,3461 77761 VXSC
023352,003714: 26,3462 15637 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
023353,003715: 26,3463 27705 STOVL UXVECT
023354,003716: 26,3464 00015 UXVECTPR
023355,003717: 26,3465 53361 VXSC VAD
023356,003718: 26,3466 06231 COS60DEG
023357,003719: 26,3467 03705 UXVECT
023358,003720: 26,3470 77656 UNIT
023359,003721: 26,3471 27705 STOVL UXVECT
023360,003722: 26,3472 00015 UXVECTPR # UY=(-SIN 60)UXPR +(COS 60)UYPR
023361,003723: 26,3473 77761 VXSC
023362,003724: 26,3474 15637 SIN60DEG
023363,003725: 26,3475 27713 STOVL UYVECT
023364,003726: 26,3476 00023 UYVECTPR
023365,003727: 26,3477 52361 VXSC VSU
023366,003728: 26,3500 06231 COS60DEG
023367,003729: 26,3501 03713 UYVECT
023368,003730: 26,3502 77656 UNIT
023369,003731: 26,3503 03713 STORE UYVECT
023370,003732: 26,3504 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
023371,003733: 26,3505 15641 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
023372,003734: 26,3506 03677 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
023373,003735: 26,3507 64256 UNIT MXV
023374,003736: 26,3510 01736 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
023375,003737: 26,3511 77772 VSL1
023376,003738: 26,3512 25105 CONTDESG STOVL RRTARGET
023377,003739: 26,3513 03725 SAVLEMV
023378,003740: 26,3514 03435 STORE LOSVEL
023379,003741: 26,3515 77776 EXIT
023380,003742: 26,3516 00004 INHINT
023381,003743: 26,3517 06005 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
023382,003744: 26,3520 52556 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
023383,003745:
023384,003746: 26,3521 40103 CS FLAGWRD7
023385,003747: 26,3522 75011 MASK MANUFBIT
023386,003748: 26,3523 00006 EXTEND
023387,003749: 26,3524 15225 BZF ENDOFJOB
023388,003750: # POINT IN THE PATTERN
023389,003751: 26,3525 45010 CONTDES2 CS BIT15
023390,003752: 26,3526 71101 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
023391,003753: 26,3527 65010 AD BIT15 # A CONTINUOUS DESIGNATE WANTED
023392,003754: 26,3530 55101 TS RADMODES
023393,003755: 26,3531 00003 RELINT
023394,003756: 26,3532 06014 TC INTPRET
023395,003757:
023396,003758: 26,3533 77624 CALL
023397,003759: 26,3534 52352 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
023398,003760:
023399,003761:
023400,003762: 26,3535 77776 EXIT
023401,003763: 26,3536 03627 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
023402,003764: 26,3537 03627 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
023403,003765:
023404,003766:
023405,003767: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
023406,003768: # SPACECRAFT +Z AXIS
023407,003769: 26,3540 00004 INHINT
023408,003770: 26,3541 00006 OMEGCALC EXTEND
023409,003771: 26,3542 30036 DCA CDUT
023410,003772: 26,3543 53744 DXCH TANGNB
023411,003773: 26,3544 00003 RELINT
023412,003774: 26,3545 06014 TC INTPRET
023413,003775: 26,3546 77624 CALL
023414,003776: 26,3547 46000 RRNB
023415,003777: 26,3550 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
023416,003778: 26,3551 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
023417,003779: 26,3552 03722 STORE OMEGDISP # STORE FOR DISPLAY IN R2
023418,003780: 26,3553 77776 EXIT
023419,003781: 26,3554 05225 TC ENDOFJOB
023420,003782:
023421,003783: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
023422,003784:
023423,003785:
023424,003786: 26,3555 47375 CALCXY VLOAD VXV
023425,003787: 26,3556 03671 VXRCM
023426,003788: 26,3557 03677 LOSDESRD
023427,003789: 26,3560 77656 UNIT
023428,003790: 26,3561 27705 STOVL UXVECT # UX = (VLM X RLM) X LOS
023429,003791: 26,3562 03677 LOSDESRD
023430,003792: 26,3563 53435 VXV UNIT
023431,003793: 26,3564 03705 UXVECT
023432,003794: 26,3565 03713 STORE UYVECT # UY = LOS X UX
023433,003795: 26,3566 77650 GOTO
023434,003796: 26,3567 55504 OFFCALC
023435,003797:
023436,003798:
023437,003799: 26,3570 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
023438,003800: 26,3571 03677 LOSDESRD
023439,003801: 26,3572 01736 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
023440,003802: 26,3573 52172 VSL1 GOTO
023441,003803: 26,3574 55512 CONTDESG
023442,003804:
023443,003805:
023444,003806: 26,3575 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
023445,003807: 26,3576 75020 MASK RNDVZBIT
023446,003808: 26,3577 00006 EXTEND
023447,003809: 26,3600 15321 BZF TASKOVER # NO-EXIT R24
023448,003810: 26,3601 37665 CAF PRIO25 # YES-SCHEDULE JOB TO DRIVE RADAR TO NEXT
023449,003811: 26,3602 05155 TC FINDVAC # POINT IN SEARCH PATTERN
023450,003812: 26,3603 E7,1662 EBANK= RLMSRCH
023451,003813: 26,3603 03606 54067 2CADR DATGDCHK
023452,003814: 26,3605 05321 TC TASKOVER
023453,003815:
023454,003816:
023455,003817: 26,3606 35023 DATGDCHK CAF BIT4
023456,003818: 26,3607 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
023457,003819: 26,3610 02033 RAND CHAN33
023458,003820: 26,3611 00006 EXTEND
023459,003821: 26,3612 13621 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
023460,003822: 26,3613 46216 CS SIX
023461,003823: 26,3614 61723 AD NSRCHPNT # IS N GREATER THAN 6
023462,003824: 26,3615 00006 EXTEND
023463,003825: 26,3616 13362 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
023464,003826: 26,3617 25723 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
023465,003827: 26,3620 13364 TCF CHKSRCH # NEXT POINT IN PATTERN
023466,003828:
023467,003829:
023468,003830: 26,3621 33635 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
023469,003831: 26,3622 55720 TS DATAGOOD
023470,003832:
023471,003833: 26,3623 00004 INHINT
023472,003834: 26,3624 06005 TC KILLTASK # DELETE DESIGNATE TASK FROM
023473,003835: 26,3625 52556 CADR DESLOOP +2 # WAITLIST USING KILLTASK
023474,003836: 26,3626 05225 TC ENDOFJOB
023475,003837:
023476,003838: 26,3627 05646 LIMALARM TC ALARM # ISSUE ALARM 527- LOS NOT IN MODE2
023477,003839: 26,3630 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
023478,003840: 26,3631 00004 INHINT # REQUIRED IN P20
023479,003841: 26,3632 06005 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
023480,003842: 26,3633 55575 CADR CALLDGCH # POINT IN SEARCH PATTERN
023481,003843: 26,3634 05225 TC ENDOFJOB
023482,003844:
023483,003845:
023484,003846: 26,3635 25547 ALL1S DEC 11111 B-14
023485,003847: 26,3636 33555 01106 SIN60DEG 2DEC .86603
023486,003848: 26,3640 23,2230 COS60DEG = DPHALF # (2DEC .50)
023487,003849: 26,3640 UXVECTPR EQUALS 12D # PREVIOUS
023488,003850: 26,3640 UYVECTPR EQUALS 18D
023489,003851: 26,3640 RLMUNIT EQUALS 12D
023490,003852: 26,3640 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
023491,003853: 26,3642 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
023492,003854: 26,3643 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
023493,003855: # **** ONEOCT NEEDS A LOWER ORDER ****
023494,003856: # **** WORD OF ZEROES ****
023495,003857: 26,3645 01130 6SECONDS DEC 600 B-14
023496,003858: 26,3646 00062 DEC50 DEC 50 B-14
023497,003859: # ********************************
023498,003860:
023499,003861: # TEST PROGRAM FOR LSR22.3 --- TO BE REMOVED
023500,003862: # ********************************
023501,003863:
023502,003864: 27,2140 BANK 27
023503,003865:
023504,003866: 27,2140 E7,1444 EBANK= AIG
023505,003867: 27,2140 COUNT* $$/RTEST
023506,003868: 27,2140 35030 TEST22.3 CAF ZERO
023507,003869: 27,2141 55125 TS LONG
023508,003870: 27,2142 06014 LOOP22.3 TC INTPRET
023509,003871: 27,2143 70744 LXC,2 DLOAD*
023510,003872: 27,2144 01125 LONG
023511,003873: 27,2145 62413 JOBOVER +1,2
023512,003874: 27,2146 03445 STORE AIG
023513,003875: 27,2147 77743 DLOAD*
023514,003876: 27,2150 62412 JOBOVER +2,2
023515,003877: 27,2151 03446 STORE AMG
023516,003878: 27,2152 77743 DLOAD*
023517,003879:
023518,003880: 27,2153 62410 JOBOVER +4,2
023519,003881: 27,2154 03727 STORE MKTIME
023520,003882: 27,2155 77743 DLOAD*
023521,003883: 27,2156 62406 JOBOVER +6,2
023522,003884: 27,2157 03731 STORE RM
023523,003885: 27,2160 77743 DLOAD*
023524,003886: 27,2161 62404 JOBOVER +8D,2
023525,003887: 27,2162 03721 STORE RDOTM
023526,003888: 27,2163 77743 DLOAD*
023527,003889: 27,2164 62402 JOBOVER +10D,2
023528,003890: 27,2165 03725 STORE RRSHAFT
023529,003891: 27,2166 77743 DLOAD*
023530,003892: 27,2167 62400 JOBOVER +12D,2
023531,003893: 27,2170 03723 STORE RRTRUN
023532,003894: 27,2171 77624 CALL
023533,003895: 27,2172 54425 LSR22.3
023534,003896: 27,2173 77776 22.3ENT EXIT
023535,003897: 27,2174 31125 CA LONG
023536,003898: 27,2175 62204 AD DEC13T
023537,003899: 27,2176 55125 TS LONG
023538,003900: 27,2177 11126 CCS LONG +1
023539,003901: 27,2200 02202 TC +2
023540,003902: 27,2201 30000 STOP22.3 CA A
023541,003903: 27,2202 55126 TS LONG +1
023542,003904: 27,2203 02142 TC LOOP22.3
023543,003905: 27,2204 00015 DEC13T DEC 13 B-14
023544,003906:
023545,003907: 27,2205 26,3362 JOBOVER EQUALS LRS24.1 # **** TEMPORARY DEFINITION ******
023546,003908:
023547,003909: # END OF TEST PROGRAM
023548,003910: # ****************************************
023549,003911: 27,2205 23,2232 ZERO/SP EQUALS HI6ZEROS
023550,003912:
|
|
Sundance 292 |
023552,003914: 4655 BLOCK 02
023553,003915: 6000 SETLOC FFTAG5
023554,003916: 6000 BANK
023555,003917: 6000 COUNT* $$/P20
023556,003918: 6000 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
023557,003919: 6001 36004 DCA VB56CADR # GOTOPOOH
023558,003920: 6002 15235 TCF SUPDXCHZ
023559,003921: 6003 E7,1456 EBANK= WHOCARES
023560,003922: 6003 03002 66107 VB56CADR 2CADR TRMTRACK
023561,003923:
|
|
Sundance 306 |
023563,003925:
023564,003926: # W-MATRIX MONITOR
023565,003927:
023566,003928: 31,2000 BANK 31
023567,003929: 37,2000 SETLOC VB45
023568,003930: 37,2000 BANK
023569,003931: 37,3077 COUNT* $$/EXTVB
023570,003932:
023571,003933: 37,3077 E4,1606 EBANK= WWPOS
023572,003934:
023573,003935: 37,3077 06716 V45CALL TC UNK7766
023574,003936: 37,3100 06014 TC INTPRET
023575,003937: 37,3101 77624 CALL
023576,003938: 37,3102 77161 V45WW
023577,003939: 37,3103 77776 EXIT
023578,003940: 37,3104 33234 V06N99DS CAF V06N99
023579,003941: 37,3105 04655 TC BANKCALL
023580,003942: 37,3106 20245 CADR GOXDSPFR
023581,003943: 37,3107 15561 TCF ENDEXT
023582,003944: 37,3110 03120 TC V06N9933
023583,003945: 37,3111 03115 TC +4
023584,003946: 37,3112 35024 CAF BIT3
023585,003947: 37,3113 05553 TC BLANKET
023586,003948: 37,3114 05225 TC ENDOFJOB
023587,003949: 37,3115 05563 +4 TC UPFLAG
023588,003950: 37,3116 00160 ADRES V45FLAG
023589,003951: 37,3117 03104 TC V06N99DS
023590,003952:
023591,003953: 37,3120 06014 V06N9933 TC INTPRET
023592,003954: 37,3121 77414 BON EXIT
023593,003955: 37,3122 03707 V45FLAG
023594,003956: 37,3123 77125 +2
023595,003957: 37,3124 15561 TCF ENDEXT
023596,003958: 37,3125 41345 DLOAD DMP
023597,003959:
023598,003960: 37,3126 02207 WWPOS
023599,003961: 37,3127 37236 1/SQRT3
023600,003962: 37,3130 72412 SL4 SL1
023601,003963: 37,3131 14001 STODL 0D
023602,003964: 37,3132 02211 WWVEL
023603,003965: 37,3133 77605 DMP
023604,003966: 37,3134 37236 1/SQRT3
023605,003967: 37,3135 00003 STORE 2D
023606,003968: 37,3136 72014 BON LXA,1
023607,003969: 37,3137 04307 SURFFLAG
023608,003970: 37,3140 77150 V45SURF
023609,003971: 37,3141 00000 0D
023610,003972: 37,3142 72130 SXA,1 LXA,1
023611,003973: 37,3143 02000 WRENDPOS
023612,003974: 37,3144 00002 2D
023613,003975: 37,3145 52130 SXA,1 GOTO
023614,003976: 37,3146 02001 WRENDVEL
023615,003977: 37,3147 77156 V45CLRF
023616,003978: 37,3150 66150 V45SURF LXA,1 SXA,1
023617,003979: 37,3151 00000 0D
023618,003980: 37,3152 02000 WRENDPOS
023619,003981: 37,3153 66150 LXA,1 SXA,1
023620,003982: 37,3154 00002 2D
023621,003983: 37,3155 02001 WRENDVEL
023622,003984: 37,3156 77414 V45CLRF CLEAR EXIT
023623,003985: 37,3157 02676 RENDWFLG
023624,003986: 37,3160 15561 TCF ENDEXT
023625,003987: 37,3161 40020 V45WW STQ BOV
023626,003988: 37,3162 00051 S2
023627,003989: 37,3163 77164 +1
023628,003990: 37,3164 45014 CLEAR CALL
023629,003991: 37,3165 03667 V45FLAG
023630,003992: 37,3166 27362 INTSTALL
023631,003993: 37,3167 71331 SSP DLOAD
023632,003994: 37,3170 00051 S1
023633,003995: 37,3171 00006 DEC 6 B-14
023634,003996: 37,3172 06233 ZEROVECS
023635,003997: 37,3173 02207 STORE WWPOS
023636,003998: 37,3174 02211 STORE WWVEL
023637,003999: 37,3175 77770 AXT,1
023638,004000: 37,3176 00066 DEC 54 B-14
023639,004001: 37,3177 47573 NXPOSVEL VLOAD* VSQ
023640,004002: 37,3200 02467 W +54D,1
023641,004003: 37,3201 77615 DAD
023642,004004: 37,3202 02207 WWPOS
023643,004005: 37,3203 02207 STORE WWPOS
023644,004006: 37,3204 47573 VLOAD* VSQ
023645,004007: 37,3205 02555 W +108D,1
023646,004008: 37,3206 77615 DAD
023647,004009: 37,3207 02211 WWVEL
023648,004010:
023649,004011: 37,3210 02211 STORE WWVEL
023650,004012: 37,3211 75500 TIX,1 SQRT
023651,004013: 37,3212 77177 NXPOSVEL
023652,004014: 37,3213 16211 STODL WWVEL
023653,004015: 37,3214 02207 WWPOS
023654,004016: 37,3215 77766 SQRT
023655,004017: 37,3216 02207 STORE WWPOS
023656,004018: 37,3217 52000 BOV GOTO
023657,004019: 37,3220 77222 +2
023658,004020: 37,3221 77226 V45XXX
023659,004021: 37,3222 77745 DLOAD
023660,004022: 37,3223 06241 DPPOSMAX
023661,004023: 37,3224 02207 STORE WWPOS
023662,004024: 37,3225 02211 STORE WWVEL
023663,004025: 37,3226 66150 V45XXX LXA,1 SXA,1
023664,004026: 37,3227 00051 S2
023665,004027: 37,3230 00052 QPRET
023666,004028: 37,3231 77776 EXIT
023667,004029: 37,3232 04674 TC POSTJUMP
023668,004030: 37,3233 27400 CADR INTWAKE
023669,004031:
023670,004032: 37,3234 01543 V06N99 VN 0699
023671,004033: 37,3235 22363 11620 1/SQRT3 2DEC 0.5773502
023672,004034:
023673,004035: # RADMODES BIT DEFINITIONS
023674,004036: 37,3237 5011 REMODBIT = BIT14 # ANTENNA MODE CHANGE REQUESTED FLAG
023675,004037: 37,3237 5013 ANTENBIT = BIT12 # RR ANTENNA MODE FLAG
023676,004038: 37,3237 5014 REPOSBIT = BIT11 # RR REPOSITION TAKING PLACE FLAG
023677,004039: 37,3237 5017 LRVELBIT = BIT8 # LR VELOCITY DATA FAIL FLAG
023678,004040: 37,3237 5020 RCDUFBIT = BIT7 # RR CDU FAIL OCCURRED FLAG
023679,004041: 37,3237 5022 LRALTBIT = BIT5 # LR ALTITUDE DATA FAIL FLAG
023680,004042: 37,3237 5025 AUTOMBIT = BIT2 # RR AUTO MODE DISCRETE FLAG
End of include-file P20-P25.agc. Parent file is MAIN.agc