Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
022373,000002: ## Copyright: Public domain.
022374,000003: ## Filename: P20-P25.agc
022375,000004: ## Purpose: A log section of Zerlina 56, the final revision of
022376,000005: ## Don Eyles's offline development program for the variable
022377,000006: ## guidance period servicer. It also includes a new P66 with LPD
022378,000007: ## (Landing Point Designator) capability, based on an idea of John
022379,000008: ## Young's. Neither of these advanced features were actually flown,
022380,000009: ## but Zerlina was also the birthplace of other big improvements to
022381,000010: ## Luminary including the terrain model and new (Luminary 1E)
022382,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
022383,000012: ## and revision 56 includes all changes up to and including Luminary
022384,000013: ## 183. It is therefore quite close to the Apollo 14 program,
022385,000014: ## Luminary 178, where not modified with new features.
022386,000015: ## Reference: pp. 500-611
022387,000016: ## Assembler: yaYUL
022388,000017: ## Contact: Ron Burkey <info@sandroid.org>.
022389,000018: ## Website: www.ibiblio.org/apollo/index.html
022390,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
022391,000020: ## 2017-08-20 MAS Began updates for Zerlina 56.
022392,000021: ## 2017-08-22 MAS Completed updating for Zerlina.
022393,000022:
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Page 500 |
022395,000024: # RENDEZVOUS NAVIGATION PROGRAM 20
022396,000025: # PROGRAM DESCRIPTION
022397,000026: # MOD NO - 2
022398,000027: # BY P. VOLANTE
022399,000028: # FUNCTIONAL DESCRIPTION
022400,000029:
022401,000030: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
022402,000031: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
022403,000032: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
022404,000033: # ON THE BASIS OF THE RR TRACKING DATA.
022405,000034: # CALLING SEQUENCE -
022406,000035:
022407,000036: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
022408,000037: # SUBROUTINES CALLED
022409,000038: # R02BOTH (IMU STATUS CHECK) FLAGUP
022410,000039: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
022411,000040: # R23LEM (MANUAL ACQUISITION) BANKCALL
022412,000041: # LS201 (LOS DETERMINATION) TASKOVER
022413,000042: # LS202 (RANGE LIMIT TEST)
022414,000043: # R61LEM (PREFERRED TRACKING ATTITUDE)
022415,000044: # R21LEM (RR DESIGNATE) ENDOFJOB
022416,000045: # R22LEM (DATA READ) GOPERF1
022417,000046: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
022418,000047: # PRIOLARM (PRIORITY DISPLAY)
022419,000048: # NORMAL EXIT MODES-
022420,000049: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022421,000050: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
022422,000051: # ALARM OR ABORT EXIT MODES-
022423,000052: # RANGE GREATER THAN 400 NM DISPLAY
022424,000053: # OUTPUT
022425,000054: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
022426,000055: # ERASABLE INITIALIZATION REQUIRED
022427,000056: # FLAGS SET + RESET
022428,000057: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
022429,000058: # DEBRIS
022430,000059: # CENTRALS-A,Q,L
022431,000060: 25,2053 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
022432,000061:
022433,000062: 33,2031 BANK 33
022434,000063: 24,2000 SETLOC P20S
022435,000064: 24,2000 BANK
022436,000065:
022437,000066: 24,2000 E7,1456 EBANK= LOSCOUNT
022438,000067: 24,2000 COUNT* $$/P20
022439,000068: 24,2000 24,2000 PROG22 = PROG20
022440,000069: 24,2000 05340 PROG20 TC 2PHSCHNG
022441,000070: 24,2001 00004 OCT 4
022442,000071: 24,2002 05022 OCT 05022
022443,000072: 24,2003 26000 OCT 26000 # PRIORITY 26
022444,000073: 24,2004 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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Page 501 |
022446,000075: 24,2005 02007 TC ORBCHGO # YES
022447,000076: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
022448,000077: 24,2007 05515 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
022449,000078: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
022450,000079: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
022451,000080: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
022452,000081: 24,2013 34363 CAF OCT00012
022453,000082: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
022454,000083: 24,2015 20634 CADR GOPERF4
022455,000084: 24,2016 06001 TC GOTOPOOH # TERMINATE
022456,000085: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
022457,000086: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
022458,000087: 24,2021 44753 ORBCHG1 CS ONE
022459,000088: 24,2022 61144 AD OPTION2
022460,000089: 24,2023 00006 EXTEND
022461,000090: 24,2024 12040 BZF PROG20A
022462,000091: 24,2025 32367 CAF V06N33*
022463,000092: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
022464,000093: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
022465,000094: 24,2030 06001 TC GOTOPOOH # TERMINATE
022466,000095: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
022467,000096: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
022468,000097: 24,2033 06051 ORBCHG2 TC INTPRET
022469,000098: 24,2034 77650 GOTO
022470,000099: 24,2035 77113 ORBCHG3
022471,000100: 32,2217 BANK 32
022472,000101: 37,2000 SETLOC P20S4
022473,000102: 37,2000 BANK
022474,000103: 37,3113 COUNT* $$/P20
022475,000104:
022476,000105: 37,3113 77624 ORBCHG3 CALL
022477,000106: 37,3114 27410 INTSTALL
022478,000107: 37,3115 77745 DLOAD
022479,000108: 37,3116 03442 TIG
022480,000109: 37,3117 03661 STORE LNCHTM
022481,000110: 37,3120 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
022482,000111: 37,3121 43014 CLEAR CLEAR
022483,000112: 37,3122 01674 VINTFLAG # LM INTEGRATION
022484,000113: 37,3123 01673 INTYPFLG # PRECISION - ENCKE
022485,000114: 37,3124 43014 CLEAR CLEAR
022486,000115: 37,3125 01676 DIM0FLAG # NO W-MATRIX
022487,000116: 37,3126 01675 D6OR9FLG
022488,000117: 37,3127 77624 CALL
022489,000118: 37,3130 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION
022490,000119: 37,3131 77624 CALL
022491,000120: 37,3132 11216 GRP2PC
022492,000121: 37,3133 77775 VLOAD
022493,000122: 37,3134 00017 RATT1
022494,000123: 37,3135 17631 STODL RSUBL # SAVE LM POSITION
022495,000124: 37,3136 00015 TAT
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Page 502 |
022497,000126: 37,3137 34041 STCALL TDEC1
022498,000127: 37,3140 27410 INTSTALL
022499,000128: 37,3141 43014 SET CLEAR
022500,000129: 37,3142 01474 VINTFLAG # CSM INTEGRATION
022501,000130: 37,3143 01673 INTYPFLG
022502,000131: 37,3144 43014 CLEAR BOFF
022503,000132: 37,3145 01676 DIM0FLAG
022504,000133: 37,3146 02756 RENDWFLG # W MATRIX VALID
022505,000134: 37,3147 77153 NOWMATX # NO
022506,000135: 37,3150 43014 SET SET # YES - SET FOR W MATRIX
022507,000136: 37,3151 01476 DIM0FLAG
022508,000137: 37,3152 01475 D6OR9FLG
022509,000138: 37,3153 77624 NOWMATX CALL
022510,000139: 37,3154 27133 INTEGRV # CSM INTEGRATION
022511,000140: 37,3155 77624 CALL
022512,000141: 37,3156 11216 GRP2PC
022513,000142: 37,3157 77775 VLOAD
022514,000143: 37,3160 00025 VATT1
022515,000144: 37,3161 25757 STOVL VSUBC # SAVE CSM VELOCITY
022516,000145: 37,3162 00017 RATT1
022517,000146: 37,3163 01101 STORE RSUBC # SAVE CSM POSITION
022518,000147: 37,3164 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
022519,000148: 37,3165 01757 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
022520,000149: 37,3166 24025 STOVL 20D # SAVE NSUB1
022521,000150: 37,3167 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
022522,000151: 37,3170 53435 VXV UNIT # PLANE CHANGE
022523,000152: 37,3171 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
022524,000153: 37,3172 27637 STOVL UCSM
022525,000154: 37,3173 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
022526,000155: 37,3174 50256 UNIT DOT # AND RSUBC
022527,000156: 37,3175 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
022528,000157: 37,3176 77752 SL1
022529,000158: 37,3177 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
022530,000159: 37,3200 44316 DSQ BDSU # COMPUTE SINE A
022531,000160: 37,3201 06510 ONEB-2
022532,000161: 37,3202 77766 SQRT
022533,000162: 37,3203 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
022534,000163: 37,3204 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
022535,000164: 37,3205 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
022536,000165: 37,3206 01757 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
022537,000166: 37,3207 77676 VCOMP
022538,000167: 37,3210 02744 STORE VVEC # TIME FOR TIME THETA B-5
022539,000168: 37,3211 45014 CLEAR CALL
022540,000169: 37,3212 03666 RVSW
022541,000170: 37,3213 24732 TIMETHET
022542,000171: 37,3214 77676 VCOMP
022543,000172: 37,3215 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
022544,000173: 37,3216 77745 DLOAD
022545,000174: 37,3217 00037 T
022546,000175: 37,3220 27663 STOVL TRANSTM # TRANSFER TIME
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Page 503 |
022548,000177: 37,3221 03645 NEWVEL
022549,000178: 37,3222 77646 ABVAL
022550,000179: 37,3223 24025 STOVL 20D
022551,000180: 37,3224 00001 0D
022552,000181: 37,3225 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
022553,000182: 37,3226 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
022554,000183: 37,3227 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
022555,000184: 37,3230 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
022556,000185: 37,3231 03653 NEWPOS # ORBITAL PLANE
022557,000186: 37,3232 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
022558,000187: 37,3233 00025 20D
022559,000188: 37,3234 37665 STCALL NCSMVEL # NEW CSM VELOCITY
022560,000189: 37,3235 11216 GRP2PC
022561,000190: 37,3236 77624 CALL
022562,000191: 37,3237 27410 INTSTALL
022563,000192: 37,3240 44345 DLOAD BDSU
022564,000193: 37,3241 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
022565,000194: 37,3242 03661 LNCHTM
022566,000195: 37,3243 25517 STOVL TET
022567,000196: 37,3244 03653 NEWPOS
022568,000197: 37,3245 01535 STORE RCV
022569,000198: 37,3246 25503 STOVL RRECT
022570,000199: 37,3247 03665 NCSMVEL
022571,000200: 37,3250 35511 STCALL VRECT
022572,000201: 37,3251 27705 MINIRECT
022573,000202: 37,3252 45174 AXT,2 CALL
022574,000203: 37,3253 00002 2
022575,000204: 37,3254 26660 ATOPCSM
022576,000205: 37,3255 77624 CALL
022577,000206: 37,3256 27417 INTWAKE0
022578,000207: 37,3257 77776 EXIT
022579,000208: 37,3260 04616 TC BANKCALL
022580,000209: 37,3261 50040 CADR PROG20A
022581,000210: 24,2036 BANK 24
022582,000211: 24,2000 SETLOC P20S
022583,000212: 24,2000 BANK
022584,000213: 24,2036 COUNT* $$/P20
022585,000214:
022586,000215: 24,2036 05527 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
022587,000216: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
022588,000217: 24,2040 04616 PROG20A TC BANKCALL
022589,000218: 24,2041 11241 CADR R02BOTH
022590,000219: 24,2042 05515 TC UPFLAG
022591,000220: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
022592,000221: 24,2044 05515 TC UPFLAG
022593,000222: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
022594,000223: 24,2046 05515 TC UPFLAG
022595,000224: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
022596,000225: 24,2050 05527 TC DOWNFLAG
022597,000226: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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Page 504 |
022599,000228: 24,2052 05527 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
022600,000229: 24,2053 00040 ADRES ACMODFLG
022601,000230: 24,2054 05527 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
022602,000231: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
022603,000232: 24,2056 05527 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
022604,000233: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
022605,000234: 24,2060 05527 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
022606,000235: 24,2061 00041 ADRES LOSCMFLG
022607,000236: 24,2062 06011 TC CLRADMOD
022608,000237: 24,2063 05515 TC UPFLAG
022609,000238: 24,2064 00005 ADRES FSPASFLG # SET FIRST PASS FLAG FOR ALARM
022610,000239: 24,2065 05364 P20LEM1 TC PHASCHNG
022611,000240: 24,2066 04022 OCT 04022
022612,000241: 24,2067 34755 CAF ZERO # ZERO MARK COUNTER
022613,000242: 24,2070 55462 TS MARKCTR
022614,000243: 24,2071 06051 P20LEM2 TC INTPRET # LOS DETERMINATION ROUTINE
022615,000244: 24,2072 77634 RTB
022616,000245: 24,2073 21555 LOADTIME
022617,000246: 24,2074 34041 STCALL TDEC1
022618,000247: 24,2075 51340 LPS20.1
022619,000248: 24,2076 77624 CALL
022620,000249: 24,2077 53633 LPS20.2 # TEST RANGE R/UTINE
022621,000250: 24,2100 77776 EXIT
022622,000251: 24,2101 50154 INDEX MPAC
022623,000252: 24,2102 02103 TC +1
022624,000253: 24,2103 02167 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
022625,000254: 24,2104 06051 526ALARM TC INTPRET
022626,000255: 24,2105 53575 VLOAD UNIT
022627,000256: 24,2106 00025 RRANGE
022628,000257: 24,2107 72441 DOT SL1
022629,000258: 24,2110 00017 VELLOS
022630,000259: 24,2111 16216 STODL RRATE # RANGE RATE FOR NOUN 54 B-7
022631,000260: 24,2112 00045 36D
022632,000261: 24,2113 51025 DSU BPL # IF RANGE>999.99,DISPLAY 999.99
022633,000262: 24,2114 10372 999.99NM
022634,000263: 24,2115 50142 TOOBIG
022635,000264: 24,2116 77745 DLOAD
022636,000265: 24,2117 00045 36D
022637,000266: 24,2120 16214 526ALRM1 STODL RANGE # RANGE FOR NOUN 54 B-29
022638,000267: 24,2121 06520 ZEROVECS
022639,000268: 24,2122 02220 STORE RTHETA # ZERO THETA FOR NOUN 54
022640,000269: 24,2123 43014 BOFF BOFF
022641,000270: 24,2124 00345 FSPASFLG # FIRST PASS
022642,000271: 24,2125 50155 P20LEMC5 # NO
022643,000272: 24,2126 04347 SURFFLAG # ON LUNAR SURFACE
022644,000273: 24,2127 50147 ALRMLT # NO
022645,000274: 24,2130 51145 DLOAD BPL
022646,000275: 24,2131 02216 RRATE
022647,000276: 24,2132 50145 ENDRN
022648,000277: 24,2133 77776 EXIT # YES
022649,000278:
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022651,000280: 24,2134 05364 TC PHASCHNG # IN CASE OF RESTART
022652,000281: 24,2135 04022 OCT 04022 # REACTIVATE DISPLAY
022653,000282: 24,2136 32373 CAF V16N5420
022654,000283: 24,2137 04616 TC BANKCALL # TURN ON V16N54 - DISPLAY
022655,000284: 24,2140 20452 CADR GODSPR # RANGE AND RANGE RATE
022656,000285: 24,2141 02156 TC P20LEM5
022657,000286:
022658,000287:
022659,000288: 24,2142 52145 TOOBIG DLOAD GOTO
022660,000289: 24,2143 10372 999.99NM
022661,000290: 24,2144 50120 526ALRM1
022662,000291:
022663,000292: 24,2145 77776 ENDRN EXIT
022664,000293: 24,2146 06025 TC GOTOV56
022665,000294:
022666,000295: 24,2147 77776 ALRMLT EXIT
022667,000296: 24,2150 05364 TC PHASCHNG
022668,000297: 24,2151 04022 OCT 04022
022669,000298: 24,2152 05600 TC ALARM # TURN ON ALARM LIGHT P20
022670,000299: 24,2153 00526 OCT 526
022671,000300: 24,2154 02156 TC P20LEM5
022672,000301: 24,2155 77776 P20LEMC5 EXIT
022673,000302: 24,2156 05527 P20LEM5 TC DOWNFLAG
022674,000303: 24,2157 00005 ADRES FSPASFLG
022675,000304: 24,2160 32370 CAF 500DEC # WAIT 5SECS
022676,000305: 24,2161 04616 TC BANKCALL
022677,000306: 24,2162 01736 CADR DELAYJOB
022678,000307: 24,2163 02071 TC P20LEM2
022679,000308:
022680,000309:
022681,000310: 24,2164 04616 P20LEM3 TC BANKCALL
022682,000311: 24,2165 20457 CADR CLEANDSP
022683,000312:
022684,000313:
022685,000314: 24,2166 02175 TC P20LEMB
022686,000315: 24,2167 05364 P20LEMA TC PHASCHNG
022687,000316: 24,2170 04022 OCT 04022
022688,000317: 24,2171 02752 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
022689,000318: 24,2172 02164 TC P20LEM3
022690,000319: 24,2173 04616 TC BANKCALL
022691,000320: 24,2174 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
022692,000321: 24,2175 05364 P20LEMB TC PHASCHNG
022693,000322: 24,2176 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
022694,000323: 24,2177 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
022695,000324: 24,2200 37726 CAF PRIO26 # RESTORE PRIORITY 26
022696,000325: 24,2201 05146 TC PRIOCHNG
022697,000326: 24,2202 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
022698,000327: 24,2203 74747 MASK TRACKBIT
022699,000328: 24,2204 00006 EXTEND
022700,000329: 24,2205 12310 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
022701,000330:
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022703,000332: 24,2206 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
022704,000333: 24,2207 00006 EXTEND
022705,000334: 24,2210 02033 RAND CHAN33
022706,000335: 24,2211 00006 EXTEND
022707,000336: 24,2212 12246 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
022708,000337:
022709,000338:
022710,000339: 24,2213 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
022711,000340: 24,2214 61010 AD MODREG # MAJOR MODE IS 20
022712,000341: 24,2215 00006 EXTEND
022713,000342: 24,2216 12231 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
022714,000343:
022715,000344:
022716,000345: 24,2217 67760 AD NEG2 # ALSO CHECK FOR P22
022717,000346: 24,2220 00006 EXTEND
022718,000347: 24,2221 12231 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
022719,000348: 24,2222 32365 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
022720,000349: 24,2223 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
022721,000350: 24,2224 21544 CADR PRIOLARM
022722,000351: 24,2225 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
022723,000352: 24,2226 02175 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
022724,000353: 24,2227 02175 TC P20LEMB # TO CHECK AUTO MODE AGAIN
022725,000354: 24,2230 05155 TC ENDOFJOB
022726,000355: 24,2231 32364 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
022727,000356: 24,2232 04616 TC BANKCALL
022728,000357: 24,2233 20624 CADR GOPERF1
022729,000358: 24,2234 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022730,000359: 24,2235 02175 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022731,000360: 24,2236 02752 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
022732,000361: 24,2237 02244 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
022733,000362: 24,2240 03221 TC R23LEM # NO - DO MANUAL ACQUISITION
022734,000363:
022735,000364:
022736,000365: 24,2241 05515 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
022737,000366: 24,2242 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
022738,000367: 24,2243 02175 TC P20LEMB # RR AUTO MODE
022739,000368:
022740,000369:
022741,000370: 24,2244 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
022742,000371: 24,2245 02175 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
022743,000372:
022744,000373:
022745,000374: 24,2246 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
022746,000375: 24,2247 74737 MASK RCDU0BIT
022747,000376: 24,2250 00006 EXTEND
022748,000377: 24,2251 12263 BZF P20LEMB4 # BRANCH - YES - WAIT
022749,000378: 24,2252 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
022750,000379: 24,2253 70076 MASK FLAGWRD2
022751,000380: 24,2254 00006 EXTEND
022752,000381: 24,2255 12267 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
|
|
Page 507 |
022754,000383: 24,2256 05527 TC DOWNFLAG # RESET TO AUTO MODE
022755,000384: 24,2257 00037 ADRES SRCHOPTN
022756,000385: 24,2260 05527 TC DOWNFLAG
022757,000386: 24,2261 00040 ADRES ACMODFLG
022758,000387: 24,2262 02310 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022759,000388:
022760,000389:
022761,000390: 24,2263 32362 P20LEMB4 CAF 250DEC
022762,000391: 24,2264 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022763,000392: 24,2265 01736 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
022764,000393: 24,2266 02246 TC P20LEMB3
022765,000394:
022766,000395:
022767,000396: 24,2267 06051 P20LEMC3 TC INTPRET
022768,000397: 24,2270 77634 RTB
022769,000398: 24,2271 21555 LOADTIME
022770,000399: 24,2272 34041 STCALL TDEC1
022771,000400: 24,2273 50374 UPPSV
022772,000401: 24,2274 77776 P20LEMC4 EXIT
022773,000402: 24,2275 05364 P20LEMC TC PHASCHNG
022774,000403: 24,2276 04022 OCT 04022
022775,000404: 24,2277 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
022776,000405: 24,2300 74745 MASK RNDVZBIT
022777,000406: 24,2301 00006 EXTEND
022778,000407: 24,2302 15155 BZF ENDOFJOB # NO - EXIT P20
022779,000408: 24,2303 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
022780,000409: 24,2304 74747 MASK TRACKBIT
022781,000410: 24,2305 00006 EXTEND
022782,000411: 24,2306 12342 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
022783,000412: 24,2307 02757 P20LEMF TC R21LEM
022784,000413:
022785,000414:
022786,000415: 24,2310 32362 P20LEMWT CAF 250DEC
022787,000416: 24,2311 05204 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
022788,000417: 24,2312 02322 ADRES P20LEMC1 # WAIT 2.5 SECONDS
022789,000418: 24,2313 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022790,000419: 24,2314 74747 MASK TRACKBIT
022791,000420: 24,2315 00006 EXTEND
022792,000421: 24,2316 15155 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
022793,000422: 24,2317 05364 P20LMWT1 TC PHASCHNG
022794,000423: 24,2320 40072 OCT 40072
022795,000424: 24,2321 05155 TC ENDOFJOB
022796,000425:
022797,000426:
022798,000427: 24,2322 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
022799,000428: 24,2323 74745 MASK RNDVZBIT
022800,000429: 24,2324 00006 EXTEND
022801,000430: 24,2325 15272 BZF TASKOVER # NO - EXIT P20/R22
022802,000431: 24,2326 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022803,000432: 24,2327 74747 MASK TRACKBIT
|
|
Page 508 |
022805,000434: 24,2330 00006 EXTEND
022806,000435: 24,2331 12337 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
022807,000436: 24,2332 37726 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
022808,000437: 24,2333 05105 TC FINDVAC
022809,000438: 24,2334 E7,1456 EBANK= LOSCOUNT
022810,000439: 24,2334 02713 50067 2CADR R22LEM42
022811,000440:
022812,000441: 24,2336 05272 TC TASKOVER
022813,000442:
022814,000443:
022815,000444: 24,2337 05232 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
022816,000445: 24,2340 02734 DEC 1500 B-14 # AND CHECK AGAIN
022817,000446:
022818,000447: 24,2341 02322 TC P20LEMC1
022819,000448:
022820,000449: 24,2342 32751 P20LEMD CAF 1500DEC
022821,000450: 24,2343 05204 TC TWIDDLE # WAITLIST FOR 15 SECONDS
022822,000451: 24,2344 02346 ADRES P20LEMD1
022823,000452: 24,2345 05155 TC ENDOFJOB
022824,000453:
022825,000454:
022826,000455: 24,2346 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
022827,000456: 24,2347 74747 MASK TRACKBIT
022828,000457: 24,2350 10000 CCS A
022829,000458: 24,2351 12355 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
022830,000459: 24,2352 05232 TC FIXDELAY # NO-WAIT 15 SECONDS
022831,000460: 24,2353 02734 DEC 1500 B-14
022832,000461: 24,2354 02346 TC P20LEMD1
022833,000462:
022834,000463:
022835,000464: 24,2355 37726 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
022836,000465: 24,2356 05105 TC FINDVAC
022837,000466: 24,2357 E7,1456 EBANK= LOSCOUNT
022838,000467: 24,2357 02267 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
022839,000468:
022840,000469: 24,2361 05272 TC TASKOVER
022841,000470:
022842,000471:
022843,000472: 24,2362 00372 250DEC DEC 250 B-14
022844,000473: 24,2363 00526 ALRM526 OCT 00526
022845,000474: 24,2364 00201 OCT201 OCT 00201
022846,000475: 24,2365 00514 ALRM514 OCT 514
022847,000476: 24,2366 00074 MAXTRIES DEC 60 B-14
022848,000477: 24,2367 4363 OCT00012 EQUALS BINCON
022849,000478: 24,2367 23,2507 ONEB-2 EQUALS DP1/4TH
022850,000479: 24,2367 01441 V06N33* VN 0633
022851,000480: 24,2370 00764 500DEC DEC 500 B-14
022852,000481: 24,2371 00070 20447 999.99NM 2DEC 1851982 B-29
022853,000482:
022854,000483: 24,2373 04066 V16N5420 VN 1654
022855,000484:
|
|
Page 509 |
022857,000486: 24,2374 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
022858,000487: 24,2375 01755 LS21X # TO PRESENT TIME
022859,000488: 24,2376 27410 INTSTALL
022860,000489: 24,2377 77624 CALL
022861,000490: 24,2400 26643 SETIFLGS
022862,000491: 24,2401 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
022863,000492: 24,2402 02756 RENDWFLG
022864,000493: 24,2403 50414 UPPSV1
022865,000494: 24,2404 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
022866,000495: 24,2405 43014 BON SET
022867,000496: 24,2406 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
022868,000497: 24,2407 50411 UPPSV5
022869,000498: 24,2410 01475 D6OR9FLG # OTHERWISE 9X9
022870,000499: 24,2411 77614 UPPSV5 BOF
022871,000500: 24,2412 00747 VEHUPFLG
022872,000501: 24,2413 50446 UPPSV3
022873,000502: 24,2414 77614 UPPSV1 SET
022874,000503: 24,2415 01474 VINTFLAG
022875,000504: 24,2416 77624 CALL
022876,000505: 24,2417 27133 INTEGRV
022877,000506: 24,2420 77624 CALL # GROUP 2 PHASE CHANGE
022878,000507: 24,2421 11216 GRP2PC # TO PROTECT INTEGRATION
022879,000508: 24,2422 77624 CALL
022880,000509: 24,2423 27410 INTSTALL
022881,000510: 24,2424 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
022882,000511: 24,2425 01571 TETCSM
022883,000512: 24,2426 01674 VINTFLAG
022884,000513: 24,2427 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
022885,000514: 24,2430 26643 SETIFLGS # WITHOUT W-MATRIX
022886,000515: 24,2431 34041 STCALL TDEC1
022887,000516: 24,2432 27133 INTEGRV
022888,000517: 24,2433 77214 BOFF VLOAD
022889,000518: 24,2434 04347 SURFFLAG
022890,000519: 24,2435 50274 P20LEMC4
022891,000520: 24,2436 01661 RCVLEM
022892,000521: 24,2437 77742 VSR2
022893,000522: 24,2440 26343 STOVL LMPOS
022894,000523: 24,2441 01667 VCVLEM
022895,000524: 24,2442 77742 VSR2
022896,000525: 24,2443 02351 STORE LMVEL
022897,000526: 24,2444 77650 GOTO
022898,000527: 24,2445 01755 LS21X
022899,000528:
022900,000529:
022901,000530: 24,2446 45014 UPPSV3 CLEAR CALL
022902,000531: 24,2447 01674 VINTFLAG
022903,000532: 24,2450 27133 INTEGRV
022904,000533: 24,2451 77624 CALL
022905,000534: 24,2452 11216 GRP2PC
022906,000535: 24,2453 77624 CALL
|
|
Page 510 |
022908,000537: 24,2454 27410 INTSTALL
022909,000538: 24,2455 71214 SET DLOAD
022910,000539: 24,2456 01474 VINTFLAG
022911,000540: 24,2457 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
022912,000541: 24,2460 77650 GOTO
022913,000542: 24,2461 50427 UPPSV4
022914,000543:
022915,000544:
022916,000545: 24,2462 E7,1456 EBANK= LOSCOUNT
022917,000546: 24,2462 COUNT* $$/P22
022918,000547:
|
|
Page 511 |
022920,000549: # PROGRAM DESCRIPTION
022921,000550: # PREFERRED TRACKING ATTITUDE PROGRAM P25
022922,000551: # MOD NO - 3
022923,000552: # BY P. VOLANTE
022924,000553: # FUNCTIONAL DESCRIPTION
022925,000554:
022926,000555: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022927,000556: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022928,000557: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022929,000558: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022930,000559: # CALLING SEQUENCE -
022931,000560: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
022932,000561: # SUBROUTINES CALLED -
022933,000562: # BANKCALL FLAGUP
022934,000563: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
022935,000564: # R61LEM (PREF TRK ATT ROUT) WAITLIST
022936,000565: # TASKOVER FINDVAC
022937,000566: # NORMAL EXIT MODES -
022938,000567: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022939,000568: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
022940,000569: # ALARM OR ABORT EXIT MODES -
022941,000570: # NONE
022942,000571: # OUTPUT
022943,000572: # ERASABLE INITIALIZATION REQUIRED
022944,000573: # FLAGS SET + RESET
022945,000574: # TRACKFLG,P25FLAG
022946,000575: # DEBRIS
022947,000576: # NONE
022948,000577: 24,2462 E7,1456 EBANK= LOSCOUNT
022949,000578: 24,2462 COUNT* $$/P25
022950,000579: 24,2462 05340 PROG25 TC 2PHSCHNG
022951,000580: 24,2463 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
022952,000581: 24,2464 05022 OCT 05022
022953,000582: 24,2465 26000 OCT 26000 # PRIORITY 26
022954,000583:
022955,000584: 24,2466 04616 TC BANKCALL
022956,000585: 24,2467 11241 CADR R02BOTH # IMU STATUS CHECK
022957,000586: 24,2470 05515 TC UPFLAG
022958,000587: 24,2471 00031 ADRES TRACKFLG # SET TRACK FLAG
022959,000588: 24,2472 05515 TC UPFLAG
022960,000589: 24,2473 00006 ADRES P25FLAG # SET P25FLAG
022961,000590: 24,2474 05527 TC DOWNFLAG
022962,000591: 24,2475 00010 ADRES RNDVZFLG
022963,000592: 24,2476 05364 P25LEM1 TC PHASCHNG
022964,000593: 24,2477 04022 OCT 04022
022965,000594: 24,2500 34743 CAF P25FLBIT
022966,000595: 24,2501 70074 MASK STATE # IS P25FLAG SET
022967,000596: 24,2502 00006 EXTEND
022968,000597: 24,2503 15155 BZF ENDOFJOB
022969,000598: 24,2504 34747 CAF TRACKBIT # IS TRACKFLAG SET?
|
|
Page 512 |
022971,000600: 24,2505 70075 MASK STATE +1
022972,000601: 24,2506 00006 EXTEND
022973,000602: 24,2507 12515 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
022974,000603: 24,2510 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
022975,000604: 24,2511 55745 TS R65CNTR
022976,000605: 24,2512 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
022977,000606: 24,2513 46123 CADR R65LEM
022978,000607: 24,2514 02476 TC P25LEM1 # THEN GO CHECK FLAGS
022979,000608: 24,2515 32526 P25LMWT1 CAF 60SCNDS
022980,000609: 24,2516 05204 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
022981,000610: 24,2517 02521 ADRES P25LEM2
022982,000611: 24,2520 05155 TC ENDOFJOB
022983,000612: 24,2521 35024 P25LEM2 CAF PRIO14
022984,000613: 24,2522 05105 TC FINDVAC
022985,000614: 24,2523 E7,1456 EBANK= LOSCOUNT
022986,000615: 24,2523 02476 50067 2CADR P25LEM1
022987,000616:
022988,000617: 24,2525 05272 TC TASKOVER
022989,000618: 24,2526 13560 60SCNDS DEC 6000 B-14
022990,000619:
|
|
Page 513 |
022992,000621: # DATA READ ROUTINE 22 (LEM)
022993,000622: # PROGRAM DESCRIPTION
022994,000623: # MOD NO - 2
022995,000624: # BY P VOLANTE
022996,000625: # FUNCTIONAL DESCRIPTION
022997,000626:
022998,000627: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022999,000628: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
023000,000629: # CALLING SEQUENCE -
023001,000630: # TC BANKCALL
023002,000631: # CADR R22LEM
023003,000632: # SUBROUTINES CALLED -
023004,000633: # LSR22.1 GOFLASH WAITLIST
023005,000634: # LSR22.2 PRIOLARM BANKCALL
023006,000635: # LSR22.3 R61LEM
023007,000636: # NORMAL EXIT MODES-
023008,000637: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
023009,000638: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
023010,000639: # R22 WILL TERMINATE SELF.
023011,000640: # ALARM OR ABORT EXIT MODES-
023012,000641: # PRIORITY ALARM
023013,000642: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
023014,000643: # OUTPUT
023015,000644: # SEE OUTPUT FROM LSR22.3
023016,000645: # ERASABLE INITIALIZATION REQUIRED
023017,000646: # SEE LSR22.1,LSR22.2,LSR22.3
023018,000647: # FLAGS SET + RESET
023019,000648: # NOANGFLG
023020,000649: # DEBRIS
023021,000650: # SEE LSR22.1,LSR22.2,LSR22.3
023022,000651: 24,2527 E7,1737 EBANK= LRS22.1X
023023,000652: 24,2527 COUNT* $$/R22
023024,000653: 24,2527 05364 R22LEM TC PHASCHNG
023025,000654: 24,2530 04022 OCT 04022
023026,000655: 24,2531 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
023027,000656: 24,2532 70074 MASK STATE
023028,000657: 24,2533 00006 EXTEND
023029,000658: 24,2534 15155 BZF ENDOFJOB # NO-EXIT R22 AND P20
023030,000659: 24,2535 34747 CAF TRACKBIT # IS TRACKFLAG SET?
023031,000660: 24,2536 70075 MASK STATE +1
023032,000661: 24,2537 00006 EXTEND
023033,000662: 24,2540 12722 BZF R22WAIT # NO WAIT
023034,000663: 24,2541 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
023035,000664: 24,2542 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
023036,000665: 24,2543 02012 RAND CHAN12
023037,000666: 24,2544 00006 EXTEND
023038,000667: 24,2545 12167 BZF P20LEMA # NO - RETURN TO P20
023039,000668: 24,2546 34752 CAF BIT2 # YES
023040,000669: 24,2547 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
023041,000670: 24,2550 02033 RAND CHAN33
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|
Page 514 |
023043,000672: 24,2551 00006 EXTEND
023044,000673: 24,2552 12554 BZF +2 # YES CONTINUE
023045,000674: 24,2553 02213 TC P20LEMB5 # NO - SET IT
023046,000675: 24,2554 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
023047,000676: 24,2555 74737 MASK RCDU0BIT
023048,000677: 24,2556 00006 EXTEND
023049,000678: 24,2557 12713 BZF R22LEM42 # CDUS BEING ZEROED
023050,000679: 24,2560 05364 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
023051,000680: 24,2561 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
023052,000681: 24,2562 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
023053,000682: 24,2563 64217 CADR LRS22.1 # DATA READ SUBROUTINE
023054,000683: 24,2564 50154 INDEX MPAC
023055,000684: 24,2565 02566 TC +1
023056,000685: 24,2566 02607 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
023057,000686: 24,2567 02275 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
023058,000687: 24,2570 32746 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
023059,000688: 24,2571 04616 TC BANKCALL
023060,000689: 24,2572 21544 CADR PRIOLARM
023061,000690: 24,2573 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
023062,000691: 24,2574 02577 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
023063,000692: 24,2575 02570 TC -5 # ENTER(ILLEGAL OPTION)
023064,000693: 24,2576 05155 TC ENDOFJOB
023065,000694:
023066,000695:
023067,000696: 24,2577 05364 R22LEM1 TC PHASCHNG
023068,000697: 24,2600 04022 OCT 04022
023069,000698: 24,2601 32747 CAF V06N05 # DISPLAY DELTA THETA
023070,000699: 24,2602 04616 TC BANKCALL
023071,000700: 24,2603 20510 CADR PRIODSP
023072,000701: 24,2604 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
023073,000702: 24,2605 02607 TC R22LEM2 # PROC (OK CONTINUE)
023074,000703: 24,2606 02275 TC P20LEMC # ENTER(RECYCLE)
023075,000704: 24,2607 05364 R22LEM2 TC PHASCHNG
023076,000705: 24,2610 04022 OCT 04022
023077,000706: 24,2611 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
023078,000707: 24,2612 02627 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
023079,000708: 24,2613 30075 CA FLAGWRD1 # IS TRACK FLAG SET
023080,000709: 24,2614 74747 MASK TRACKBIT
023081,000710: 24,2615 00006 EXTEND
023082,000711: 24,2616 12722 BZF R22WAIT # NO - WAIT
023083,000712: 24,2617 04616 TC BANKCALL # YES
023084,000713: 24,2620 51417 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
023085,000714: 24,2621 50154 INDEX MPAC
023086,000715: 24,2622 02623 TC +1
023087,000716: 24,2623 02627 TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
023088,000717: 24,2624 04616 TC BANKCALL
023089,000718: 24,2625 46116 CADR R61LEM
023090,000719: 24,2626 02722 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
023091,000720: 24,2627 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
023092,000721: 24,2630 74746 MASK NOUPFBIT # (IS NOUPDATE FLAG SET?)
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|
Page 515 |
023094,000723: 24,2631 00006 EXTEND
023095,000724: 24,2632 12713 BZF R22LEM42 # BRANCH-YES
023096,000725: 24,2633 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
023097,000726: 24,2634 74745 MASK UPDATBIT
023098,000727: 24,2635 00006 EXTEND
023099,000728: 24,2636 12713 BZF R22LEM42 # UPDATE FLAG NOT SET
023100,000729: 24,2637 37726 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
023101,000730: 24,2640 55055 TS PHSPRDT2
023102,000731:
023103,000732: 24,2641 06051 TC INTPRET
023104,000733: 24,2642 77650 GOTO
023105,000734: 24,2643 54420 LSR22.3
023106,000735: 24,2644 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
023107,000736: 24,2645 05364 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
023108,000737: 24,2646 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
023109,000738: 24,2647 12706 TCF R22LEM44
023110,000739: 24,2650 77776 R22LEM96 EXIT
023111,000740: 24,2651 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
023112,000741: 24,2652 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
023113,000742: 24,2653 05364 TC PHASCHNG
023114,000743: 24,2654 04022 OCT 04022 # TO PROTECT DISPLAY
023115,000744: 24,2655 37727 CAF PRIO27 # PROTECT DISPLAY
023116,000745: 24,2656 05072 TC NOVAC
023117,000746: 24,2657 E7,1746 EBANK= N49FLAG
023118,000747: 24,2657 02727 50067 2CADR N49DSP
023119,000748:
023120,000749: 24,2661 06051 TC INTPRET
023121,000750: 24,2662 77735 SLOAD
023122,000751: 24,2663 03747 N49FLAG
023123,000752: 24,2664 50054 BZE BMN # LOOP TO CHECK IF FLAG
023124,000753: 24,2665 50662 -3 # SETTING CHANGED-BRANCH - NO
023125,000754: 24,2666 50674 R22LEM7 # PROCEED
023126,000755: 24,2667 77650 GOTO # DISPLAY ANSWERED BY RECYCLE-INCORPORATE
023127,000756: 24,2670 03675 LGRET # NEXT MEASUREMENT
023128,000757: 24,2671 44752 V34TON49 CS TWO
023129,000758: 24,2672 55746 TS N49FLAG
023130,000759: 24,2673 05155 TC ENDOFJOB
023131,000760: 24,2674 77776 R22LEM7 EXIT
023132,000761: 24,2675 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
023133,000762: 24,2676 64752 AD TWO
023134,000763: 24,2677 00006 EXTEND
023135,000764: 24,2700 12527 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
023136,000765: 24,2701 06051 TC INTPRET
023137,000766: 24,2702 77624 CALL
023138,000767: 24,2703 11216 GRP2PC # PHASE CHANGE AND
023139,000768: 24,2704 77650 GOTO # GO TO INCORPORATE DATA.
023140,000769: 24,2705 55433 ASTOK
023141,000770: 24,2706 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
023142,000771: 24,2707 02752 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
023143,000772: 24,2710 02724 TC R22LEM46 # YES - WAIT 2 SECONDS
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|
Page 516 |
023145,000774: 24,2711 34756 CA FIVE # NOT ON LUNAR SURFACE
023146,000775: 24,2712 02716 TC R22LEM45 # R65COUNTER = 5
023147,000776: 24,2713 02752 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
023148,000777: 24,2714 02724 TC R22LEM46 # YES - WAIT 2 SECONDS
023149,000778: 24,2715 34752 CA TWO # NO-SET R65COUNTER = 2
023150,000779: 24,2716 55745 R22LEM45 TS R65CNTR
023151,000780: 24,2717 04616 TC BANKCALL
023152,000781: 24,2720 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
023153,000782: 24,2721 02527 TC R22LEM
023154,000783: 24,2722 32751 R22WAIT CAF 1500DEC
023155,000784: 24,2723 02311 TC P20LEMWT +1
023156,000785:
023157,000786:
023158,000787: 24,2724 04616 R22LEM46 TC BANKCALL
023159,000788: 24,2725 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
023160,000789: 24,2726 02527 TC R22LEM
023161,000790:
023162,000791: 24,2727 32750 N49DSP CAF V06N49NB
023163,000792: 24,2730 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
023164,000793: 24,2731 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
023165,000794: 24,2732 02671 TC V34TON49 # TERMINATE - SET N49FLAG = -2
023166,000795: 24,2733 44753 CS ONE # PROCEED - N49FLAG = -1
023167,000796: 24,2734 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
023168,000797: 24,2735 05155 TC ENDOFJOB
023169,000798: 24,2736 05364 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
023170,000799: 24,2737 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
023171,000800: 24,2740 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
023172,000801: 24,2741 53070 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
023173,000802: 24,2742 04616 TC BANKCALL # BAD DATA
023174,000803: 24,2743 17713 CADR RADSTALL # WAIT FOR READ COMPLETE
023175,000804: 24,2744 02275 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
023176,000805: 24,2745 02527 TC R22LEM # READ SUCCESSFUL-CONTINUE AT R22
023177,000806:
023178,000807:
023179,000808: 24,2746 00525 ALRM525 OCT 00525
023180,000809: 24,2747 01405 V06N05 VN 00605
023181,000810: 24,2750 01461 V06N49NB VN 00649
023182,000811: 24,2751 02734 1500DEC DEC 1500 B-14
023183,000812: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
023184,000813: # RETURNS TO CALLER +1 IF P22FLAG SET
023185,000814: # TO CALLER +2 IF P22FLAG NOT SET
023186,000815:
023187,000816:
023188,000817: 24,2752 COUNT* $$/P22
023189,000818: 24,2752 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
023190,000819: 24,2753 74744 MASK SURFFBIT # IS SURFFLAG SET?
023191,000820: 24,2754 10000 CCS A # BRANCH - P22FLAG SET
023192,000821: 24,2755 24002 INCR Q # NOT SET
023193,000822: 24,2756 00002 TC Q # RETURN
023194,000823:
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|
Page 517 |
023196,000825: # RR DESIGNATE ROUTINE (R21LEM)
023197,000826: # PROGRAM DESCRIPTION
023198,000827: # MOD NO - 2
023199,000828: # BY P VOLANTE
023200,000829: # FUNCTIONAL DESCRIPTION
023201,000830:
023202,000831: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
023203,000832: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
023204,000833: # CALLING SEQUENCE -
023205,000834: # TC BANKCALL
023206,000835: # CADR R21LEM
023207,000836: # SUBROUTINES CALLED -
023208,000837: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
023209,000838: # NOVAC INTPRET LPS20.1 PHASCHNG
023210,000839: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
023211,000840: # TASKOVER BANKCALL RADSTALL RRDESSM
023212,000841: # NORMAL EXIT MODES
023213,000842: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
023214,000843: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
023215,000844: # ALARM OR ABORT EXIT MODES-
023216,000845: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
023217,000846: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
023218,000847: # ACQUISITION
023219,000848: # OUTPUT
023220,000849: # SEE LPS20.1,RRDESSM
023221,000850: # ERASABLE INITIALIZATION REQUIRED
023222,000851: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
023223,000852: # FLAGS SET + RESET
023224,000853: # LOSCMFLG LOKONSW
023225,000854: # DEBRIS
023226,000855: # SEE LPS20.1,RRDESSM
023227,000856: 24,2757 E7,1456 EBANK= LOSCOUNT
023228,000857: 24,2757 COUNT* $$/R21
023229,000858: 24,2757 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
023230,000859: 24,2760 00006 EXTEND
023231,000860: 24,2761 03012 WAND CHAN12
023232,000861: 24,2762 02752 TC LUNSFCHK
023233,000862: 24,2763 02770 TC R21LEM5
023234,000863: 24,2764 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
023235,000864: 24,2765 55106 TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
023236,000865: 24,2766 55107 TS TANG +1
023237,000866: 24,2767 03000 TC R21LEM6
023238,000867: 24,2770 34740 R21LEM5 CAF BIT12
023239,000868: 24,2771 70110 MASK RADMODES
023240,000869: 24,2772 10000 CCS A
023241,000870: 24,2773 03010 TC R21LEM10
023242,000871: 24,2774 34735 CAF BIT15
023243,000872: 24,2775 55106 TS TANG
023244,000873: 24,2776 44736 CS HALF
023245,000874: 24,2777 55107 TS TANG +1
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|
Page 518 |
023247,000876: 24,3000 05527 R21LEM6 TC DOWNFLAG
023248,000877: 24,3001 00012 ADRES LOKONSW
023249,000878: 24,3002 04616 TC BANKCALL
023250,000879: 24,3003 52466 CADR RRDESNB
023251,000880: 24,3004 03005 TC +1
023252,000881: 24,3005 04616 TC BANKCALL
023253,000882: 24,3006 17713 CADR RADSTALL
023254,000883: 24,3007 03043 TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
023255,000884: 24,3010 05515 R21LEM10 TC UPFLAG
023256,000885: 24,3011 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
023257,000886: 24,3012 32366 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
023258,000887: 24,3013 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
023259,000888: 24,3014 36257 R21LEM2 CAF THREE
023260,000889: 24,3015 55456 TS LOSCOUNT
023261,000890: 24,3016 06051 R21LEM1 TC INTPRET
023262,000891: 24,3017 43234 RTB DAD
023263,000892: 24,3020 21555 LOADTIME
023264,000893: 24,3021 11204 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
023265,000894: 24,3022 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
023266,000895: 24,3023 51340 LPS20.1
023267,000896: 24,3024 77776 EXIT
023268,000897: 24,3025 05515 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
023269,000898: 24,3026 00012 ADRES LOKONSW
023270,000899: 24,3027 05527 TC DOWNFLAG
023271,000900: 24,3030 00126 ADRES NORRMON
023272,000901: 24,3031 06051 TC INTPRET
023273,000902: 24,3032 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
023274,000903: 24,3033 52364 RRDESSM # DESIGNATE ROUTINE
023275,000904: 24,3034 77776 EXIT
023276,000905: 24,3035 03064 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
023277,000906: # ON LUNAR SURFACE
023278,000907: 24,3036 02167 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
023279,000908: 24,3037 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
023280,000909: 24,3040 17713 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
023281,000910: 24,3041 03043 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
023282,000911: 24,3042 03052 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
023283,000912: 24,3043 33062 R21-503 CAF ALRM503 # ISSUE ALARM 503
023284,000913: 24,3044 04616 TC BANKCALL
023285,000914: 24,3045 21544 CADR PRIOLARM
023286,000915: 24,3046 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
023287,000916: 24,3047 03057 TC R21SRCH # PROC
023288,000917: 24,3050 02267 TC P20LEMC3
023289,000918: 24,3051 05155 TC ENDOFJOB
023290,000919: 24,3052 05527 R21END TC DOWNFLAG
023291,000920: 24,3053 00041 ADRES LOSCMFLG # RESET LOSCMFLG
023292,000921: 24,3054 02752 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
023293,000922: 24,3055 02310 TC P20LEMWT # YES - BYPASS V 50 N 72 DISPLAY
023294,000923: 24,3056 03205 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
023295,000924: 24,3057 05364 R21SRCH TC PHASCHNG
023296,000925: 24,3060 04022 OCT 04022
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|
Page 519 |
023298,000927: 24,3061 03272 TC R24LEM # SEARCH ROUTINE
023299,000928: 24,3062 00503 ALRM503 OCT 00503
023300,000929: 24,3063 00527 ALRM527 OCT 527
023301,000930:
023302,000931:
023303,000932: 24,3064 32366 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
023304,000933: 24,3065 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
023305,000934: 24,3066 05515 TC UPFLAG
023306,000935: 24,3067 00005 ADRES FSPASFLG # SET FIRST TIME FLAG
023307,000936: 24,3070 05527 TC DOWNFLAG # RESET LOS BEING
023308,000937: 24,3071 00041 ADRES LOSCMFLG # COMPUTED FLAG
023309,000938: 24,3072 06051 TC INTPRET
023310,000939: 24,3073 77634 R21LEM12 RTB
023311,000940: 24,3074 21555 LOADTIME
023312,000941: 24,3075 77615 R21LEM00 DAD
023313,000942: 24,3076 11202 TENSEC # TIME T = T + 10 SECS.
023314,000943: 24,3077 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
023315,000944: 24,3100 34041 STCALL TDEC1
023316,000945: 24,3101 51340 LPS20.1 # COMPUTE LOS AT TIME T
023317,000946: 24,3102 77624 CALL
023318,000947: 24,3103 52364 RRDESSM
023319,000948: 24,3104 77776 EXIT
023320,000949: 24,3105 03117 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
023321,000950: 24,3106 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
023322,000951: 24,3107 06032 TC KILLTASK
023323,000952: 24,3110 52564 CADR BEGDES
023324,000953: 24,3111 06051 TC INTPRET
023325,000954: 24,3112 43014 BOF CLRGO
023326,000955: 24,3113 00345 FSPASFLG # FIRST TIME THRU REPOSITION
023327,000956: 24,3114 51127 R21LEM8 # NO-GO TO CONTINUOUS DESIGNATE
023328,000957: 24,3115 00225 FSPASFLG # YES-RESET FIRST TIME FLAG
023329,000958: 24,3116 51124 R21LEM50
023330,000959: 24,3117 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
023331,000960: 24,3120 03122 TC R21LEM7 # NO-ADD 10 SECS. RECOMPUTE LOS
023332,000961: 24,3121 03171 TC R21LEM11 # YES-PUT OUT ALARM 530
023333,000962: 24,3122 55423 R21LEM7 TS REPOSCNT
023334,000963: 24,3123 06051 TC INTPRET
023335,000964: 24,3124 52145 R21LEM50 DLOAD GOTO
023336,000965: 24,3125 03425 REPOSTM
023337,000966: 24,3126 51075 R21LEM00
023338,000967: 24,3127 77745 R21LEM8 DLOAD
023339,000968: 24,3130 03425 REPOSTM
023340,000969: 24,3131 34041 STCALL TDEC1
023341,000970: 24,3132 50374 UPPSV
023342,000971: 24,3133 77776 EXIT
023343,000972: 24,3134 05515 TC UPFLAG # SET RADMODES BIT 15 FOR
023344,000973: 24,3135 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
023345,000974: 24,3136 05527 TC DOWNFLAG
023346,000975: 24,3137 00012 ADRES LOKONSW
023347,000976: 24,3140 05515 TC UPFLAG
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|
Page 520 |
023349,000978: 24,3141 00126 ADRES NORRMON
023350,000979: 24,3142 04616 TC BANKCALL
023351,000980: 24,3143 52466 CADR RRDESNB
023352,000981: 24,3144 03145 TC +1
023353,000982: 24,3145 06051 TC INTPRET
023354,000983: 24,3146 44234 RTB BDSU
023355,000984: 24,3147 21555 LOADTIME # COMPUTE DELTA TIME
023356,000985: 24,3150 03425 REPOSTM # FOR LONGCALL
023357,000986: 24,3151 03427 STORE DELTATM
023358,000987: 24,3152 77776 EXIT
023359,000988: 24,3153 00006 EXTEND
023360,000989: 24,3154 31427 DCA DELTATM
023361,000990: 24,3155 05310 TC LONGCALL
023362,000991: 24,3156 E7,1456 EBANK= LOSCOUNT
023363,000992: 24,3156 03161 50067 2CADR R21LEM9
023364,000993:
023365,000994: 24,3160 05155 TC ENDOFJOB
023366,000995: 24,3161 06032 R21LEM9 TC KILLTASK
023367,000996: 24,3162 52573 CADR STDESIG
023368,000997: 24,3163 06011 TC CLRADMOD
023369,000998: 24,3164 37726 CAF PRIO26
023370,000999: 24,3165 05105 TC FINDVAC
023371,001000: 24,3166 E7,1456 EBANK= LOSCOUNT
023372,001001: 24,3166 03010 50067 2CADR R21LEM10
023373,001002:
023374,001003: 24,3170 05272 TC TASKOVER
023375,001004: 24,3171 33200 R21LEM11 CAF ALRM530 # ALARM 530-LOS NOT IN COVERAGE
023376,001005: 24,3172 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
023377,001006: 24,3173 21544 CADR PRIOLARM # 600 SECS.
023378,001007: 24,3174 06025 TC GOTOV56
023379,001008: 24,3175 06025 TC GOTOV56
023380,001009: 24,3176 06025 TC GOTOV56
023381,001010: 24,3177 05155 TC ENDOFJOB
023382,001011: 24,3200 00530 ALRM530 OCT 00530
023383,001012: 24,3201 00000 01750 TENSEC 2DEC 1000 B-28
023384,001013:
023385,001014: 24,3203 00000 00062 HALFSEC 2DEC 50 B-28
023386,001015:
023387,001016: 24,3205 05364 R21DISP TC PHASCHNG
023388,001017: 24,3206 04022 OCT 04022
023389,001018: 24,3207 33220 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
023390,001019: 24,3210 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
023391,001020: 24,3211 20711 CADR GOPERF2R
023392,001021: 24,3212 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
023393,001022: 24,3213 02310 TC P20LEMWT # PROCEED CONTINUES TO R22
023394,001023: 24,3214 03207 TC -5 # ENTER ILLEGAL
023395,001024: 24,3215 34745 CAF BIT7
023396,001025: 24,3216 05475 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
023397,001026: 24,3217 05155 TC ENDOFJOB
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|
Page 521 |
023399,001028: 24,3220 01510 V06N72PV VN 00672
023400,001029:
|
|
Page 522 |
023402,001031: # MANUAL ACQUISITION ROUTINE R23LEM
023403,001032: # PROGRAM DESCRIPTION
023404,001033: # MOD NO - 2
023405,001034: # BY P VOLANTE
023406,001035: # FUNCTIONAL DESCRIPTION
023407,001036:
023408,001037: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
023409,001038: # CALLING SEQUENCE -
023410,001039: # TC R23LEM
023411,001040: # SUBROUTINES CALLED
023412,001041: # BANKCALL R61LEM
023413,001042: # SETMINDB GOPERF1
023414,001043: # NORMAL EXIT MODES -
023415,001044: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
023416,001045: # ,SELECTION OF PROC WILL CONTINUE R23
023417,001046: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
023418,001047: # ALARM OR ABORT EXIT MODES -
023419,001048: # SEE NORMAL EXIT MODES ABOVE
023420,001049: # OUTPUT
023421,001050: # N.A.
023422,001051: # ERASABLE INITIALIZATION REQUIRED-
023423,001052: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
023424,001053: 24,3221 1142 EBANK= GENRET
023425,001054: 24,3221 COUNT* $$/R23
023426,001055: 24,3221 05515 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
023427,001056: 24,3222 00126 ADRES NORRMON
023428,001057: 24,3223 00004 INHINT
023429,001058: 24,3224 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
023430,001059: 24,3225 40141 CADR SETMINDB
023431,001060: 24,3226 00003 RELINT
023432,001061: 24,3227 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
023433,001062: 24,3230 00006 EXTEND
023434,001063: 24,3231 05012 WOR CHAN12
023435,001064: 24,3232 33271 CAF OCT205
023436,001065: 24,3233 04616 TC BANKCALL
023437,001066: 24,3234 20624 CADR GOPERF1
023438,001067: 24,3235 03262 TC R23LEM2 # TERMINATE
023439,001068: 24,3236 03240 TC R23LEM11 # PROCEDE
023440,001069: 24,3237 03265 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
023441,001070: 24,3240 00004 R23LEM11 INHINT
023442,001071: 24,3241 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
023443,001072: 24,3242 00035 ADRES CDUT
023444,001073: 24,3243 03252 TC OUTOFLIM # NOT WITHIN LIMITS
023445,001074: 24,3244 04674 TC IBNKCALL # RESTORE DEADBAND TO
023446,001075: 24,3245 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
023447,001076: 24,3246 00003 RELINT
023448,001077: 24,3247 05527 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
023449,001078: 24,3250 00126 ADRES NORRMON
023450,001079: 24,3251 02241 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
023451,001080: 24,3252 00003 OUTOFLIM RELINT
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|
Page 523 |
023453,001082: 24,3253 33270 CAF OCT501PV
023454,001083: 24,3254 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
023455,001084: 24,3255 21544 CADR PRIOLARM # LIMITS
023456,001085: 24,3256 03262 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
023457,001086: 24,3257 03253 TC OUTOFLIM +1 # PROCEED ILLEGAL
023458,001087: 24,3260 03265 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
023459,001088: 24,3261 05155 TC ENDOFJOB
023460,001089: 24,3262 05527 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
023461,001090: 24,3263 00126 ADRES NORRMON
023462,001091: 24,3264 06025 TC GOTOV56 # AND EXIT VIA V56
023463,001092: 24,3265 04616 R23LEM3 TC BANKCALL
023464,001093: 24,3266 46116 CADR R61LEM
023465,001094: 24,3267 03227 TC R23LEM1
023466,001095:
023467,001096:
023468,001097: 24,3270 00501 OCT501PV OCT 501
023469,001098: 24,3271 00205 OCT205 OCT 205
023470,001099:
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Page 524 |
023472,001101: # SEARCH ROUTINE R24LEM
023473,001102: # PROGRAM DESCRIPTION
023474,001103: # MOD NO - 2
023475,001104: # BY P. VOLANTE
023476,001105: # FUNCTIONAL DESCRIPTION
023477,001106:
023478,001107: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
023479,001108: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
023480,001109: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
023481,001110: # CALLING SEQUENCE
023482,001111: # CAF PRIONN
023483,001112: # TC FINDVAC
023484,001113: # EBANK= DATAGOOD
023485,001114: # 2CADR R24LEM
023486,001115: # SUBROUTINES CALLED
023487,001116: # FLAGUP FLAGDOWN BANKCALL
023488,001117: # R61LEM GOFLASHR FINDVAC
023489,001118: # ENDOFJOB NOVAC LSR24.1
023490,001119: # NORMAL EXIT MODES-
023491,001120: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
023492,001121: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
023493,001122: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
023494,001123: # ALARM OR ABORT EXIT MODES-
023495,001124: # SEE NORMAL EXIT MODES ABOVE
023496,001125: # OUTPUT -
023497,001126: # SEE OUTPUT FROM LSR24.1 + R61LEM
023498,001127: # ERASABLE INITIALIZATION REQUIRED
023499,001128: # SEE INPUT FOR LSR24.1
023500,001129: # FLAGS SET + RESET
023501,001130: # SRCHOPT,ACMODFLG
023502,001131: 24,3272 E7,1733 EBANK= DATAGOOD
023503,001132: 24,3272 COUNT* $$/R24
023504,001133: 24,3272 05515 R24LEM TC UPFLAG
023505,001134: 24,3273 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
023506,001135: 24,3274 05527 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
023507,001136: 24,3275 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
023508,001137: 24,3276 34755 R24LEM1 CAF ZERO
023509,001138: 24,3277 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
023510,001139: 24,3300 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
023511,001140: 24,3301 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
023512,001141: 24,3302 05364 R24LEM2 TC PHASCHNG
023513,001142: 24,3303 04022 OCT 04022
023514,001143: 24,3304 33337 CAF V16N80
023515,001144: 24,3305 04616 TC BANKCALL
023516,001145: 24,3306 20505 CADR PRIODSPR
023517,001146: 24,3307 06025 TC GOTOV56
023518,001147: 24,3310 03314 TC R24END # PROCEED EXIT R24 TO P20LEM1
023519,001148:
023520,001149:
023521,001150: 24,3311 03320 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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023523,001152: 24,3312 04616 TC BANKCALL
023524,001153: 24,3313 55444 CADR LRS24.1
023525,001154: 24,3314 06032 R24END TC KILLTASK
023526,001155: 24,3315 55645 CADR CALLDGCH
023527,001156: 24,3316 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
023528,001157: 24,3317 12065 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
023529,001158:
023530,001159: 6011 BLOCK 3
023531,001160: 6000 SETLOC FFTAG6
023532,001161: 6000 BANK
023533,001162: 6011 COUNT* $$/R24
023534,001163:
023535,001164: 6011 46021 CLRADMOD CS BIT10+15
023536,001165: 6012 00004 INHINT
023537,001166: 6013 70110 MASK RADMODES
023538,001167: 6014 54110 TS RADMODES
023539,001168: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
023540,001169: 6016 00006 EXTEND
023541,001170: 6017 03012 WAND CHAN12 # USER WILL RELINT
023542,001171:
023543,001172: 6020 00002 TC Q
023544,001173:
023545,001174:
023546,001175: 6021 41000 BIT10+15 OCT 41000
023547,001176: 24,3320 BANK 24
023548,001177: 24,2000 SETLOC P20S
023549,001178: 24,2000 BANK
023550,001179: 24,3320 COUNT* $$/R24
023551,001180:
023552,001181: 24,3320 05364 R24LEM3 TC PHASCHNG
023553,001182: 24,3321 04022 OCT 04022
023554,001183: 24,3322 06032 TC KILLTASK
023555,001184: 24,3323 55645 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
023556,001185: 24,3324 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
023557,001186: 24,3325 34774 CAF .5SEC
023558,001187: 24,3326 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
023559,001188: 24,3327 01736 CADR DELAYJOB
023560,001189: 24,3330 02752 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
023561,001190: 24,3331 03334 TC R24LEM4 # YES-DONT DO ATTITUDE MANEUVER
023562,001191: 24,3332 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
023563,001192: 24,3333 46116 CADR R61LEM # ATTITUDE MANEUVER
023564,001193: 24,3334 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
023565,001194: 24,3335 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
023566,001195: # RRDESSM WILL RETURN TO CALLER
023567,001196: 24,3336 03302 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
023568,001197:
023569,001198:
023570,001199: 24,3337 04120 V16N80 VN 01680
023571,001200:
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023573,001202: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
023574,001203: # PROGRAM DESCRIPTION
023575,001204: # MOD NO : 3 DATE : 4-11-67
023576,001205: # MOD BY : P VOLANTE SDC
023577,001206:
023578,001207:
023579,001208: # FUNCTIONAL DESCRIPTION-
023580,001209: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
023581,001210: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
023582,001211: # ATTITUDE.
023583,001212: # CALLING SEQUENCE-
023584,001213: # TC BANKCALL
023585,001214: # CADR R61LEM
023586,001215: # SUBROUTINES CALLED
023587,001216: # LPS20.1 VECPOINT
023588,001217: # KALCMAN3
023589,001218:
023590,001219:
023591,001220: # NORMAL EXIT MODES-
023592,001221: # NORMAL RETURN IS TO CALLER + 1
023593,001222: # ALARM OR ABORT EXIT MODES-
023594,001223: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
023595,001224: # RENDEZVOUS FLAG ARE NOT SET.
023596,001225: # OUTPUT -
023597,001226: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
023598,001227: # ERASABLE INITIALIZATION REQUIRED
023599,001228: # GENRET USED TO SAVE Q FOR RETURN
023600,001229: # FLAGS SET + RESET
023601,001230: # 3AXISFLG
023602,001231: # DEBRIS
023603,001232: # SEE SUBROUTINES
023604,001233: 23,2000 SETLOC R61
023605,001234: 23,2000 BANK
023606,001235: 23,2116 E7,1456 EBANK= LOSCOUNT
023607,001236: 23,2116 COUNT* $$/R61
023608,001237: 23,2116 04645 R61LEM TC MAKECADR
023609,001238: 23,2117 55142 TS GENRET
023610,001239: 23,2120 05515 TC UPFLAG # SET R61 FLAG
023611,001240: 23,2121 00024 ADRES R61FLAG
023612,001241: 23,2122 02150 TC R61C+L02
023613,001242: 23,2123 04645 R65LEM TC MAKECADR
023614,001243: 23,2124 55142 TS GENRET
023615,001244: 23,2125 05527 TC DOWNFLAG # RESET R61 FLAG
023616,001245: 23,2126 00024 ADRES R61FLAG
023617,001246: 23,2127 34736 CA BIT14 # RESET AGS CODE WORD (=20000). DON'T USE
023618,001247: 23,2130 55073 TS AGSCODE # PGNCS DOWNLINKED RADAR DATA.
023619,001248: 23,2131 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
023620,001249: 23,2132 00006 EXTEND # GOOD NOT PRESENT
023621,001250: 23,2133 02033 RAND CHAN33
023622,001251: 23,2134 10000 CCS A
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023624,001253: 23,2135 12150 TCF R61C+L02 # NO DATA GOOD
023625,001254: 23,2136 04616 TC BANKCALL # READ RR RANGE AND RDOT
023626,001255: 23,2137 53070 CADR RRRDOT # EVERY R65 PASS (3 TIMES
023627,001256: 23,2140 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
023628,001257: 23,2141 17713 CADR RADSTALL # DURING ANY MARK PROCESSING,
023629,001258: 23,2142 12143 NOOP
023630,001259: 23,2143 04616 TC BANKCALL
023631,001260: 23,2144 53072 CADR RRRANGE
023632,001261: 23,2145 04616 TC BANKCALL
023633,001262: 23,2146 17713 CADR RADSTALL
023634,001263: 23,2147 12150 NOOP
023635,001264: 23,2150 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
023636,001265: 23,2151 70075 MASK STATE +1
023637,001266: 23,2152 00006 EXTEND
023638,001267: 23,2153 12312 BZF R65WAIT # NOT SET
023639,001268: 23,2154 06051 R61C+L03 TC INTPRET
023640,001269: 23,2155 77775 VLOAD
023641,001270: 23,2156 06512 HIUNITZ
023642,001271: 23,2157 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
023643,001272: 23,2160 43234 R61LEM1 RTB DAD
023644,001273: 23,2161 21555 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
023645,001274: 23,2162 15714 3SECONDS # SIX SECOND PERIOD.
023646,001275: 23,2163 34041 STCALL TDEC1
023647,001276: 23,2164 51340 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
023648,001277: 23,2165 77775 VLOAD
023649,001278: 23,2166 01101 RRTARGET
023650,001279: 23,2167 03773 STORE POINTVSM
023651,001280: 23,2170 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
023652,001281: 23,2171 46320 READCDUD
023653,001282: 23,2172 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
023654,001283: 23,2173 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
023655,001284: 23,2174 77776 EXIT
023656,001285: 23,2175 05364 TC PHASCHNG
023657,001286: 23,2176 04022 OCT 04022
023658,001287: 23,2177 34747 CAF TRACKBIT # IS TRACK FLAG SET
023659,001288: 23,2200 70075 MASK FLAGWRD1
023660,001289: 23,2201 00006 EXTEND
023661,001290: 23,2202 12312 BZF R65WAIT
023662,001291: 23,2203 04616 TC BANKCALL
023663,001292: 23,2204 54263 CADR G+N,AUTO # CHECK FOR AUTO MODE
023664,001293: 23,2205 10000 CCS A
023665,001294: 23,2206 02300 TC R61C+L04 # NOT IN AUTO
023666,001295: 23,2207 06051 TC INTPRET
023667,001296: 23,2210 45175 VLOAD CALL
023668,001297: 23,2211 01101 RRTARGET
023669,001298: 23,2212 47653 CDU*SMNB
023670,001299: 23,2213 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
023671,001300: 23,2214 00162 MPAC +5
023672,001301: 23,2215 06316 COS15DEG
023673,001302: 23,2216 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
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023675,001304: 23,2217 46234 R61C+L05 # PHI GRE 10DEG
023676,001305: 23,2220 E6,1634 EBANK= CDUXD
023677,001306: 23,2220 35015 CAF EBANK6
023678,001307: 23,2221 54003 TS EBANK
023679,001308: 23,2222 00004 INHINT
023680,001309: 23,2223 00006 EXTEND
023681,001310: 23,2224 30322 DCA CPHI
023682,001311: 23,2225 53635 DXCH CDUXD
023683,001312: 23,2226 30323 CA CPSI
023684,001313: 23,2227 55636 TS CDUZD
023685,001314: 23,2230 00003 RELINT
023686,001315: 23,2231 E7,1456 EBANK= LOSCOUNT
023687,001316: 23,2231 35016 CAF EBANK7
023688,001317: 23,2232 54003 TS EBANK
023689,001318: 23,2233 02257 TC R61C+L06
023690,001319: 23,2234 77776 R61C+L05 EXIT
023691,001320: 23,2235 00004 INHINT
023692,001321: 23,2236 04674 TC IBNKCALL
023693,001322: 23,2237 40154 FCADR ZATTEROR
023694,001323: 23,2240 04674 TC IBNKCALL
023695,001324: 23,2241 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
023696,001325: 23,2242 05527 TC DOWNFLAG
023697,001326: 23,2243 00124 ADRES 3AXISFLG
023698,001327: 23,2244 05515 TC UPFLAG
023699,001328: 23,2245 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
023700,001329: 23,2246 04616 TC BANKCALL
023701,001330: 23,2247 54125 CADR R60LEM
023702,001331: 23,2250 00004 INHINT
023703,001332: 23,2251 04674 TC IBNKCALL
023704,001333: 23,2252 40115 FCADR RESTORDB
023705,001334: 23,2253 05364 TC PHASCHNG
023706,001335: 23,2254 04022 OCT 04022
023707,001336: 23,2255 05527 TC DOWNFLAG
023708,001337: 23,2256 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
023709,001338: 23,2257 30075 R61C+L06 CA FLAGWRD1
023710,001339: 23,2260 74742 MASK R61FLBIT
023711,001340: 23,2261 10000 CCS A
023712,001341: 23,2262 02303 TC R61C+L4
023713,001342: 23,2263 11745 CCS R65CNTR
023714,001343: 23,2264 02266 TC +2
023715,001344: 23,2265 02303 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
023716,001345: 23,2266 55745 TS R65CNTR
023717,001346: 23,2267 32317 CAF 06SEC
023718,001347: 23,2270 05204 TC TWIDDLE
023719,001348: 23,2271 02273 ADRES R61C+L2
023720,001349: 23,2272 05155 TC ENDOFJOB
023721,001350: 23,2273 37726 R61C+L2 CAF PRIO26
023722,001351: 23,2274 05105 TC FINDVAC
023723,001352: 23,2275 E7,1456 EBANK= LOSCOUNT
023724,001353: 23,2275 02131 46067 2CADR R61C+L01
023725,001354:
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023727,001356: 23,2277 05272 TC TASKOVER
023728,001357: 23,2300 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
023729,001358: 23,2301 54274 CADR BALLANGS
023730,001359: 23,2302 02257 TC R61C+L06
023731,001360: 23,2303 31142 R61C+L4 CAE GENRET
023732,001361: 23,2304 14640 TCF BANKJUMP # EXIT R61
023733,001362: 23,2305 32314 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
023734,001363: 23,2306 70074 MASK STATE
023735,001364: 23,2307 00006 EXTEND
023736,001365: 23,2310 15155 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
023737,001366: 23,2311 02257 TC R61C+L06 # YES EXIT ROUTINE
023738,001367: 23,2312 04635 R65WAIT TC POSTJUMP
023739,001368: 23,2313 50310 CADR P20LEMWT
023740,001369:
023741,001370:
023742,001371: 23,2314 00500 BIT7+9PV OCT 00500
023743,001372: 23,2315 17350 34602 COS15DEG 2DEC 0.96593 B-1
023744,001373:
023745,001374: 23,2317 01130 06SEC DEC 600 B-14
023746,001375: 23,2320 PHI EQUALS 20D
023747,001376: 23,2320 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
023748,001377: 23,2321 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
023749,001378: 23,2322 56003 XCH EBANK
023750,001379: 23,2323 54070 TS RUPTREG1
023751,001380: 23,2324 E6,1634 EBANK= CDUXD
023752,001381: 23,2324 31634 CA CDUXD
023753,001382: 23,2325 54154 TS MPAC
023754,001383: 23,2326 00006 EXTEND
023755,001384: 23,2327 31636 DCA CDUYD
023756,001385: 23,2330 52156 DXCH MPAC +1
023757,001386: 23,2331 30070 CA RUPTREG1
023758,001387: 23,2332 54003 TS EBANK
023759,001388: 23,2333 00003 RELINT
023760,001389: 23,2334 16511 TCF TMODE
023761,001390: 4512 BLOCK 02
023762,001391: 4000 SETLOC RADARFF
023763,001392: 4000 BANK
023764,001393:
023765,001394: 4512 E7,1456 EBANK= LOSCOUNT
023766,001395: 4512 COUNT* $$/RRSUB
023767,001396:
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023769,001398: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023770,001399: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023771,001400:
023772,001401: 4512 00006 MAGSUB EXTEND
023773,001402: 4513 64515 BZMF +2
023774,001403: 4514 14516 TCF +2
023775,001404: 4515 40000 COM
023776,001405:
023777,001406: 4516 50002 INDEX Q
023778,001407: 4517 60000 AD 0
023779,001408: 4520 00006 EXTEND
023780,001409: 4521 66753 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
023781,001410: 4522 16751 TCF Q+1 # ABS(A) > CONST GO TO L+2
023782,001411:
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023784,001413: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
023785,001414:
023786,001415: # FUNCTIONAL DESCRIPTION_
023787,001416: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023788,001417: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023789,001418: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023790,001419: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023791,001420: # MODE 1 AND =1 FOR MODE 2.
023792,001421: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023793,001422: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023794,001423: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023795,001424: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023796,001425: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023797,001426: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023798,001427: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023799,001428: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023800,001429: # TO L +3.
023801,001430:
023802,001431: # CALLING SEQUENCE:
023803,001432: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
023804,001433: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
023805,001434:
023806,001435: # ERASABLE INITIALIZATION REQUIRED:
023807,001436: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023808,001437: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023809,001438: # CURRENT EBANK).
023810,001439:
023811,001440: # SUBROUTINES CALLED_ MAGSUB
023812,001441:
023813,001442: # JOBS OR TASKS INITIATED_ NONE
023814,001443:
023815,001444: # ALARMS_ NONE
023816,001445:
023817,001446: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023818,001447: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023819,001448:
023820,001449: 4523 00006 RRLIMCHK EXTEND
023821,001450: 4524 50002 INDEX Q
023822,001451: 4525 50000 INDEX 0
023823,001452: 4526 30001 DCA 0
023824,001453: 4527 24002 INCR Q
023825,001454: 4530 52062 DXCH ITEMP1
023826,001455: 4531 22002 LXCH Q # L(CALLER +2) TO L.
023827,001456:
023828,001457: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023829,001458: 4533 70110 MASK RADMODES
023830,001459: 4534 10000 CCS A
023831,001460: 4535 14550 TCF MODE2CHK
023832,001461:
023833,001462: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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023835,001464: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
023836,001465: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023837,001466: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
023838,001467:
023839,001468: 4542 34562 CAF 5.5DEGS
023840,001469: 4543 60062 AD ITEMP2 # S
023841,001470: 4544 04512 TC MAGSUB
023842,001471: 4545 64420 DEC -.35833 # 64.5 DEGS
023843,001472: 4546 00001 TC L
023844,001473: 4547 04560 TC RRLIMOK # IN LIMITS.
023845,001474:
023846,001475: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
023847,001476: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
023848,001477: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
023849,001478: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
023850,001479: 4554 00001 TC L
023851,001480:
023852,001481: 4555 30061 CA ITEMP1
023853,001482: 4556 04512 TC MAGSUB
023854,001483: 4557 51615 DEC -.69444 # 125 DEGS
023855,001484:
023856,001485: 4560 50001 RRLIMOK INDEX L
023857,001486: 4561 00001 TC L # ( = TC 1)
023858,001487:
023859,001488: 4562 00765 5.5DEGS DEC .03056
023860,001489: 4563 16450 82DEGS DEC .45556
023861,001490:
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023863,001492: # PROGRAM NAME_ SETTRKF . IF EITHER:
023864,001493:
023865,001494: # FUNCTIONAL DESCRIPTION_
023866,001495: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
023867,001496: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023868,001497: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023869,001498: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023870,001499: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023871,001500: # AUTO MODE (RADMODES BITS 13, 7, 2).
023872,001501: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023873,001502: # 8,5)
023874,001503: # 3) NO RR DATA (RADMODES BIT 4)
023875,001504: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023876,001505: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023877,001506: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023878,001507: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023879,001508: # TRACKER FAIL LAMP IS TURNED ON IF_
023880,001509: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023881,001510: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023882,001511: # EITHER THE ALT OR VEL INFORMATION
023883,001512: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023884,001513: # WITH EITHER THE AL
023885,001514:
023886,001515: # CALLING SEQUENCE:
023887,001516: # L TC SETTRKF
023888,001517:
023889,001518: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023890,001519: # SUBROUTINES CALLED_ NONE
023891,001520:
023892,001521: # JOBS OR TASKS INITIATED_ NONE
023893,001522:
023894,001523: # ALARMS_ TRACKER FAIL LAMP
023895,001524:
023896,001525: # EXIT_ L +1 (ALWAYS) ED.
023897,001526:
023898,001527: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
023899,001528: 4565 71300 MASK IMODES33
023900,001529: 4566 10000 CCS A
023901,001530: 4567 00002 TC Q
023902,001531:
023903,001532: 4570 34744 RRTRKF CA BIT8
023904,001533: 4571 54001 TS L
023905,001534:
023906,001535: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
023907,001536: 4573 70110 MASK RADMODES
023908,001537: 4574 00006 EXTEND
023909,001538: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
023910,001539:
023911,001540: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
023912,001541: 4577 70110 MASK RADMODES
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|
Page 534 |
023914,001543: 4600 10000 CCS A
023915,001544: 4601 30001 TRKFLON CA L
023916,001545: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
023917,001546: 4603 70001 MASK L
023918,001547: 4604 00006 EXTEND
023919,001548: 4605 16754 BZF TCQ # NO CHANGE.
023920,001549:
023921,001550: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
023922,001551: 4607 00006 EXTEND
023923,001552: 4610 06001 RXOR LCHAN
023924,001553: 4611 74733 MASK POSMAX
023925,001554: 4612 64735 AD BIT15
023926,001555: 4613 55035 TS DSPTAB +11D
023927,001556: 4614 00002 TC Q
023928,001557:
023929,001558: 4615 10102 13,7,2 OCT 10102
023930,001559: 4616 ENDRMODF EQUALS
023931,001560:
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|
Page 535 |
023933,001562: # PROGRAM NAME_ RRTURNON
023934,001563:
023935,001564: # FUNCTIONAL DESCRIPTION_
023936,001565:
023937,001566: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023938,001567: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023939,001568: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023940,001569: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023941,001570: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023942,001571: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023943,001572: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023944,001573: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023945,001574: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023946,001575: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023947,001576: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023948,001577: # TO TASKOVER.
023949,001578:
023950,001579: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023951,001580: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023952,001581: # THE RR (STATE BIT 7).
023953,001582:
023954,001583: # ERASABLE INITIALIZATION REQUIRED:
023955,001584: # RADMODES, STATE
023956,001585:
023957,001586: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023958,001587:
023959,001588: # JOBS OR TASKS INITIATED_
023960,001589: # NONE
023961,001590:
023962,001591: # ALARMS_ NONE (SEE RRZEROSB)
023963,001592:
023964,001593: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
023965,001594:
023966,001595: 24,3340 BANK 24
023967,001596: 25,2000 SETLOC P20S1
023968,001597: 25,2000 BANK
023969,001598:
023970,001599: 25,2053 E7,1456 EBANK= LOSCOUNT
023971,001600: 25,2053 COUNT* $$/RSUB
023972,001601: 25,2053 02062 RRTURNON TC RRZEROSB
023973,001602: 25,2054 05232 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023974,001603: 25,2055 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
023975,001604: 25,2056 44753 CS TURNONBT
023976,001605: 25,2057 70110 MASK RADMODES
023977,001606: 25,2060 54110 TS RADMODES
023978,001607: 25,2061 15272 TCF TASKOVER
023979,001608:
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|
Page 536 |
023981,001610: # PROGRAM NAME_ RRZEROSB
023982,001611:
023983,001612: # FUNCTIONAL DESCRIPTION_
023984,001613: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023985,001614: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023986,001615: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023987,001616: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023988,001617: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023989,001618: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023990,001619: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023991,001620: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023992,001621: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023993,001622: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023994,001623: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023995,001624: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023996,001625: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023997,001626: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023998,001627: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023999,001628:
024000,001629: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
024001,001630: # ERASABLE INITIALIZATION REQUIRED:
024002,001631: # RADMODES (BIT 13 SET), DSPTAB +11D
024003,001632:
024004,001633: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
024005,001634:
024006,001635: # JOBS OR TASKS INITIATED_
024007,001636: # NONE
024008,001637:
024009,001638: # ALARMS_ TRACKER FAIL
024010,001639:
024011,001640: # EXIT_ L +1 (ALWAYS)
024012,001641:
024013,001642: 25,2062 00006 RRZEROSB EXTEND
024014,001643: 25,2063 23312 QXCH RRRET
024015,001644: 25,2064 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
024016,001645: 25,2065 00006 EXTEND # COMING HERE.
024017,001646: 25,2066 05012 WOR CHAN12 # TURN ON ZERO RR CDU
024018,001647: 25,2067 05232 TC FIXDELAY
024019,001648: 25,2070 00002 DEC 2 B-14
024020,001649:
024021,001650: 25,2071 34755 CAF ZERO
024022,001651: 25,2072 54035 TS CDUT
024023,001652: 25,2073 54036 TS CDUS
024024,001653: 25,2074 44753 CS ONE # REMOVE ZEROING BIT.
024025,001654: 25,2075 00006 EXTEND
024026,001655: 25,2076 03012 WAND CHAN12
024027,001656: 25,2077 05232 TC FIXDELAY
024028,001657: 25,2100 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
024029,001658:
024030,001659: 25,2101 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 537 |
024032,001661: 25,2102 70110 MASK RADMODES
024033,001662: 25,2103 54110 TS RADMODES
024034,001663:
024035,001664: 25,2104 30035 CA CDUT
024036,001665: 25,2105 04512 TC MAGSUB
024037,001666: 25,2106 57777 DEC -.5
024038,001667: 25,2107 12112 TCF +3 # IF MODE 2.
024039,001668:
024040,001669: 25,2110 34755 CAF ZERO
024041,001670: 25,2111 12113 TCF +2
024042,001671: 25,2112 34740 CAF ANTENBIT
024043,001672: 25,2113 56110 XCH RADMODES
024044,001673: 25,2114 77753 MASK -BIT12
024045,001674: 25,2115 26110 ADS RADMODES
024046,001675:
024047,001676: 25,2116 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
024048,001677:
024049,001678: 25,2117 01312 TC RRRET # DONE.
024050,001679:
024051,001680: 25,2120 7753 -BIT12 EQUALS -1/8 # IN SPROOT
024052,001681:
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|
Page 538 |
024054,001683: # PROGRAM NAME_ DORREPOS
024055,001684: # FUNCTIONAL DESCRIPTION_
024056,001685: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
024057,001686: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
024058,001687: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
024059,001688: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
024060,001689: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
024061,001690: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
024062,001691: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
024063,001692: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
024064,001693: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
024065,001694: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
024066,001695: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
024067,001696: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
024068,001697: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
024069,001698: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
024070,001699: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
024071,001700: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
024072,001701: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
024073,001702: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
024074,001703: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
024075,001704: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
024076,001705: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
024077,001706: # TASKOVER.
024078,001707:
024079,001708: # CALLING SEQUENCE:
024080,001709: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
024081,001710: # NOT WITHIN LIMITS OF CURRENT MODE.
024082,001711:
024083,001712: # ERASABLE INITIALIZATION REQUIRED:
024084,001713: # RADMODES
024085,001714:
024086,001715: # SUBROUTINES CALLED_
024087,001716: # RRTONLY, RRSONLY, BEGDES (EXIT)
024088,001717:
024089,001718: # JOBS OR TASKS INITIATED_
024090,001719: # NONE
024091,001720:
024092,001721: # ALARMS- NONE
024093,001722:
024094,001723: # EXIT_ TASKOVER, BEGDES
024095,001724:
024096,001725: 25,2120 02147 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
024097,001726:
024098,001727: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
024099,001728:
024100,001729: 25,2121 05232 TC FIXDELAY
024101,001730: 25,2122 00002 DEC 2 B-14
024102,001731:
024103,001732: 25,2123 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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|
Page 539 |
024105,001734: 25,2124 70110 MASK RADMODES
024106,001735: 25,2125 10000 CCS A
024107,001736: 25,2126 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
024108,001737: 25,2127 02232 TC RRTONLY
024109,001738:
024110,001739: 25,2130 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
024111,001740: 25,2131 70110 MASK RADMODES
024112,001741: 25,2132 10000 CCS A
024113,001742: 25,2133 44736 CS HALF # -90 FOR MODE 2.
024114,001743: 25,2134 02235 TC RRSONLY
024115,001744:
024116,001745: 25,2135 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
024117,001746: # REQUESTED DURING REPOSITION.
024118,001747: 25,2136 70110 MASK RADMODES # REMOVE REPOSITION BIT.
024119,001748: 25,2137 54110 TS RADMODES
024120,001749: 25,2140 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
024121,001750: 25,2141 10000 CCS A
024122,001751: 25,2142 12564 TCF BEGDES
024123,001752: 25,2143 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
024124,001753: 25,2144 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
024125,001754: 25,2145 03012 WAND CHAN12
024126,001755: 25,2146 15272 TCF TASKOVER
024127,001756:
024128,001757: 25,2147 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
024129,001758: 25,2150 00006 EXTEND
024130,001759: 25,2151 02012 RAND CHAN12
024131,001760: 25,2152 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
024132,001761: 25,2153 00002 TC Q # ERROR COUNTERS ARE ENABLED.
024133,001762:
024134,001763: 25,2154 54112 TS LASTYCMD
024135,001764: 25,2155 54113 TS LASTXCMD
024136,001765: 25,2156 34752 CAF BIT2
024137,001766: 25,2157 00006 EXTEND
024138,001767: 25,2160 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
024139,001768: 25,2161 00002 TC Q
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|
Page 540 |
024141,001770: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
024142,001771:
024143,001772: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
024144,001773: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
024145,001774: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
024146,001775: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
024147,001776: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
024148,001777: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
024149,001778: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
024150,001779: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
024151,001780: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
024152,001781: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
024153,001782: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
024154,001783: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
024155,001784: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
024156,001785: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
024157,001786: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
024158,001787: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
024159,001788: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
024160,001789: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
024161,001790: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
024162,001791: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
024163,001792:
024164,001793: # CALLING SEQUENCE:
024165,001794: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
024166,001795: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
024167,001796: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
024168,001797: # OTHER MODE.
024169,001798:
024170,001799: # ERASABLE INITIALIZATION REQUIRED:
024171,001800: # RADMODES
024172,001801:
024173,001802: # SUBROUTINES CALLED_
024174,001803: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
024175,001804:
024176,001805: # JOBS OR TASKS INITIATED_
024177,001806: # NONE
024178,001807:
024179,001808: # ALARMS_ NONE
024180,001809:
024181,001810: # EXIT_ STDESIG
024182,001811:
024183,001812: 25,2162 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
024184,001813: 25,2163 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
024185,001814: 25,2164 10000 CCS A
024186,001815: 25,2165 34735 CAF BIT15
024187,001816: 25,2166 02232 TC RRTONLY
024188,001817:
024189,001818: 25,2167 37752 CAF -45DEGSR
024190,001819: 25,2170 02235 TC RRSONLY
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|
Page 541 |
024192,001821: 25,2171 40110 CS RADMODES
024193,001822: 25,2172 74740 MASK ANTENBIT
024194,001823: 25,2173 10000 CCS A
024195,001824: 25,2174 32223 CAF -80DEGSR # GO TO T = -130 (-50).
024196,001825: 25,2175 62222 AD -50DEGSR
024197,001826: 25,2176 02232 TC RRTONLY
024198,001827:
024199,001828: 25,2177 40110 CS RADMODES
024200,001829: 25,2200 74740 MASK ANTENBIT
024201,001830: 25,2201 10000 CCS A
024202,001831: 25,2202 34735 CAF BIT15 # GO TO T = -180 (+0).
024203,001832: 25,2203 02232 TC RRTONLY
024204,001833:
024205,001834: 25,2204 40110 CS RADMODES # GO TO S = -90 (+0).
024206,001835: 25,2205 74740 MASK ANTENBIT
024207,001836: 25,2206 10000 CCS A
024208,001837: 25,2207 44736 CS HALF
024209,001838: 25,2210 02235 TC RRSONLY
024210,001839:
024211,001840: 25,2211 02224 TC RMODINV
024212,001841:
024213,001842: 25,2212 44736 CS REMODBIT # END OF REMODE.
024214,001843: 25,2213 70110 MASK RADMODES
024215,001844: 25,2214 54110 TS RADMODES
024216,001845:
024217,001846: 25,2215 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
024218,001847: 25,2216 70110 MASK RADMODES # (BIT10 RADMODES = 1)
024219,001848: 25,2217 00006 EXTEND
024220,001849: 25,2220 13623 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
024221,001850: 25,2221 02573 TC STDESIG # YES - RETURN TO DESIGNATE
024222,001851: 25,2222 7752 -45DEGSR = 13,14,15
024223,001852: 25,2222 67070 -50DEGSR DEC -.27778
024224,001853: 25,2223 61615 -80DEGSR DEC -.44444
024225,001854:
024226,001855: 25,2224 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
024227,001856: 25,2225 34740 CAF ANTENBIT
024228,001857: 25,2226 00006 EXTEND
024229,001858: 25,2227 06001 RXOR LCHAN
024230,001859: 25,2230 54110 TS RADMODES
024231,001860: 25,2231 00002 TC Q
024232,001861:
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|
Page 542 |
024234,001863: # PROGRAM NAMES_ RRTONLY, RRSONLY
024235,001864:
024236,001865: # FUNCTIONAL DESCRIPTION_
024237,001866: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
024238,001867: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
024239,001868: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
024240,001869: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
024241,001870: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
024242,001871: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
024243,001872: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
024244,001873: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
024245,001874: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
024246,001875: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
024247,001876: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
024248,001877: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
024249,001878: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
024250,001879: # REPEATED.
024251,001880:
024252,001881: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
024253,001882: # L TC RRTONLY (TRUNNION ONLY)
024254,001883: # RRSONLY (SHAFT ONLY)
024255,001884: # RRTONLY IS CALLED BY PREPOS29;
024256,001885: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
024257,001886:
024258,001887: # ERASABLE INITIALIZATION REQUIRED:
024259,001888: # C(A) = DESIRED ANGLE, RADMODES
024260,001889:
024261,001890: # SUBROUTINES CALLED_
024262,001891: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
024263,001892:
024264,001893: # JOBS OR TASKS INITIATED_
024265,001894: # NONE
024266,001895:
024267,001896: # ALARMS_ NONE
024268,001897:
024269,001898: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
024270,001899: # BITS 14, 11)
024271,001900: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
024272,001901:
024273,001902: 25,2232 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
024274,001903: 25,2233 34755 CAF ZERO
024275,001904: 25,2234 12237 TCF RR1AXIS
024276,001905:
024277,001906: 25,2235 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
024278,001907: 25,2236 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
024279,001908:
024280,001909: 25,2237 55314 RR1AXIS TS RRINDEX
024281,001910: 25,2240 00006 EXTEND
024282,001911: 25,2241 23312 QXCH RRRET
024283,001912: 25,2242 12245 TCF RR1AX2
024284,001913:
|
|
Page 543 |
024286,001915: 25,2243 05232 NXTRR1AX TC FIXDELAY
024287,001916: 25,2244 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
024288,001917:
024289,001918: 25,2245 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
024290,001919: 25,2246 77722 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
024291,001920: 25,2247 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
024292,001921: 25,2250 12135 BZF REPOSRPT # REMODE IMMEDIATELY.
024293,001922:
024294,001923: 25,2251 31313 CA RDES
024295,001924: 25,2252 00006 EXTEND
024296,001925: 25,2253 51314 INDEX RRINDEX
024297,001926: 25,2254 20035 MSU CDUT
024298,001927: 25,2255 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
024299,001928: 25,2256 00006 EXTEND
024300,001929: 25,2257 72276 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
024301,001930: 25,2260 54001 TS L
024302,001931: 25,2261 30110 CA RADMODES
024303,001932: 25,2262 74752 MASK AUTOMBIT
024304,001933: 25,2263 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
024305,001934: 25,2264 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
024306,001935: 25,2265 77644 DEC -.00555 # SCALED IN HALF-REVS.
024307,001936:
024308,001937: 25,2266 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
024309,001938: 25,2267 01312 TC RRRET # RETURN TO CALLER.
024310,001939:
024311,001940: 25,2270 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
024312,001941: 25,2271 12273 TCF +2 # SETTING A TO 0.
024313,001942: 25,2272 56001 XCH L
024314,001943: 25,2273 53352 DXCH TRUNNCMD
024315,001944: 25,2274 02277 TC RROUT
024316,001945:
024317,001946: 25,2275 12243 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
024318,001947:
024319,001948: 25,2276 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
024320,001949:
|
|
Page 544 |
024322,001951: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
024323,001952:
024324,001953: # FUNCTIONAL DESCRIPTION_
024325,001954: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
024326,001955: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
024327,001956: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
024328,001957: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
024329,001958: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
024330,001959: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
024331,001960: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
024332,001961: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
024333,001962: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
024334,001963: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
024335,001964: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
024336,001965: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
024337,001966: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
024338,001967:
024339,001968: # CALLING SEQUENCE:
024340,001969: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
024341,001970: # RRTONLY, RRSONLY, AND DODES
024342,001971:
024343,001972: # ERASABLE INITIALIZATION REQUIRED:
024344,001973: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
024345,001974: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
024346,001975:
024347,001976: # SUBROUTINES CALLED_
024348,001977: # MAGSUB
024349,001978:
024350,001979: # JOBS OR TASKS INITIATED_
024351,001980: # NONE
024352,001981:
024353,001982: # ALARMS_ NONE
024354,001983:
024355,001984: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
024356,001985:
024357,001986: 25,2277 22002 RROUT LXCH Q # SAVE RETURN.
024358,001987: 25,2300 34753 CAF ONE # LOOP TWICE.
024359,001988: 25,2301 54062 RROUT2 TS ITEMP2
024360,001989: 25,2302 50000 INDEX A
024361,001990: 25,2303 31351 CA TRUNNCMD
024362,001991: 25,2304 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
024363,001992:
024364,001993: 25,2305 04512 TC MAGSUB # SEE IF WITHIN LMITS.
024365,001994: 25,2306 77177 -RRLIMIT DEC -384 B-14
024366,001995: 25,2307 12326 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
024367,001996:
024368,001997: 25,2310 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
024369,001998: 25,2311 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
024370,001999: 25,2312 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
024371,002000: 25,2313 40000 COM
|
|
Page 545 |
024373,002002: 25,2314 60061 AD ITEMP1
024374,002003: 25,2315 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
024375,002004: 25,2316 50062 INDEX ITEMP2
024376,002005: 25,2317 54053 TS CDUTCMD
024377,002006:
024378,002007: 25,2320 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
024379,002008: 25,2321 12301 TCF RROUT2
024380,002009:
024381,002010: 25,2322 35020 CAF PRIO6 # ENABLE COUNTERS.
024382,002011: 25,2323 00006 EXTEND
024383,002012: 25,2324 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
024384,002013: 25,2325 00001 TC L # RETURN.
024385,002014:
024386,002015: 25,2326 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
024387,002016: 25,2327 42306 CS -RRLIMIT
024388,002017: 25,2330 12332 TCF +2
024389,002018: 25,2331 32306 CA -RRLIMIT
024390,002019: 25,2332 54061 TS ITEMP1
024391,002020: 25,2333 12311 TCF SETRRCTR +1
024392,002021:
|
|
Page 546 |
024394,002023: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
024395,002024:
024396,002025: 25,2334 32363 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
024397,002026: 25,2335 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
024398,002027: 25,2336 10000 CCS A
024399,002028: 25,2337 13537 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
024400,002029:
024401,002030: 25,2340 00004 INHINT
024402,002031: 25,2341 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
024403,002032: 25,2342 70110 MASK RADMODES
024404,002033: 25,2343 64737 AD RCDU0BIT
024405,002034: 25,2344 54110 TS RADMODES
024406,002035:
024407,002036: 25,2345 34753 CAF ONE
024408,002037: 25,2346 05214 TC WAITLIST
024409,002038: 25,2347 E7,1456 EBANK= LOSCOUNT
024410,002039: 25,2347 02361 52067 2CADR RRZ2
024411,002040:
024412,002041:
024413,002042: 25,2351 40110 CS RADMODES # SEE IF IN AUTO MODE.
024414,002043: 25,2352 74752 MASK AUTOMBIT
024415,002044: 25,2353 10000 CCS A
024416,002045: 25,2354 12357 TCF ROADBACK
024417,002046: 25,2355 05600 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
024418,002047: 25,2356 00510 OCT 510
024419,002048: 25,2357 00003 ROADBACK RELINT
024420,002049: 25,2360 14631 TCF SWRETURN
024421,002050:
024422,002051: 25,2361 02062 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
024423,002052: 25,2362 13614 TCF ENDRADAR
024424,002053:
024425,002054: 25,2363 02001 BIT11+1 OCT 02001
024426,002055:
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|
Page 547 |
024428,002057: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
024429,002058:
024430,002059: # FUNCTIONAL DESCRIPTION_
024431,002060: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
024432,002061: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
024433,002062: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
024434,002063: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
024435,002064: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
024436,002065: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
024437,002066: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
024438,002067: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
024439,002068: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
024440,002069: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
024441,002070: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
024442,002071: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
024443,002072: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
024444,002073: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
024445,002074: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
024446,002075: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
024447,002076: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
024448,002077: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
024449,002078: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
024450,002079: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
024451,002080: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
024452,002081: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
024453,002082:
024454,002083: # CALLING SEQUENCE:
024455,002084: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
024456,002085: # L+1 RRDESSM
024457,002086: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
024458,002087: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
024459,002088:
024460,002089: # ERASABLE INITIALIZATION REQUIRED:
024461,002090: # RRTARGET, RADMODES
024462,002091:
024463,002092: # SUBROUTINES CALLED_
024464,002093: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
024465,002094: # PART OF), RMODINV
024466,002095:
024467,002096: # JOBS OR TASKS INITIATED_
024468,002097: # NONE
024469,002098:
024470,002099: # ALARMS_ NONE
024471,002100:
024472,002101: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
024473,002102: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
024474,002103: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
024475,002104:
024476,002105: 25,2364 43020 RRDESSM STQ CLEAR
024477,002106: 25,2365 01112 DESRET
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|
Page 548 |
024479,002108: 25,2366 00271 RRNBSW
024480,002109: 25,2367 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
024481,002110: 25,2370 47535 CDUTRIG
024482,002111: 25,2371 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024483,002112: 25,2372 01101 RRTARGET
024484,002113: 25,2373 47676 *SMNB*
024485,002114:
024486,002115: 25,2374 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
024487,002116: 25,2375 26133 RRANGLES # ALTERNATE MODE.
024488,002117: 25,2376 77776 EXIT
024489,002118:
024490,002119: 25,2377 00004 INHINT
024491,002120: 25,2400 04523 TC RRLIMCHK
024492,002121: 25,2401 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
024493,002122: 25,2402 02405 TC +3 # NOT IN CURRENT MODE
024494,002123: 25,2403 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
024495,002124: 25,2404 02423 TC STARTDES # SHOW DESIGNATE REQUIRED
024496,002125: 25,2405 40104 CS FLAGWRD8
024497,002126: 25,2406 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
024498,002127: 25,2407 00006 EXTEND
024499,002128: 25,2410 12447 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
024500,002129: 25,2411 02452 TC TRYSWS
024501,002130:
024502,002131:
024503,002132: 25,2412 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
024504,002133: 25,2413 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
024505,002134: 25,2414 00006 EXTEND
024506,002135: 25,2415 12447 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
024507,002136: 25,2416 30074 CA STATE
024508,002137: 25,2417 74745 MASK RNDVZBIT
024509,002138: 25,2420 10000 CCS A # TEST RNDVZFLG.
024510,002139: 25,2421 02462 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
024511,002140: 25,2422 15155 TCF ENDOFJOB # ...BUT NOT IN R29.
024512,002141:
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|
Page 549 |
024514,002143: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
024515,002144:
024516,002145: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
024517,002146: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
024518,002147: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
024519,002148: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
024520,002149: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
024521,002150: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
024522,002151: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
024523,002152: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
024524,002153: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
024525,002154: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
024526,002155: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
024527,002156: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
024528,002157: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
024529,002158: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
024530,002159: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
024531,002160: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
024532,002161: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
024533,002162: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
024534,002163: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
024535,002164: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
024536,002165: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
024537,002166:
024538,002167: # CALLING SEQUENCE:
024539,002168: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
024540,002169:
024541,002170: # ERASABLE INITIALIZATION REQUIRED:
024542,002171: # RADMODES, (SEE DODES)
024543,002172:
024544,002173: # SUBROUTINES CALLED_
024545,002174: # SETRRECR, WAITLIST
024546,002175:
024547,002176: # JOBS OR TASKS INITIATED_
024548,002177: # BEGDES
024549,002178:
024550,002179: # ALARMS_ NONE
024551,002180:
024552,002181: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
024553,002182: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
024554,002183:
024555,002184: 25,2423 25112 STARTDES INCR DESRET
024556,002185: 25,2424 40110 CS RADMODES
024557,002186: 25,2425 74742 MASK DESIGBIT
024558,002187: 25,2426 26110 ADS RADMODES
024559,002188: 25,2427 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
024560,002189: 25,2430 10000 CCS A
024561,002190: 25,2431 12437 TCF DESRETRN # ECTR ALREADY SET UP.
024562,002191:
024563,002192: 25,2432 02147 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 550 |
024565,002194: 25,2433 34752 CAF TWO
024566,002195: 25,2434 05214 TC WAITLIST
024567,002196: 25,2435 E7,1456 EBANK= LOSCOUNT
024568,002197: 25,2435 02564 52067 2CADR BEGDES
024569,002198:
024570,002199:
024571,002200: 25,2437 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
024572,002201: 25,2440 00006 EXTEND
024573,002202: 25,2441 12443 BZF DESRTRN # YES SET EXIT
024574,002203: 25,2442 05155 TC ENDOFJOB # NO
024575,002204: 25,2443 00003 DESRTRN RELINT
024576,002205: 25,2444 25112 INCR DESRET
024577,002206: 25,2445 31112 CA DESRET
024578,002207: 25,2446 14640 TCF BANKJUMP
024579,002208:
024580,002209:
024581,002210: 25,2447 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
024582,002211: 25,2450 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
024583,002212: 25,2451 12443 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
024584,002213:
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|
Page 551 |
024586,002215: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
024587,002216:
024588,002217: 25,2452 02224 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
024589,002218: 25,2453 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
024590,002219: 25,2454 01110 ADRES MODEB
024591,002220: 25,2455 12462 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
024592,002221:
024593,002222: 25,2456 02224 TC RMODINV # RESET BIT12
024594,002223: 25,2457 34736 CAF REMODBIT # SET FLAG FOR REMODE.
024595,002224: 25,2460 26110 ADS RADMODES
024596,002225:
024597,002226: 25,2461 12403 TCF OKDESSM
024598,002227:
024599,002228: 25,2462 02224 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
024600,002229: 25,2463 25112 INCR DESRET # TO CALLER +2
024601,002230: 25,2464 12447 TCF NORDSTAL
024602,002231:
024603,002232: 25,2465 00074 MAXTRYS DEC 60 B-14
024604,002233:
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|
Page 552 |
024606,002235: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
024607,002236: # TANG AND TANG +1.
024608,002237:
024609,002238: 25,2466 04645 RRDESNB TC MAKECADR
024610,002239: 25,2467 55112 TS DESRET
024611,002240:
024612,002241: 25,2470 05527 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
024613,002242: 25,2471 00041 ADRES LOSCMFLG # BACK TO R21
024614,002243: 25,2472 32465 CA MAXTRYS # SET TIME LIMIT COUNTER
024615,002244: 25,2473 55113 TS DESCOUNT # FOR DESIGNATE
024616,002245: 25,2474 00004 INHINT # SEE IF CURRENT MODE OK.
024617,002246: 25,2475 02531 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024618,002247: 25,2476 01106 ADRES TANG
024619,002248: 25,2477 12514 TCF TRYSWN # SEE IF IN OTHER MODE.
024620,002249:
024621,002250: 25,2500 00003 OKDESNB RELINT
024622,002251: 25,2501 00006 EXTEND
024623,002252: 25,2502 31107 DCA TANG
024624,002253: 25,2503 53753 DXCH TANGNB
024625,002254: 25,2504 06051 TC INTPRET
024626,002255:
024627,002256: 25,2505 77624 CALL # GET LOS IN NB COORDS.
024628,002257: 25,2506 46041 RRNB
024629,002258: 25,2507 01101 STORE RRTARGET
024630,002259:
024631,002260: 25,2510 77414 SET EXIT
024632,002261: 25,2511 00071 RRNBSW
024633,002262:
024634,002263: 25,2512 00004 INHINT
024635,002264: 25,2513 12424 TCF STARTDES +1
024636,002265: 25,2514 02224 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
024637,002266: 25,2515 02531 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024638,002267: 25,2516 01106 ADRES TANG
024639,002268: 25,2517 12524 TCF NODESNB # NOT POSSIBLE.
024640,002269:
024641,002270: 25,2520 02224 TC RMODINV
024642,002271: 25,2521 34736 CAF REMODBIT # CALL FOR REMODE.
024643,002272: 25,2522 26110 ADS RADMODES
024644,002273: 25,2523 12500 TCF OKDESNB
024645,002274:
024646,002275: 25,2524 02224 NODESNB TC RMODINV # REINVERT MODE BIT.
024647,002276: 25,2525 05600 TC ALARM # BAD INPUT ANGLES.
024648,002277: 25,2526 00502 OCT 502
024649,002278: 25,2527 06011 TC CLRADMOD
024650,002279: 25,2530 05155 TC ENDOFJOB # AVOID 503 ALARM.
024651,002280:
024652,002281: 25,2531 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
024653,002282: 25,2532 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
024654,002283: 25,2533 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
024655,002284: 25,2534 00006 EXTEND
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|
Page 553 |
024657,002286: 25,2535 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
024658,002287: 25,2536 30001 DCA 0
024659,002288: 25,2537 52062 DXCH ITEMP1
024660,002289: 25,2540 22002 LXCH Q # L(CALLER +2) TO L
024661,002290:
024662,002291: 25,2541 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
024663,002292: 25,2542 70110 MASK RADMODES
024664,002293: 25,2543 10000 CCS A
024665,002294: 25,2544 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
024666,002295: 25,2545 30061 CA ITEMP1
024667,002296: 25,2546 04512 TC MAGSUB # MODE 1 IS DEFINED AS
024668,002297: 25,2547 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
024669,002298: 25,2550 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
024670,002299:
024671,002300: 25,2551 30062 CA ITEMP2 # LOAD SHAFT ANGLE
024672,002301: 25,2552 00006 EXTEND
024673,002302: 25,2553 62561 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024674,002303: 25,2554 64562 AD 5.5DEGS
024675,002304: 25,2555 04512 SHAFTLIM TC MAGSUB
024676,002305: 25,2556 64420 DEC -.35833 # 64.5 DEGREES
024677,002306: 25,2557 00001 TC L # NOT IN LIMITS
024678,002307: 25,2560 04560 TC RRLIMOK # IN LIMITS
024679,002308: 25,2561 62563 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024680,002309: 25,2562 12555 TCF SHAFTLIM
024681,002310:
024682,002311:
024683,002312: 25,2563 03512 20.5DEGS DEC .11389
024684,002313:
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|
Page 554 |
024686,002315: # PROGRAM NAME_ BEGDES
024687,002316:
024688,002317: # FUNCTIONAL DESCRIPTION_
024689,002318: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024690,002319: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024691,002320: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024692,002321: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024693,002322: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024694,002323: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024695,002324: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024696,002325: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024697,002326: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024698,002327: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024699,002328: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024700,002329: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024701,002330: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024702,002331: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024703,002332: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024704,002333: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024705,002334: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024706,002335: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024707,002336: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024708,002337: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024709,002338: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024710,002339: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024711,002340: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024712,002341: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024713,002342: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024714,002343:
024715,002344: # CALLING SEQUENCE:
024716,002345: # WAITLIST CALL FROM STARTDES
024717,002346: # TCF BEGDES FROM DORREPOS
024718,002347: # TC STDESIG RETURNING, FROM REMODE
024719,002348:
024720,002349: # ERASABLE INITIALIZATION REQUIRED:
024721,002350: # DESCOUNT, RADMODES
024722,002351:
024723,002352: # SUBROUTINES CALLED_
024724,002353: # ENDRADAR, FINDVAC
024725,002354:
024726,002355: # JOBS OR TASKS INITIATED_ DODES
024727,002356:
024728,002357: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024729,002358: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024730,002359:
024731,002360: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024732,002361: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024733,002362: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024734,002363:
024735,002364: 25,2564 40110 BEGDES CS RADMODES
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|
Page 555 |
024737,002366: 25,2565 74736 MASK REMODBIT
024738,002367: 25,2566 10000 CCS A
024739,002368: 25,2567 02573 TC STDESIG
024740,002369: 25,2570 02162 TC REMODE
024741,002370: 25,2571 05232 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
024742,002371: 25,2572 00062 DEC 50 B-14
024743,002372:
024744,002373: 25,2573 34741 STDESIG CAF REPOSBIT
024745,002374: 25,2574 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024746,002375: 25,2575 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024747,002376: 25,2576 12614 TCF BADDES # REPOSITION TO BE IN PROGRESS.
024748,002377:
024749,002378: 25,2577 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
024750,002379: 25,2600 12603 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
024751,002380: 25,2601 12603 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024752,002381: 25,2602 12620 TCF MOREDES +1
024753,002382:
024754,002383: 25,2603 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
024755,002384: 25,2604 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024756,002385: 25,2605 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024757,002386: 25,2606 13614 TCF ENDRADAR # CHECKING RR CDU FAIL.
024758,002387:
024759,002388: 25,2607 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
024760,002389: 25,2610 12617 TCF MOREDES
024761,002390:
024762,002391: 25,2611 42625 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024763,002392: 25,2612 00006 EXTEND
024764,002393: 25,2613 03012 WAND CHAN12
024765,002394: 25,2614 05527 BADDES TC DOWNFLAG
024766,002395: 25,2615 00271 ADRES DESIGFLG
024767,002396: 25,2616 13630 TCF RDBADEND
024768,002397:
024769,002398: 25,2617 55113 MOREDES TS DESCOUNT
024770,002399: 25,2620 37726 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
024771,002400: 25,2621 05105 TC FINDVAC
024772,002401: 25,2622 E7,1456 EBANK= LOSCOUNT
024773,002402: 25,2622 02626 52067 2CADR DODES
024774,002403:
024775,002404:
024776,002405: 25,2624 12571 TCF DESLOOP
024777,002406:
024778,002407: 25,2625 20002 B14+B2 OCT 20002
024779,002408:
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|
Page 556 |
024781,002410: # PROGRAM NAME_ DODES
024782,002411:
024783,002412: # FUNCTIONAL DESCRIPTION_
024784,002413: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024785,002414: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024786,002415: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024787,002416: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024788,002417: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024789,002418: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
024790,002419: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
024791,002420: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024792,002421: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024793,002422: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024794,002423: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024795,002424: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024796,002425: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024797,002426: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024798,002427: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024799,002428: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024800,002429: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024801,002430: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024802,002431: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024803,002432: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024804,002433: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024805,002434: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024806,002435: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024807,002436: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024808,002437: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024809,002438: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024810,002439: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024811,002440: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024812,002441: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024813,002442: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024814,002443: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024815,002444: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024816,002445: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024817,002446: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024818,002447: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024819,002448: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024820,002449: # VIA ENDOFJOB.
024821,002450:
024822,002451: # CALLING SEQUENCE:
024823,002452: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024824,002453:
024825,002454: # ERASABLE INITIALIZATION REQUIRED:
024826,002455: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024827,002456: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024828,002457:
024829,002458: # SUBROUTINES CALLED_
024830,002459: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
024831,002460:
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|
Page 557 |
024833,002462: # JOBS OR TASKS INITIATED_
024834,002463: # NONE
024835,002464:
024836,002465: # ALARMS_ NONE
024837,002466:
024838,002467: # EXIT_ ENDOFJOB (ALWAYS)
024839,002468:
024840,002469: 25,2626 00006 DODES EXTEND
024841,002470: 25,2627 30036 DCA CDUT
024842,002471: 25,2630 53107 DXCH TANG
024843,002472:
024844,002473: 25,2631 06051 TC INTPRET
024845,002474:
024846,002475: 25,2632 77201 SETPD VLOAD
024847,002476: 25,2633 00001 0
024848,002477: 25,2634 01101 RRTARGET
024849,002478: 25,2635 74214 BON VXSC
024850,002479: 25,2636 00311 RRNBSW
024851,002480: 25,2637 52647 DONBRD # TARGET IN NAV-BASE COORDINATES
024852,002481: 25,2640 01765 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
024853,002482: 25,2641 63372 VSL1 PDVL
024854,002483: 25,2642 01757 LOSVEL
024855,002484: 25,2643 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
024856,002485: 25,2644 13057 MCTOMS
024857,002486: 25,2645 45056 UNIT CALL
024858,002487: 25,2646 47653 CDU*SMNB
024859,002488:
024860,002489: 25,2647 14041 DONBRD STODL 32D
024861,002490: 25,2650 01110 TANG +1
024862,002491: 25,2651 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
024863,002492: 25,2652 21560 CDULOGIC # (-SIN(S)).
024864,002493: 25,2653 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
024865,002494: 25,2654 41546 COS PUSH
024866,002495: 25,2655 65205 DMP PDDL
024867,002496: 25,2656 00041 32D
024868,002497: 25,2657 00045 36D
024869,002498: 25,2660 44205 DMP BDSU
024870,002499: 25,2661 00001 0
024871,002500: 25,2662 77626 STADR
024872,002501: 25,2663 76667 STORE TANG +1 # SHAFT COMMAND
024873,002502:
024874,002503: 25,2664 47135 SLOAD RTB
024875,002504: 25,2665 01107 TANG
024876,002505: 25,2666 21560 CDULOGIC
024877,002506: 25,2667 71406 PUSH COS # COS(T) TO 4.
024878,002507: 25,2670 73525 PDDL SIN
024879,002508: 25,2671 41206 PUSH DMP # SIN(T) TO 6.
024880,002509: 25,2672 00003 2
024881,002510: 25,2673 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
024882,002511: 25,2674 00005 4 # (COS(T) )
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|
Page 558 |
024884,002513: 25,2675 41325 PDDL DMP # (SIN(T)COS(S))
024885,002514: 25,2676 00007 6
024886,002515: 25,2677 00001 0
024887,002516: 25,2700 55552 SL1 VDEF
024888,002517: 25,2701 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
024889,002518: 25,2702 00041 32D
024890,002519:
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|
Page 559 |
024892,002521: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024893,002522: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024894,002523:
024895,002524: 25,2703 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
024896,002525: 25,2704 00006 EXTEND
024897,002526: 25,2705 73053 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024898,002527: 25,2706 55351 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
024899,002528: 25,2707 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
024900,002529: 25,2710 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
024901,002530: 25,2711 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
024902,002531: 25,2712 12715 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
024903,002532: 25,2713 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024904,002533: 25,2714 12716 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
024905,002534: 25,2715 41107 +3 CS TANG +1
024906,002535: 25,2716 00006 EXTEND
024907,002536: 25,2717 73053 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024908,002537: 25,2720 55352 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
024909,002538: 25,2721 06051 TC INTPRET
024910,002539:
024911,002540: 25,2722 41345 DLOAD DMP
024912,002541: 25,2723 00003 2 # COS(S).
024913,002542: 25,2724 00005 4 # COS(T).
024914,002543: 25,2725 65352 SL1 PDDL # Z COMPONENT OF URR.
024915,002544: 25,2726 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
024916,002545: 25,2727 00001 0 # SIN(S).
024917,002546: 25,2730 72405 DMP SL1
024918,002547: 25,2731 00005 4 # COS(T).
024919,002548: 25,2732 43066 VDEF BON # FORM URR IN NB AXES.
024920,002549: 25,2733 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
024921,002550: 25,2734 52737 +3
024922,002551: 25,2735 77624 CALL
024923,002552: 25,2736 47700 *NBSM* # GET URR IN SM AXES.
024924,002553: 25,2737 77441 DOT EXIT
024925,002554: 25,2740 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
024926,002555:
024927,002556: 25,2741 00006 EXTEND
024928,002557: 25,2742 43055 DCS COS1/2DG
024929,002558: 25,2743 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
024930,002559: 25,2744 10154 CCS MPAC
024931,002560: 25,2745 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
024932,002561: 25,2746 12750 TCF +2
024933,002562: 25,2747 34753 CA ONE
024934,002563: 25,2750 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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Page 560 |
024936,002565: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024937,002566:
024938,002567: 25,2751 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024939,002568: 25,2752 12755 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
024940,002569: 25,2753 12755 TCF SIGNLCHK # ERROR SIGNALS
024941,002570: 25,2754 13005 TCF DORROUT
024942,002571: 25,2755 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024943,002572: 25,2756 12766 TCF DGOODCHK
024944,002573: 25,2757 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024945,002574: 25,2760 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
024946,002575: 25,2761 10000 CCS A
024947,002576: 25,2762 12773 TCF RRDESDUN
024948,002577:
024949,002578: 25,2763 34736 CAF BIT14 # ENABLE THE TRACKER.
024950,002579: 25,2764 00006 EXTEND
024951,002580: 25,2765 05012 WOR CHAN12
024952,002581:
024953,002582: 25,2766 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
024954,002583: 25,2767 00006 EXTEND
024955,002584: 25,2770 02033 RAND CHAN33
024956,002585: 25,2771 10000 CCS A
024957,002586: 25,2772 13005 TCF DORROUT
024958,002587:
024959,002588: 25,2773 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024960,002589: 25,2774 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
024961,002590: 25,2775 00004 INHINT
024962,002591: 25,2776 54110 TS RADMODES
024963,002592:
024964,002593: 25,2777 05527 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
024965,002594: 25,3000 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
024966,002595: 25,3001 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
024967,002596: 25,3002 00006 EXTEND
024968,002597: 25,3003 03012 WAND CHAN12
024969,002598: 25,3004 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
024970,002599:
024971,002600: 25,3005 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
024972,002601: 25,3006 77724 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
024973,002602: 25,3007 00006 EXTEND
024974,002603: 25,3010 13027 BZF NOTP20
024975,002604: 25,3011 06051 TC INTPRET
024976,002605: 25,3012 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
024977,002606: 25,3013 01101 RRTARGET
024978,002607: 25,3014 01765 MLOSV
024979,002608: 25,3015 41572 VSL1 PUSH
024980,002609: 25,3016 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
024981,002610: 25,3017 01757 LOSVEL # TO LOS VECTOR
024982,002611: 25,3020 13057 MCTOMS
024983,002612: 25,3021 53362 VSR1 VAD
024984,002613: 25,3022 77656 UNIT
024985,002614: 25,3023 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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|
Page 561 |
024987,002616: 25,3024 00045 36D
024988,002617: 25,3025 01765 STORE MLOSV # AND STORE MAGNITUDE
024989,002618: 25,3026 77776 EXIT
024990,002619: 25,3027 00004 NOTP20 INHINT
024991,002620: 25,3030 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
024992,002621: 25,3031 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
024993,002622: 25,3032 10000 CCS A
024994,002623: 25,3033 02277 TC RROUT
024995,002624:
024996,002625: 25,3034 30076 CA FLAGWRD2
024997,002626: 25,3035 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
024998,002627: 25,3036 00006 EXTEND # LOS COUNTER
024999,002628: 25,3037 15155 BZF ENDOFJOB
025000,002629: 25,3040 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
025001,002630: 25,3041 03051 TC DODESEND # A NEW LOS
025002,002631: 25,3042 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
025003,002632: 25,3043 52573 CADR DESLOOP +2
025004,002633: 25,3044 00003 RELINT
025005,002634: 25,3045 10067 CCS NEWJOB
025006,002635: 25,3046 05122 TC CHANG1
025007,002636: 25,3047 04616 TC BANKCALL
025008,002637: 25,3050 51014 CADR R21LEM2
025009,002638:
025010,002639:
025011,002640: 25,3051 55456 DODESEND TS LOSCOUNT
025012,002641: 25,3052 05155 TC ENDOFJOB
025013,002642:
025014,002643:
025015,002644: 25,3053 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
025016,002645: 25,3054 7724 BIT12,14 EQUALS PRIO24 # OCT 24000
025017,002646: 25,3054 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
025018,002647:
025019,002648: 25,3056 00310 00000 MCTOMS 2DEC 100 B-13
025020,002649:
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Page 562 |
025022,002651: # RADAR READ INITIALIZATION
025023,002652:
025024,002653: # THE FOLLOWING ROUTINES MUST BE CALLED BY BANKCALL
025025,002654:
025026,002655: 25,3060 03074 LRALT TC INITREAD
025027,002656: 25,3061 00017 ALLREAD OCT 17
025028,002657:
025029,002658: 25,3062 03074 LRVELZ TC INITREAD
025030,002659: 25,3063 00016 OCT 16
025031,002660:
025032,002661: 25,3064 03074 LRVELY TC INITREAD
025033,002662: 25,3065 00015 OCT 15
025034,002663:
025035,002664: 25,3066 03074 LRVELX TC INITREAD
025036,002665: 25,3067 00014 OCT 14
025037,002666:
025038,002667: 25,3070 03074 RRRDOT TC INITREAD
025039,002668: 25,3071 00012 OCT 12
025040,002669:
025041,002670: 25,3072 03074 RRRANGE TC INITREAD
025042,002671: 25,3073 00011 OCT 11
025043,002672:
025044,002673:
025045,002674: 25,3074 00004 INITREAD INHINT
025046,002675: 25,3075 50002 INDEX Q
025047,002676: 25,3076 30000 CA 0
025048,002677: 25,3077 03106 TC PRERADAR
025049,002678: 25,3100 34751 CA BIT3
025050,002679: 25,3101 55105 TS TIMEHOLD +1 # MIDPOINT OF READ IS ABOUT 40 MS AFTER
025051,002680: 25,3102 00006 EXTEND # START OF READ
025052,002681: 25,3103 30025 DCA TIME2
025053,002682: 25,3104 21105 DAS TIMEHOLD
025054,002683:
025055,002684: 25,3105 12357 TCF ROADBACK
025056,002685:
025057,002686:
025058,002687: 25,3106 55077 PRERADAR TS RADUSE # INDICATE RADAR READ ROUTINES IN USE.
025059,002688: 25,3107 34755 CA ZERO
025060,002689: 25,3110 55110 TS NSAMP
025061,002690: 25,3111 55100 TS SAMPLSUM
025062,002691: 25,3112 55101 TS SAMPLSUM +1
025063,002692: 25,3113 55104 TS TIMEHOLD
025064,002693:
025065,002694: 25,3114 33134 CA DGBITS
025066,002695: 25,3115 00006 EXTEND
025067,002696: 25,3116 02033 RAND CHAN33
025068,002697: 25,3117 55112 TS OLDATAGD
025069,002698:
025070,002699: 25,3120 43134 CS DGBITS # RESET DATA GOOD BITS OF RADMODES
025071,002700: 25,3121 70110 MASK RADMODES
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Page 563 |
025073,002702: 25,3122 54110 TS RADMODES
025074,002703:
025075,002704: 25,3123 43061 CS ALLREAD
025076,002705: 25,3124 00006 EXTEND
025077,002706: 25,3125 03013 WAND CHAN13 # CLEAR ALL RADAR BITS PRIOR TO READ
025078,002707:
025079,002708: 25,3126 00006 EXTEND
025080,002709: 25,3127 22070 QXCH RUPTREG1
025081,002710:
025082,002711: 25,3130 31077 CA RADUSE
025083,002712: 25,3131 04674 TC IBNKCALL
025084,002713: 25,3132 36000 CADR RADSTART
025085,002714: 25,3133 00070 TC RUPTREG1
025086,002715:
025087,002716:
025088,002717: 25,3134 00230 DGBITS OCT 230 # POSITION OF DATA GOOD BITS IN CHANNEL 33
025089,002718: 25,3135 00014 VBITS OCT 14 # VSELECT = 0 BEFORE X READ
025090,002719: 25,3136 00016 OCT 16 # VSELECT = 1 BEFORE Z READ
025091,002720: 25,3137 00015 OCT 15 # VSELECT = 2 BEFORE Y READ
025092,002721:
025093,002722:
025094,002723: 25,3140 40107 R12READ CS FLGWRD11
025095,002724: 25,3141 74742 MASK NOLRRBIT # IF NOLRREAD FLAG IS SET , BYPASS R12
025096,002725: 25,3142 00006 EXTEND
025097,002726: 25,3143 15272 BZF TASKOVER
025098,002727:
025099,002728: 25,3144 51462 INDEX VSELECT
025100,002729: 25,3145 33135 CA VBITS
025101,002730: 25,3146 03106 TC PRERADAR
025102,002731: 25,3147 36254 CA SIX # RADAR RUPT USES THIS FOR R12 READ
025103,002732: 25,3150 55110 TS NSAMP
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The following 5 lines are marked as having changed between ZLEMP20S.000 and ZLEMP20S.001. |
025105,002734: 25,3151 36010 CAF OCT31 # SET UP RDGIMS FOR MIDPOINT OF LR READ
025106,002735: 25,3152 05214 TC WAITLIST
025107,002736: 25,3153 E4,1643 EBANK= LRTIME
025108,002737: 25,3153 03570 76064 2CADR RDGIMS
025109,002738:
025110,002739: 25,3155 05272 TC TASKOVER
025111,002740:
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025113,002742: # RADAR RUPT READER (R20)
025114,002743:
025115,002744: # THIS ROUTINE, WHICH IS INITIATED BY A RADAR RUPT, PROCESSES THE RADAR DATA AND UPDATES THE APPROPRIATE
025116,002745: # DSKY LIGHTS.
025117,002746:
025118,002747: 25,2000 SETLOC RADARUPT
025119,002748: 25,2000 BANK
025120,002749:
025121,002750: 25,3156 COUNT* $$/RRUPT
025122,002751:
025123,002752: 25,3156 E7,1453 EBANK= TTOGO
025124,002753:
025125,002754: 25,3156 00006 RADAREAD EXTEND # CONTINUATION OF INTERRUPT LEAD-IN.
025126,002755: 25,3157 04007 ROR SUPERBNK # SUPERBNK MUST BE SAVED BECAUSE RUPT
025127,002756: 25,3160 54016 TS BANKRUPT # MAY EXIT VIA TASKOVER.
025128,002757: 25,3161 00006 EXTEND
025129,002758: 25,3162 22012 QXCH QRUPT
025130,002759:
025131,002760:
025132,002761: 25,3163 34757 CA SEVEN # READ AND STORE RADAR SELECT BITS
025133,002762: 25,3164 00006 EXTEND
025134,002763: 25,3165 02013 RAND CHAN13
025135,002764: 25,3166 55332 TS RADBITS
025136,002765:
025137,002766: 25,3167 00006 EXTEND # IF RADAR SELECT BITS ARE ZERO, ALARM
025138,002767: 25,3170 13176 BZF BADRUPT # WITHOUT READING DATA
025139,002768:
025140,002769: 25,3171 30046 CA RNRAD # STORE RAW DATA FOR DOWNLINK.
025141,002770: 25,3172 51332 INDEX RADBITS
025142,002771: 25,3173 55327 TS DNRRANGE -1
025143,002772:
025144,002773: 25,3174 11077 CCS RADUSE # IF RADUSE IS ZERO, THIS IS A BAD RUPT
025145,002774: 25,3175 13202 TCF WHICHRAD
025146,002775:
025147,002776: 25,3176 55077 BADRUPT TS RADUSE
025148,002777: 25,3177 05600 TC ALARM
025149,002778: 25,3200 00520 OCT 520
025150,002779: 25,3201 05301 TC RESUME
025151,002780:
025152,002781: 25,3202 46257 WHICHRAD CS THREE # IF RADBITS IS LESS THAN THREE,
025153,002782: 25,3203 61332 AD RADBITS # THE RENDEZVOUS RADAR IS BEING READ.
025154,002783: 25,3204 00006 EXTEND
025155,002784: 25,3205 63272 BZMF RENDRAD
025156,002785:
025157,002786: 25,3206 40101 LANDRAD CS FLAGWRD5 # THE LANDING RADAR IS BEING READ
025158,002787: 25,3207 74741 MASK R77FLBIT
025159,002788: 25,3210 00006 EXTEND # IF R77 IS RUNNING, EXIT HERE
025160,002789: 25,3211 13252 BZF R77EXIT
025161,002790:
025162,002791: 25,3212 44757 CS SEVEN # IF RADBITS IS SEVEN, THE LANDING
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025164,002793: 25,3213 61332 AD RADBITS # RADAR ALITUDE IS BEING READ
025165,002794: 25,3214 00006 EXTEND
025166,002795: 25,3215 13266 BZF LRHEIGHT
025167,002796:
025168,002797: 25,3216 34733 LRSPEED CA POSMAX # DECODE THE 15 BIT READING AND
025169,002798: 25,3217 70046 MASK RNRAD # SUBTRACT THE BIAS.
025170,002799: 25,3220 62000 AD LVELBIAS
025171,002800: 25,3221 54064 TS ITEMP4
025172,002801: 25,3222 54001 TS L
025173,002802: 25,3223 30046 CA RNRAD
025174,002803: 25,3224 60000 DOUBLE
025175,002804: 25,3225 74753 MASK BIT1
025176,002805: 25,3226 54063 TS ITEMP3
025177,002806: 25,3227 21101 DAS SAMPLSUM # ACCUMULATE THE READING
025178,002807:
025179,002808: 25,3230 34744 CA BIT8 # VOLOCITY DATA GOOD BIT
025180,002809: 25,3231 54061 DGCHECK TS ITEMP1
025181,002810: 25,3232 33134 DGCHECK2 CA DGBITS # UPDATE THE STATUS OF THE DATA GOOD BITS
025182,002811: 25,3233 00006 EXTEND
025183,002812: 25,3234 02033 RAND CHAN33
025184,002813: 25,3235 57112 XCH OLDATAGD
025185,002814: 25,3236 70061 MASK ITEMP1
025186,002815: 25,3237 54001 TS L # OLD STATUS
025187,002816: 25,3240 30061 CA ITEMP1
025188,002817: 25,3241 71112 MASK OLDATAGD # CURRENT STATUS
025189,002818: 25,3242 60001 AD L
025190,002819: 25,3243 10000 CCS A # BOTH SHOULD BE ZERO
025191,002820: 25,3244 13255 TCF BADRAD # DATA GOOD NOT PRESENT
025192,002821:
025193,002822: 25,3245 11110 GOODRAD CCS NSAMP # TEST FOR R12
025194,002823: 25,3246 13402 TCF R12EXIT
025195,002824:
025196,002825: 25,3247 52064 DXCH ITEMP3 # STORE DATA FOR CALLING ROUTINE
025197,002826: 25,3250 53101 DXCH SAMPLSUM
025198,002827: 25,3251 03647 TC RADLITES # UPDATE DSKY LIGHTS.
025199,002828:
025200,002829: 25,3252 34755 R77EXIT CA ZERO # ZERO RADUSE
025201,002830: 25,3253 55077 TS RADUSE
025202,002831: 25,3254 03621 TC RGOODEND -2
025203,002832:
025204,002833:
025205,002834: 25,3255 40110 BADRAD CS RADMODES # UPDATE RADMODES BIT ONLY IF DATA BAD
025206,002835: 25,3256 70061 MASK ITEMP1
025207,002836: 25,3257 26110 ADS RADMODES
025208,002837:
025209,002838: 25,3260 11110 CCS NSAMP # TEST FOR R12
025210,002839: 25,3261 13402 TCF R12EXIT
025211,002840:
025212,002841: 25,3262 03647 TC RADLITES # UPDATE DSKY LIGHTS
025213,002842: 25,3263 34755 RRBADEND CA ZERO # ZERO RADUSE
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Page 566 |
025215,002844: 25,3264 55077 TS RADUSE
025216,002845: 25,3265 03626 TC RDBADEND -2
025217,002846:
025218,002847:
025219,002848: 25,3266 34747 LRHEIGHT CA BIT5 # DATA GOOD BIT FOR ALTITUDE
025220,002849: 25,3267 54061 TS ITEMP1
025221,002850: 25,3270 34743 CA BIT9 # LO SCALE BIT FOR LR
025222,002851: 25,3271 03315 TC SCALECHK
025223,002852:
025224,002853: 25,3272 00006 RENDRAD EXTEND
025225,002854: 25,3273 31454 DCA TTOGO # LOAD TIME TO TIG
025226,002855: 25,3274 53272 DXCH TTOTIG # FOR R65 RADAR READING.
025227,002856:
025228,002857: 25,3275 34741 CA REPOSBIT # MAKE SURE ANTENNA HAS NOT
025229,002858: 25,3276 70110 MASK RADMODES # GONE OUT OF LIMITS.
025230,002859: 25,3277 10000 CCS A
025231,002860: 25,3300 13263 TCF RRBADEND
025232,002861:
025233,002862: 25,3301 40110 CS RADMODES # BE SURE RR CDU HASN'T FAILED.
025234,002863: 25,3302 74745 MASK RCDUFBIT
025235,002864: 25,3303 10000 CCS A
025236,002865: 25,3304 13263 TCF RRBADEND
025237,002866:
025238,002867: 25,3305 34750 CA BIT4 # DATA GOOD BIT FOR RR
025239,002868: 25,3306 54061 TS ITEMP1
025240,002869:
025241,002870: 25,3307 34753 CA BIT1 # TEST FOR RANGE OR RANGE RATE
025242,002871: 25,3310 71332 MASK RADBITS
025243,002872: 25,3311 54002 TS Q # SAVE FOR LATER TESTING
025244,002873: 25,3312 00006 EXTEND
025245,002874: 25,3313 13324 BZF RADIN # IF ROOT, READ DATA
025246,002875:
025247,002876: 25,3314 34751 CA BIT3 # LO SCALE BIT FOR RR.
025248,002877: 25,3315 54001 SCALECHK TS L
025249,002878: 25,3316 30110 CA RADMODES # TEST THE SCALE BIT SPECIFIED IN L
025250,002879: 25,3317 00006 EXTEND # TO SEE IF IT IS THE SMAE AS LAST
025251,002880: 25,3320 06033 RXOR CHAN33 # TIME.
025252,002881: 25,3321 70001 MASK L # IF BIT IS THE SMAE IN RADMODES AND
025253,002882: 25,3322 10000 CCS A # CHAN33, THEN A WILL BE ZERO
025254,002883: 25,3323 03363 TC SCALCHNG # SCALE CHANGED
025255,002884:
025256,002885: 25,3324 34733 RADIN CA POSMAX # UNPACK 15 BIT RADAR READING
025257,002886: 25,3325 70046 MASK RNRAD
025258,002887: 25,3326 54064 TS ITEMP4
025259,002888:
025260,002889: 25,3327 30046 CA RNRAD
025261,002890: 25,3330 60000 DOUBLE
025262,002891: 25,3331 74753 MASK BIT1
025263,002892: 25,3332 54063 TS ITEMP3
025264,002893:
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Page 567 |
025266,002895: 25,3333 10002 CCS Q # TEST FOR RR RANGE RATE (Q = 0)
025267,002896: 25,3334 13341 TCF SCALADJ # RANGE OR LR HEIGHT . TEST SCALE
025268,002897:
025269,002898: 25,3335 00006 EXTEND # RR RANGE RATE - SUBTRACT BIAS
025270,002899: 25,3336 42002 DCS RDOTBIAS
025271,002900: 25,3337 20064 DASAMPL DAS ITEMP3
025272,002901: 25,3340 13232 TCF DGCHECK2 # TEST DATA GOOD
025273,002902:
025274,002903: 25,3341 30110 SCALADJ CA RADMODES # TEST SCALE BIT
025275,002904: 25,3342 70001 MASK L
025276,002905: 25,3343 00006 EXTEND
025277,002906: 25,3344 13232 BZF DGCHECK2 # LO SCALE
025278,002907:
025279,002908: 25,3345 74751 MASK BIT3 # HI SCALE - TEST FOR LR
025280,002909: 25,3346 00006 EXTEND # IF BIT3 = 0,THEN IT IS LR
025281,002910: 25,3347 13356 BZF LRSCK
025282,002911:
025283,002912: 25,3350 52064 DXCH ITEMP3 # RESCALE RR DATA TO LO SCALING
025284,002913: 25,3351 20001 DDOUBL # MULTIPLY BY 8.
025285,002914: 25,3352 20001 DDOUBL
025286,002915: 25,3353 20001 DDOUBL
025287,002916: 25,3354 52064 DXCH ITEMP3
025288,002917: 25,3355 13232 TCF DGCHECK2
025289,002918:
025290,002919: 25,3356 00006 LRSCK EXTEND # RESCALE LR DATA TO LO SCALING
025291,002920: 25,3357 30064 DCA ITEMP3 # MULTIPLY BY 5.
025292,002921: 25,3360 20001 DDOUBL
025293,002922: 25,3361 20001 DDOUBL
025294,002923: 25,3362 13337 TCF DASAMPL
025295,002924:
025296,002925:
025297,002926: 25,3363 30110 SCALCHNG CA RADMODES
025298,002927: 25,3364 00006 EXTEND # INVERT SCALE BIT IN RADMODES
025299,002928: 25,3365 06001 RXOR LCHAN
025300,002929: 25,3366 54110 TS RADMODES
025301,002930:
025302,002931: 25,3367 11110 CCS NSAMP # TEST FOR R12
025303,002932: 25,3370 13400 TCF R12SCHNG
025304,002933:
025305,002934: 25,3371 05515 TC UPFLAG # SET RNGSCFLG FOR LRS24.1
025306,002935: 25,3372 00120 ADRES RNGSCFLG
025307,002936:
025308,002937: 25,3373 33134 CA DGBITS # UPDATE DATA GOOD BITS
025309,002938: 25,3374 00006 EXTEND
025310,002939: 25,3375 02033 RAND CHAN33
025311,002940: 25,3376 55112 TS OLDATAGD
025312,002941: 25,3377 13263 TCF RRBADEND
025313,002942:
025314,002943:
025315,002944: 25,3400 55110 R12SCHNG TS NSAMP # UPDATE NSAMP AND IGNORE READING.
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Page 568 |
025317,002946: 25,3401 13413 TCF READVEL
025318,002947:
025319,002948: 25,3402 55110 R12EXIT TS NSAMP # UPDATE NSAMP
025320,002949: 25,3403 00006 EXTEND
025321,002950: 25,3404 13444 BZF STORVEL
025322,002951:
025323,002952: 25,3405 67757 AD NEG3
025324,002953: 25,3406 00006 EXTEND
025325,002954: 25,3407 13424 BZF STORALT
025326,002955:
025327,002956: 25,3410 67761 AD NEGONE
025328,002957: 25,3411 00006 EXTEND
025329,002958: 25,3412 13422 BZF READALT
025330,002959: 25,3413 44757 READVEL CS SEVEN
025331,002960: 25,3414 00006 EXTEND
025332,002961: 25,3415 03013 WAND CHAN13
025333,002962: 25,3416 31077 CA RADUSE
025334,002963: 25,3417 04674 READALT2 TC IBNKCALL
025335,002964: 25,3420 36000 CADR RADSTART
025336,002965: 25,3421 05301 TC RESUME
025337,002966:
025338,002967:
025339,002968: 25,3422 33061 READALT CA ALLREAD # SET UP LR ALTITUDE READ
025340,002969: 25,3423 13417 TCF READALT2
025341,002970:
025342,002971: 25,3424 52064 STORALT DXCH ITEMP3
025343,002972: 25,3425 53655 DXCH HMEAS # STORE ALT IN HMEAS
025344,002973:
025345,002974: 25,3426 40110 CS RADMODES # TEST DATA GOOD
025346,002975: 25,3427 74747 MASK BIT5
025347,002976: 25,3430 00006 EXTEND
025348,002977: 25,3431 13441 BZF HBAD # DATA GOOD NOT PRESENT
025349,002978:
025350,002979: 25,3432 11677 CCS STILBADH # IF DATA JUST GOOD,OR IG RESTART JUST
025351,002980: 25,3433 13442 TCF HSTILBAD # OCCURRED,WAIT
025352,002981:
025353,002982: 25,3434 40107 CS FLGWRD11 # SET FLAG FORR12.
025354,002983: 25,3435 74750 MASK RNGEDBIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
025355,002984: 25,3436 26107 ADS FLGWRD11 # DESTROYED)
025356,002985: 25,3437 03647 ALTEXIT TC RADLITES
025357,002986: 25,3440 13413 TCF READVEL
025358,002987:
025359,002988: 25,3441 34752 HBAD CA TWO # SET STILBADH FOR FOUR SECOND DELAY
025360,002989: 25,3442 55677 HSTILBAD TS STILBADH
025361,002990: 25,3443 13437 TCF ALTEXIT
025362,002991:
025363,002992: 25,3444 40110 STORVEL CS RADMODES # TEST DATA GOOD
025364,002993: 25,3445 74744 MASK BIT8
025365,002994: 25,3446 00006 EXTEND
025366,002995: 25,3447 13513 BZF VBAD # DATA GOOD NOT PRESENT
025367,002996:
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025369,002998: 25,3450 11700 CCS STILBADV
025370,002999: 25,3451 13514 TCF VSTILBAD
025371,003000:
025372,003001: 25,3452 40107 CS FLGWRD11 # DATA IS GOOD, SET FLAG FOR R12
025373,003002: 25,3453 74745 MASK VELDABIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
025374,003003: 25,3454 26107 ADS FLGWRD11 # DESTROYED)
025375,003004: 25,3455 11462 R12DL CCS VSELECT # UPDATE VSELECT
025376,003005: 25,3456 13460 TCF +2
025377,003006: 25,3457 34752 CA TWO
025378,003007: 25,3460 55462 TS VSELECT
025379,003008:
025380,003009: 25,3461 53101 DXCH SAMPLSUM # STORE VEL DATA IN VMEAS
025381,003010: 25,3462 53653 DXCH VMEAS
025382,003011:
025383,003012: 25,3463 00006 EXTEND
025384,003013: 25,3464 31655 DCA HMEAS # STORE HMEAS FOR DOWNLINK
025385,003014: 25,3465 53771 DXCH HMEASDL
025386,003015:
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The next 18 lines (up to and including CA ITEMP3) are marked as having changed between ZLEMP20S.000 and ZLEMP20S.001. |
025389,003018: 25,3466 34741 CAF EBANK4
025390,003019: 25,3467 54003 TS EBANK
025391,003020: 25,3470 E4,1643 EBANK= LRTIME
025392,003021:
025393,003022: 25,3470 00006 EXTEND
025394,003023: 25,3471 31647 DCA LRYCDU
025395,003024: 25,3472 52062 DXCH ITEMP1
025396,003025:
025397,003026: 25,3473 31645 CA LRXCDU
025398,003027: 25,3474 54063 TS ITEMP3
025399,003028:
025400,003029: 25,3475 00006 EXTEND
025401,003030: 25,3476 31644 DCA LRTIME
025402,003031:
025403,003032: 25,3477 24006 INCR BBANK
025404,003033: 25,3500 24006 INCR BBANK
025405,003034: 25,3501 24006 INCR BBANK
025406,003035: 25,3502 E7,1772 EBANK= LRTIMEDL
025407,003036:
025408,003037: 25,3502 53773 DXCH LRTIMEDL
025409,003038:
025410,003039: 25,3503 52062 DXCH ITEMP1
025411,003040: 25,3504 53460 DXCH AIG
025412,003041:
025413,003042: 25,3505 30063 CA ITEMP3
025414,003043: 25,3506 55461 TS AOG
025415,003044:
025416,003045: 25,3507 03647 TC RADLITES # UPDATE DSKY VEL LIGHT
025417,003046: 25,3510 34755 CA ZERO
025418,003047: 25,3511 55077 TS RADUSE
025419,003048: 25,3512 05301 TC RESUME
025420,003049:
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025422,003051: 25,3513 34752 VBAD CA TWO
025423,003052: 25,3514 55700 VSTILBAD TS STILBADV
025424,003053: 25,3515 13455 TCF R12DL
025425,003054:
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025427,003056: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
025428,003057:
025429,003058:
025430,003059: 17,2000 SETLOC C13BANK
025431,003060: 17,2000 BANK
025432,003061:
025433,003062: 17,2000 54002 RADSTART TS Q
025434,003063: 17,2001 00006 +1 EXTEND
025435,003064: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
025436,003065: 17,2003 54001 TS L
025437,003066:
025438,003067: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
025439,003068: 17,2005 40000 COM
025440,003069: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
025441,003070: 17,2007 74346 MASK LOW5
025442,003071: 17,2010 55270 TS RADDEL
025443,003072:
025444,003073: 17,2011 67760 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
025445,003074: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
025446,003075: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
025447,003076:
025448,003077: 17,2014 30002 CA Q
025449,003078: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
025450,003079: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
025451,003080:
025452,003081: 17,2017 40001 CS L
025453,003082: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
025454,003083: 17,2021 04707 TC ISWRETRN
025455,003084:
025456,003085:
025457,003086: 17,2022 55266 C13STAL1 TS C13FSAV
025458,003087:
025459,003088: 17,2023 34750 CA BIT4
025460,003089: 17,2024 00006 EXTEND
025461,003090: 17,2025 02013 RAND CHAN13
025462,003091: 17,2026 00006 EXTEND
025463,003092: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
025464,003093:
025465,003094: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
025466,003095: 17,2031 00006 EXTEND
025467,003096: 17,2032 00004 READ LOSCALAR
025468,003097: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
025469,003098: 17,2034 64736 AD HALF
025470,003099: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
025471,003100: 17,2036 56001 XCH L
025472,003101:
025473,003102: 17,2037 32053 CA 90MSCALR
025474,003103: 17,2040 61270 AD RADDEL
025475,003104: 17,2041 00006 EXTEND
025476,003105: 17,2042 60001 SU L
|
|
Page 572 |
025478,003107: 17,2043 00006 EXTEND
025479,003108: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
025480,003109:
025481,003110: 17,2045 62054 AD -DTSCALR
025482,003111: 17,2046 00006 EXTEND
025483,003112: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
025484,003113:
025485,003114: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
025486,003115: 17,2051 31266 CA C13FSAV
025487,003116: 17,2052 52005 DTCF
025488,003117:
025489,003118: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
025490,003119: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
025491,003120:
025492,003121: 6000 SETLOC FFTAG6
025493,003122: 6000 BANK
025494,003123:
025495,003124: 6022 37736 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
025496,003125: 6023 56004 XCH FBANK
025497,003126: 6024 12022 TCF C13STAL1
025498,003127:
|
|
Page 573 |
025500,003129: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
025501,003130:
025502,003131: 25,3516 BANK 25
025503,003132: 25,2000 SETLOC P20S1
025504,003133: 25,2000 BANK
025505,003134: 25,3516 COUNT* $$/RSUB
025506,003135: 25,3516 00004 LRPOS2 INHINT
025507,003136:
025508,003137: 25,3517 40110 CS RADMODES
025509,003138: 25,3520 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
025510,003139: 25,3521 26110 ADS RADMODES
025511,003140:
025512,003141: 25,3522 34745 CAF BIT7
025513,003142: 25,3523 00006 EXTEND
025514,003143: 25,3524 02033 RAND CHAN33 # SEE IF ALREADY THERE.
025515,003144: 25,3525 00006 EXTEND
025516,003145: 25,3526 13537 BZF RADNOOP
025517,003146:
025518,003147: 25,3527 34737 CAF BIT13
025519,003148: 25,3530 00006 EXTEND
025520,003149: 25,3531 05012 WOR CHAN12 # COMMAND TO POSITION 2
025521,003150: 25,3532 33572 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
025522,003151: 25,3533 05214 TC WAITLIST
025523,003152: 25,3534 E7,1456 EBANK= LOSCOUNT
025524,003153: 25,3534 03570 52067 2CADR LRPOSCAN
025525,003154:
025526,003155: 25,3536 02357 TC ROADBACK
025527,003156:
025528,003157: 25,3537 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED
025529,003158: 25,3540 05214 TC WAITLIST
025530,003159: 25,3541 E7,1456 EBANK= LOSCOUNT
025531,003160: 25,3541 03623 52067 2CADR RGOODEND
025532,003161:
025533,003162: 25,3543 02357 TC ROADBACK
025534,003163:
025535,003164: 25,3544 55077 LRPOSNXT TS SAMPLIM
025536,003165: 25,3545 05232 TC FIXDELAY # SCAN ONCE PER SECOND 5 TIMES MAX AFTER
025537,003166: 25,3546 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
025538,003167:
025539,003168: 25,3547 34745 CAF BIT7 # SEE IF LR POS2 IS ON
025540,003169: 25,3550 00006 EXTEND
025541,003170: 25,3551 02033 RAND CHAN33
025542,003171: 25,3552 00006 EXTEND
025543,003172: 25,3553 13562 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
025544,003173:
025545,003174: 25,3554 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
025546,003175: 25,3555 13544 TCF LRPOSNXT
025547,003176:
025548,003177: 25,3556 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
025549,003178: 25,3557 00006 EXTEND
|
|
Page 574 |
025551,003180: 25,3560 03012 WAND CHAN12
025552,003181: 25,3561 13630 TCF RDBADEND
025553,003182:
025554,003183: 25,3562 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
025555,003184: 25,3563 05235 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
025556,003185:
025557,003186: 25,3564 44737 CS BIT13 # REMOVE COMMAND
025558,003187: 25,3565 00006 EXTEND
025559,003188: 25,3566 03012 WAND CHAN12
025560,003189: 25,3567 13623 TCF RGOODEND
025561,003190:
025562,003191: 25,3570 34751 LRPOSCAN CAF FOUR
025563,003192: 25,3571 13544 TCF LRPOSNXT
025564,003193: 25,3572 01130 6SECS DEC 600 B-14
025565,003194:
025566,003195: 25,3573 04616 LRP2COMM TC BANKCALL
025567,003196: 25,3574 53516 CADR LRPOS2
025568,003197: 25,3575 04616 TC BANKCALL
025569,003198: 25,3576 17713 CADR RADSTALL
025570,003199: 25,3577 03601 TC LP2ALM
025571,003200: 25,3600 13612 TCF GOPINNER
025572,003201:
025573,003202: 25,3601 05600 LP2ALM TC ALARM
025574,003203: 25,3602 00523 OCT 523
025575,003204: 25,3603 13612 TCF GOPINNER
025576,003205:
025577,003206: 25,3604 35016 V59GP63 CA EBANK7
025578,003207: 25,3605 54003 TS EBANK
025579,003208: 25,3606 E7,1427 EBANK= RPCRTIME
025580,003209: 25,3606 34733 CA POSMAX
025581,003210: 25,3607 55427 TS RPCRTIME
025582,003211: 25,3610 44736 CS BIT14
025583,003212: 25,3611 55430 TS RPCRTQSW
025584,003213: 25,3612 04635 GOPINNER TC POSTJUMP
025585,003214: 25,3613 21051 CADR PINBRNCH
025586,003215:
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|
Page 575 |
025588,003217: # SEQUENCES TO TERMINATE RR OPERATIONS.
025589,003218:
025590,003219: 25,3614 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
025591,003220: 25,3615 70110 MASK RADMODES
025592,003221: 25,3616 10000 CCS A
025593,003222: 25,3617 13623 TCF RGOODEND
025594,003223: 25,3620 13630 TCF RDBADEND
025595,003224: 25,3621 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
025596,003225: 25,3622 54332 TS RUPTAGN
025597,003226:
025598,003227: 25,3623 34752 RGOODEND CAF TWO
025599,003228: 25,3624 04635 TC POSTJUMP
025600,003229: 25,3625 17664 CADR GOODEND
025601,003230:
025602,003231: 25,3626 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
025603,003232: 25,3627 54332 TS RUPTAGN
025604,003233: 25,3630 34752 RDBADEND CAF TWO
025605,003234: 25,3631 04635 TC POSTJUMP
025606,003235: 25,3632 17661 CADR BADEND
025607,003236:
025608,003237: 25,3633 6257 BIN3 EQUALS THREE
025609,003238:
|
|
Page 576 |
025611,003240: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
025612,003241: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025613,003242:
025614,003243:
025615,003244: # FUNCTIONAL DESCRIPTION_
025616,003245:
025617,003246: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
025618,003247: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
025619,003248: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
025620,003249:
025621,003250:
025622,003251: # CALLING SEQUENCE CALL
025623,003252: # LPS20.1
025624,003253:
025625,003254: # SUBROUTINES CALLED_
025626,003255:
025627,003256: # LEMPREC,CSMPREC
025628,003257:
025629,003258:
025630,003259: # NORMAL EXIT_ RETURN TO CALLER + 2
025631,003260:
025632,003261:
025633,003262: # ERROR EXITS_ NONE
025634,003263:
025635,003264:
025636,003265: # ALARMS_ NONE
025637,003266:
025638,003267:
025639,003268: # OUTPUT_
025640,003269:
025641,003270: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
025642,003271: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
025643,003272: # RRNBSW CLEARED
025644,003273:
025645,003274:
025646,003275: # INITIALIZED ERASEABLE
025647,003276:
025648,003277: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
025649,003278: # SEE ORBITAL INTEGRATION ROUTINE
025650,003279:
025651,003280:
025652,003281: # DEBRIS_
025653,003282:
025654,003283: # MPAC DESTROYED BY THIS ROUTINE
025655,003284:
025656,003285: 23,2335 BANK 23
025657,003286: 24,2000 SETLOC P20S
025658,003287: 24,2000 BANK
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|
Page 577 |
025660,003289: 24,3340 COUNT* $$/LPS20
025661,003290:
025662,003291: 24,3340 43020 LPS20.1 STQ BOFF
025663,003292: 24,3341 01755 LS21X
025664,003293: 24,3342 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
025665,003294: 24,3343 51347 LMINT # SO CALL LEMCONIC TO GET LM STATE
025666,003295: 24,3344 77614 BON # IF IN R21 AND ON LUNAR SURFACE
025667,003296: 24,3345 04307 SURFFLAG # DON'T CALL LEMCONIC
025668,003297: 24,3346 51357 CSMINT
025669,003298: 24,3347 77624 LMINT CALL
025670,003299: 24,3350 27077 LEMCONIC # EXTRAPOLATE LEM
025671,003300: 24,3351 77775 VLOAD
025672,003301: 24,3352 00001 RATT
025673,003302: 24,3353 26343 STOVL LMPOS # SAVE LM POSITION B-29
025674,003303: 24,3354 00007 VATT
025675,003304: 24,3355 16351 STODL LMVEL # SAVE LM VELOCITY B-7
025676,003305: 24,3356 00015 TAT
025677,003306: 24,3357 34041 CSMINT STCALL TDEC1
025678,003307: 24,3360 27065 CSMCONIC # EXTRAPOLATE CSM
025679,003308: 24,3361 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
025680,003309: 24,3362 00007 VATT
025681,003310: 24,3363 02351 LMVEL
025682,003311: 24,3364 00017 STORE VELLOS
025683,003312: 24,3365 76521 MXV VSL1
025684,003313: 24,3366 01732 REFSMMAT
025685,003314: 24,3367 77776 EXIT
025686,003315: 24,3370 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
025687,003316: 24,3371 52573 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
025688,003317: 24,3372 06051 TC INTPRET
025689,003318: 24,3373 25757 STOVL LOSVEL
025690,003319: 24,3374 00001 RATT
025691,003320: 24,3375 43051 VSU BOFF
025692,003321: 24,3376 02343 LMPOS
025693,003322: 24,3377 00350 RNDVZFLG
025694,003323: 24,3400 51405 NOTSHIFT
025695,003324: 24,3401 00025 STORE RRANGE # RANGE FOR POSSIBLE ALARM B-29
025696,003325: 24,3402 54204 BOVB VSL
025697,003326: 24,3403 57735 TCDANZIG
025698,003327: 24,3404 20212 9D
025699,003328: 24,3405 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW , RANGE MUST BE GREATER
025700,003329: 24,3406 50104 526ALARM # THAN 400 N. M.
025701,003330: 24,3407 76521 MXV VSL1
025702,003331: 24,3410 01732 REFSMMAT # CONVERT TO STABLE MEMBER
025703,003332: 24,3411 15101 STODL RRTARGET
025704,003333: 24,3412 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
025705,003334: 24,3413 01765 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
025706,003335: 24,3414 77614 CLRGO
025707,003336: 24,3415 00231 RRNBSW
025708,003337: 24,3416 01755 LS21X
025709,003338: 24,3417 RRANGE EQUALS 20D
|
|
Page 578 |
025711,003340: 24,3417 VELLOS EQUALS 14D
025712,003341:
|
|
Page 579 |
025714,003343: # PROGRAM NAME : LPS20.2 400 N. MI. RANGE CHECK
025715,003344: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025716,003345:
025717,003346:
025718,003347: # FUNCTIONAL DESCRIPTION_
025719,003348:
025720,003349: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
025721,003350:
025722,003351:
025723,003352: # CALLING SEQUENCE CALL
025724,003353: # LPS20.2
025725,003354:
025726,003355:
025727,003356: # SUBROUTINES CALLED_ NONE
025728,003357:
025729,003358:
025730,003359: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
025731,003360:
025732,003361:
025733,003362: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
025734,003363:
025735,003364:
025736,003365: # ALARMS_ NONE
025737,003366:
025738,003367:
025739,003368: # OUTPUT_ NONE
025740,003369:
025741,003370:
025742,003371: # INITIALIZED ERASEABLE_
025743,003372:
025744,003373: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
025745,003374: # DEBRIS
025746,003375:
025747,003376: # MPAC DESTROYED BY THIS ROUTINE
025748,003377:
025749,003378: 25,2000 SETLOC P20S1
025750,003379: 25,2000 BANK
025751,003380: 25,3633 COUNT* $$/LPS20
025752,003381:
025753,003382: 25,3633 45345 LPS20.2 DLOAD DSU
025754,003383: 25,3634 01765 MLOSV # MAGNITUDE OF LOS
025755,003384: 25,3635 13646 FHNM # OVER 400NM _
025756,003385: 25,3636 77644 BPL
025757,003386: 25,3637 53642 TOFAR
025758,003387: 25,3640 43535 SLOAD RVQ
025759,003388: 25,3641 06520 ZERO/SP
025760,003389: 25,3642 43535 TOFAR SLOAD RVQ
025761,003390: 25,3643 13645 ONE/SP
025762,003391: 25,3644 00001 ONE/SP DEC 1 B-14
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|
Page 580 |
025764,003393: 25,3645 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
025765,003394:
|
|
Page 581 |
025767,003396: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
025768,003397: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
025769,003398:
025770,003399:
025771,003400: # FUNCTIONAL DESCRIPTION
025772,003401:
025773,003402: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
025774,003403: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
025775,003404: # RR REPOSITION AND RR CDU FAIL
025776,003405:
025777,003406: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
025778,003407:
025779,003408:
025780,003409: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
025781,003410:
025782,003411:
025783,003412: # SUBROUTINES CALLED:
025784,003413:
025785,003414: # RRRDOT LPS20.1
025786,003415: # RRRANGE BANKCALL
025787,003416: # RADSTALL CDULOGIC
025788,003417: # RRNB SMNB
025789,003418: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
025790,003419:
025791,003420:
025792,003421: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
025793,003422:
025794,003423: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
025795,003424: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
025796,003425:
025797,003426:
025798,003427: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
025799,003428: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
025800,003429:
025801,003430:
025802,003431: # OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
025803,003432: # RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
025804,003433:
025805,003434: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
025806,003435:
025807,003436: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
025808,003437: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
025809,003438: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
025810,003439: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
025811,003440: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
025812,003441:
025813,003442:
025814,003443: # ERASABLE INITIALIZATION REQUIRED:
025815,003444:
025816,003445: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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|
Page 582 |
025818,003447: # 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
025819,003448: # 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
025820,003449:
025821,003450: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
025822,003451:
025823,003452:
025824,003453: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
025825,003454:
025826,003455:
025827,003456: 32,2217 BANK 32
025828,003457: 32,2000 SETLOC LRS22
025829,003458: 32,2000 BANK
025830,003459: 32,2217 COUNT* $$/LRS22
025831,003460:
025832,003461: 32,2217 04645 LRS22.1 TC MAKECADR
025833,003462: 32,2220 55737 TS LRS22.1X
025834,003463: 32,2221 05527 TC DOWNFLAG
025835,003464: 32,2222 00120 ADRES RNGSCFLG
025836,003465: 32,2223 00004 INHINT
025837,003466: 32,2224 34751 CAF BIT3
025838,003467: 32,2225 00006 EXTEND # GET RR RANGE SCALE
025839,003468: 32,2226 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
025840,003469: 32,2227 54001 TS L
025841,003470: 32,2230 44751 CS RRRSBIT
025842,003471: 32,2231 70110 MASK RADMODES
025843,003472: 32,2232 60001 AD L
025844,003473: 32,2233 54110 TS RADMODES
025845,003474: 32,2234 00003 RELINT
025846,003475: 32,2235 04616 READRDOT TC BANKCALL
025847,003476: 32,2236 53070 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
025848,003477: 32,2237 04616 TC BANKCALL
025849,003478: 32,2240 17713 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
025850,003479: 32,2241 12402 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
025851,003480:
025852,003481: 32,2242 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
025853,003482: 32,2243 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
025854,003483: 32,2244 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
025855,003484: 32,2245 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
025856,003485: 32,2246 53747 DXCH RDOTMSAV
025857,003486: 32,2247 00006 EXTEND
025858,003487: 32,2250 30034 DCA CDUY # SAVE ICDU ANGLES
025859,003488: 32,2251 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
025860,003489: 32,2252 30032 CA CDUX
025861,003490: 32,2253 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
025862,003491: 32,2254 00006 EXTEND
025863,003492: 32,2255 30025 DCA TIME2 # SAVE TIME
025864,003493: 32,2256 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
025865,003494: 32,2257 00006 EXTEND
025866,003495: 32,2260 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025867,003496: 32,2261 53107 DXCH TANG
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|
Page 583 |
025869,003498: 32,2262 00003 RELINT
025870,003499: 32,2263 04616 TC BANKCALL
025871,003500: 32,2264 53072 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
025872,003501: 32,2265 04616 TC BANKCALL
025873,003502: 32,2266 17713 CADR RADSTALL # WAIT FOR READ COMPLETE
025874,003503: 32,2267 02376 TC CHEXERR # CHECK FOR ERRORS DURING READ
025875,003504: 32,2270 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
025876,003505: 32,2271 00006 EXTEND
025877,003506: 32,2272 31331 DCA DNRRANGE # RANGE,RANGE RATE (RAW DATA)
025878,003507: 32,2273 53761 DXCH RANGRDOT
025879,003508: 32,2274 52162 DXCH MPAC +5
025880,003509: 32,2275 53755 DXCH MKTIME # MARK TIME
025881,003510: 32,2276 52160 DXCH MPAC +3
025882,003511: 32,2277 53460 DXCH AIG # CDUY, CDUZ
025883,003512: 32,2300 00006 EXTEND
025884,003513: 32,2301 31107 DCA TANG # PRESERVE TANG
025885,003514: 32,2302 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
025886,003515: 32,2303 30156 CA MPAC +2
025887,003516: 32,2304 55461 TS AOG # CDUX
025888,003517: 32,2305 40110 CS FLGWRD12 # IS RR READING HIGH SCALE
025889,003518: 32,2306 74751 MASK RRRSBIT
025890,003519: 32,2307 10000 CCS A
025891,003520: 32,2310 34733 CA POSMAX # NO- LOW SCALE (SET CONFIG) AGSCODE=17777
025892,003521: 32,2311 67750 AD -BIT14 # YES- HI SCALE (SET CONFIG) AGSCODE=57777
025893,003522: 32,2312 55073 TS AGSCODE # SET AGS CODE WORD
025894,003523: 32,2313 06051 TC INTPRET
025895,003524: 32,2314 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
025896,003525: 32,2315 03747 RDOTMSAV # CONVERT ROOT UNITS AND SCALING
025897,003526: 32,2316 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
025898,003527: 32,2317 20217 14D # FT./SECOND PER BIT
025899,003528: 32,2320 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
025900,003529: 32,2321 03751 STORE RDOTM
025901,003530: 32,2322 47135 SLOAD RTB
025902,003531: 32,2323 01107 TANG # GET TRUNION ANGLE
025903,003532: 32,2324 21560 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
025904,003533: 32,2325 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
025905,003534: 32,2326 47135 SLOAD RTB
025906,003535: 32,2327 01110 TANG +1 # DITTO FOR SHAFT ANGLE
025907,003536: 32,2330 21560 CDULOGIC
025908,003537: 32,2331 17736 STODL RRSHAFT
025909,003538: 32,2332 01101 SAMPLSUM
025910,003539: 32,2333 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
025911,003540: 32,2334 24004 RANGCONV # PER BIT, END WITH METERS,SCALED -29
025912,003541: 32,2335 37757 STCALL RM
025913,003542: 32,2336 46041 RRNB # COMPUTE RADAR LOS USING RRNB
025914,003543: 32,2337 17741 STODL RRBORSIT # AND SAVE
025915,003544: 32,2340 00025 20D
025916,003545: 32,2341 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
025917,003546: 32,2342 51340 LPS20.1
025918,003547: 32,2343 77776 EXIT
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|
Page 584 |
025920,003549: 32,2344 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
025921,003550: 32,2345 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
025922,003551: 32,2346 31460 CA AMG
025923,003552: 32,2347 54767 TS CDUSPOT +2
025924,003553: 32,2350 31461 CA AOG
025925,003554: 32,2351 54771 TS CDUSPOT +4
025926,003555: 32,2352 06051 TC INTPRET
025927,003556: 32,2353 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
025928,003557: 32,2354 01101 RRTARGET
025929,003558: 32,2355 47656 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
025930,003559: 32,2356 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
025931,003560: 32,2357 03741 RRBORSIT
025932,003561: 32,2360 65552 SL1 ACOS # BETWEEN THEM
025933,003562: 32,2361 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
025934,003563: 32,2362 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
025935,003564: 32,2363 24406 THREEDEG
025936,003565: 32,2364 64371 NORMEXIT # YES-NORMAL EXIT
025937,003566:
025938,003567: 32,2365 77776 EXIT # ERROR EXIT 2
025939,003568: 32,2366 34752 CAF BIT2 # SET ERROR CODE
025940,003569: 32,2367 54154 TS MPAC
025941,003570: 32,2370 12374 TCF OUT22.1
025942,003571:
025943,003572: 32,2371 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
025944,003573: 32,2372 34755 CAF ZERO
025945,003574: 32,2373 54154 TS MPAC
025946,003575: 32,2374 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
025947,003576: 32,2375 04640 TC BANKJUMP
025948,003577: 32,2376 30101 CHEXERR CAE FLAGWRD5
025949,003578: 32,2377 74742 MASK RNGSCBIT
025950,003579: 32,2400 10000 CCS A # CHECK IF RANGE SCALE CHANGED
025951,003580: 32,2401 12235 TCF READRDOT # YES-TAKE ANOTHER READING
025952,003581:
025953,003582: 32,2402 34753 EREXIT1 CA BIT1 # SET ERROR CODE
025954,003583: 32,2403 54154 TS MPAC
025955,003584: 32,2404 02374 TC OUT22.1
025956,003585: 32,2405 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
025957,003586:
|
|
Page 585 |
025959,003588: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025960,003589:
025961,003590:
025962,003591: # MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
025963,003592:
025964,003593: # FUNCTIONAL DESCRIPTION-
025965,003594:
|
|
(Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003) |
025967,003596: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025968,003597:
025969,003598:
025970,003599: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
025971,003600:
025972,003601:
025973,003602: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
025974,003603: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025975,003604:
025976,003605:
025977,003606: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025978,003607:
025979,003608:
025980,003609: # ALARMS - NONE IN THE AUTO MODE
025981,003610:
025982,003611:
025983,003612: # ERASABLE INITIALIZATION REQUIRED -
025984,003613: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
025985,003614: # RM - RR RANGE, METERS B-29, FROM LRS22.1
025986,003615: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
025987,003616:
025988,003617:
025989,003618: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025990,003619:
025991,003620:
025992,003621: 24,2000 SETLOC P20S
025993,003622: 24,2000 BANK
025994,003623: 24,3417 04645 LRS22.2 TC MAKECADR
025995,003624: 24,3420 55737 TS LRS22.1X
025996,003625: 24,3421 06051 TC INTPRET
025997,003626: # CHECK IF RR LOS IS WITHIN 30 DEG OF
025998,003627: 24,3422 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
025999,003628: 24,3423 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
026000,003629: # LOS VECTOR,A HALF UNIT VECTOR
026001,003630: # IN NAV BASE AXES)
026002,003631: 24,3424 50025 DSU BMN
026003,003632: 24,3425 11441 30DEG
026004,003633: 24,3426 51433 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
026005,003634: 24,3427 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
026006,003635: 24,3430 34753 CAF BIT1 # SET ERROR CODE IN MPAC
026007,003636: 24,3431 54154 TS MPAC
026008,003637: 24,3432 13436 TCF OUT22.2
026009,003638: 24,3433 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
026010,003639:
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|
Page 586 |
026012,003641: 24,3434 34755 CAF ZERO
026013,003642: 24,3435 54154 TS MPAC
026014,003643: 24,3436 31737 OUT22.2 CAE LRS22.1X
026015,003644: 24,3437 04640 TC BANKJUMP
026016,003645:
026017,003646:
026018,003647: 24,3440 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
026019,003648:
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|
Page 587 |
026021,003650: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
026022,003651: # MOD. NO 3 LOG SECTION - P20-25
026023,003652: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
026024,003653:
026025,003654: # FUNCTIONAL DESCRIPTION
026026,003655:
026027,003656: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
026028,003657: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
026029,003658: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
026030,003659:
026031,003660: # CALLING SEQUENCE
026032,003661: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
026033,003662: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
026034,003663: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
026035,003664: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
026036,003665: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
026037,003666: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
026038,003667:
026039,003668:
026040,003669: # SUBROUTINES CALLED
026041,003670: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
026042,003671: # GETULC RARARANG INCORP2 NBSM INTSTALL
026043,003672:
026044,003673: # OUTPUT
026045,003674: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
026046,003675: # NUMBER OF MARKS INCORPORATED IN MARKCTR
026047,003676: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
026048,003677: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
026049,003678: # UPDATED W-MATRIX
026050,003679:
026051,003680:
026052,003681: # ERASABLE INITIALIZATION REQUIRED
026053,003682: # LM AND CSM STATE VECTORS
026054,003683: # W-MATRIX
026055,003684: # MARK TIME IN MKTIME
026056,003685: # RADAR RANGE IN RM METERS B-29
026057,003686: # RANGE RATE IN RDOTM METERS/CSES B-7
026058,003687: # SHAFT ANGLE IN RRSHAFT REVS.B0
026059,003688: # TRUNNION ANGLE IN RRTRUN REVS. B0
026060,003689: # GIMBAL ANGLES INNER IN AIG
026061,003690: # MIDDLE IN AMG
026062,003691: # OUTER IN AOG
026063,003692: # REFSMMAT
026064,003693: # RENDWFLG
026065,003694: # NOANGFLG
026066,003695: # VEHUPFLG
026067,003696:
026068,003697: # DEBRIS
026069,003698: # PUSHLIST--ALL
026070,003699: # MX, MY, MZ (VECTORS)
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|
Page 588 |
026072,003701: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
026073,003702:
026074,003703:
026075,003704: 13,2207 BANK 13
026076,003705: 26,2000 SETLOC P20S3
026077,003706: 26,2000 BANK
026078,003707:
026079,003708: 26,2420 E7,1456 EBANK= LOSCOUNT
026080,003709: 26,2420 COUNT* $$/LSR22
026081,003710: 26,2420 77624 LSR22.3 CALL
026082,003711: 26,2421 11216 GRP2PC
026083,003712: 26,2422 43014 BON SET
026084,003713: 26,2423 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
026085,003714: 26,2424 55202 LSR22.4 # YES
026086,003715: 26,2425 02466 DMENFLG
026087,003716: 26,2426 45014 BOFF CALL
026088,003717: 26,2427 00747 VEHUPFLG
026089,003718: 26,2430 54462 DOLEM
026090,003719: 26,2431 27410 INTSTALL
026091,003720: 26,2432 45014 CLEAR CALL # LM PRECISION INTEGRATION
026092,003721: 26,2433 01674 VINTFLAG
026093,003722: 26,2434 26643 SETIFLGS
026094,003723: 26,2435 77624 CALL
026095,003724: 26,2436 55244 INTGRCAL
026096,003725: 26,2437 77624 CALL
026097,003726: 26,2440 11216 GRP2PC
026098,003727: 26,2441 77624 CALL
026099,003728: 26,2442 27410 INTSTALL
026100,003729: 26,2443 43014 CLEAR BOFF
026101,003730: 26,2444 01676 DIM0FLAG
026102,003731: 26,2445 02756 RENDWFLG
026103,003732: 26,2446 54452 NOTWCSM
026104,003733: 26,2447 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
026105,003734: 26,2450 01476 DIM0FLAG
026106,003735: 26,2451 01475 D6OR9FLG
026107,003736: 26,2452 43014 NOTWCSM SET CLEAR
026108,003737: 26,2453 01474 VINTFLAG
026109,003738: 26,2454 01673 INTYPFLG
026110,003739: 26,2455 45014 SET CALL
026111,003740: 26,2456 01472 STATEFLG
026112,003741: 26,2457 55244 INTGRCAL
026113,003742: 26,2460 77650 GOTO
026114,003743: 26,2461 54512 MARKTEST
026115,003744: 26,2462 77624 DOLEM CALL
026116,003745: 26,2463 27410 INTSTALL
026117,003746: 26,2464 45014 SET CALL
026118,003747: 26,2465 01474 VINTFLAG
026119,003748: 26,2466 26643 SETIFLGS
026120,003749: 26,2467 77624 CALL
026121,003750: 26,2470 55244 INTGRCAL
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|
Page 589 |
026123,003752: 26,2471 77624 CALL
026124,003753: 26,2472 11216 GRP2PC
026125,003754: 26,2473 77624 CALL
026126,003755: 26,2474 27410 INTSTALL
026127,003756: 26,2475 43014 CLEAR BOFF
026128,003757: 26,2476 01676 DIM0FLAG
026129,003758: 26,2477 02756 RENDWFLG
026130,003759: 26,2500 54504 NOTWLEM
026131,003760: 26,2501 43014 SET SET # LM WITH W-MATRIX INTEGRATION
026132,003761: 26,2502 01476 DIM0FLAG
026133,003762: 26,2503 01475 D6OR9FLG
026134,003763: 26,2504 43014 NOTWLEM CLEAR CLEAR
026135,003764: 26,2505 01673 INTYPFLG
026136,003765: 26,2506 01674 VINTFLAG
026137,003766: 26,2507 45014 SET CALL
026138,003767: 26,2510 01472 STATEFLG
026139,003768: 26,2511 55244 INTGRCAL
026140,003769: 26,2512 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
026141,003770: 26,2513 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
026142,003771: 26,2514 54516 RANGEBQ
026143,003772: 26,2515 55253 WLINIT # YES-REINITIALIZE
026144,003773: 26,2516 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
026145,003774: 26,2517 04307 SURFFLAG
026146,003775: 26,2520 54526 RANGEBQ1
026147,003776: 26,2521 34755 CA ZERO
026148,003777: 26,2522 55745 TS R65CNTR
026149,003778: 26,2523 04616 TC BANKCALL
026150,003779: 26,2524 46123 CADR R65LEM
026151,003780: 26,2525 06051 TC INTPRET
026152,003781: 26,2526 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
026153,003782: 26,2527 00000 0
026154,003783: 26,2530 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
026155,003784: 26,2531 54534 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
026156,003785: 26,2532 77714 INCR,2
026157,003786: 26,2533 00002 2
026158,003787: 26,2534 45134 SETX2 SXA,2 CALL
026159,003788: 26,2535 03720 SCALSHFT # 0-MOON. 2-EARTH
026160,003789: 26,2536 11216 GRP2PC
026161,003790: 26,2537 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
026162,003791: 26,2540 00001 1
026163,003792: 26,2541 01353 WHCHREAD
026164,003793: 26,2542 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
026165,003794: 26,2543 01773 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
026166,003795: 26,2544 20635 28D
026167,003796: 26,2545 77634 RTB
026168,003797: 26,2546 21615 TPMODE # AND SAVE IN 20D
026169,003798: 26,2547 00025 STORE 20D
026170,003799: 26,2550 77624 CALL # BEGIN COMPUTING THE B-VECTORS,DELTAQ
026171,003800: 26,2551 55335 GETULC # B-VECTORS FOR RANGE
026172,003801: 26,2552 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
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|
Page 590 |
026174,003803: 26,2553 00707 VEHUPFLG
026175,003804: 26,2554 54555 +1
026176,003805: 26,2555 27525 STOVL BVECTOR
026177,003806: 26,2556 06520 ZEROVECS
026178,003807: 26,2557 03533 STORE BVECTOR +6 # B1
026179,003808: 26,2560 17541 STODL BVECTOR +12D # B2
026180,003809: 26,2561 00045 36D
026181,003810: 26,2562 44257 SRR* BDSU
026182,003811: 26,2563 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
026183,003812: 26,2564 03757 RM # RM - (MAGNITUDE RCSM-RLM)
026184,003813: 26,2565 77657 SLR*
026185,003814: 26,2566 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
026186,003815: 26,2567 17547 STODL DELTAQ # EARTH B-29. MOON B-27
026187,003816: 26,2570 00045 36D # RLC B-29/B-27
026188,003817: 26,2571 63501 NORM DSQ # NORMALIZE AND SQUARE
026189,003818: 26,2572 00047 X1
026190,003819: 26,2573 53605 DMP SR*
026191,003820: 26,2574 01767 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
026192,003821: 26,2575 20577 0 -2,1 # UNNORMALIZE
026193,003822: 26,2576 53657 SR* SR*
026194,003823: 26,2577 20601 0,1
026195,003824: 26,2600 57176 0,2
026196,003825: 26,2601 47057 SR* RTB
026197,003826: 26,2602 57176 0,2
026198,003827: 26,2603 21615 TPMODE
026199,003828: 26,2604 02707 STORE VARIANCE # B-40
026200,003829: 26,2605 76276 DCOMP TAD
026201,003830: 26,2606 00025 20D # B-40
026202,003831: 26,2607 72240 BMN TLOAD
026203,003832: 26,2610 54613 QOK
026204,003833: 26,2611 00025 20D # B-40
026205,003834: 26,2612 02707 STORE VARIANCE
026206,003835: 26,2613 77624 QOK CALL
026207,003836: 26,2614 55403 LGCUPDTE
026208,003837:
026209,003838: 26,2615 45131 SSP CALL
026210,003839: 26,2616 01354 WHCHREAD
026211,003840: 26,2617 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
026212,003841: 26,2620 11216 GRP2PC
026213,003842: 26,2621 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
026214,003843: 26,2622 55335 GETULC
026215,003844: 26,2623 53725 PDDL SR* # GET RLC SCALED B-29/B-27
026216,003845: 26,2624 00045 36D # AND SHIFT TO B-23
026217,003846: 26,2625 57202 0 -4,2
026218,003847: 26,2626 24045 STOVL 36D # THEN STORE BACK IN 36D
026219,003848: 26,2627 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
026220,003849: 26,2630 00707 VEHUPFLG
026221,003850: 26,2631 54632 +1
026222,003851: 26,2632 77761 VXSC
026223,003852: 26,2633 00045 36D # B1 = RLC (B-24/B-22)
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Page 591 |
026225,003854: 26,2634 27533 STOVL BVECTOR +6
026226,003855: 26,2635 01653 NUVLEM
026227,003856: 26,2636 53257 VSR* VAD
026228,003857: 26,2637 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
026229,003858: 26,2640 01667 VCVLEM # EARTH B-7. MOON B-5
026230,003859: 26,2641 53715 PDVL VSR* # VL TO PD6
026231,003860: 26,2642 01601 NUVCSM
026232,003861: 26,2643 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
026233,003862: 26,2644 52255 VAD VSU
026234,003863: 26,2645 01615 VCVCSM
026235,003864: 26,2646 50315 PDVL DOT # VC - VL = VLC TO PD6
026236,003865: 26,2647 00001 0
026237,003866: 26,2650 00007 6
026238,003867: 26,2651 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
026239,003868: 26,2652 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
026240,003869: 26,2653 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
026241,003870: 26,2654 01771 RATEVAR
026242,003871: 26,2655 02707 STORE VARIANCE
026243,003872: 26,2656 54335 SLOAD SR
026244,003873: 26,2657 01774 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
026245,003874: 26,2660 20621 16D # SHIFT TO DP (B -4)
026246,003875: 26,2661 00031 STORE 24D # AND SAVE IN 24D
026247,003876: 26,2662 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
026248,003877: 26,2663 02707 VARIANCE
026249,003878: 26,2664 54670 VOK # BRANCH - NO
026250,003879: 26,2665 77745 DLOAD # YES - USE MINIMUM VARIANCE
026251,003880: 26,2666 00031 24D
026252,003881: 26,2667 02707 STORE VARIANCE
026253,003882: 26,2670 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
026254,003883: 26,2671 53725 PDDL SLR* # TO B-10/B-8
026255,003884: 26,2672 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
026256,003885: 26,2673 56577 0 -1,2 # B-7 TO B-10/B-8
026257,003886: 26,2674 77625 DSU
026258,003887: 26,2675 77675 DMPR
026259,003888: 26,2676 00045 36D
026260,003889: 26,2677 27547 STOVL DELTAQ # B-33
026261,003890: 26,2700 00001 0 # NOW GET B0
026262,003891: 26,2701 47235 VXV VXV # (ULC X VLC) X ULC
026263,003892: 26,2702 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
026264,003893: 26,2703 00707 VEHUPFLG
026265,003894: 26,2704 54705 +1
026266,003895: 26,2705 77657 VSR*
026267,003896: 26,2706 57200 0 -2,2 # SCALED B-5
026268,003897: 26,2707 27525 STOVL BVECTOR
026269,003898: 26,2710 06520 ZEROVECS
026270,003899: 26,2711 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
026271,003900: 26,2712 27541 STOVL BVECTOR +12D
026272,003901: 26,2713 03525 BVECTOR
026273,003902: 26,2714 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
026274,003903: 26,2715 00025 20D # SHIFT COUNT IN 20D
|
|
Page 592 |
026276,003905: 26,2716 51575 VLOAD ABVAL
026277,003906: 26,2717 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
026278,003907: 26,2720 71301 NORM DLOAD
026279,003908: 26,2721 00027 22D # SHIFT COUNT IN 22D
026280,003909: 26,2722 00027 22D # FIND WHICH SHIFT IS SMALLER
026281,003910: 26,2723 50025 DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
026282,003911: 26,2724 00025 20D
026283,003912: 26,2725 54731 VOK1
026284,003913: 26,2726 52150 LXA,1 GOTO
026285,003914: 26,2727 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
026286,003915: 26,2730 54733 VOK2
026287,003916: 26,2731 77750 VOK1 LXA,1
026288,003917: 26,2732 00024 20D
026289,003918: 26,2733 53775 VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
026290,003919: 26,2734 03525 BVECTOR # WITH THIS SHIFT COUNT
026291,003920: 26,2735 20201 0,1
026292,003921: 26,2736 27525 STOVL BVECTOR
026293,003922: 26,2737 03533 BVECTOR +6
026294,003923: 26,2740 77657 VSL*
026295,003924: 26,2741 20201 0,1
026296,003925: 26,2742 17533 STODL BVECTOR +6
026297,003926: 26,2743 03547 DELTAQ
026298,003927: 26,2744 77657 SL*
026299,003928: 26,2745 20201 0,1
026300,003929: 26,2746 03547 STORE DELTAQ
026301,003930: 26,2747 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
026302,003931: 26,2750 00045 36D
026303,003932: 26,2751 20200 0 -1,1
026304,003933: 26,2752 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
026305,003934: 26,2753 02707 VARIANCE
026306,003935: 26,2754 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
026307,003936: 26,2755 21615 TPMODE
026308,003937: 26,2756 36707 STCALL VARIANCE # AND STORE TP VARIANCE
026309,003938: 26,2757 55403 LGCUPDTE
026310,003939:
026311,003940: 26,2760 77624 CALL
026312,003941: 26,2761 11216 GRP2PC
026313,003942: 26,2762 77414 BON EXIT # ARE ANGLES TO BE DONE
026314,003943: 26,2763 04307 SURFFLAG
026315,003944: 26,2764 55200 RENDEND # NO
026316,003945: 26,2765 E7,1457 EBANK= AIG
026317,003946: 26,2765 33334 MXMYMZ CAF AIGBANK
026318,003947: 26,2766 54006 TS BBANK
026319,003948: 26,2767 31457 CA AIG # YES, COMPUTE MX, MY, MZ
026320,003949: 26,2770 54765 TS CDUSPOT
026321,003950: 26,2771 31460 CA AMG
026322,003951: 26,2772 54767 TS CDUSPOT +2
026323,003952: 26,2773 31461 CA AOG
026324,003953: 26,2774 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
026325,003954: 26,2775 06051 TC INTPRET
|
|
Page 593 |
026327,003956: 26,2776 45175 VLOAD CALL
026328,003957: 26,2777 06516 UNITX
026329,003958: 26,3000 47671 TRG*NBSM
026330,003959: 26,3001 76505 VXM VSL1
026331,003960: 26,3002 01732 REFSMMAT
026332,003961: 26,3003 27677 STOVL MX
026333,003962: 26,3004 06514 UNITY
026334,003963: 26,3005 77624 CALL
026335,003964: 26,3006 47700 *NBSM*
026336,003965: 26,3007 76505 VXM VSL1
026337,003966: 26,3010 01732 REFSMMAT
026338,003967: 26,3011 27705 STOVL MY
026339,003968: 26,3012 06512 UNITZ
026340,003969: 26,3013 77624 CALL
026341,003970: 26,3014 47700 *NBSM*
026342,003971: 26,3015 76505 VXM VSL1
026343,003972: 26,3016 01732 REFSMMAT
026344,003973: 26,3017 37713 SHAFTBQ STCALL MZ
026345,003974: 26,3020 55363 RADARANG
026346,003975: 26,3021 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
026347,003976: 26,3022 01354 WHCHREAD
026348,003977: 26,3023 00003 DEC 3 B-14
026349,003978: 26,3024 03724 ULC
026350,003979: 26,3025 72441 DOT SL1
026351,003980: 26,3026 03677 MX
026352,003981: 26,3027 24023 STOVL SINTH # 18D
026353,003982: 26,3030 03724 ULC
026354,003983: 26,3031 72441 DOT SL1
026355,003984: 26,3032 03713 MZ
026356,003985: 26,3033 34021 STCALL COSTH # 16D
026357,003986: 26,3034 26506 ARCTAN
026358,003987: 26,3035 41221 BDSU DMP
026359,003988: 26,3036 03736 RRSHAFT
026360,003989: 26,3037 15443 2PI/8
026361,003990: 26,3040 41472 SL3R PUSH
026362,003991: 26,3041 52545 DLOAD SL3
026363,003992: 26,3042 01701 X789
026364,003993: 26,3043 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
026365,003994: 26,3044 56176 0,2
026366,003995: 26,3045 53605 DMP SRR*
026367,003996: 26,3046 03722 RXZ
026368,003997: 26,3047 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
026369,003998: 26,3050 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
026370,003999: 26,3051 03724 ULC
026371,004000: 26,3052 76435 VXV VSL1
026372,004001: 26,3053 03705 MY
026373,004002: 26,3054 77656 UNIT
026374,004003: 26,3055 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
026375,004004: 26,3056 00747 VEHUPFLG
026376,004005: 26,3057 55060 +1
|
|
Page 594 |
026378,004007: 26,3060 27525 STOVL BVECTOR
026379,004008: 26,3061 06520 ZEROVECS
026380,004009: 26,3062 03533 STORE BVECTOR +6
026381,004010: 26,3063 17541 STODL BVECTOR +12D
026382,004011: 26,3064 03722 RXZ
026383,004012: 26,3065 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
026384,004013: 26,3066 20577 0 -2,1
026385,004014: 26,3067 56176 0,2
026386,004015: 26,3070 03541 STORE BVECTOR +12D
026387,004016: 26,3071 77735 SLOAD
026388,004017: 26,3072 02011 SHAFTVAR
026389,004018: 26,3073 41215 DAD DMP
026390,004019: 26,3074 15440 IMUVAR # RAD**2 B12
026391,004020: 26,3075 03722 RXZ
026392,004021: 26,3076 41257 SRR* DMP
026393,004022: 26,3077 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
026394,004023: 26,3100 03722 RXZ
026395,004024: 26,3101 53657 SR* SR*
026396,004025: 26,3102 20577 0 -2,1
026397,004026: 26,3103 57176 0,2
026398,004027: 26,3104 47057 SR* RTB
026399,004028: 26,3105 57176 0,2
026400,004029: 26,3106 21615 TPMODE # STORE VARIANCE TRIPLE PRECISION
026401,004030: 26,3107 36707 STCALL VARIANCE # B-40
026402,004031: 26,3110 55403 LGCUPDTE
026403,004032:
026404,004033: 26,3111 77624 CALL
026405,004034: 26,3112 11216 GRP2PC
026406,004035: 26,3113 77624 TRUNBQ CALL
026407,004036: 26,3114 55363 RADARANG
026408,004037: 26,3115 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
026409,004038: 26,3116 01354 WHCHREAD
026410,004039: 26,3117 00004 DEC 4 B-14
026411,004040: 26,3120 03724 ULC
026412,004041: 26,3121 76435 VXV VSL1
026413,004042: 26,3122 03705 MY
026414,004043: 26,3123 76435 VXV VSL1 # (ULC X MY) X ULC
026415,004044: 26,3124 03724 ULC
026416,004045: 26,3125 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
026417,004046: 26,3126 00747 VEHUPFLG
026418,004047: 26,3127 55130 +1
026419,004048: 26,3130 27525 STOVL BVECTOR
026420,004049: 26,3131 06520 ZEROVECS
026421,004050: 26,3132 03533 STORE BVECTOR +6
026422,004051: 26,3133 17541 STODL BVECTOR +12D
026423,004052: 26,3134 03722 RXZ
026424,004053: 26,3135 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
026425,004054: 26,3136 20577 0 -2,1
026426,004055: 26,3137 56176 0,2
026427,004056: 26,3140 03543 STORE BVECTOR +14D
|
|
Page 595 |
026429,004058: 26,3141 77735 SLOAD
026430,004059: 26,3142 02012 TRUNVAR
026431,004060: 26,3143 41215 DAD DMP
026432,004061: 26,3144 15440 IMUVAR
026433,004062: 26,3145 03722 RXZ
026434,004063: 26,3146 41257 SRR* DMP
026435,004064: 26,3147 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
026436,004065: 26,3150 03722 RXZ
026437,004066: 26,3151 53657 SR* SR*
026438,004067: 26,3152 20577 0 -2,1
026439,004068: 26,3153 57176 0,2
026440,004069: 26,3154 47057 SR* RTB
026441,004070: 26,3155 57176 0,2
026442,004071: 26,3156 21615 TPMODE # STORE VARIANCE TRIPLE PRECISION
026443,004072: 26,3157 16707 STODL VARIANCE
026444,004073: 26,3160 03732 SINTHETA
026445,004074: 26,3161 44336 ASIN BDSU # SIN THETA IN PD6
026446,004075: 26,3162 03734 RRTRUN
026447,004076: 26,3163 56405 DMP SL3R
026448,004077: 26,3164 15443 2PI/8
026449,004078: 26,3165 52525 PDDL SL3
026450,004079: 26,3166 01703 X789 +2
026451,004080: 26,3167 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
026452,004081: 26,3170 56176 0,2
026453,004082: 26,3171 53605 DMP SRR*
026454,004083: 26,3172 03722 RXZ
026455,004084: 26,3173 21601 0,1
026456,004085: 26,3174 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
026457,004086: 26,3175 55403 LGCUPDTE
026458,004087: 26,3176 77624 CALL
026459,004088: 26,3177 11216 GRP2PC
026460,004089: 26,3200 77650 RENDEND GOTO
026461,004090: 26,3201 50644 R22LEM93
026462,004091: # FUNCTIONAL DESCRIPTION
026463,004092:
026464,004093: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
026465,004094: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
026466,004095: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
026467,004096:
026468,004097: # SUBROUTINES CALLED
026469,004098: # INSTALL LGCUPDTE INCORP1 RP-TO-R
026470,004099: # INTEGRV GETULC INCORP2
026471,004100:
026472,004101: # OUTPUT
026473,004102: # CORRECTED CSM STATE VECTOR (PERMANENT)
026474,004103: # NUMBER OF MARKS INCORPORATED IN MARKCTR
026475,004104: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
026476,004105: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
026477,004106: # UPDATED W-MATRIX
026478,004107:
|
|
Page 596 |
026480,004109: # ERASABLE INITIALIZATION REQUIRED
026481,004110: # LM AND CSM STATE VECTORS
026482,004111: # W-MATRIX
026483,004112: # MARK TIME IN MKTIME
026484,004113: # RADAR RANGE IN RM METERS B-29
026485,004114: # RANGE RATE IN RDOTM METERS/CSEC B-7
026486,004115: # VEHUPFLG
026487,004116:
026488,004117:
026489,004118: 26,3202 77624 LSR22.4 CALL
026490,004119: 26,3203 27410 INTSTALL
026491,004120: 26,3204 43014 SET CLEAR
026492,004121: 26,3205 01472 STATEFLG
026493,004122: 26,3206 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
026494,004123: 26,3207 77624 CALL
026495,004124: 26,3210 55244 INTGRCAL
026496,004125: 26,3211 77624 CALL
026497,004126: 26,3212 11216 GRP2PC
026498,004127: 26,3213 45014 CLEAR CALL
026499,004128: 26,3214 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
026500,004129: 26,3215 27410 INTSTALL
026501,004130: 26,3216 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
026502,004131: 26,3217 03463 MARKCTR
026503,004132: 26,3220 55233 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
026504,004133: 26,3221 43014 CLEAR SET
026505,004134: 26,3222 01675 D6OR9FLG
026506,004135: 26,3223 01476 DIM0FLAG
026507,004136: 26,3224 43014 SET CLEAR
026508,004137: 26,3225 01474 VINTFLAG
026509,004138: 26,3226 01673 INTYPFLG
026510,004139: 26,3227 77624 CALL
026511,004140: 26,3230 55244 INTGRCAL
026512,004141: 26,3231 77650 GOTO
026513,004142: 26,3232 54516 RANGEBQ
026514,004143:
026515,004144: 26,3233 77624 INITWMX6 CALL
026516,004145: 26,3234 55253 WLINIT # INITIALIZE W-MATRIX
026517,004146: 26,3235 45014 SET CALL
026518,004147: 26,3236 01474 VINTFLAG
026519,004148: 26,3237 26643 SETIFLGS
026520,004149: 26,3240 77624 CALL
026521,004150: 26,3241 55244 INTGRCAL
026522,004151: 26,3242 77650 GOTO
026523,004152: 26,3243 54516 RANGEBQ
026524,004153:
026525,004154: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
026526,004155:
026527,004156: 26,3244 71220 INTGRCAL STQ DLOAD
026528,004157: 26,3245 03675 IGRET
026529,004158: 26,3246 03755 MKTIME
|
|
Page 597 |
026531,004160: 26,3247 34041 STCALL TDEC1
026532,004161: 26,3250 27133 INTEGRV
026533,004162: 26,3251 77650 GOTO
026534,004163: 26,3252 03675 IGRET
026535,004164:
026536,004165: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
026537,004166: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
026538,004167:
026539,004168: 26,3253 E5,1400 EBANK= W
026540,004169: 26,3253 77776 WLINIT EXIT
026541,004170: 26,3254 33333 CAF WBANK
026542,004171: 26,3255 54006 TS BBANK
026543,004172: 26,3256 33441 CAF WSIZE
026544,004173: 26,3257 54130 TS W.IND
026545,004174: 26,3260 34755 CAF ZERO
026546,004175: 26,3261 50130 INDEX W.IND
026547,004176: 26,3262 55400 TS W
026548,004177: 26,3263 10130 CCS W.IND
026549,004178: 26,3264 03257 TC -5
026550,004179: 26,3265 33334 CAF AIGBANK # RESTORE EBANK 7
026551,004180: 26,3266 54006 TS BBANK
026552,004181: 26,3267 06051 TC INTPRET
026553,004182: 26,3270 67214 BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
026554,004183: 26,3271 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
026555,004184: 26,3272 55276 WLSRFPOS # WRENDPOS AND WRENDVEL
026556,004185: 26,3273 02001 WRENDPOS
026557,004186: 26,3274 77650 GOTO
026558,004187: 26,3275 55300 WPOSTORE
026559,004188: 26,3276 77735 WLSRFPOS SLOAD
026560,004189: 26,3277 02007 WSURFPOS
026561,004190: 26,3300 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
026562,004191: 26,3301 20606 5
026563,004192: 26,3302 02401 STORE W
026564,004193: 26,3303 02411 STORE W +8D
026565,004194: 26,3304 02421 STORE W +16D
026566,004195: 26,3305 67214 BON SLOAD
026567,004196: 26,3306 04307 SURFFLAG
026568,004197: 26,3307 55313 WLSRFVEL
026569,004198: 26,3310 02002 WRENDVEL
026570,004199: 26,3311 77650 GOTO
026571,004200: 26,3312 55315 WVELSTOR
026572,004201: 26,3313 77735 WLSRFVEL SLOAD
026573,004202: 26,3314 02010 WSURFVEL
026574,004203: 26,3315 02511 WVELSTOR STORE W +72D
026575,004204: 26,3316 02521 STORE W +80D
026576,004205: 26,3317 02531 STORE W +88D
026577,004206: 26,3320 77735 SLOAD
026578,004207: 26,3321 02003 WSHAFT
026579,004208: 26,3322 02621 STORE W +144D
026580,004209: 26,3323 77735 SLOAD
|
|
Page 598 |
026582,004211: 26,3324 02004 WTRUN
026583,004212: 26,3325 02631 STORE W +152D
026584,004213: 26,3326 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
026585,004214: 26,3327 02476 RENDWFLG
026586,004215: 26,3330 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
026587,004216: 26,3331 00000 0
026588,004217: 26,3332 77616 RVQ
026589,004218:
026590,004219: 26,3333 E5,1400 EBANK= W
026591,004220: 26,3333 54065 WBANK BBCON WLINIT
026592,004221: 26,3334 E7,1457 EBANK= AIG
026593,004222: 26,3334 54067 AIGBANK BBCON LSR22.3
026594,004223:
026595,004224: # GETULC
026596,004225:
026597,004226: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
026598,004227: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
026599,004228: # MAGNITUDE IN 36D.
026600,004229:
026601,004230: 26,3335 77201 GETULC SETPD VLOAD
026602,004231: 26,3336 00001 0
026603,004232: 26,3337 01645 DELTALEM
026604,004233: 26,3340 77754 LXA,2
026605,004234: 26,3341 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
026606,004235: 26,3342 53257 VSR* VAD
026607,004236: 26,3343 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
026608,004237: 26,3344 01661 RCVLEM
026609,004238: 26,3345 53715 PDVL VSR*
026610,004239: 26,3346 01573 DELTACSM
026611,004240: 26,3347 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
026612,004241: 26,3350 52255 VAD VSU
026613,004242: 26,3351 01607 RCVCSM
026614,004243: 26,3352 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
026615,004244: 26,3353 21706 NORMUNX1
026616,004245: 26,3354 17724 STODL ULC
026617,004246: 26,3355 00045 36D
026618,004247: 26,3356 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
026619,004248: 26,3357 20201 0,1
026620,004249: 26,3360 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
026621,004250: 26,3361 03724 ULC
026622,004251: 26,3362 77616 RVQ
026623,004252: # RADARANG
026624,004253:
026625,004254: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
026626,004255: # RXZ = (SQRT (1-SINTHETA**2))RLC
026627,004256: # OUTPUT
026628,004257: # ULC IN ULC, PD0
026629,004258: # RLC IN PD36D
026630,004259: # SIN THETA IN SINTHETA AND PD6
026631,004260: # RXZ NORM IN RXZ (N IN X1)
|
|
Page 599 |
026633,004262: 26,3363 45020 RADARANG STQ CALL
026634,004263: 26,3364 03675 RDRET
026635,004264: 26,3365 55335 GETULC
026636,004265: 26,3366 50276 VCOMP DOT
026637,004266: 26,3367 03705 MY
026638,004267: 26,3370 41572 SL1R PUSH # SIN THETA TO PD6
026639,004268: 26,3371 03732 STORE SINTHETA
026640,004269: 26,3372 44316 DSQ BDSU
026641,004270: 26,3373 06510 DP1/4TH # 1 - (SIN THETA)**2
026642,004271: 26,3374 41366 SQRT DMP
026643,004272: 26,3375 00045 36D
026644,004273: 26,3376 60352 SL1 NORM
026645,004274: 26,3377 00047 X1 # SET SHIFT COUNTER IN X1
026646,004275: 26,3400 03722 STORE RXZ
026647,004276: 26,3401 77650 GOTO # EXIT
026648,004277: 26,3402 03675 RDRET
026649,004278: 26,3403 45020 LGCUPDTE STQ CALL
026650,004279: 26,3404 03675 LGRET
026651,004280: 26,3405 46527 INCORP1
026652,004281: 26,3406 51575 VLOAD ABVAL
026653,004282: 26,3407 02673 DELTAX +6
026654,004283: 26,3410 53754 LXA,2 SRR*
026655,004284: 26,3411 03720 SCALSHFT # 0-MOON. 2-EARTH
026656,004285: 26,3412 56174 2,2 # SET VEL DISPLAY TO B-7
026657,004286: 26,3413 24317 STOVL R22DISP +2
026658,004287: 26,3414 02665 DELTAX
026659,004288: 26,3415 53646 ABVAL SRR*
026660,004289: 26,3416 56174 2,2 # SET POS DISPLAY TO B-29
026661,004290: 26,3417 00315 STORE R22DISP
026662,004291: 26,3420 54335 SLOAD SR
026663,004292: 26,3421 02005 RMAX
026664,004293: 26,3422 20613 10D
026665,004294: 26,3423 50025 DSU BMN
026666,004295: 26,3424 00315 R22DISP
026667,004296: 26,3425 50650 R22LEM96 # GO DISPLAY
026668,004297: 26,3426 45335 SLOAD DSU
026669,004298: 26,3427 02006 VMAX
026670,004299: 26,3430 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
026671,004300: 26,3431 77640 BMN
026672,004301: 26,3432 50650 R22LEM96 # GO DISPLAY
026673,004302: 26,3433 77624 ASTOK CALL
026674,004303: 26,3434 46741 INCORP2
026675,004304: 26,3435 77650 GOTO
026676,004305: 26,3436 03675 LGRET
026677,004306: 26,3437 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
026678,004307:
026679,004308: 26,3441 00241 WSIZE DEC 161 B-14
026680,004309: 26,3442 31103 36652 2PI/8 2DEC 3.141592653 B-2
026681,004310:
026682,004311: 26,3444 E7,1456 EBANK= LOSCOUNT
026683,004312:
|
|
Page 600 |
026685,004314: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
026686,004315: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
026687,004316:
026688,004317:
026689,004318: # FUNCTIONAL DESCRIPTION
026690,004319:
026691,004320: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
026692,004321: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
026693,004322: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
026694,004323: # ATTITUDE MANEUVER.
026695,004324:
026696,004325:
026697,004326: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
026698,004327:
026699,004328:
026700,004329: # SUBROUTINES CALLED
026701,004330:
026702,004331: # LEMCONIC R61LEM
026703,004332: # CSMCONIC RRDESSM
026704,004333: # JOBDELAY FLAGDOWN
026705,004334: # WAITLIST FLAGUP
026706,004335: # RRNB BANKCALL
026707,004336:
026708,004337:
026709,004338: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
026710,004339:
026711,004340:
026712,004341: # OUTPUT
026713,004342:
026714,004343: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
026715,004344: # 11111 INDICATES LOCKON ACHIEVED
026716,004345: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
026717,004346:
026718,004347: # ERASABLE INITIALIZATION REQUIRED
026719,004348: # SEARCH FLAG MUST BE SET
026720,004349: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
026721,004350: # DEBRIS
026722,004351:
026723,004352: # RLMSRCH UXVECT
026724,004353: # VXRLM UYVECT
026725,004354: # LOSDESRD NSRCHPNT
026726,004355: # DATAGOOD OMEGAD
026727,004356: # MPAC PUSHLIST
026728,004357:
026729,004358:
026730,004359: 26,3444 COUNT* $$/LRS24
026731,004360: 26,3444 34755 LRS24.1 CAF ZERO
026732,004361: 26,3445 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
026733,004362: 26,3446 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
026734,004363: 26,3447 00006 EXTEND
|
|
Page 601 |
026736,004365: 26,3450 05012 WOR CHAN12
026737,004366: 26,3451 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
026738,004367: 26,3452 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
026739,004368: 26,3453 00006 EXTEND
026740,004369: 26,3454 15155 BZF ENDOFJOB # NO-TERMINATE JOB
026741,004370:
026742,004371:
026743,004372: 26,3455 33715 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
026744,004373: 26,3456 00004 INHINT
026745,004374: 26,3457 05214 TC WAITLIST # IN 6 SECONDS
026746,004375: 26,3460 E7,1456 EBANK= LOSCOUNT
026747,004376: 26,3460 03645 54067 2CADR CALLDGCH
026748,004377:
026749,004378: 26,3462 00003 RELINT
026750,004379: 26,3463 40110 CS RADMODES # IS REMODE IN PROGRESS
026751,004380: 26,3464 74736 MASK REMODBIT
026752,004381: 26,3465 00006 EXTEND
026753,004382: 26,3466 15155 BZF ENDOFJOB # YES- WAIT SIX SECONDS
026754,004383: 26,3467 06051 TC INTPRET
026755,004384:
026756,004385: 26,3470 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
026757,004386: 26,3471 21555 LOADTIME
026758,004387: 26,3472 15717 1.5SECS
026759,004388: 26,3473 34041 LRS24.11 STCALL TDEC1
026760,004389: 26,3474 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
026761,004390: 26,3475 77775 VLOAD
026762,004391: 26,3476 00001 RATT
026763,004392: 26,3477 27676 STOVL RLMSRCH # SAVE LEM POSITION
026764,004393: 26,3500 00007 VATT
026765,004394: 26,3501 17740 STODL SAVLEMV # SAVE LEM VELOCITY
026766,004395: 26,3502 00015 TAT
026767,004396: 26,3503 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
026768,004397: 26,3504 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
026769,004398: 26,3505 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
026770,004399: 26,3506 00001 RATT
026771,004400: 26,3507 03676 RLMSRCH
026772,004401: 26,3510 77656 UNIT
026773,004402: 26,3511 27712 STOVL LOSDESRD # STORE DESIRED LOS
026774,004403: 26,3512 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
026775,004404: 26,3513 47256 UNIT VXV
026776,004405: 26,3514 00001 RATT
026777,004406: 26,3515 77656 UNIT
026778,004407: 26,3516 03704 STORE VXRCM
026779,004408: 26,3517 52375 VLOAD VSU
026780,004409: 26,3520 00007 VATT
026781,004410: 26,3521 03740 SAVLEMV
026782,004411: 26,3522 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
026783,004412: 26,3523 01732 REFSMMAT
026784,004413: 26,3524 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
026785,004414: 26,3525 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 602 |
026787,004416: 26,3526 03737 NSRCHPNT
026788,004417: 26,3527 55640 DESGLOS # YES-DESIGNATE ALONG LOS
026789,004418: 26,3530 53025 DSU BZE # IS N=1
026790,004419: 26,3531 15713 ONEOCT # YES-CALCULATE X AND Y AXES OF
026791,004420: 26,3532 55625 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
026792,004421: 26,3533 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
026793,004422: 26,3534 03720 UXVECT
026794,004423: 26,3535 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
026795,004424: 26,3536 03726 UYVECT # UXPRIME = ORIGINAL UX
026796,004425: 26,3537 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
026797,004426: 26,3540 77761 VXSC
026798,004427: 26,3541 15707 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
026799,004428: 26,3542 27720 STOVL UXVECT
026800,004429: 26,3543 00015 UXVECTPR
026801,004430: 26,3544 53361 VXSC VAD
026802,004431: 26,3545 06516 COS60DEG
026803,004432: 26,3546 03720 UXVECT
026804,004433: 26,3547 77656 UNIT
026805,004434: 26,3550 27720 STOVL UXVECT
026806,004435: 26,3551 00015 UXVECTPR # UY=(-SIN60)UXPR +(COS 60)UYPR
026807,004436: 26,3552 77761 VXSC
026808,004437: 26,3553 15707 SIN60DEG
026809,004438: 26,3554 27726 STOVL UYVECT
026810,004439: 26,3555 00023 UYVECTPR
026811,004440: 26,3556 52361 VXSC VSU
026812,004441: 26,3557 06516 COS60DEG
026813,004442: 26,3560 03726 UYVECT
026814,004443: 26,3561 77656 UNIT
026815,004444: 26,3562 03726 STORE UYVECT
026816,004445: 26,3563 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
026817,004446: 26,3564 15711 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
026818,004447: 26,3565 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
026819,004448: 26,3566 64256 UNIT MXV
026820,004449: 26,3567 01732 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
026821,004450: 26,3570 77772 VSL1
026822,004451: 26,3571 25101 CONTDESG STOVL RRTARGET
026823,004452: 26,3572 03740 SAVLEMV
026824,004453: 26,3573 01757 STORE LOSVEL
026825,004454: 26,3574 77776 EXIT
026826,004455: 26,3575 00004 INHINT
026827,004456: 26,3576 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
026828,004457: 26,3577 52573 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
026829,004458: # POINT IN THE PATTERN
026830,004459: 26,3600 44735 CONTDES2 CS CDESBIT
026831,004460: 26,3601 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
026832,004461: 26,3602 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
026833,004462: 26,3603 54110 TS RADMODES
026834,004463: 26,3604 06051 TC INTPRET
026835,004464:
026836,004465: 26,3605 77624 CALL
|
|
Page 603 |
026838,004467: 26,3606 52364 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
026839,004468:
026840,004469: 26,3607 77776 EXIT
026841,004470: 26,3610 03677 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
026842,004471: 26,3611 03677 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
026843,004472:
026844,004473:
026845,004474: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
026846,004475: # SPACECRAFT +Z AXIS
026847,004476: 26,3612 00006 OMEGCALC EXTEND
026848,004477: 26,3613 30036 DCA CDUT
026849,004478: 26,3614 53753 DXCH TANGNB
026850,004479: 26,3615 06051 TC INTPRET
026851,004480: 26,3616 77624 CALL
026852,004481: 26,3617 46041 RRNB
026853,004482: 26,3620 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026854,004483: 26,3621 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026855,004484: 26,3622 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
026856,004485: 26,3623 77776 EXIT
026857,004486: 26,3624 05155 TC ENDOFJOB
026858,004487:
|
|
Page 604 |
026860,004489: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026861,004490:
026862,004491:
026863,004492: 26,3625 47375 CALCXY VLOAD VXV
026864,004493: 26,3626 03704 VXRCM
026865,004494: 26,3627 03712 LOSDESRD
026866,004495: 26,3630 77656 UNIT
026867,004496: 26,3631 27720 STOVL UXVECT # UX = (VLM X RLM)X LOS
026868,004497: 26,3632 03712 LOSDESRD
026869,004498: 26,3633 53435 VXV UNIT
026870,004499: 26,3634 03720 UXVECT
026871,004500: 26,3635 03726 STORE UYVECT # UY = LOS X UX
026872,004501: 26,3636 77650 GOTO
026873,004502: 26,3637 55563 OFFCALC
026874,004503:
026875,004504:
026876,004505: 26,3640 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
026877,004506: 26,3641 03712 LOSDESRD
026878,004507: 26,3642 01732 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
026879,004508: 26,3643 52172 VSL1 GOTO
026880,004509: 26,3644 55571 CONTDESG
026881,004510:
026882,004511:
026883,004512: 26,3645 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
026884,004513: 26,3646 74745 MASK RNDVZBIT
026885,004514: 26,3647 00006 EXTEND
026886,004515: 26,3650 15272 BZF TASKOVER # NO-EXIT R24
026887,004516: 26,3651 37725 CAF PRIO25 # YES -SCHEDULE JOB TO DRIVE RADAR TO NEXT
026888,004517: 26,3652 05105 TC FINDVAC # POINT IN SEARCH PATTERN
026889,004518: 26,3653 E7,1675 EBANK= RLMSRCH
026890,004519: 26,3653 03656 54067 2CADR DATGDCHK
026891,004520:
026892,004521: 26,3655 05272 TC TASKOVER
026893,004522:
026894,004523:
026895,004524: 26,3656 34750 DATGDCHK CAF BIT4
026896,004525: 26,3657 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
026897,004526: 26,3660 02033 RAND CHAN33
026898,004527: 26,3661 00006 EXTEND
026899,004528: 26,3662 13671 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
026900,004529: 26,3663 46254 CS SIX
026901,004530: 26,3664 61736 AD NSRCHPNT # IS N GREATER THAN 6
026902,004531: 26,3665 00006 EXTEND
026903,004532: 26,3666 13444 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
026904,004533: 26,3667 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
026905,004534: 26,3670 13446 TCF CHKSRCH # NEXT POINT IN PATTERN
026906,004535:
026907,004536:
026908,004537: 26,3671 33705 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
026909,004538: 26,3672 55733 TS DATAGOOD
|
|
Page 605 |
026911,004540: 26,3673 00004 INHINT
026912,004541: 26,3674 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
026913,004542: 26,3675 52573 CADR DESLOOP +2 # WAITLIST USING KILLTASK
026914,004543: 26,3676 05155 TC ENDOFJOB
026915,004544:
026916,004545: 26,3677 05600 LIMALARM TC ALARM # ISSUE ALARM 527-LOS NOT IN MODE2
026917,004546: 26,3700 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
026918,004547: 26,3701 00004 INHINT # REQUIRED IN P20
026919,004548: 26,3702 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
026920,004549: 26,3703 55645 CADR CALLDGCH # POINT IN SEARCH PATTERN
026921,004550: 26,3704 05155 TC ENDOFJOB
026922,004551:
026923,004552:
026924,004553: 26,3705 25547 ALL1S DEC 11111 B-14
026925,004554: 26,3706 33555 01106 SIN60DEG 2DEC .86603
026926,004555:
026927,004556: 26,3710 23,2515 COS60DEG = DPHALF # (2DEC .50)
026928,004557: 26,3710 UXVECTPR EQUALS 12D # PREVIOUS
026929,004558: 26,3710 UYVECTPR EQUALS 18D
026930,004559: 26,3710 RLMUNIT EQUALS 12D
026931,004560: 26,3710 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
026932,004561:
026933,004562: 26,3712 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
026934,004563: 26,3713 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
026935,004564:
026936,004565: # **** ONEOCT NEEDS A LOWER ORDER ****
026937,004566: # **** WORD OF ZEROES ****
026938,004567: 26,3715 01130 6SECONDS DEC 600 B-14
026939,004568: 26,3716 00000 00226 1.5SECS 2DEC 150 B-28
026940,004569:
026941,004570: 26,3720 23,2517 ZERO/SP EQUALS HI6ZEROS
026942,004571: 4616 BLOCK 02
026943,004572: 6000 SETLOC FFTAG5
026944,004573: 6000 BANK
026945,004574: 6025 COUNT* $$/P20
026946,004575: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
026947,004576: 6026 36031 DCA VB56CADR # GOTOPOOH
026948,004577: 6027 15176 TCF SUPDXCHZ
026949,004578: 6030 E7,1471 EBANK= WHOCARES
026950,004579: 6030 03013 66107 VB56CADR 2CADR TRMTRACK
026951,004580:
|
|
Page 606 |
026953,004582: # W-MATRIX MONITOR
026954,004583:
026955,004584: 31,2007 BANK 31
026956,004585: 31,2000 SETLOC VB67
026957,004586: 31,2000 BANK
026958,004587: 31,2007 COUNT* $$/EXTVB
026959,004588:
026960,004589: 31,2007 E4,1571 EBANK= WWPOS
026961,004590:
026962,004591: 31,2007 06051 V67CALL TC INTPRET
026963,004592: 31,2010 77624 CALL
026964,004593: 31,2011 62120 V67WW
026965,004594: 31,2012 77776 EXIT
026966,004595: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026967,004596: 31,2014 31572 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026968,004597: 31,2015 53600 DXCH WWBIAS +2
026969,004598: 31,2016 00006 EXTEND
026970,004599: 31,2017 31574 DCA WWVEL
026971,004600: 31,2020 53602 DXCH WWBIAS +4
026972,004601: 31,2021 00006 EXTEND
026973,004602: 31,2022 31576 DCA WWBIAS
026974,004603: 31,2023 53604 DXCH WWBIAS +6
026975,004604: 31,2024 32143 V06N99DS CAF V06N99
026976,004605: 31,2025 04616 TC BANKCALL
026977,004606: 31,2026 20334 CADR GOXDSPF
026978,004607: 31,2027 15503 TCF ENDEXT
026979,004608: 31,2030 12032 TCF V6N99PRO
026980,004609: 31,2031 12024 TCF V06N99DS
026981,004610: 31,2032 22007 V6N99PRO ZL
026982,004611: 31,2033 34756 CA FIVE
026983,004612: 31,2034 54002 N99LOOP TS Q
026984,004613: 31,2035 50002 INDEX Q
026985,004614: 31,2036 41571 CS WWPOS
026986,004615: 31,2037 50002 INDEX Q
026987,004616: 31,2040 61577 AD WWPOS +6
026988,004617: 31,2041 26001 ADS L
026989,004618: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026990,004619: 31,2043 12034 TCF N99LOOP
026991,004620: 31,2044 22000 LXCH A
026992,004621: 31,2045 00006 EXTEND
026993,004622: 31,2046 12051 BZF V06N9933
026994,004623: 31,2047 05515 TC UPFLAG
026995,004624: 31,2050 00160 ADRES V67FLAG
026996,004625:
026997,004626: 31,2051 06051 V06N9933 TC INTPRET
026998,004627: 31,2052 77414 BON EXIT
026999,004628: 31,2053 03707 V67FLAG
027000,004629: 31,2054 62056 +2
027001,004630: 31,2055 15503 TCF ENDEXT
027002,004631: 31,2056 77745 DLOAD
|
|
Page 607 |
027004,004633: 31,2057 02172 WWPOS
027005,004634: 31,2060 72412 SL4 SL1
027006,004635: 31,2061 14001 STODL 0D
027007,004636: 31,2062 02174 WWVEL
027008,004637: 31,2063 14003 STODL 2D
027009,004638: 31,2064 02176 WWBIAS
027010,004639: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
027011,004640: 31,2066 20213 10D # INTERNAL SCALING (B+5)
027012,004641: 31,2067 00005 STORE 4D
027013,004642: 31,2070 72014 BON LXA,1
027014,004643: 31,2071 04307 SURFFLAG
027015,004644: 31,2072 62102 V67SURF
027016,004645: 31,2073 00000 0D
027017,004646: 31,2074 72130 SXA,1 LXA,1
027018,004647: 31,2075 02000 WRENDPOS
027019,004648: 31,2076 00002 2D
027020,004649: 31,2077 52130 SXA,1 GOTO
027021,004650: 31,2100 02001 WRENDVEL
027022,004651: 31,2101 62110 V67CLRF
027023,004652: 31,2102 66150 V67SURF LXA,1 SXA,1
027024,004653: 31,2103 00000 0D
027025,004654: 31,2104 02006 WSURFPOS
027026,004655: 31,2105 66150 LXA,1 SXA,1
027027,004656: 31,2106 00002 2D
027028,004657: 31,2107 02007 WSURFVEL
027029,004658: 31,2110 66150 V67CLRF LXA,1 SXA,1
027030,004659: 31,2111 00004 4D
027031,004660: 31,2112 02003 WTRUN
027032,004661: 31,2113 77730 SXA,1
027033,004662: 31,2114 02002 WSHAFT
027034,004663: 31,2115 77414 CLEAR EXIT
027035,004664: 31,2116 02676 RENDWFLG
027036,004665: 31,2117 15503 TCF ENDEXT
027037,004666: 31,2120 40020 V67WW STQ BOV
027038,004667: 31,2121 00051 S2
027039,004668: 31,2122 62123 +1
027040,004669: 31,2123 45014 CLEAR CALL
027041,004670: 31,2124 03667 V67FLAG
027042,004671: 31,2125 27410 INTSTALL
027043,004672: 31,2126 71331 SSP DLOAD
027044,004673: 31,2127 00051 S1
027045,004674: 31,2130 00006 DEC 6 B-14
027046,004675: 31,2131 06520 ZEROVECS
027047,004676: 31,2132 02172 STORE WWPOS
027048,004677: 31,2133 02174 STORE WWVEL
027049,004678: 31,2134 02176 STORE WWBIAS
027050,004679: 31,2135 77770 AXT,1
027051,004680: 31,2136 00066 DEC 54 B-14
027052,004681: 31,2137 47573 NXPOSVEL VLOAD* VSQ
027053,004682: 31,2140 02467 W +54D,1
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Page 608 |
027055,004684: 31,2141 77650 GOTO
027056,004685: 31,2142 60002 ADDPOS
027057,004686: 31,2143 01543 V06N99 VN 0699
027058,004687:
027059,004688: 30,2000 SETLOC VB67A
027060,004689: 30,2000 BANK
027061,004690: 30,2002 COUNT* $$/EXTVB
027062,004691:
027063,004692: 30,2002 77615 ADDPOS DAD
027064,004693: 30,2003 02172 WWPOS
027065,004694: 30,2004 02172 STORE WWPOS
027066,004695: 30,2005 47573 VLOAD* VSQ
027067,004696: 30,2006 02555 W +108D,1
027068,004697: 30,2007 77615 DAD
027069,004698: 30,2010 02174 WWVEL
027070,004699: 30,2011 02174 STORE WWVEL
027071,004700: 30,2012 47573 VLOAD* VSQ
027072,004701: 30,2013 02643 W +162D,1
027073,004702: 30,2014 77615 DAD
027074,004703: 30,2015 02176 WWBIAS
027075,004704: 30,2016 02176 STORE WWBIAS
027076,004705: 30,2017 75500 TIX,1 SQRT
027077,004706: 30,2020 62137 NXPOSVEL
027078,004707: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
027079,004708: 30,2022 20613 10D # NOUN SCALING (B-5)
027080,004709: 30,2023 16176 STODL WWBIAS
027081,004710: 30,2024 02174 WWVEL
027082,004711: 30,2025 77766 SQRT
027083,004712: 30,2026 16174 STODL WWVEL
027084,004713: 30,2027 02172 WWPOS
027085,004714: 30,2030 77766 SQRT
027086,004715: 30,2031 02172 STORE WWPOS
027087,004716: 30,2032 52000 BOV GOTO
027088,004717: 30,2033 60035 +2
027089,004718: 30,2034 60042 V67XXX
027090,004719: 30,2035 77745 DLOAD
027091,004720: 30,2036 06526 DPPOSMAX
027092,004721: 30,2037 02172 STORE WWPOS
027093,004722: 30,2040 02174 STORE WWVEL
027094,004723: 30,2041 02176 STORE WWBIAS
027095,004724: 30,2042 45345 V67XXX DLOAD DSU
027096,004725: 30,2043 02172 WWPOS
027097,004726: 30,2044 20060 FT99999
027098,004727: 30,2045 71240 BMN DLOAD
027099,004728: 30,2046 60051 +3
027100,004729: 30,2047 20060 FT99999
027101,004730: 30,2050 02172 STORE WWPOS
027102,004731: 30,2051 66150 LXA,1 SXA,1
027103,004732: 30,2052 00051 S2
027104,004733: 30,2053 00052 QPRET
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Page 609 |
027106,004735: 30,2054 77776 EXIT
027107,004736: 30,2055 04635 TC POSTJUMP
027108,004737: 30,2056 27421 CADR INTWAKE
027109,004738:
027110,004739: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
027111,004740:
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Page 610 |
027113,004742: 25,3647 BANK 25
027114,004743: 25,2000 SETLOC RADARUPT
027115,004744: 25,2000 BANK
027116,004745: 25,3647 COUNT* $$/RRUPT
027117,004746:
027118,004747: 25,3647 E7,1456 EBANK= LOSCOUNT
027119,004748:
027120,004749: 25,3647 44747 RADLITES CS BIT5
027121,004750: 25,3650 60061 AD ITEMP1
027122,004751: 25,3651 10000 CCS A
027123,004752: 25,3652 44753 CS ONE
027124,004753: 25,3653 13703 TCF VLIGHT
027125,004754:
027126,004755: 25,3654 14570 TCF RRTRKF
027127,004756:
027128,004757: 25,3655 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
027129,004758:
027130,004759: 25,3656 34747 CA HLITE
027131,004760: 25,3657 54001 TS L
027132,004761:
027133,004762: 25,3660 34747 CA LRALTBIT
027134,004763: 25,3661 70110 BOTHLITS MASK RADMODES
027135,004764: 25,3662 10000 CCS A
027136,004765: 25,3663 13675 TCF ONLITES
027137,004766:
027138,004767: 25,3664 30107 CA FLGWRD11
027139,004768: 25,3665 50065 INDEX ITEMP5
027140,004769: 25,3666 74753 MASK HFLSHBIT
027141,004770: 25,3667 10000 CCS A
027142,004771: 25,3670 14570 TCF RRTRKF
027143,004772:
027144,004773: 25,3671 00006 LITIT EXTEND
027145,004774: 25,3672 22066 QXCH ITEMP6
027146,004775: 25,3673 04602 TC TRKFLON +1
027147,004776:
027148,004777: 25,3674 00066 TC ITEMP6
027149,004778:
027150,004779: 25,3675 50065 ONLITES INDEX ITEMP5
027151,004780: 25,3676 44753 CS HFLSHBIT
027152,004781: 25,3677 70107 MASK FLGWRD11
027153,004782: 25,3700 54107 TS FLGWRD11
027154,004783:
027155,004784: 25,3701 30001 CA L
027156,004785: 25,3702 13671 TCF LITIT
027157,004786: 25,3703 54065 VLIGHT TS ITEMP5
027158,004787: 25,3704 34751 CA VLITE
027159,004788: 25,3705 54001 TS L
027160,004789: 25,3706 34744 CA BIT8
027161,004790: 25,3707 13661 TCF BOTHLITS
027162,004791:
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Page 611 |
027164,004793: 25,3710 4747 HLITE EQUALS BIT5
027165,004794: 25,3710 4751 VLITE EQUALS BIT3
End of include-file P20-P25.agc. Parent file is MAIN.agc