Source Code

021085,000001: # Copyright: Public domain. 021086,000002: # Filename: P20-P25.agc 021087,000003: # Purpose: Part of the source code for Luminary 1A build 099. 021088,000004: # It is part of the source code for the Lunar Module's (LM) 021089,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 021090,000006: # Assembler: yaYUL 021091,000007: # Contact: Onno Hommes <ohommes@cmu.edu>. 021092,000008: # Website: www.ibiblio.org/apollo. 021093,000009: # Pages: 0492-0613 021094,000010: # Mod history: 2009-05-26 OH Transcribed from page images. 021095,000011: # 2009-06-05 RSB Corrected a typos. 021096,000012: # 2009-06-06 RSB Added a missing instruction, and a block 021097,000013: # of 3 missing instructions. 021098,000014: # 2009-06-07 RSB Fixed a misprint. 021099,000015: # 2009-06-07 RSB Changed the construct "2DEC E-6 B12" 021100,000016: # (which isn't legal in yaYUL) to 021101,000017: # "2DEC 1.0 E-6 B12". 021102,000018: # 2011-05-07 JL Removed workarounds. 021103,000019: 021104,000020: # This source code has been transcribed or otherwise adapted from 021105,000021: # digitized images of a hardcopy from the MIT Museum. The digitization 021106,000022: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of 021107,000023: # the Museum. Many thanks to both. The images (with suitable reduction 021108,000024: # in storage size and consequent reduction in image quality as well) are 021109,000025: # available online at www.ibiblio.org/apollo. If for some reason you 021110,000026: # find that the images are illegible, contact me at info@sandroid.org 021111,000027: # about getting access to the (much) higher-quality images which Paul 021112,000028: # actually created. 021113,000029: 021114,000030: # Notations on the hardcopy document read, in part: 021115,000031: 021116,000032: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 021117,000033: # 16:27 JULY 14, 1969 021118,000034: 021119,000035: # Page 492 021120,000036: # RENDEZVOUS NAVIGATION PROGRAM 20 021121,000037: 021122,000038: # PROGRAM DESCRIPTION 021123,000039: 021124,000040: # MOD NO -- 2 021125,000041: # BY P. VOLANTE 021126,000042: 021127,000043: # FUNCTIONAL DESCRIPTION 021128,000044: 021129,000045: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM 021130,000046: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER 021131,000047: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY) 021132,000048: # ON THE BASIS OF THE RR TRACKING DATA. 021133,000049: 021134,000050: # CALLING SEQUENCE -- 021135,000051: 021136,000052: # ASTRONAUT REQUEST THROUGH DSKY V37E20E 021137,000053: 021138,000054: # SUBROUTINES CALLED 021139,000055: 021140,000056: # R02BOTH (IMU STATUS CHECK) FLAGUP 021141,000057: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN 021142,000058: # R23LEM (MANUAL ACQUISITION) BANKCALL 021143,000059: # LS201 (LOS DETERMINATION) TASKOVER 021144,000060: # LS202 (RANGE LIMIT TEST) 021145,000061: # R61LEM (PREFERRED TRACKING ATTITUDE) 021146,000062: # R21LEM (RR DESIGNATE) ENDOFJOB 021147,000063: # R22LEM (DATA READ) GOPERF1 021148,000064: # R31LEM (RENDEZVOUS PARAMETER DISPLAY) 021149,000065: # PRIOLARM (PRIORITY DISPLAY) 021150,000066: 021151,000067: # NORMAL EXIT MODES -- 021152,000068: 021153,000069: # P20 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING 021154,000070: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E 021155,000071: 021156,000072: # ALARM OR ABORT EXIT MODES -- 021157,000073: 021158,000074: # RANGE GREATER THAN 400 NM DISPLAY 021159,000075: 021160,000076: # OUTPUT 021161,000077: 021162,000078: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER) 021163,000079: 021164,000080: # ERASABLE INITIALIZATION REQUIRED 021165,000081: 021166,000082: # FLAGS SET + RESET 021167,000083: 021168,000084: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG 021169,000085: 021170,000086: # DEBRIS 021171,000087: 021172,000088: # CENTRALS -- A,Q,L 021173,000089: 021174,000090: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S. 021175,000091: 021176,000092: 33,2045 BANK 33 021177,000093: 24,2000 SETLOC P20S 021178,000094: 24,2000 BANK 021179,000095: 021180,000096: 24,2000 E7,1456 EBANK= LOSCOUNT 021181,000097: 24,2000 COUNT* $$/P20 021182,000098: 24,2000 24,2000 PROG22 = PROG20 021183,000099: 24,2000 05327 PROG20 TC 2PHSCHNG 021184,000100: 24,2001 00004 OCT 4 021185,000101: 24,2002 05022 OCT 05022 021186,000102: 24,2003 26000 OCT 26000 # PRIORITY 26 021187,000103: 24,2004 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE 021188,000104: # Page 493 021189,000105: 24,2005 02007 TC ORBCHGO # YES 021190,000106: 24,2006 02036 TC PROG20A -2 # NO -- CONTINUE WITH P20 021191,000107: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG -- CSM STATE 021192,000108: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED 021193,000109: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT 021194,000110: 24,2012 55145 TS OPTION2 # CHANGE PRESENT ORBIT 021195,000111: 24,2013 32311 CAF OCT00012 021196,000112: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION 021197,000113: 24,2015 20633 CADR GOPERF4 021198,000114: 24,2016 06001 TC GOTOP00H # TERMINATE 021199,000115: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK 021200,000116: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY 021201,000117: 24,2021 42312 ORBCHG1 CS P22ONE 021202,000118: 24,2022 61145 AD OPTION2 021203,000119: 24,2023 00006 EXTEND 021204,000120: 24,2024 12040 BZF PROG20A 021205,000121: 24,2025 32315 CAF V06N33* 021206,000122: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED 021207,000123: 24,2027 20476 CADR GOFLASH # TIME OF LAUNCH 021208,000124: 24,2030 06001 TC GOTOP00H # TERMINATE 021209,000125: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK 021210,000126: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY 021211,000127: 24,2033 06037 ORBCHG2 TC INTPRET 021212,000128: 24,2034 77650 GOTO 021213,000129: 24,2035 64217 ORBCHG3 021214,000130: 32,2217 BANK 32 021215,000131: 32,2000 SETLOC P20S4 021216,000132: 32,2000 BANK 021217,000133: 32,2217 COUNT* $$/P20 021218,000134: 021219,000135: 32,2217 77624 ORBCHG3 CALL 021220,000136: 32,2220 27414 INTSTALL 021221,000137: 32,2221 77745 DLOAD 021222,000138: 32,2222 03442 TIG 021223,000139: 32,2223 03661 STORE LNCHTM 021224,000140: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME 021225,000141: 32,2225 43014 CLEAR CLEAR 021226,000142: 32,2226 01674 VINTFLAG # LM INTEGRATION 021227,000143: 32,2227 01673 INTYPFLG # PRECISION -- ENCKE 021228,000144: 32,2230 43014 CLEAR CLEAR 021229,000145: 32,2231 01676 DIM0FLAG # NO W-MATRIX 021230,000146: 32,2232 01675 D6OR9FLG 021231,000147: 32,2233 77624 CALL 021232,000148: 32,2234 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION 021233,000149: 32,2235 77624 CALL 021234,000150: 32,2236 11244 GRP2PC 021235,000151: 32,2237 77775 VLOAD 021236,000152: 32,2240 00017 RATT1 021237,000153: 32,2241 17631 STODL RSUBL # SAVE LM POSITION 021238,000154: 32,2242 00015 TAT 021239,000155: # Page 494 021240,000156: 32,2243 34041 STCALL TDEC1 021241,000157: 32,2244 27414 INTSTALL 021242,000158: 32,2245 43014 SET CLEAR 021243,000159: 32,2246 01474 VINTFLAG # CSM INTEGRATION 021244,000160: 32,2247 01673 INTYPFLG 021245,000161: 32,2250 43014 CLEAR BOFF 021246,000162: 32,2251 01676 DIM0FLAG 021247,000163: 32,2252 02756 RENDWFLG # W MATRIX VALID 021248,000164: 32,2253 64257 NOWMATX # NO 021249,000165: 32,2254 43014 SET SET # YES -- SET FOR W MATRIX 021250,000166: 32,2255 01476 DIM0FLAG 021251,000167: 32,2256 01475 D6OR9FLG 021252,000168: 32,2257 77624 NOWMATX CALL 021253,000169: 32,2260 27134 INTEGRV # CSM INTEGRATION 021254,000170: 32,2261 77624 CALL 021255,000171: 32,2262 11244 GRP2PC 021256,000172: 32,2263 77775 VLOAD 021257,000173: 32,2264 00025 VATT1 021258,000174: 32,2265 25761 STOVL VSUBC # SAVE CSM POSITION 021259,000175: 32,2266 00017 RATT1 021260,000176: 32,2267 01102 STORE RSUBC # SAVE CSM POSITION 021261,000177: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE 021262,000178: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)) 021263,000179: 32,2272 24025 STOVL 20D # SAVE NSUB1 021264,000180: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL 021265,000181: 32,2274 53435 VXV UNIT # PLANE CHANGE 021266,000182: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1) 021267,000183: 32,2276 27637 STOVL UCSM 021268,000184: 32,2277 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM 021269,000185: 32,2300 50256 UNIT DOT # AND RSUBC 021270,000186: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM)) 021271,000187: 32,2302 77752 SL1 021272,000188: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE 021273,000189: 32,2304 44316 DSQ BDSU # COMPUTE SINE A 021274,000190: 32,2305 10314 ONEB-2 021275,000191: 32,2306 77766 SQRT 021276,000192: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE 021277,000193: 32,2310 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH 021278,000194: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETHA B-27 021279,000195: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH. 021280,000196: 32,2313 77676 VCOMP 021281,000197: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5 021282,000198: 32,2315 45014 CLEAR CALL 021283,000199: 32,2316 03666 RVSW 021284,000200: 32,2317 24732 TIMETHET 021285,000201: 32,2320 77676 VCOMP 021286,000202: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM 021287,000203: 32,2322 77745 DLOAD 021288,000204: 32,2323 00037 T 021289,000205: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME 021290,000206: # Page 495 021291,000207: 32,2325 03645 NEWVEL 021292,000208: 32,2326 77646 ABVAL 021293,000209: 32,2327 24025 STOVL 20D 021294,000210: 32,2330 00001 0D 021295,000211: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM 021296,000212: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO SCM ORBITAL PLANE 021297,000213: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM)) 021298,000214: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED 021299,000215: 32,2335 03653 NEWPOS # ORBITAL PLANE 021300,000216: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2 021301,000217: 32,2337 00025 20D 021302,000218: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY 021303,000219: 32,2341 11244 GRP2PC 021304,000220: 32,2342 77624 CALL 021305,000221: 32,2343 27414 INTSTALL 021306,000222: 32,2344 44345 DLOAD BDSU 021307,000223: 32,2345 03663 TRANSTM # LAUNCH TIME -- TRANSFER TIME 021308,000224: 32,2346 03661 LNCHTM 021309,000225: 32,2347 25517 STOVL TET 021310,000226: 32,2350 03653 NEWPOS 021311,000227: 32,2351 01535 STORE RCV 021312,000228: 32,2352 25503 STOVL RRECT 021313,000229: 32,2353 03665 NCSMVEL 021314,000230: 32,2354 35511 STCALL VRECT 021315,000231: 32,2355 23455 MINIRECT 021316,000232: 32,2356 45174 AXT,2 CALL 021317,000233: 32,2357 00002 2 021318,000234: 32,2360 26661 ATOPCSM 021319,000235: 32,2361 77624 CALL 021320,000236: 32,2362 27423 INTWAKE0 021321,000237: 32,2363 77776 EXIT 021322,000238: 32,2364 04616 TC BANKCALL 021323,000239: 32,2365 50040 CADR PROG20A 021324,000240: 021325,000241: 24,2036 BANK 24 021326,000242: 24,2000 SETLOC P20S 021327,000243: 24,2000 BANK 021328,000244: 24,2036 COUNT* $$/P20 021329,000245: 021330,000246: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG -- LM STATE VECTOR 021331,000247: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED 021332,000248: 24,2040 04616 PROG20A TC BANKCALL 021333,000249: 24,2041 11254 CADR R02BOTH 021334,000250: 24,2042 05504 TC UPFLAG 021335,000251: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG 021336,000252: 24,2044 05504 TC UPFLAG 021337,000253: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG 021338,000254: 24,2046 05504 TC UPFLAG 021339,000255: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG 021340,000256: 24,2050 05516 TC DOWNFLAG 021341,000257: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF 021342,000258: # Page 496 021343,000259: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET 021344,000260: 24,2053 00040 ADRES ACMODFLG 021345,000261: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING 021346,000262: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CAN'T READ RADAR 021347,000263: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED 021348,000264: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG) 021349,000265: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG 021350,000266: 24,2061 00041 ADRES LOSCMFLG 021351,000267: 24,2062 06011 TC CLRADMOD 021352,000268: 24,2063 05353 P20LEM1 TC PHASCHNG 021353,000269: 24,2064 04022 OCT 04022 021354,000270: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER 021355,000271: 24,2066 55462 TS MARKCTR 021356,000272: 24,2067 06037 TC INTPRET # LOS DETERMINATION ROUTINE 021357,000273: 24,2070 77634 RTB 021358,000274: 24,2071 21573 LOADTIME 021359,000275: 24,2072 34041 STCALL TDEC1 021360,000276: 24,2073 51255 LPS20.1 021361,000277: 24,2074 77624 CALL 021362,000278: 24,2075 53565 LPS20.2 # TEST RANGE R/UTINE 021363,000279: 24,2076 77776 EXIT 021364,000280: 24,2077 50154 INDEX MPAC 021365,000281: 24,2100 02101 TC +1 021366,000282: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M 021367,000283: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT -- RANGE > 400 N. MI. 021368,000284: 24,2103 04616 TC BANKCALL 021369,000285: 24,2104 21562 CADR PRIOLARM 021370,000286: 24,2105 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 021371,000287: 24,2106 02102 TC -4 # PROC (ILLEGAL) 021372,000288: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE 021373,000289: 24,2110 05155 TC ENDOFJOB 021374,000290: 021375,000291: 24,2111 05353 P20LEMA TC PHASCHNG 021376,000292: 24,2112 04022 OCT 04022 021377,000293: 24,2113 02667 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG) 021378,000294: 24,2114 02117 TC P20LEMB 021379,000295: 24,2115 04616 TC BANKCALL 021380,000296: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE 021381,000297: 24,2117 05353 P20LEMB TC PHASCHNG 021382,000298: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37 021383,000299: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST 021384,000300: 24,2122 37714 CAF PRIO26 # RESTORE PRIORITY 26 021385,000301: 24,2123 05146 TC PRIOCHNG 021386,000302: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET 021387,000303: 24,2125 74747 MASK TRACKBIT 021388,000304: 24,2126 00006 EXTEND 021389,000305: 24,2127 12232 BZF P20LEMWT # BRANCH -- NO -- WAIT FOR IT TO BE SET 021390,000306: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT 021391,000307: 24,2131 00006 EXTEND 021392,000308: # Page 497 021393,000309: 24,2132 02033 RAND CHAN33 021394,000310: 24,2133 00006 EXTEND 021395,000311: 24,2134 12170 BZF P20LEMB3 # YES -- DO AUTOMATIC ACQUISITION (R21) 021396,000312: 021397,000313: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF 021398,000314: 24,2136 61011 AD MODREG # MAJOR MODE IS 20 021399,000315: 24,2137 00006 EXTEND 021400,000316: 24,2140 12153 BZF P20LEMB6 # BRANCH -- YES -- OKAY TO DO PLEASE PERFORM 021401,000317: 021402,000318: 24,2141 67746 AD NEG2 # ALSO CHECK FOR P22 021403,000319: 24,2142 00006 EXTEND 021404,000320: 24,2143 12153 BZF P20LEMB6 # BRANCH -- YES OK TO DO PLEASE PERFORM 021405,000321: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET -- FLASH PRIORITY ALARM 514 -- 021406,000322: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE 021407,000323: 24,2146 21562 CADR PRIOLARM 021408,000324: 24,2147 06022 TC GOTOV56 # TERMINATE EXITS VIA V56 021409,000325: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK 021410,000326: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN 021411,000327: 24,2152 05155 TC ENDOFJOB 021412,000328: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION 021413,000329: 24,2154 04616 TC BANKCALL 021414,000330: 24,2155 20623 CADR GOPERF1 021415,000331: 24,2156 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 021416,000332: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN 021417,000333: 24,2160 02667 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23) 021418,000334: 24,2161 02166 TC P20LEMB2 # YES -- R23 NOT ALLOWED -- TURN ON OPR ERROR 021419,000335: 24,2162 03135 TC R23LEM # NO -- DO MANUAL ACQUISITION 021420,000336: 021421,000337: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 -- LOCKON ACHIEVED 021422,000338: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK 021423,000339: 24,2165 02117 TC P20LEMB # RR AUTO MODE 021424,000340: 021425,000341: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY 021426,000342: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE 021427,000343: 021428,000344: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED 021429,000345: 24,2171 74737 MASK RCDU0BIT 021430,000346: 24,2172 00006 EXTEND 021431,000347: 24,2173 12205 BZF P20LEMB4 # BRANCH -- YES -- WAIT 021432,000348: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET 021433,000349: 24,2175 70076 MASK FLAGWRD2 021434,000350: 24,2176 00006 EXTEND 021435,000351: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISITION 021436,000352: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE 021437,000353: 24,2201 00037 ADRES SRCHOPTN 021438,000354: # Page 498 021439,000355: 24,2202 05516 TC DOWNFLAG 021440,000356: 24,2203 00040 ADRES ACMODFLG 021441,000357: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ 021442,000358: 021443,000359: 24,2205 32304 P20LEMB4 CAF 250DEC 021444,000360: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING 021445,000361: 24,2207 01735 CADR DELAYJOB # ZEROED -- THEN GO BACK AND CHECK AGAIN 021446,000362: 24,2210 02170 TC P20LEMB3 021447,000363: 021448,000364: 24,2211 06037 P20LEMC3 TC INTPRET 021449,000365: 24,2212 77634 RTB 021450,000366: 24,2213 21573 LOADTIME 021451,000367: 24,2214 34041 STCALL TDEC1 021452,000368: 24,2215 50316 UPPSV 021453,000369: 24,2216 77776 P20LEMC4 EXIT 021454,000370: 24,2217 05353 P20LEMC TC PHASCHNG 021455,000371: 24,2220 04022 OCT 04022 021456,000372: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET 021457,000373: 24,2222 74745 MASK RNDVZBIT 021458,000374: 24,2223 00006 EXTEND 021459,000375: 24,2224 15155 BZF ENDOFJOB # NO -- EXIT P20 021460,000376: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1) 021461,000377: 24,2226 74747 MASK TRACKBIT 021462,000378: 24,2227 00006 EXTEND 021463,000379: 24,2230 12264 BZF P20LEMD # BRANCH -- TRACK FLAG NOT ON -- WAIT 15 SECONDS 021464,000380: 24,2231 02674 P20LEMF TC R21LEM 021465,000381: 021466,000382: 24,2232 32304 P20LEMWT CAF 250DEC 021467,000383: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK 021468,000384: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS 021469,000385: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET 021470,000386: 24,2236 74747 MASK TRACKBIT 021471,000387: 24,2237 00006 EXTEND 021472,000388: 24,2240 15155 BZF ENDOFJOB # NO -- EXIT WITHOUT DOING 2.7 PHASE CHANGE 021473,000389: 24,2241 05353 P20LMWT1 TC PHASCHNG 021474,000390: 24,2242 40072 OCT 40072 021475,000391: 24,2243 05155 TC ENDOFJOB 021476,000392: 021477,000393: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET 021478,000394: 24,2245 74745 MASK RNDVZBIT 021479,000395: 24,2246 00006 EXTEND 021480,000396: 24,2247 15261 BZF TASKOVER # NO -- EXIT P20/R22 021481,000397: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET 021482,000398: 24,2251 74747 MASK TRACKBIT 021483,000399: 24,2252 00006 EXTEND 021484,000400: 24,2253 12261 BZF P20LEMC2 # NO -- DON'T SCHEDULE R22 JOB 021485,000401: # Page 499 021486,000402: 24,2254 37714 CAF PRIO26 # YES -- SCHEDULE R22 JOB (RR DATA READ) 021487,000403: 24,2255 05105 TC FINDVAC 021488,000404: 24,2256 E7,1456 EBANK= LOSCOUNT 021489,000405: 24,2256 02627 50067 2CADR R22LEM42 021490,000406: 021491,000407: 24,2260 05261 TC TASKOVER 021492,000408: 021493,000409: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS 021494,000410: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN 021495,000411: 021496,000412: 24,2263 02244 TC P20LEMC1 021497,000413: 021498,000414: 24,2264 32666 P20LEMD CAF 1500DEC 021499,000415: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS 021500,000416: 24,2266 02270 ADRES P20LEMD1 021501,000417: 24,2267 05155 TC ENDOFJOB 021502,000418: 021503,000419: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET 021504,000420: 24,2271 74747 MASK TRACKBIT 021505,000421: 24,2272 10000 CCS A 021506,000422: 24,2273 12277 TCF P20LEMD2 # YES -- SCHEDULE DESIGNATE JOB 021507,000423: 24,2274 05221 TC FIXDELAY # NO -- WAIT 15 SECONDS 021508,000424: 24,2275 02734 DEC 1500 B-14 021509,000425: 24,2276 02270 TC P20LEMD1 021510,000426: 021511,000427: 24,2277 37714 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21 021512,000428: 24,2300 05105 TC FINDVAC 021513,000429: 24,2301 E7,1456 EBANK= LOSCOUNT 021514,000430: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION 021515,000431: 021516,000432: 24,2303 05261 TC TASKOVER 021517,000433: 021518,000434: 24,2304 00372 250DEC DEC 250 B-14 021519,000435: 24,2305 00526 ALRM526 OCT 00526 021520,000436: 24,2306 00201 OCT201 OCT 00201 021521,000437: 24,2307 00514 ALRM514 OCT 514 021522,000438: 24,2310 00074 MAXTRIES DEC 60 B-14 021523,000439: 24,2311 00012 OCT00012 OCT 00012 021524,000440: 24,2312 00001 P22ONE OCT 00001 021525,000441: 24,2313 10000 00000 ONEB-2 2DEC 1.0 B-2 021526,000442: 021527,000443: 24,2315 01441 V06N33* VN 0633 021528,000444: 24,2316 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS 021529,000445: 24,2317 01757 LS21X # TO PRESENT TIME 021530,000446: 24,2320 27414 INTSTALL 021531,000447: 24,2321 77624 CALL 021532,000448: # Page 500 021533,000449: 24,2322 26644 SETIFLGS 021534,000450: 24,2323 43014 BOF SET # IF W-MATRIX INVALID, DON'T INTEGRATE IT 021535,000451: 24,2324 02756 RENDWFLG 021536,000452: 24,2325 50336 UPPSV1 021537,000453: 24,2326 01476 DIM0FLAG # SET DIM0FLAG TO INTEGRATE W-MATRIX 021538,000454: 24,2327 43014 BON SET 021539,000455: 24,2330 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6 021540,000456: 24,2331 50333 UPPSV5 021541,000457: 24,2332 01475 D6OR9FLG # OTHERWISE 9X9 021542,000458: 24,2333 77614 UPPSV5 BOF 021543,000459: 24,2334 00747 VEHUPFLG 021544,000460: 24,2335 50370 UPPSV3 021545,000461: 24,2336 77614 UPPSV1 SET 021546,000462: 24,2337 01474 VINTFLAG 021547,000463: 24,2340 77624 CALL 021548,000464: 24,2341 27134 INTEGRV 021549,000465: 24,2342 77624 CALL # GROUP 2 PHASE CHANGE 021550,000466: 24,2343 11244 GRP2PC # TO PROTECT INTEGRATION 021551,000467: 24,2344 77624 CALL 021552,000468: 24,2345 27414 INTSTALL 021553,000469: 24,2346 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT. 021554,000470: 24,2347 01571 TETCSM 021555,000471: 24,2350 01674 VINTFLAG 021556,000472: 24,2351 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE 021557,000473: 24,2352 26644 SETIFLGS # WITHOUT W-MATRIX 021558,000474: 24,2353 34041 STCALL TDEC1 021559,000475: 24,2354 27134 INTEGRV 021560,000476: 24,2355 77214 BOFF VLOAD 021561,000477: 24,2356 04347 SURFFLAG 021562,000478: 24,2357 50216 P20LEMC4 021563,000479: 24,2360 01661 RCVLEM 021564,000480: 24,2361 77742 VSR2 021565,000481: 24,2362 26352 STOVL LMPOS 021566,000482: 24,2363 01667 VCVLEM 021567,000483: 24,2364 77742 VSR2 021568,000484: 24,2365 02360 STORE LMVEL 021569,000485: 24,2366 77650 GOTO 021570,000486: 24,2367 01757 LS21X 021571,000487: 021572,000488: 24,2370 45014 UPPSV3 CLEAR CALL 021573,000489: 24,2371 01674 VINTFLAG 021574,000490: 24,2372 27134 INTEGRV 021575,000491: 24,2373 77624 CALL 021576,000492: 24,2374 11244 GRP2PC 021577,000493: 24,2375 77624 CALL 021578,000494: 24,2376 27414 INTSTALL 021579,000495: 24,2377 71214 SET DLOAD 021580,000496: 24,2400 01474 VINTFLAG 021581,000497: 24,2401 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT. 021582,000498: # Page 501 021583,000499: 24,2402 77650 GOTO 021584,000500: 24,2403 50351 UPPSV4 021585,000501: 24,2404 E7,1456 EBANK= LOSCOUNT 021586,000502: 24,2404 COUNT* $$/P22 021587,000503: 021588,000504: # Page 502 021589,000505: # PROGRAM DESCRIPTION 021590,000506: 021591,000507: # PREFERRED TRACKING ATTITUDE PROGRAM P25 021592,000508: # MOD NO -- 3 021593,000509: # BY P. VOLANTE 021594,000510: 021595,000511: # FUNCTIONAL DESCRIPTION 021596,000512: 021597,000513: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING 021598,000514: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRTACKING BEACON AT THE 021599,000515: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND 021600,000516: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS. 021601,000517: 021602,000518: # CALLING SEQUENCE -- 021603,000519: 021604,000520: # ASTRONAUT REQUEST THROUGH DSKY V37E25E 021605,000521: 021606,000522: # SUBROUTINES CALLED -- 021607,000523: 021608,000524: # BANKCALL FLAGUP 021609,000525: # R02BOTH (IMU STATUS CHECK) ENDOFJOB 021610,000526: # R61LEM (PREF TRK ATT ROUT) WAITLIST 021611,000527: # TASKOVER FINDVAC 021612,000528: 021613,000529: # NORMAL EXIT MODES -- 021614,000530: 021615,000531: # P25 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING 021616,000532: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E 021617,000533: 021618,000534: # ALARM OR ABORT EXIT MODES -- 021619,000535: 021620,000536: # NONE 021621,000537: 021622,000538: # OUTPUT 021623,000539: 021624,000540: # ERASABLE INITIALIZATION REQUIRED 021625,000541: 021626,000542: # FLAGS SET + RESET 021627,000543: 021628,000544: # TRACKFLG, P25FLAG 021629,000545: 021630,000546: # DEBRIS 021631,000547: 021632,000548: # NONE 021633,000549: 021634,000550: 24,2404 E7,1456 EBANK= LOSCOUNT 021635,000551: 24,2404 COUNT* $$/P25 021636,000552: 24,2404 05327 PROG25 TC 2PHSCHNG 021637,000553: 24,2405 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37) 021638,000554: 24,2406 05022 OCT 05022 021639,000555: 24,2407 26000 OCT 26000 # PRIORITY 26 021640,000556: 021641,000557: 24,2410 04616 TC BANKCALL 021642,000558: 24,2411 11254 CADR R02BOTH # IMU STATUS CHECK 021643,000559: 24,2412 05504 TC UPFLAG 021644,000560: 24,2413 00031 ADRES TRACKFLG # SET TRACK FLAG 021645,000561: 24,2414 05504 TC UPFLAG 021646,000562: 24,2415 00006 ADRES P25FLAG # SET P25FLAG 021647,000563: 24,2416 05353 P25LEM1 TC PHASCHNG 021648,000564: 24,2417 04022 OCT 04022 021649,000565: 24,2420 34743 CAF P25FLBIT 021650,000566: 24,2421 70074 MASK STATE # IS P25FLAG SET 021651,000567: 24,2422 00006 EXTEND 021652,000568: 24,2423 15155 BZF ENDOFJOB 021653,000569: 24,2424 34747 CAF TRACKBIT # IS TRACKFLAG SET? 021654,000570: 24,2425 70075 MASK STATE +1 021655,000571: 24,2426 00006 EXTEND 021656,000572: # Page 503 021657,000573: 24,2427 12437 BZF P25LMWT1 # NO -- SKIP PHASE CHANGE AND WAIT 1 MINUTE 021658,000574: 24,2430 34757 CAF SEVEN # CALL R65 -- FINE PREFERRED 021659,000575: 24,2431 55745 TS R65CNTR 021660,000576: 24,2432 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE 021661,000577: 24,2433 46123 CADR R65LEM 021662,000578: 24,2434 02416 TC P25LEM1 # THEN GO CHECK FLAGS 021663,000579: 24,2435 05353 P25LEMWT TC PHASCHNG 021664,000580: 24,2436 00112 OCT 00112 021665,000581: 24,2437 32450 P25LMWT1 CAF 60SCNDS 021666,000582: 24,2440 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN 021667,000583: 24,2441 02443 ADRES P25LEM2 021668,000584: 24,2442 05155 TC ENDOFJOB 021669,000585: 24,2443 35024 P25LEM2 CAF PRIO14 021670,000586: 24,2444 05105 TC FINDVAC 021671,000587: 24,2445 E7,1456 EBANK= LOSCOUNT 021672,000588: 24,2445 02416 50067 2CADR P25LEM1 021673,000589: 021674,000590: 24,2447 05261 TC TASKOVER 021675,000591: 24,2450 13560 60SCNDS DEC 6000 B-14 021676,000592: 021677,000593: # Page 504 021678,000594: # DATA READ ROUTINE 22 (LEM) 021679,000595: # PROGRAM DESCRIPTION 021680,000596: 021681,000597: # MOD NO -- 2 021682,000598: # BY P. VOLANTE 021683,000599: 021684,000600: # FUNCTIONAL DESCRIPTION 021685,000601: 021686,000602: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER 021687,000603: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20) 021688,000604: 021689,000605: # CALLING SEQUENCE -- 021690,000606: 021691,000607: # TC BANKCALL 021692,000608: # CADR R22LEM 021693,000609: 021694,000610: # SUBROUTINES CALLED -- 021695,000611: 021696,000612: # LSR22.1 GOFLASH WAITLIST 021697,000613: # LSR22.2 PRIOLARM BANKCALL 021698,000614: # LSR22.3 R61LEM 021699,000615: 021700,000616: # NORMAL EXIT MODES -- 021701,000617: 021702,000618: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA 021703,000619: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME 021704,000620: # R22 WILL TERMINATE SELF. 021705,000621: 021706,000622: # ALARM OR ABORT EXIT MODES -- 021707,000623: 021708,000624: # PRIORITY ALARM 021709,000625: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT 021710,000626: 021711,000627: # OUTPUT 021712,000628: 021713,000629: # SEE OUTPUT FROM LSR22.3 021714,000630: 021715,000631: # ERASABLE INITIALIZATION REQUIRED 021716,000632: 021717,000633: # SEE LSR22.1, LSR22.2, LSR22.3 021718,000634: 021719,000635: # FLAGS SET + RESET 021720,000636: 021721,000637: # NOANGFLG 021722,000638: 021723,000639: # DEBRIS 021724,000640: 021725,000641: # SEE LSR22.1, LSR22.2, LSR22.3 021726,000642: 021727,000643: 24,2451 E7,1737 EBANK= LRS22.1X 021728,000644: 24,2451 COUNT* $$/R22 021729,000645: 24,2451 05353 R22LEM TC PHASCHNG 021730,000646: 24,2452 04022 OCT 04022 021731,000647: 24,2453 34745 CAF RNDVZBIT # IS RENDEZVOUS FLAG SET? 021732,000648: 24,2454 70074 MASK STATE 021733,000649: 24,2455 00006 EXTEND 021734,000650: 24,2456 15155 BZF ENDOFJOB # NO -- EXIT R22 AND P20 021735,000651: 24,2457 34747 CAF TRACKBIT # IS TRACKFLAG SET? 021736,000652: 24,2460 70075 MASK STATE +1 021737,000653: 24,2461 00006 EXTEND 021738,000654: 24,2462 12636 BZF R22WAIT # NO WAIT 021739,000655: 24,2463 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL 021740,000656: 24,2464 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARS IT) 021741,000657: 24,2465 02012 RAND CHAN12 021742,000658: 24,2466 00006 EXTEND 021743,000659: 24,2467 12111 BZF P20LEMA # NO -- RETURN TO P20 021744,000660: 24,2470 34752 CAF BIT2 # YES 021745,000661: 24,2471 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT 021746,000662: 24,2472 02033 RAND CHAN33 021747,000663: # Page 505 021748,000664: 24,2473 00006 EXTEND 021749,000665: 24,2474 12476 BZF +2 # YES CONTINUE 021750,000666: 24,2475 02135 TC P20LEMB5 # NO -- SET IT 021751,000667: 24,2476 40110 CS RADMODES # ARE RR CDUS BEING ZEROED 021752,000668: 24,2477 74737 MASK RCDU0BIT 021753,000669: 24,2500 00006 EXTEND 021754,000670: 24,2501 12627 BZF R22LEM42 # CDUS BEING ZEROED 021755,000671: 24,2502 05353 TC PHASCHNG # IF A RESTART OCCURS, AND EXTRA RADAR 021756,000672: 24,2503 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED 021757,000673: 24,2504 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS 021758,000674: 24,2505 64366 CADR LRS22.1 # DATA READ SUBROUTINE 021759,000675: 24,2506 50154 INDEX MPAC 021760,000676: 24,2507 02510 TC +1 021761,000677: 24,2510 02531 TC R22LEM2 # NORMAL RETURN (GOOD DATA) 021762,000678: 24,2511 02217 TC P20LEMC # COULD NOT READ RADAR -- TRY TO REDESIGNATE 021763,000679: 24,2512 32663 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM) 021764,000680: 24,2513 04616 TC BANKCALL 021765,000681: 24,2514 21562 CADR PRIOLARM 021766,000682: 24,2515 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 021767,000683: 24,2516 02521 TC R22LEM1 # PROC (DISPLAY DELTA THETA) 021768,000684: 24,2517 02512 TC -5 # ENTER (ILLEGAL OPTION) 021769,000685: 24,2520 05155 TC ENDOFJOB 021770,000686: 021771,000687: 24,2521 05353 R22LEM1 TC PHASCHNG 021772,000688: 24,2522 04022 OCT 04022 021773,000689: 24,2523 32664 CAF V06N05 # DISPLAY DELTA THETA 021774,000690: 24,2524 04616 TC BANKCALL 021775,000691: 24,2525 20507 CADR PRIODSP 021776,000692: 24,2526 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 021777,000693: 24,2527 02531 TC R22LEM2 # PROC (OK CONTINUE) 021778,000694: 24,2530 02217 TC P20LEMC # ENTER (RECYCLE) 021779,000695: 24,2531 05353 R22LEM2 TC PHASCHNG 021780,000696: 24,2532 04022 OCT 04022 021781,000697: 24,2533 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET) 021782,000698: 24,2534 02551 TC R22LEM3 # YES -- BYPASS FLAG CHECKS AND LRS22.2 021783,000699: 24,2535 30075 CA FLAGWRD1 # IS TRACK FLAG SET 021784,000700: 24,2536 74747 MASK TRACKBIT 021785,000701: 24,2537 00006 EXTEND 021786,000702: 24,2540 12636 BZF R22WAIT # NO -- WAIT 021787,000703: 24,2541 04616 TC BANKCALL # YES 021788,000704: 24,2542 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z 021789,000705: 24,2543 50154 INDEX MPAC 021790,000706: 24,2544 02545 TC +1 021791,000707: 24,2545 02551 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS) 021792,000708: 24,2546 04616 TC BANKCALL 021793,000709: 24,2547 46116 CADR R61LEM 021794,000710: 24,2550 02636 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS 021795,000711: 24,2551 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE 021796,000712: 24,2552 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?) 021797,000713: # Page 506 021798,000714: 24,2553 00006 EXTEND 021799,000715: 24,2554 12627 BZF R22LEM42 # BRANCH -- YES 021800,000716: 24,2555 30075 CA FLAGWRD1 # IS UPDATE FLAG SET 021801,000717: 24,2556 74745 MASK UPDATBIT 021802,000718: 24,2557 00006 EXTEND 021803,000719: 24,2560 12627 BZF R22LEM42 # UPDATE FLAG NOT SET 021804,000720: 24,2561 37714 CAF PRIO26 # INSURE HIGH PRIO IN RESTART 021805,000721: 24,2562 55056 TS PHSPRDT2 021806,000722: 021807,000723: 24,2563 06037 TC INTPRET 021808,000724: 24,2564 77650 GOTO 021809,000725: 24,2565 54412 LSR22.3 021810,000726: 24,2566 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3 021811,000727: 24,2567 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST 021812,000728: 24,2570 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE 021813,000729: 24,2571 12622 TCF R22LEM44 021814,000730: 24,2572 77776 R22LEM96 EXIT 021815,000731: 24,2573 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE 021816,000732: 24,2574 55746 TS N49FLAG # V06 N49 DISPLAY HASN'T BEEN ANSWERED 021817,000733: 24,2575 05353 TC PHASCHNG 021818,000734: 24,2576 04022 OCT 04022 # TO PROTECT DISPLAY 021819,000735: 24,2577 37715 CAF PRIO27 # PROTECT DISPLAY 021820,000736: 24,2600 05072 TC NOVAC 021821,000737: 24,2601 E7,1746 EBANK= N49FLAG 021822,000738: 24,2601 02644 50067 2CADR N49DSP 021823,000739: 021824,000740: 24,2603 06037 TC INTPRET 021825,000741: 24,2604 77735 SLOAD 021826,000742: 24,2605 03747 N49FLAG 021827,000743: 24,2606 50054 BZE BMN # LOOP TO CHECK IF FLAG 021828,000744: 24,2607 50604 -3 # SETTING CHANGED -- BRANCH -- NO 021829,000745: 24,2610 50616 R22LEM7 # PROCEED 021830,000746: 24,2611 77776 EXIT # DISPLAY ANSERED BY RECYCLE 021831,000747: 24,2612 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE 021832,000748: 24,2613 02636 TC R22WAIT # YES -- 15 SECOND DELAY 021833,000749: 24,2614 34755 CA ZERO # NO -- SET R65COUNTER = 0, DO FINE 021834,000750: 24,2615 02632 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING 021835,000751: 24,2616 77624 R22LEM7 CALL # PROCEED 021836,000752: 24,2617 11244 GRP2PC # PHASE CHANGE AND 021837,000753: 24,2620 77650 GOTO # GO TO INCOPORATE DATA. 021838,000754: 24,2621 55431 ASTOK 021839,000755: 24,2622 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED. 021840,000756: 24,2623 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE 021841,000757: 24,2624 02640 TC R22LEM46 # YES -- WAIT 2 SECONDS 021842,000758: 24,2625 34756 CA FIVE # NOT ON LUNAR SURFACE 021843,000759: 24,2626 02632 TC R22LEM45 # R65COUNTER = 5 021844,000760: 24,2627 02667 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET) 021845,000761: 24,2630 02640 TC R22LEM46 # YES -- WAIT 2 SECONDS 021846,000762: 24,2631 34752 CA TWO # NO -- SET R65COUNTER = 2 021847,000763: 24,2632 55745 R22LEM45 TS R65CNTR 021848,000764: # Page 507 021849,000765: 24,2633 04616 TC BANKCALL 021850,000766: 24,2634 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE 021851,000767: 24,2635 02451 TC R22LEM 021852,000768: 24,2636 32666 R22WAIT CAF 1500DEC 021853,000769: 24,2637 02233 TC P20LEMWT +1 021854,000770: 021855,000771: 24,2640 35000 R22LEM46 CAF 2SECS 021856,000772: 24,2641 04616 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK 021857,000773: 24,2642 01735 CADR DELAYJOB 021858,000774: 24,2643 02451 TC R22LEM 021859,000775: 021860,000776: 24,2644 32665 N49DSP CAF V06N49NB 021861,000777: 24,2645 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE -- FLASH 021862,000778: 24,2646 20507 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V 021863,000779: 24,2647 06022 TC GOTOV56 # TERMINATE -- EXIT R22 AND P20 021864,000780: 24,2650 44753 CS ONE # PROCEED -- N49FLAG = -1 021865,000781: 24,2651 55746 TS N49FLAG # RECYCLE -- N49FLAG = + VALUE 021866,000782: 24,2652 05155 TC ENDOFJOB 021867,000783: 24,2653 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR 021868,000784: 24,2654 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING 021869,000785: 24,2655 04616 TC BANKCALL # WHICH ISN'T USED TO PREVENT TAKING A BAD 021870,000786: 24,2656 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE 021871,000787: 24,2657 04616 TC BANKCALL # BAD DATA 021872,000788: 24,2660 17714 CADR RADSTALL # WAIT FOR READ COMPLETE 021873,000789: 24,2661 02217 TC P20LEMC # COULD NOT READ RADAR -- TRY TO REDISGNATE 021874,000790: 24,2662 02451 TC R22LEM # READ SUCCESSFUL -- CONTINUE AT R22 021875,000791: 021876,000792: 24,2663 00525 ALRM525 OCT 00525 021877,000793: 24,2664 01405 V06N05 VN 00605 021878,000794: 24,2665 01461 V06N49NB VN 00649 021879,000795: 24,2666 02734 1500DEC DEC 1500 B-14 021880,000796: 021881,000797: # LUNSFCHECK -- CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG) 021882,000798: # RETURNS TO CALLER +1 IF P22FLAG SET 021883,000799: # TO CALLER +2 IF P22FLAG NOT SET 021884,000800: 021885,000801: 24,2667 COUNT* $$/P22 021886,000802: 24,2667 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE 021887,000803: 24,2670 74744 MASK SURFFBIT # IS SURFFLAG SET? 021888,000804: 24,2671 10000 CCS A # BRANCH -- P22FLAG SET 021889,000805: 24,2672 24002 INCR Q # NOT SET 021890,000806: 24,2673 00002 TC Q # RETURN 021891,000807: 021892,000808: # Page 508 021893,000809: # RR DESIGNATE ROUTINE (R21LEM) 021894,000810: # PROGRAM DESCRIPTION 021895,000811: 021896,000812: # MOD NO -- 2 021897,000813: # BY P. VOLANTE 021898,000814: 021899,000815: # FUNCTIONAL DESCRIPTION 021900,000816: 021901,000817: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION 021902,000818: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20. 021903,000819: 021904,000820: # CALLING SEQUENCE -- 021905,000821: 021906,000822: # TC BANKCALL 021907,000823: # CADR R21LEM 021908,000824: 021909,000825: # SUBROUTINES CALLED -- 021910,000826: 021911,000827: # FINDVAC FLAGUP ENDOFJOB PRIOLARM 021912,000828: # NOVAC INTPRET LPS20.1 PHASCHNG 021913,000829: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN 021914,000830: # TASKOVER BANKCALL RADSTALL RRDESSM 021915,000831: 021916,000832: # NORMAL EXIT MODES 021917,000833: # 021918,000834: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ 021919,000835: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA) 021920,000836: 021921,000837: # ALARM OR ABORT EXIT MODES -- 021922,000838: 021923,000839: # PRIORITY ALARM 503 WHEN LOCK-ON HASN'T BEEN ACHIEVED AFTER 30SECS -- 021924,000840: # THIS REQUIRES ASTRONAUT INTERFACE: SELECTION OF SEARCH OPTION OF 021925,000841: # ACQUISITION 021926,000842: 021927,000843: # OUTPUT 021928,000844: 021929,000845: # SEE LPS20.1, RRDESSM 021930,000846: 021931,000847: # ERASABLE INITIALIZATION REQUIRED 021932,000848: 021933,000849: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM 021934,000850: 021935,000851: # FLAGS SET + RESET 021936,000852: 021937,000853: # LOSCMFLG LOKONSW 021938,000854: 021939,000855: # DEBRIS 021940,000856: 021941,000857: # SEE LPS20.1, RRSESSM 021942,000858: 021943,000859: 24,2674 E7,1456 EBANK= LOSCOUNT 021944,000860: 24,2674 COUNT* $$/R21 021945,000861: 24,2674 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE 021946,000862: 24,2675 00006 EXTEND 021947,000863: 24,2676 03012 WAND CHAN12 021948,000864: 24,2677 02667 TC LUNSFCHK 021949,000865: 24,2700 02705 TC R21LEM5 021950,000866: 24,2701 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER 021951,000867: 24,2702 55107 TS TANG # IF NOT ON SURFACE -- MODE 1 -- (T=0,S=0) 021952,000868: 24,2703 55110 TS TANG +1 021953,000869: 24,2704 02715 TC R21LEM6 021954,000870: 24,2705 34740 R21LEM5 CAF BIT12 021955,000871: 24,2706 70110 MASK RADMODES 021956,000872: 24,2707 10000 CCS A 021957,000873: 24,2710 02725 TC R21LEM10 021958,000874: 24,2711 34735 CAF BIT15 021959,000875: 24,2712 55107 TS TANG 021960,000876: 24,2713 44736 CS HALF 021961,000877: 24,2714 55110 TS TANG +1 021962,000878: 021963,000879: # Page 509 021964,000880: 24,2715 05516 R21LEM6 TC DOWNFLAG 021965,000881: 24,2716 00012 ADRES LOKONSW 021966,000882: 24,2717 04616 TC BANKCALL 021967,000883: 24,2720 52475 CADR RRDESNB 021968,000884: 24,2721 02722 TC +1 021969,000885: 24,2722 04616 TC BANKCALL 021970,000886: 24,2723 17714 CADR RADSTALL 021971,000887: 24,2724 02760 TC R21-503 # BAD RETURN FROM DESIGNATE -- ISSUE ALARM 021972,000888: 24,2725 05504 R21LEM10 TC UPFLAG 021973,000889: 24,2726 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES 021974,000890: 24,2727 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS) 021975,000891: 24,2730 55114 TS DESCOUNT # TO DESIGNATE AND LOCK ON 021976,000892: 24,2731 36245 R21LEM2 CAF THREE 021977,000893: 24,2732 55456 TS LOSCOUNT 021978,000894: 24,2733 06037 R21LEM1 TC INTPRET 021979,000895: 24,2734 43234 RTB DAD 021980,000896: 24,2735 21573 LOADTIME 021981,000897: 24,2736 11120 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC. 021982,000898: 24,2737 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE 021983,000899: 24,2740 51255 LPS20.1 021984,000900: 24,2741 77776 EXIT 021985,000901: 24,2742 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR -- ON DESIRED 021986,000902: 24,2743 00012 ADRES LOKONSW 021987,000903: 24,2744 05516 TC DOWNFLAG 021988,000904: 24,2745 00126 ADRES NORRMON 021989,000905: 24,2746 06037 TC INTPRET 021990,000906: 24,2747 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1) 021991,000907: 24,2750 52373 RRDESSM # DESIGNATE ROUTINE 021992,000908: 24,2751 77776 EXIT 021993,000909: 24,2752 02777 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE 021994,000910: # ON LUNAR SURFACE 021995,000911: 24,2753 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED. 021996,000912: 24,2754 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED 021997,000913: 24,2755 17714 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE -- LOCKON OR 021998,000914: 24,2756 02760 TC +2 # BAD END -- LOCKON NOT ACHIEVED IN 60 TRIES 021999,000915: 24,2757 02767 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON) 022000,000916: 24,2760 32775 R21-503 CAF ALRM503 # ISSUE ALARM 503 022001,000917: 24,2761 04616 TC BANKCALL 022002,000918: 24,2762 21562 CADR PRIOLARM 022003,000919: 24,2763 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 022004,000920: 24,2764 02772 TC R21SRCH # PROC 022005,000921: 24,2765 02211 TC P20LEMC3 022006,000922: 24,2766 05155 TC ENDOFJOB 022007,000923: 24,2767 05516 R21END TC DOWNFLAG 022008,000924: 24,2770 00041 ADRES LOSCMFLG # RESET LOSCMFLG 022009,000925: 24,2771 03121 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY 022010,000926: 24,2772 05353 R21SRCH TC PHASCHNG 022011,000927: 24,2773 04022 OCT 04022 022012,000928: 24,2774 03206 TC R24LEM # SEARCH ROUTINE 022013,000929: 24,2775 00503 ALRM503 OCT 00503 022014,000930: # Page 510 022015,000931: 24,2776 00527 ALRM527 OCT 527 022016,000932: 022017,000933: 24,2777 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR 022018,000934: 24,3000 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.) 022019,000935: 24,3001 05504 TC UPFLAG 022020,000936: 24,3002 00005 ADRES FSPASFLG # SET FIRST PASS FLAG 022021,000937: 24,3003 05516 TC DOWNFLAG # RESET LOS BEING 022022,000938: 24,3004 00041 ADRES LOSCMFLG # COMPUTED FLAG 022023,000939: 24,3005 06037 TC INTPRET 022024,000940: 24,3006 77634 R21LEM12 RTB 022025,000941: 24,3007 21573 LOADTIME 022026,000942: 24,3010 77615 DAD 022027,000943: 24,3011 11116 TENSEC # TIME T = T + 10 SECS. 022028,000944: 24,3012 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV 022029,000945: 24,3013 34041 STCALL TDEC1 022030,000946: 24,3014 51255 LPS20.1 # COMPUTE LOS AT TIME T 022031,000947: 24,3015 77624 CALL 022032,000948: 24,3016 52373 RRDESSM 022033,000949: 24,3017 77776 EXIT 022034,000950: 24,3020 03033 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE 022035,000951: 24,3021 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED 022036,000952: 24,3022 06027 TC KILLTASK 022037,000953: 24,3023 52573 CADR BEGDES 022038,000954: 24,3024 06037 TC INTPRET 022039,000955: 24,3025 77614 BOF 022040,000956: 24,3026 00345 FSPASFLG # FIRST PASS THRU REPOSITION 022041,000957: 24,3027 51043 R21LEMB # NO -- GO TO CONTINUOUS DESIGNATE 022042,000958: 24,3030 77614 CLRGO 022043,000959: 24,3031 00225 FSPASFLG # YES -- RESET FIRST PASS FLAG 022044,000960: 24,3032 51037 R21LEM7 +1 022045,000961: 24,3033 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES? 022046,000962: 24,3034 03036 TC R21LEM7 # NO -- ADD 10 SECS. RECOMPUTE LOS 022047,000963: 24,3035 03105 TC R21LEM11 # YES -- PUT OUT ALARM 530 022048,000964: 24,3036 55423 R21LEM7 TS REPOSCNT 022049,000965: 24,3037 06037 TC INTPRET 022050,000966: 24,3040 52145 DLOAD GOTO 022051,000967: 24,3041 03425 REPOSTM 022052,000968: 24,3042 51010 R21LEM12 +2 022053,000969: 24,3043 77745 R21LEMB DLOAD 022054,000970: 24,3044 03425 REPOSTM 022055,000971: 24,3045 34041 STCALL TDEC1 022056,000972: 24,3046 50316 UPPSV 022057,000973: 24,3047 77776 EXIT 022058,000974: 24,3050 05504 TC UPFLAG # SET RADMODES BIT 15 FOR 022059,000975: 24,3051 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION 022060,000976: 24,3052 05516 TC DOWNFLAG 022061,000977: 24,3053 00012 ADRES LOKONSW 022062,000978: 24,3054 05504 TC UPFLAG 022063,000979: 24,3055 00126 ADRES NORRMON 022064,000980: # Page 511 022065,000981: 24,3056 04616 TC BANKCALL 022066,000982: 24,3057 52475 CADR RRDESNB 022067,000983: 24,3060 03061 TC +1 022068,000984: 24,3061 06037 TC INTPRET 022069,000985: 24,3062 44234 RTB BDSU 022070,000986: 24,3063 21573 LOADTIME # COMPUTE DELTA TIME 022071,000987: 24,3064 03425 REPOSTM # FOR LONGCALL 022072,000988: 24,3065 03427 STORE DELTATM 022073,000989: 24,3066 77776 EXIT 022074,000990: 24,3067 00006 EXTEND 022075,000991: 24,3070 31427 DCA DELTATM 022076,000992: 24,3071 05277 TC LONGCALL 022077,000993: 24,3072 E7,1456 EBANK= LOSCOUNT 022078,000994: 24,3072 03075 50067 2CADR R21LEM9 022079,000995: 022080,000996: 24,3074 05155 TC ENDOFJOB 022081,000997: 24,3075 06027 R21LEM9 TC KILLTASK 022082,000998: 24,3076 52602 CADR STDESIG 022083,000999: 24,3077 06011 TC CLRADMOD 022084,001000: 24,3100 37714 CAF PRIO26 022085,001001: 24,3101 05105 TC FINDVAC 022086,001002: 24,3102 E7,1456 EBANK= LOSCOUNT 022087,001003: 24,3102 02725 50067 2CADR R21LEM10 022088,001004: 022089,001005: 24,3104 05261 TC TASKOVER 022090,001006: 24,3105 33114 R21LEM11 CAF ALRM530 # ALARM 530 -- LOS NOT IN COVERAGE 022091,001007: 24,3106 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR 022092,001008: 24,3107 21562 CADR PRIOLARM # 600 SECS. 022093,001009: 24,3110 06022 TC GOTOV56 022094,001010: 24,3111 06022 TC GOTOV56 022095,001011: 24,3112 06022 TC GOTOV56 022096,001012: 24,3113 05155 TC ENDOFJOB 022097,001013: 24,3114 00530 ALRM530 OCT 00530 022098,001014: 24,3115 00000 01750 TENSEC 2DEC 1000 B-28 022099,001015: 022100,001016: 24,3117 00000 00062 HALFSEC 2DEC 50 B-28 022101,001017: 022102,001018: 24,3121 05353 R21DISP TC PHASCHNG 022103,001019: 24,3122 04022 OCT 04022 022104,001020: 24,3123 33134 CAF V06N72PV # FLASH V 50 N 72 -- PLEASE PERFORM RR 022105,001021: 24,3124 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION 022106,001022: 24,3125 20710 CADR GOPERF2R 022107,001023: 24,3126 06022 TC GOTOV56 # TERMINATE EXITS VIA V 56 022108,001024: 24,3127 02232 TC P20LEMWT # PROCEED CONTINUES TO R22 022109,001025: 24,3130 03123 TC -5 # ENTER ILLEGAL 022110,001026: 24,3131 34745 CAF BIT7 022111,001027: 24,3132 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY 022112,001028: 24,3133 05155 TC ENDOFJOB 022113,001029: 022114,001030: # Page 512 022115,001031: 24,3134 01510 V06N72PV VN 00672 022116,001032: 022117,001033: # Page 513 022118,001034: # MANUAL ACQUISITION ROUTINE R23LEM 022119,001035: # PROGRAM DESCRIPTION 022120,001036: 022121,001037: # MOD NO -- 2 022122,001038: # BY P. VOLANTE 022123,001039: 022124,001040: # FUNCTIONAL DESCRIPTION 022125,001041: 022126,001042: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR 022127,001043: 022128,001044: # CALLING SEQUENCE -- 022129,001045: 022130,001046: # TC R23LEM 022131,001047: 022132,001048: # SUBROUTINES CALLED 022133,001049: 022134,001050: # BANKCALL R61LEM 022135,001051: # SETMINDB GOPERF1 022136,001052: 022137,001053: # NORMAL EXIT MODES -- 022138,001054: 022139,001055: # IN RESPONSE TO THE GOPERF1, SELECTION OF ENTER WILL RECYCLE R23 022140,001056: # SELECTION OF PROC WILL CONTINUE R23 022141,001057: # SELECTION OF TERM WILL TERMINATE R23 + P20 022142,001058: 022143,001059: # ALARM OR ABORT EXIT MODES -- 022144,001060: 022145,001061: # SEE NORMAL EXIT MODES ABOVE 022146,001062: 022147,001063: # OUTPUT 022148,001064: 022149,001065: # N.A. 022150,001066: 022151,001067: # ERASABLE INITIALIZATION REQUIRED -- 022152,001068: 022153,001069: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE) 022154,001070: 022155,001071: 24,3135 1143 EBANK= GENRET 022156,001072: 24,3135 COUNT* $$/R23 022157,001073: 24,3135 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG 022158,001074: 24,3136 00126 ADRES NORRMON 022159,001075: 24,3137 00004 INHINT 022160,001076: 24,3140 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND 022161,001077: 24,3141 40140 CADR SETMINDB 022162,001078: 24,3142 00003 RELINT 022163,001079: 24,3143 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER 022164,001080: 24,3144 00006 EXTEND 022165,001081: 24,3145 05012 WOR CHAN12 022166,001082: 24,3146 33205 CAF OCT205 022167,001083: 24,3147 04616 TC BANKCALL 022168,001084: 24,3150 20623 CADR GOPERF1 022169,001085: 24,3151 03176 TC R23LEM2 # TERMINATE 022170,001086: 24,3152 03154 TC R23LEM11 # PROCEDE 022171,001087: 24,3153 03201 TC R23LEM3 # ENTER -- DO ANOTHER MANEUVER 022172,001088: 24,3154 00004 R23LEM11 INHINT 022173,001089: 24,3155 04523 TC RRLIMCHK # YES -- CHECK IF ANTENNA IS WITHIN LIMITS 022174,001090: 24,3156 00035 ADRES CDUT 022175,001091: 24,3157 03166 TC OUTOFLIM # NOT WITHIN LIMITS 022176,001092: 24,3160 04674 TC IBNKCALL # RESTORE DEADBAND TO 022177,001093: 24,3161 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE 022178,001094: 24,3162 00003 RELINT 022179,001095: 24,3163 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG 022180,001096: 24,3164 00126 ADRES NORRMON 022181,001097: 24,3165 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20 022182,001098: 24,3166 00003 OUTOFLIM RELINT 022183,001099: # Page 514 022184,001100: 24,3167 33204 CAF OCT501PV 022185,001101: 24,3170 04616 TC BANKCALL # ISSUE ALARM -- RR ANTENNA NOT WITHIN 022186,001102: 24,3171 21562 CADR PRIOLARM # LIMITS 022187,001103: 24,3172 03176 TC R23LEM2 # TERMINATE -- EXIT R23 TO R00 (GO TO P00H) 022188,001104: 24,3173 03167 TC OUTOFLIM +1 # PROCEED ILLEGAL 022189,001105: 24,3174 03201 TC R23LEM3 # RECYCLE -- TO ANOTHER MANEUVER 022190,001106: 24,3175 05155 TC ENDOFJOB 022191,001107: 24,3176 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG 022192,001108: 24,3177 00126 ADRES NORRMON 022193,001109: 24,3200 06022 TC GOTOV56 # AND EXIT VIA V56 022194,001110: 24,3201 04616 R23LEM3 TC BANKCALL 022195,001111: 24,3202 46116 CADR R61LEM 022196,001112: 24,3203 03143 TC R23LEM1 022197,001113: 022198,001114: 24,3204 00501 OCT501PV OCT 501 022199,001115: 24,3205 00205 OCT205 OCT 205 022200,001116: 022201,001117: # Page 515 022202,001118: # SEARCH ROUTINE R24LEM 022203,001119: # PROGRAM DESCRIPTION 022204,001120: 022205,001121: # MOD NO -- 2 022206,001122: # BY P. VOLANTE 022207,001123: 022208,001124: # FUNCTIONAL DESCRIPTION 022209,001125: 022210,001126: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS 022211,001127: # FAILED TO ACQUIRE TEH CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW 022212,001128: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN IN SIDELOBE. 022213,001129: 022214,001130: # CALLING SEQUENCE 022215,001131: 022216,001132: # CAF PRIONN 022217,001133: # TC FINDVAC 022218,001134: # EBANK= DATAGOOD 022219,001135: # 2CADR R24LEM 022220,001136: 022221,001137: # SUBROUTINES CALLED 022222,001138: 022223,001139: # FLAGUP FLAGDOWN BANKCALL 022224,001140: # R61LEM GOFLASHR FINDVAC 022225,001141: # ENDOFJOB NOVAC LSR24.1 022226,001142: 022227,001143: # NORMAL EXIT MODES -- 022228,001144: 022229,001145: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER 022230,001146: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY 022231,001147: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20) 022232,001148: 022233,001149: # ALARM OR ABORT EXIT MODES -- 022234,001150: 022235,001151: # SEE NORMAL EXIT MODES ABOVE 022236,001152: 022237,001153: # OUTPUT -- 022238,001154: 022239,001155: # SEE OUTPUT FROM LSR24.1 + R61LEM 022240,001156: 022241,001157: # ERASABLE INITIALIZATION REQUIRED 022242,001158: 022243,001159: # SET INPUT FOR LSR24.1 022244,001160: 022245,001161: # FLAGS SET + RESET 022246,001162: 022247,001163: # SRCHOPT, ACMODFLG 022248,001164: 022249,001165: 24,3206 E7,1733 EBANK= DATAGOOD 022250,001166: 24,3206 COUNT* $$/R24 022251,001167: 24,3206 05504 R24LEM TC UPFLAG 022252,001168: 24,3207 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG 022253,001169: 24,3210 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE 022254,001170: 24,3211 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21 022255,001171: 24,3212 34755 R24LEM1 CAF ZERO 022256,001172: 24,3213 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR 022257,001173: 24,3214 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS 022258,001174: 24,3215 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS 022259,001175: 24,3216 05353 R24LEM2 TC PHASCHNG 022260,001176: 24,3217 04022 OCT 04022 022261,001177: 24,3220 33254 CAF V16N80 022262,001178: 24,3221 04616 TC BANKCALL 022263,001179: 24,3222 20504 CADR PRIODSPR 022264,001180: 24,3223 06022 TC GOTOV56 022265,001181: 24,3224 03230 TC R24END # PROCEED EXIT R24 TO P20LEM1 022266,001182: 022267,001183: 24,3225 03234 TC R24LEM3 # RECYCLE -- CALL R61 TO MANEUVER S/C 022268,001184: # Page 516 022269,001185: 24,3226 04616 TC BANKCALL 022270,001186: 24,3227 55442 CADR LRS24.1 022271,001187: 24,3230 06027 R24END TC KILLTASK 022272,001188: 24,3231 55643 CADR CALLDGCH 022273,001189: 24,3232 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES. 022274,001190: 24,3233 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20 022275,001191: 022276,001192: 6011 BLOCK 3 022277,001193: 6000 SETLOC FFTAG6 022278,001194: 6000 BANK 022279,001195: 6011 COUNT* $$/R24 022280,001196: 022281,001197: 6011 46021 CLRADMOD CS BIT10+15 022282,001198: 6012 00004 INHINT 022283,001199: 6013 70110 MASK RADMODES 022284,001200: 6014 54110 TS RADMODES 022285,001201: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS 022286,001202: 6016 00006 EXTEND 022287,001203: 6017 03012 WAND CHAN12 # USER WILL RELINT 022288,001204: 022289,001205: 6020 00002 TC Q 022290,001206: 022291,001207: 6021 41000 BIT10+15 OCT 41000 022292,001208: 24,3234 BANK 24 022293,001209: 24,2000 SETLOC P20S 022294,001210: 24,2000 BANK 022295,001211: 24,3234 COUNT* $$/R24 022296,001212: 022297,001213: 24,3234 05353 R24LEM3 TC PHASCHNG 022298,001214: 24,3235 04022 OCT 04022 022299,001215: 24,3236 06027 TC KILLTASK 022300,001216: 24,3237 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN 022301,001217: 24,3240 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL 022302,001218: 24,3241 00003 RELINT # HALF SECOND DESIGNATE LOOP 022303,001219: 24,3242 34774 CAF .5SEC 022304,001220: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE 022305,001221: 24,3244 01735 CADR DELAYJOB 022306,001222: 24,3245 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE 022307,001223: 24,3246 03251 TC R24LEM4 # YES -- DON'T DO ATTITUDE MANEUVER 022308,001224: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING 022309,001225: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER 022310,001226: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY 022311,001227: 24,3252 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT 022312,001228: # RRDESSM WILL RETURN TO CALLER 022313,001229: 24,3253 03216 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY 022314,001230: 022315,001231: 24,3254 04120 V16N80 VN 01680 022316,001232: 022317,001233: # Page 517 022318,001234: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM 022319,001235: # PROGRAM DESCRIPTION 022320,001236: 022321,001237: # MOD NO: 3 DATE: 4-11-67 022322,001238: # MOD BY: P. VOLANTE, SDC 022323,001239: 022324,001240: # FUNCTIONAL DESCRIPTION -- 022325,001241: 022326,001242: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR 022327,001243: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED 022328,001244: # ATTITUDE. 022329,001245: 022330,001246: # CALLING SEQUENCE -- 022331,001247: 022332,001248: # TC BANKCALL 022333,001249: # CADR R61LEM 022334,001250: 022335,001251: # SUBROUTINES CALLED 022336,001252: 022337,001253: # LPS20.1 VECPOINT 022338,001254: # KALCMAN3 022339,001255: 022340,001256: # NORMAL EXIT MODES -- 022341,001257: 022342,001258: # NORMAL RETURN IS TO CALLER + 1 022343,001259: 022344,001260: # ALARM OR ABORT EXIT MODES -- 022345,001261: 022346,001262: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG + 022347,001263: # RENDEZVOUS FLAG ARE NOT SET. 022348,001264: 022349,001265: # OUTPUT -- 022350,001266: 022351,001267: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60) 022352,001268: 022353,001269: # ERASABLE INITIALIZATION REQUIRED 022354,001270: 022355,001271: # GENRET USED TO SAVE Q FOR RETURN 022356,001272: 022357,001273: # FLAGS SET + RESET 022358,001274: 022359,001275: # 3AXISFLG 022360,001276: 022361,001277: # DEBRIS 022362,001278: 022363,001279: # SEE SUBROUTINES 022364,001280: 022365,001281: 23,2000 SETLOC R61 022366,001282: 23,2000 BANK 022367,001283: 23,2116 E7,1456 EBANK= LOSCOUNT 022368,001284: 23,2116 COUNT* $$/R61 022369,001285: 23,2116 04645 R61LEM TC MAKECADR 022370,001286: 23,2117 55143 TS GENRET 022371,001287: 23,2120 05504 TC UPFLAG # SET R61 FLAG 022372,001288: 23,2121 00024 ADRES R61FLAG 022373,001289: 23,2122 02127 TC R61C+L01 022374,001290: 23,2123 04645 R65LEM TC MAKECADR 022375,001291: 23,2124 55143 TS GENRET 022376,001292: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG 022377,001293: 23,2126 00024 ADRES R61FLAG 022378,001294: 23,2127 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG 022379,001295: 23,2130 70075 MASK STATE +1 022380,001296: 23,2131 00006 EXTEND 022381,001297: 23,2132 12271 BZF R65WAIT # NOT SET 022382,001298: 23,2133 06037 R61C+L03 TC INTPRET 022383,001299: 23,2134 77775 VLOAD 022384,001300: # Page 518 022385,001301: 23,2135 06514 HIUNITZ 022386,001302: 23,2136 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR 022387,001303: 23,2137 43234 R61LEM1 RTB DAD 022388,001304: 23,2140 21573 LOADTIME # EXTRAPOLATE FORWARD TO CENTER 022389,001305: 23,2141 15712 3SECONDS # SIX SECOND PERIOD. 022390,001306: 23,2142 34041 STCALL TDEC1 022391,001307: 23,2143 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE 022392,001308: 23,2144 77775 VLOAD 022393,001309: 23,2145 01102 RRTARGET 022394,001310: 23,2146 03773 STORE POINTVSM 022395,001311: 23,2147 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1 022396,001312: 23,2150 46277 READCDUD 022397,001313: 23,2151 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS 022398,001314: 23,2152 00322 STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI 022399,001315: 23,2153 77776 EXIT 022400,001316: 23,2154 05353 TC PHASCHNG 022401,001317: 23,2155 04022 OCT 04022 022402,001318: 23,2156 34747 CAF TRACKBIT # IS TRACK FLAG SET 022403,001319: 23,2157 70075 MASK FLAGWRD1 022404,001320: 23,2160 00006 EXTEND 022405,001321: 23,2161 12271 BZF R65WAIT 022406,001322: 23,2162 04616 TC BANKCALL 022407,001323: 23,2163 54255 CADR G+N,AUTO # CHECK FOR AUTO MODE 022408,001324: 23,2164 10000 CCS A 022409,001325: 23,2165 02257 TC R61C+L04 # NOT IN AUTO 022410,001326: 23,2166 06037 TC INTPRET 022411,001327: 23,2167 45175 VLOAD CALL 022412,001328: 23,2170 01102 RRTARGET 022413,001329: 23,2171 47646 CDU*SMNB 022414,001330: 23,2172 45345 DLOAD DSU # GET PHI -- ARCCOS OF Z-COMPONENT OF LOS 022415,001331: 23,2173 00162 MPAC +5 022416,001332: 23,2174 06275 COS15DEG 022417,001333: 23,2175 77440 R61LEM2 BMN EXIT # BRANCH -- PHI > 15 DEGREES 022418,001334: 23,2176 46213 R61C+L05 # PHI GRE 10DEG 022419,001335: 23,2177 E6,1635 EBANK= CDUXD 022420,001336: 23,2177 35015 CAF EBANK6 022421,001337: 23,2200 54003 TS EBANK 022422,001338: 23,2201 00004 INHINT 022423,001339: 23,2202 00006 EXTEND 022424,001340: 23,2203 30322 DCA CPHI 022425,001341: 23,2204 53636 DXCH CDUXD 022426,001342: 23,2205 30323 CA CPSI 022427,001343: 23,2206 55637 TS CDUZD 022428,001344: 23,2207 00003 RELINT 022429,001345: 23,2210 E7,1456 EBANK= LOSCOUNT 022430,001346: 23,2210 35016 CAF EBANK7 022431,001347: 23,2211 54003 TS EBANK 022432,001348: 23,2212 02236 TC R61C+L06 022433,001349: 23,2213 77776 R61C+L05 EXIT 022434,001350: 23,2214 00004 INHINT 022435,001351: # Page 519 022436,001352: 23,2215 04674 TC IBNKCALL 022437,001353: 23,2216 40153 FCADR ZATTEROR 022438,001354: 23,2217 04674 TC IBNKCALL 022439,001355: 23,2220 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR 022440,001356: 23,2221 05516 TC DOWNFLAG 022441,001357: 23,2222 00124 ADRES 3AXISFLG 022442,001358: 23,2223 05504 TC UPFLAG 022443,001359: 23,2224 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG 022444,001360: 23,2225 04616 TC BANKCALL 022445,001361: 23,2226 54123 CADR R60LEM 022446,001362: 23,2227 00004 INHINT 022447,001363: 23,2230 04674 TC IBNKCALL 022448,001364: 23,2231 40123 FCADR RESTORDB 022449,001365: 23,2232 05353 TC PHASCHNG 022450,001366: 23,2233 04022 OCT 04022 022451,001367: 23,2234 05516 TC DOWNFLAG 022452,001368: 23,2235 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG 022453,001369: 23,2236 30075 R61C+L06 CA FLAGWRD1 022454,001370: 23,2237 74742 MASK R61FLBIT 022455,001371: 23,2240 10000 CCS A 022456,001372: 23,2241 02262 TC R61C+L4 022457,001373: 23,2242 11745 CCS R65CNTR 022458,001374: 23,2243 02245 TC +2 022459,001375: 23,2244 02262 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE 022460,001376: 23,2245 55745 TS R65CNTR 022461,001377: 23,2246 32276 CAF 06SEC 022462,001378: 23,2247 05173 TC TWIDDLE 022463,001379: 23,2250 02252 ADRES R61C+L2 022464,001380: 23,2251 05155 TC ENDOFJOB 022465,001381: 23,2252 37714 R61C+L2 CAF PRIO26 022466,001382: 23,2253 05105 TC FINDVAC 022467,001383: 23,2254 E7,1456 EBANK= LOSCOUNT 022468,001384: 23,2254 02127 46067 2CADR R61C+L01 022469,001385: 022470,001386: 23,2256 05261 TC TASKOVER 022471,001387: 23,2257 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI 022472,001388: 23,2260 54266 CADR BALLANGS 022473,001389: 23,2261 02236 TC R61C+L06 022474,001390: 23,2262 31143 R61C+L4 CAE GENRET 022475,001391: 23,2263 14640 TCF BANKJUMP # EXIT R61 022476,001392: 23,2264 32273 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET 022477,001393: 23,2265 70074 MASK STATE 022478,001394: 23,2266 00006 EXTEND 022479,001395: 23,2267 15155 BZF ENDOFJOB # NO -- EXIT ROUTINE AND PROGRAM. 022480,001396: 23,2270 02236 TC R61C+L06 # YES EXIT ROUTINE 022481,001397: 23,2271 04635 R65WAIT TC POSTJUMP 022482,001398: 23,2272 50232 CADR P20LEMWT 022483,001399: 022484,001400: 23,2273 00500 BIT7+9PV OCT 00500 022485,001401: # Page 520 022486,001402: 23,2274 17350 34602 COS15DEG 2DEC 0.96593 B-1 022487,001403: 022488,001404: 23,2276 01130 06SEC DEC 600 B-14 022489,001405: 23,2277 PHI EQUALS 20D 022490,001406: 23,2277 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN 022491,001407: 23,2300 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP 022492,001408: 23,2301 56003 XCH EBANK 022493,001409: 23,2302 54070 TS RUPTREG1 022494,001410: 23,2303 E6,1635 EBANK= CDUXD 022495,001411: 23,2303 31635 CA CDUXD 022496,001412: 23,2304 54154 TS MPAC 022497,001413: 23,2305 00006 EXTEND 022498,001414: 23,2306 31637 DCA CDUYD 022499,001415: 23,2307 52156 DXCH MPAC +1 022500,001416: 23,2310 30070 CA RUPTREG1 022501,001417: 23,2311 54003 TS EBANK 022502,001418: 23,2312 00003 RELINT 022503,001419: 23,2313 16477 TCF TMODE 022504,001420: 4512 BLOCK 02 022505,001421: 4000 SETLOC RADARFF 022506,001422: 4000 BANK 022507,001423: 022508,001424: 4512 E7,1456 EBANK= LOSCOUNT 022509,001425: 4512 COUNT* $$/RRSUB 022510,001426: 022511,001427: # Page 521 022512,001428: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE 022513,001429: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC. 022514,001430: 022515,001431: 4512 00006 MAGSUB EXTEND 022516,001432: 4513 64515 BZMF +2 022517,001433: 4514 14516 TCF +2 022518,001434: 4515 40000 COM 022519,001435: 022520,001436: 4516 50002 INDEX Q 022521,001437: 4517 60000 AD 0 022522,001438: 4520 00006 EXTEND 022523,001439: 4521 66741 BZMF Q+2 # ABS(A) <= CONST GO TO L+3 022524,001440: 4522 16737 TCF Q+1 # ABS(A) > CONST GO TO L+2 022525,001441: 022526,001442: # Page 522 022527,001443: # PROGRAM NAME: RRLIMCHK 022528,001444: 022529,001445: # FUNCTIONAL DESCRIPTION: 022530,001446: 022531,001447: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN 022532,001448: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND 022533,001449: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR 022534,001450: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR 022535,001451: # MODE 1 AND =1 FOR MODE 2. 022536,001452: 022537,001453: # MODE 1 -- THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS 022538,001454: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS, 022539,001455: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES. 022540,001456: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3. 022541,001457: 022542,001458: # MODE 2 -- THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS 022543,001459: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN 022544,001460: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125 022545,001461: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN 022546,001462: # TO L +3. 022547,001463: 022548,001464: # CALLING SEQUENCE: 022549,001465: 022550,001466: # L TC RLIMCHK (WITH INTERRUPT INHIBITED) 022551,001467: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS) 022552,001468: 022553,001469: # ERASABLE INITIALIZATION REQUIRED: 022554,001470: 022555,001471: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT 022556,001472: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS -- UNSWITCHED ERASABLE OR 022557,001473: # CURRENT EBANK). 022558,001474: 022559,001475: # SUBROUTINES CALLED: MAGSUB 022560,001476: 022561,001477: # JOBS OR TASKS INITIATED: NONE 022562,001478: 022563,001479: # ALARMS: NONE 022564,001480: 022565,001481: # EXIT: L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE) 022566,001482: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE) 022567,001483: 022568,001484: 4523 00006 RRLIMCHK EXTEND 022569,001485: 4524 50002 INDEX Q 022570,001486: 4525 50000 INDEX 0 022571,001487: 4526 30001 DCA 0 022572,001488: 4527 24002 INCR Q 022573,001489: 4530 52062 DXCH ITEMP1 022574,001490: 4531 22002 LXCH Q # L(CALLER +2) TO L. 022575,001491: 022576,001492: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN. 022577,001493: 4533 70110 MASK RADMODES 022578,001494: 4534 10000 CCS A 022579,001495: 4535 14550 TCF MODE2CHK 022580,001496: 022581,001497: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS 022582,001498: # Page 523 022583,001499: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS. 022584,001500: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS 022585,001501: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS) 022586,001502: 022587,001503: 4542 34562 CAF 5.5DEGS 022588,001504: 4543 60062 AD ITEMP2 022589,001505: 4544 04512 TC MAGSUB 022590,001506: 4545 64420 DEC -.35833 # 64.5 DEGS 022591,001507: 4546 00001 TC L 022592,001508: 4547 04560 TC RRLIMOK # IN LIMITS. 022593,001509: 022594,001510: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS 022595,001511: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS. 022596,001512: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS 022597,001513: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS) 022598,001514: 4554 00001 TC L 022599,001515: 022600,001516: 4555 30061 CA ITEMP1 022601,001517: 4556 04512 TC MAGSUB 022602,001518: 4557 51615 DEC -.69444 # 125 DEGS 022603,001519: 022604,001520: 4560 50001 RRLIMOK INDEX L 022605,001521: 4561 00001 TC L # ( = TC 1 ) 022606,001522: 022607,001523: 4562 00765 5.5DEGS DEC .03056 022608,001524: 4563 16450 82DEGS DEC .45556 022609,001525: 022610,001526: # Page 524 022611,001527: # PROGRAM NAME: SETTRKF 022612,001528: 022613,001529: # FUNCTIONAL DESCRIPTION: 022614,001530: 022615,001531: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. 022616,001532: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED. 022617,001533: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1. 022618,001534: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY: 022619,001535: # 1) RR CDU'S BEING ZEROED, RR CDU OK, AND RR NOT IN 022620,001536: # AUTO MODE (RADMODES BITS 13, 7, 2). 022621,001537: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS 022622,001538: # 8,5) 022623,001539: # 3) NO RR DATA (RADMODES BIT 4) 022624,001540: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH 022625,001541: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL 022626,001542: # LAMP (DSPTAB +11D BIT 8) BEING TURNED OFF OR IS LEFT OFF. THEREFORE, THE 022627,001543: # TRACKER FAIL LAMP IS TURN ON IF: 022628,001544: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU'S NOT BEING ZEROED 022629,001545: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH 022630,001546: # EITHER THE ALT OR VEL INFORMATION 022631,001547: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES 022632,001548: # WITH EITHER THE AL 022633,001549: 022634,001550: # CALLING SEQUENCE: 022635,001551: 022636,001552: # L TC SETTRKF 022637,001553: 022638,001554: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D 022639,001555: 022640,001556: # SUBROUTINES CALLED: NONE 022641,001557: 022642,001558: # JOBS OR TASKS INITIATED: NONE 022643,001559: 022644,001560: # ALARMS: TRACKER FAIL LAMP 022645,001561: 022646,001562: # EXIT: L +1 (ALWAYS) 022647,001563: 022648,001564: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST 022649,001565: 4565 71303 MASK IMODES33 022650,001566: 4566 10000 CCS A 022651,001567: 4567 00002 TC Q 022652,001568: 022653,001569: 4570 34744 RRTRKF CA BIT8 022654,001570: 4571 54001 TS L 022655,001571: 022656,001572: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED. 022657,001573: 4573 70110 MASK RADMODES 022658,001574: 4574 00006 EXTEND 022659,001575: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE. 022660,001576: 022661,001577: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED. 022662,001578: 4577 70110 MASK RADMODES 022663,001579: # Page 525 022664,001580: 4600 10000 CCS A 022665,001581: 4601 30001 TRKFLON CA L 022666,001582: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES. 022667,001583: 4603 70001 MASK L 022668,001584: 4604 00006 EXTEND 022669,001585: 4605 16742 BZF TCQ # NO CHANGE. 022670,001586: 022671,001587: 4606 31036 FLIP CA DSPTAB +11D # CAN'T USE LXCH DSPTAB +11D (RESTART PROB) 022672,001588: 4607 00006 EXTEND 022673,001589: 4610 06001 RXOR LCHAN 022674,001590: 4611 74733 MASK POSMAX 022675,001591: 4612 64735 AD BIT15 022676,001592: 4613 55036 TS DSPTAB +11D 022677,001593: 4614 00002 TC Q 022678,001594: 022679,001595: 4615 10102 13,7,2 OCT 10102 022680,001596: 4616 ENDRMODF EQUALS 022681,001597: 022682,001598: # Page 526 022683,001599: # PROGRAM NAME: RRTURNON 022684,001600: 022685,001601: # FUNCTIONAL DESCRIPTION: 022686,001602: 022687,001603: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WTIH 022688,001604: # RRZEROSB, ZEROES THE CDU'S AND DETERMINES THE RR MODE. 022689,001605: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE 022690,001606: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM 022691,001607: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG 022692,001608: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON'T 022693,001609: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE 022694,001610: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF 022695,001611: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU 022696,001612: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE 022697,001613: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS 022698,001614: # TO TASKOVER. 022699,001615: 022700,001616: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER-ON AUTO 022701,001617: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING 022702,001618: # THE RR (STATE BIT 7). 022703,001619: 022704,001620: # ERASABLE INITIALIZATION REQUIRED: 022705,001621: 022706,001622: # RADMODES, STATE 022707,001623: 022708,001624: # SUBROUTINES CALLED: RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR 022709,001625: 022710,001626: # JOBS OR TASKS INITIATED: 022711,001627: # 022712,001628: # NONE 022713,001629: 022714,001630: # ALARMS: NONE (SEE RRZEROSB) 022715,001631: 022716,001632: # EXIT: TASKOVER, ENDRADAR (WAITING PROGRAM) 022717,001633: 022718,001634: 24,3255 BANK 24 022719,001635: 25,2000 SETLOC P20S1 022720,001636: 25,2000 BANK 022721,001637: 022722,001638: 25,2062 E7,1456 EBANK= LOSCOUNT 022723,001639: 25,2062 COUNT* $$/RSUB 022724,001640: 25,2062 02071 RRTURNON TC RRZEROSB 022725,001641: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG 022726,001642: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WON'T ALARM. 022727,001643: 25,2065 44753 CS TURNONBT 022728,001644: 25,2066 70110 MASK RADMODES 022729,001645: 25,2067 54110 TS RADMODES 022730,001646: 25,2070 15261 TCF TASKOVER 022731,001647: # Page 527 022732,001648: # PROGRAM NAME: RRZEROSB 022733,001649: 022734,001650: # FUNCTIONAL DESCRIPTION: 022735,001651: 022736,001652: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU'S, 022737,001653: # DETERMINE THE RR MODE, AND TURN ON THE TRACKER FAIL 022738,001654: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12 022739,001655: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC 022740,001656: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER 022741,001657: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS 022742,001658: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU'S 022743,001659: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE 022744,001660: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE 022745,001661: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION 022746,001662: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF 022747,001663: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2. 022748,001664: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO 022749,001665: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO 022750,001666: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON. 022751,001667: 022752,001668: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO) 022753,001669: 022754,001670: # ERASABLE INITIALIZATION REQUIRED: 022755,001671: 022756,001672: # RADMODES (BIT 13 SET), DSPTAB +11D 022757,001673: 022758,001674: # SUBROUTINES CALLED: FIXDELAY, MAGSUB, SETTRKF 022759,001675: 022760,001676: # JOBS OR TASKS INITIATED: 022761,001677: 022762,001678: # NONE 022763,001679: 022764,001680: # ALARMS: TRAKCER FAIL 022765,001681: 022766,001682: # EXIT: L +1 (ALWAYS) 022767,001683: 022768,001684: 25,2071 00006 RRZEROSB EXTEND 022769,001685: 25,2072 23315 QXCH RRRET 022770,001686: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE 022771,001687: 25,2074 00006 EXTEND # COMING HERE. 022772,001688: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU 022773,001689: 25,2076 05221 TC FIXDELAY 022774,001690: 25,2077 00002 DEC 2 B-14 022775,001691: 022776,001692: 25,2100 34755 CAF ZERO 022777,001693: 25,2101 54035 TS CDUT 022778,001694: 25,2102 54036 TS CDUS 022779,001695: 25,2103 44753 CS ONE # REMOVE ZEROING BIT. 022780,001696: 25,2104 00006 EXTEND 022781,001697: 25,2105 03012 WAND CHAN12 022782,001698: 25,2106 05221 TC FIXDELAY 022783,001699: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS. -- D.281 022784,001700: 022785,001701: 25,2110 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT 022786,001702: # Page 528 022787,001703: 25,2111 70110 MASK RADMODES 022788,001704: 25,2112 54110 TS RADMODES 022789,001705: 022790,001706: 25,2113 30035 CA CDUT 022791,001707: 25,2114 04512 TC MAGSUB 022792,001708: 25,2115 57777 DEC -.5 022793,001709: 25,2116 12121 TCF +3 # IF MODE 2. 022794,001710: 022795,001711: 25,2117 34755 CAF ZERO 022796,001712: 25,2120 12122 TCF +2 022797,001713: 25,2121 34740 CAF ANTENBIT 022798,001714: 25,2122 56110 XCH RADMODES 022799,001715: 25,2123 77741 MASK -BIT12 022800,001716: 25,2124 26110 ADS RADMODES 022801,001717: 022802,001718: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW. 022803,001719: 022804,001720: 25,2126 01315 TC RRRET # DONE. 022805,001721: 022806,001722: 25,2127 7741 -BIT12 EQUALS -1/8 # IN SPROOT 022807,001723: 022808,001724: # Page 529 022809,001725: # PROGRAM NAME: DORREPOS 022810,001726: 022811,001727: # FUNCTIONAL DESCRIPTION: 022812,001728: 022813,001729: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR 022814,001730: # TO A SAFE POSITION. INIITALLY SETRRECR IS CALLED WHERE THE RR 022815,001731: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD 022816,001732: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE 022817,001733: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR 022818,001734: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT, 022819,001735: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER 022820,001736: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT 022821,001737: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED 022822,001738: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180 022823,001739: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA 022824,001740: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN 022825,001741: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 022826,001742: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A 022827,001743: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS 022828,001744: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANFERRED TO 022829,001745: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS 022830,001746: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES 022831,001747: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT 022832,001748: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR 022833,001749: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO 022834,001750: # TASKOVER. 022835,001751: 022836,001752: # CALLING SEQUENCE: 022837,001753: 022838,001754: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES 022839,001755: # NOT WITHIN LIMITS OF CURRENT MODE. 022840,001756: 022841,001757: # ERASABLE INITIALIZATION REQUIRED: 022842,001758: 022843,001759: # RADMODES 022844,001760: 022845,001761: # SUBROUTINES CALLED 022846,001762: 022847,001763: # RRTONLY, RRSONLY, BEGDES (EXIT) 022848,001764: 022849,001765: # JOBS OR TASKS INITIATED: 022850,001766: 022851,001767: # NONE 022852,001768: 022853,001769: # ALARMS: NONE 022854,001770: 022855,001771: # EXIT: TASKOVER, BEGDES 022856,001772: 022857,001773: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS. 022858,001774: 022859,001775: # ALARM 501 DELETED IN DANCE 279 PER PCR 97. 022860,001776: 022861,001777: 25,2130 05221 TC FIXDELAY 022862,001778: 25,2131 00002 DEC 2 B-14 022863,001779: 022864,001780: 25,2132 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS. 022865,001781: # Page 530 022866,001782: 25,2133 70110 MASK RADMODES 022867,001783: 25,2134 10000 CCS A 022868,001784: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2. 022869,001785: 25,2136 02241 TC RRTONLY 022870,001786: 022871,001787: 25,2137 34740 CAF ANTENBIT # NOT PUT SHAFT IN RIGHT POSITION 022872,001788: 25,2140 70110 MASK RADMODES 022873,001789: 25,2141 10000 CCS A 022874,001790: 25,2142 44736 CS HALF # -90 FOR MODE 2. 022875,001791: 25,2143 02244 TC RRSONLY 022876,001792: 022877,001793: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IN REMODE 022878,001794: # REQUESTED DURING REPOSITION. 022879,001795: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT. 022880,001796: 25,2146 54110 TS RADMODES 022881,001797: 25,2147 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE. 022882,001798: 25,2150 10000 CCS A 022883,001799: 25,2151 12573 TCF BEGDES 022884,001800: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED, 022885,001801: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE. 022886,001802: 25,2154 03012 WAND CHAN12 022887,001803: 25,2155 15261 TCF TASKOVER 022888,001804: 022889,001805: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS 022890,001806: 25,2157 00006 EXTEND 022891,001807: 25,2160 02012 RAND CHAN12 022892,001808: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF 022893,001809: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED 022894,001810: 022895,001811: 25,2163 54112 TS LASTYCMD 022896,001812: 25,2164 54113 TS LASTXCMD 022897,001813: 25,2165 34752 CAF BIT2 022898,001814: 25,2166 00006 EXTEND 022899,001815: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS. 022900,001816: 25,2170 00002 TC Q 022901,001817: # Page 531 022902,001818: # PROGRAM NAME: REMODE 022903,001819: 022904,001820: # FUNCTIONAL DESCRIPTION 022905,001821: 022906,001822: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE 022907,001823: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1, 022908,001824: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45 022909,001825: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES, 022910,001826: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE 022911,001827: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE 022912,001828: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG 022913,001829: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO 022914,001830: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 022915,001831: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE 022916,001832: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG 022917,001833: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN 022918,001834: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130 022919,001835: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO 022920,001836: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV 022921,001837: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW 022922,001838: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14) 022923,001839: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM 022924,001840: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL. 022925,001841: 022926,001842: # CALLIN SEQUENCE: 022927,001843: 022928,001844: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET. 022929,001845: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK 022930,001846: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE 022931,001847: # OTHER MODE. 022932,001848: 022933,001849: # ERASABLE INIITIALIZATION REQUIRED: 022934,001850: 022935,001851: # RADMODES 022936,001852: 022937,001853: # SUBROUTINES CALLED: 022938,001854: 022939,001855: # RRTONLY, RRSONL, RMODINV (ACTUALLY PART OF) 022940,001856: 022941,001857: # JOBS OR TASKS INITIATED: 022942,001858: 022943,001859: # NONE 022944,001860: 022945,001861: # ALARMS: NONE 022946,001862: 022947,001863: # EXIT: STDESIG 022948,001864: 022949,001865: 25,2171 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180) 022950,001866: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED) 022951,001867: 25,2173 10000 CCS A 022952,001868: 25,2174 34735 CAF BIT15 022953,001869: 25,2175 02241 TC RRTONLY 022954,001870: 022955,001871: 25,2176 37740 CAF -45DEGSR 022956,001872: 25,2177 02244 TC RRSONLY 022957,001873: # Page 532 022958,001874: 25,2200 40110 CS RADMODES 022959,001875: 25,2201 74740 MASK ANTENBIT 022960,001876: 25,2202 10000 CCS A 022961,001877: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50). 022962,001878: 25,2204 62231 AD -50DEGSR 022963,001879: 25,2205 02241 TC RRTONLY 022964,001880: 022965,001881: 25,2206 40110 CS RADMODES 022966,001882: 25,2207 74740 MASK ANTENBIT 022967,001883: 25,2210 10000 CCS A 022968,001884: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0). 022969,001885: 25,2212 02241 TC RRTONLY 022970,001886: 022971,001887: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0). 022972,001888: 25,2214 74740 MASK ANTENBIT 022973,001889: 25,2215 10000 CCS A 022974,001890: 25,2216 44736 CS HALF 022975,001891: 25,2217 02244 TC RRSONLY 022976,001892: 022977,001893: 25,2220 02233 TC RMODINV 022978,001894: 022979,001895: 25,2221 44736 CS REMODBIT # END OF REMODE. 022980,001896: 25,2222 70110 MASK RADMODES 022981,001897: 25,2223 54110 TS RADMODES 022982,001898: 022983,001899: 25,2224 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE? 022984,001900: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1) 022985,001901: 25,2226 00006 EXTEND 022986,001902: 25,2227 13555 BZF RGOODEND # NO -- RETURN TO CALLER WAITING IN RADSTALL 022987,001903: 25,2230 02602 TC STDESIG # YES -- RETURN TO DESIGNATE 022988,001904: 25,2231 7740 -45DEGSR = 13,14,15 022989,001905: 25,2231 67070 -50DEGSR DEC -.27778 022990,001906: 25,2232 61615 -80DEGSR DEC -.44444 022991,001907: 022992,001908: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS. 022993,001909: 25,2234 34740 CAF ANTENBIT 022994,001910: 25,2235 00006 EXTEND 022995,001911: 25,2236 06001 RXOR LCHAN 022996,001912: 25,2237 54110 TS RADMODES 022997,001913: 25,2240 00002 TC Q 022998,001914: 022999,001915: # Page 533 023000,001916: # PROGRAM NAMES: RRTONLY, RRSONLY 023001,001917: 023002,001918: # FUNCTIONAL DESCRIPTION: 023003,001919: 023004,001920: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS 023005,001921: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO 023006,001922: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION 023007,001923: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST, 023008,001924: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES 023009,001925: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10) 023010,001926: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A 023011,001927: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE 023012,001928: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB 023013,001929: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES, 023014,001930: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS 023015,001931: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER 023016,001932: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS 023017,001933: # REPEATED. 023018,001934: 023019,001935: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI) 023020,001936: # L TC RRTONLY (TRUNNION ONLY) 023021,001937: # RRSONLY (SHAFT ONLY) 023022,001938: # RRTONLY IS CALLED BY PREPOS29; 023023,001939: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE 023024,001940: 023025,001941: # ERASABLE INITIALIZATION REQUIRED: 023026,001942: 023027,001943: # C(A) = DESIRED ANGLE, RADMODES 023028,001944: 023029,001945: # SUBROUTINES CALLED: 023030,001946: 023031,001947: # FIXDELAY, REPOSRPT, MAGSUB, RROUT 023032,001948: 023033,001949: # JOBS OR TASKS INITIATED: 023034,001950: 023035,001951: # NONE 023036,001952: 023037,001953: # ALARMS: NONE 023038,001954: 023039,001955: # EXIT: REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT -- RADMODES 023040,001956: # BITS 14, 11) 023041,001957: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE) 023042,001958: 023043,001959: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNNION ANGLE. 023044,001960: 25,2242 34755 CAF ZERO 023045,001961: 25,2243 12246 TCF RR1AXIS 023046,001962: 023047,001963: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS 023048,001964: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180. 023049,001965: 023050,001966: 25,2246 55317 RR1AXIS TS RRINDEX 023051,001967: 25,2247 00006 EXTEND 023052,001968: 25,2250 23315 QXCH RRRET 023053,001969: 25,2251 12254 TCF RR1AX2 023054,001970: 023055,001971: # Page 534 023056,001972: 25,2252 05221 NXTRR1AX TC FIXDELAY 023057,001973: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND. 023058,001974: 023059,001975: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTS A DESIGNATE WHICH 023060,001976: 25,2255 77710 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN 023061,001977: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE 023062,001978: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY. 023063,001979: 023064,001980: 25,2260 31316 CA RDES 023065,001981: 25,2261 00006 EXTEND 023066,001982: 25,2262 51317 INDEX RRINDEX 023067,001983: 25,2263 20035 MSU CDUT 023068,001984: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL. 023069,001985: 25,2265 00006 EXTEND 023070,001986: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5 023071,001987: 25,2267 54001 TS L 023072,001988: 25,2270 30110 CA RADMODES 023073,001989: 25,2271 74752 MASK AUTOMBIT 023074,001990: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT. 023075,001991: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE. 023076,001992: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS. 023077,001993: 023078,001994: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT. 023079,001995: 25,2276 01315 TC RRRET # RETURN TO CALLER. 023080,001996: 023081,001997: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO. 023082,001998: 25,2300 12302 TCF +2 # SETTING A TO 0. 023083,001999: 25,2301 56001 XCH L 023084,002000: 25,2302 53110 DXCH TANG 023085,002001: 023086,002002: 25,2303 02306 TC RROUT 023087,002003: 023088,002004: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS. 023089,002005: 023090,002006: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC. 023091,002007: 023092,002008: # Page 535 023093,002009: # PROGRAM NAME: RROUT 023094,002010: 023095,002011: # FUNCTIONAL DESCRIPTION: 023096,002012: 023097,002013: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR 023098,002014: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND 023099,002015: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS 023100,002016: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF 023101,002017: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN 023102,002018: # 384 PULSES. IF NOT, CONTROL IS TRANFERRED TO RROUTLIM TO 023103,002019: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS 023104,002020: # THEN CALCULATED BETWEEN THE DESIRED STATE AND TEH PRESENT STATE OF 023105,002021: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD. 023106,002022: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND 023107,002023: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE 023108,002024: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11) 023109,002025: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM. 023110,002026: 023111,002027: # CALLING SEQUENCE: 023112,002028: # 023113,002029: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY 023114,002030: # RRTONLY, RRSONLY, AND DODES 023115,002031: 023116,002032: # ERASABLE INITIALIZATION REQURIED: 023117,002033: 023118,002034: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD 023119,002035: # (1ST PASS = 0), RR ERROR COUNTER ENAGLE SET (CHAN 12 BIT 2). 023120,002036: 023121,002037: # SUBROUTINES CALLED: 023122,002038: 023123,002039: # MAGSUB 023124,002040: 023125,002041: # JOBS OR TASKS INITIATED: 023126,002042: 023127,002043: # NONE 023128,002044: 023129,002045: # ALARMS: NONE 023130,002046: 023131,002047: # EXIT: L+1 (ALWAYS) 023132,002048: 023133,002049: 25,2306 22002 RROUT LXCH Q # SAVE RETURN 023134,002050: 25,2307 34753 CAF ONE # LOOP TWICE. 023135,002051: 25,2310 54062 RROUT2 TS ITEMP2 023136,002052: 25,2311 50000 INDEX A 023137,002053: 25,2312 31107 CA TANG 023138,002054: 25,2313 54061 TS ITEMP1 # SAVE SIGN COMMAND FOR LIMITING. 023139,002055: 023140,002056: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LIMITS. 023141,002057: 25,2315 77177 -RRLIMIT DEC -384 B-14 023142,002058: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384. 023143,002059: 023144,002060: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED 023145,002061: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN 023146,002062: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD 023147,002063: 25,2322 40000 COM 023148,002064: # Page 536 023149,002065: 25,2323 60061 AD ITEMP1 023150,002066: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER 023151,002067: 25,2325 50062 INDEX ITEMP2 023152,002068: 25,2326 54053 TS CDUTCMD 023153,002069: 023154,002070: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS. 023155,002071: 25,2330 12310 TCF RROUT2 023156,002072: 023157,002073: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS. 023158,002074: 25,2332 00006 EXTEND 023159,002075: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T 023160,002076: 25,2334 00001 TC L # RETURN. 023161,002077: 023162,002078: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384. 023163,002079: 25,2336 42315 CS -RRLIMIT 023164,002080: 25,2337 12341 TCF +2 023165,002081: 25,2340 32315 CA -RRLIMIT 023166,002082: 25,2341 54061 TS ITEMP1 023167,002083: 25,2342 12320 TCF SETRRCTR +1 023168,002084: 023169,002085: # Page 537 023170,002086: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE. 023171,002087: 023172,002088: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO 023173,002089: 25,2344 70110 MASK RADMODES # IF SO, DON'T RE-ZERO CDUS. 023174,002090: 25,2345 10000 CCS A 023175,002091: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND). 023176,002092: 023177,002093: 25,2347 00004 INHINT 023178,002094: 25,2350 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS. 023179,002095: 25,2351 70110 MASK RADMODES 023180,002096: 25,2352 64737 AD RCDU0BIT 023181,002097: 25,2353 54110 TS RADMODES 023182,002098: 023183,002099: 25,2354 34753 CAF ONE 023184,002100: 25,2355 05203 TC WAITLIST 023185,002101: 25,2356 E7,1456 EBANK= LOSCOUNT 023186,002102: 25,2356 02370 52067 2CADR RRZ2 023187,002103: 023188,002104: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE. 023189,002105: 25,2361 74752 MASK AUTOMBIT 023190,002106: 25,2362 10000 CCS A 023191,002107: 25,2363 12366 TCF ROADBACK 023192,002108: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT -- TRYING 023193,002109: 25,2365 00510 OCT 510 023194,002110: 25,2366 00003 ROADBACK RELINT 023195,002111: 25,2367 14631 TCF SWRETURN 023196,002112: 023197,002113: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO. 023198,002114: 25,2371 13546 TCF ENDRADAR 023199,002115: 023200,002116: 25,2372 02001 BIT11+1 OCT 02001 023201,002117: 023202,002118: # Page 538 023203,002119: # PROGRAM NAME: RRDESSM 023204,002120: 023205,002121: # FUNCTIONAL DESCRIPTION: 023206,002122: 023207,002123: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE 023208,002124: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF-SIGHT (LOS) VECTOR 023209,002125: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT 023210,002126: # ORIENTATION. INITIALLY THE IMU CDU'S ARE READ AND CONTROL 023211,002127: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE 023212,002128: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO 699) 023213,002129: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES, 023214,002130: # TRUNNION AND SHAFT, FOR BOT THE PRESENT AND ALTERNATE MODE. 023215,002131: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE 023216,002132: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETUREN 023217,002133: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS 023218,002134: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN THE LIMITS OF THE 023219,002135: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR 023220,002136: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED 023221,002137: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN 023222,002138: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED, 023223,002139: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION 023224,002140: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE 023225,002141: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS 023226,002142: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES 023227,002143: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM 023228,002144: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED. 023229,002145: 023230,002146: # CALLING SEQUENCE: 023231,002147: 023232,002148: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES) 023233,002149: # L+1 RRDESM 023234,002150: # L+2 BASIC (VEHICLE MANEUVER REQUIRED) 023235,002151: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED) 023236,002152: 023237,002153: # ERASABLE INITIALIZATION REQUIRED: 023238,002154: 023239,002155: # RRTARGET, RADMODES 023240,002156: 023241,002157: # SUBROUTINES CALLED: 023242,002158: 023243,002159: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY 023244,002160: # PART OF), RMODINV 023245,002161: 023246,002162: # JOBS OR TASKS INITIATED: 023247,002163: 023248,002164: # NONE 023249,002165: 023250,002166: # ALARMS: NONE 023251,002167: 023252,002168: # EXIT: L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE) 023253,002169: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLES ATTITUDE -- RETURNS 023254,002170: # TO L+3 FROM STARTDES) 023255,002171: 023256,002172: 25,2373 43020 RRDESSM STQ CLEAR 023257,002173: 25,2374 01113 DESRET 023258,002174: # Page 539 023259,002175: 25,2375 00271 RRNBSW 023260,002176: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X 023261,002177: 25,2377 47537 CDUTRIG 023262,002178: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION 023263,002179: 25,2401 01102 RRTARGET 023264,002180: 25,2402 47671 *SMNB* 023265,002181: 023266,002182: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND 023267,002183: 25,2404 26133 RRANGLES # ALTERNATE MODE. 023268,002184: 25,2405 77776 EXIT 023269,002185: 023270,002186: 25,2406 00004 INHINT 023271,002187: 25,2407 04523 TC RRLIMCHK 023272,002188: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE. 023273,002189: 25,2411 02414 TC +3 # NOT IN CURRENT MODE 023274,002190: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ. 023275,002191: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED 023276,002192: 25,2414 40104 CS FLAGWRD8 023277,002193: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F) 023278,002194: 25,2416 00006 EXTEND 023279,002195: 25,2417 12456 BZF NORDSTAL # BRANCH -- YES -- CANNOT DESIGNATE IN MODE 2 023280,002196: 25,2420 02461 TC TRYSWS 023281,002197: 023282,002198: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES 023283,002199: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE 023284,002200: 25,2423 00006 EXTEND 023285,002201: 25,2424 12456 BZF NORDSTAL # BRANCH -- YES -- RETURN TO CALLER -- ALARM 527 023286,002202: 25,2425 30074 CA STATE 023287,002203: 25,2426 74745 MASK RNDVZBIT 023288,002204: 25,2427 10000 CCS A # TEST RNDVZFLG 023289,002205: 25,2430 02471 TC NODESSM # NOT ON MOON -- CALL FOR ATTITUDE MANEUVER 023290,002206: 25,2431 15155 TCF ENDOFJOB # ... BUT NOT IN R29. 023291,002207: 023292,002208: # Page 540 023293,002209: # PROGRAM NAME: STARTDES 023294,002210: 023295,002211: # FUNCTIONAL DESCRIPTION: 023296,002212: 023297,002213: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. 023298,002214: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. 023299,002215: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITON 023300,002216: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE 023301,002217: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED. 023302,002218: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS 023303,002219: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE 023304,002220: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT 023305,002221: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10 023306,002222: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED. 023307,002223: # THE REPOSITON FLAG (RADMODES BIT 11) IS CHECKED. IF SET, 023308,002224: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM 023309,002225: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED 023310,002226: # ANGLES FOLLOWING THE REPOSITON OR REMODE IF ONE WAS 023311,002227: # REQUESTED. IF THE REPOSITON FLAG IS NOT SET, SETRRECR IS CALLED 023312,002228: # WITH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) 023313,002229: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE 023314,002230: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR 023315,002231: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES 023316,002232: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF TEH CALLING PROGRAM. 023317,002233: 023318,002234: # CALLING SEQUENCE: 023319,002235: 023320,002236: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS. 023321,002237: 023322,002238: # ERASABLE INITIALIZATION REQUIRED: 023323,002239: 023324,002240: # RADMODES, (SEE DODES) 023325,002241: 023326,002242: # SUBROUTINES CALLED 023327,002243: 023328,002244: # SETRRECR, WAITLIST 023329,002245: 023330,002246: # JOBS OR TASKS INITIATED: 023331,002247: 023332,002248: # BEGDES 023333,002249: 023334,002250: # ALARMS: NONE 023335,002251: 023336,002252: # EXIT: L+3 OF CALLING PROGRAM (SEE RRDESSM) 023337,002253: # L+2 OF CALLING PROGRAM (SEE RRDESNB) 023338,002254: 023339,002255: 25,2432 25113 STARTDES INCR DESRET 023340,002256: 25,2433 40110 CS RADMODES 023341,002257: 25,2434 74742 MASK DESIGBIT 023342,002258: 25,2435 26110 ADS RADMODES 023343,002259: 25,2436 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS. 023344,002260: 25,2437 10000 CCS A 023345,002261: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP. 023346,002262: 023347,002263: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS. 023348,002264: # Page 541 023349,002265: 25,2442 34752 CAF TWO 023350,002266: 25,2443 05203 TC WAITLIST 023351,002267: 25,2444 E7,1456 EBANK= LOSCOUNT 023352,002268: 25,2444 02573 52067 2CADR BEGDES 023353,002269: 023354,002270: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE 023355,002271: 25,2447 00006 EXTEND 023356,002272: 25,2450 12452 BZF DESRTRN # YES SET EXIT 023357,002273: 25,2451 05155 TC ENDOFJOB # NO 023358,002274: 25,2452 00003 DESRTRN RELINT 023359,002275: 25,2453 25113 INCR DESRET 023360,002276: 25,2454 31113 CA DESRET 023361,002277: 25,2455 14640 TCF BANKJUMP 023362,002278: 023363,002279: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE 023364,002280: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW 023365,002281: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL 023366,002282: 023367,002283: # Page 542 023368,002284: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE. 023369,002285: 023370,002286: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT) 023371,002287: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE. 023372,002288: 25,2463 01111 ADRES MODEB 023373,002289: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED 023374,002290: 023375,002291: 25,2465 02233 TC RMODINV # RESET BIT12 023376,002292: 25,2466 34736 CAF REMODBIT # SET FLAG FOR REMODE. 023377,002293: 25,2467 26110 ADS RADMODES 023378,002294: 023379,002295: 25,2470 12412 TCF OKDESSM 023380,002296: 023381,002297: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN 023382,002298: 25,2472 25113 INCR DESRET # TO CALLER +2 023383,002299: 25,2473 12456 TCF NORDSTAL 023384,002300: 023385,002301: 25,2474 00074 MAXTRYS DEC 60 B-14 023386,002302: 023387,002303: # Page 543 023388,002304: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN 023389,002305: # TANG AND TANG +1. 023390,002306: 023391,002307: 25,2475 04645 RRDESNB TC MAKECADR 023392,002308: 25,2476 55113 TS DESRET 023393,002309: 023394,002310: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING 023395,002311: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21 023396,002312: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER 023397,002313: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE 023398,002314: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK. 023399,002315: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK 023400,002316: 25,2505 01107 ADRES TANG 023401,002317: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE. 023402,002318: 023403,002319: 25,2507 00003 OKDESNB RELINT 023404,002320: 25,2510 00006 EXTEND 023405,002321: 25,2511 31110 DCA TANG 023406,002322: 25,2512 53753 DXCH TANGNB 023407,002323: 25,2513 06037 TC INTPRET 023408,002324: 023409,002325: 25,2514 77624 CALL # GET LOS IN NB COORDS. 023410,002326: 25,2515 46041 RRNB 023411,002327: 25,2516 01102 STORE RRTARGET 023412,002328: 023413,002329: 25,2517 77414 SET EXIT 023414,002330: 25,2520 00071 RRNBSW 023415,002331: 023416,002332: 25,2521 00004 INHINT 023417,002333: 25,2522 12433 TCF STARTDES +1 023418,002334: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO. 023419,002335: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK 023420,002336: 25,2525 01107 ADRES TANG 023421,002337: 25,2526 12533 TCF NODESNB # NOT POSSIBLE. 023422,002338: 023423,002339: 25,2527 02233 TC RMODINV 023424,002340: 25,2530 34736 CAF REMODBIT # CALL FOR REMODE. 023425,002341: 25,2531 26110 ADS RADMODES 023426,002342: 25,2532 12507 TCF OKDESNB 023427,002343: 023428,002344: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT. 023429,002345: 25,2534 05567 TC ALARM # BAD INPUT ANGLES. 023430,002346: 25,2535 00502 OCT 502 023431,002347: 25,2536 06011 TC CLRADMOD 023432,002348: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM. 023433,002349: 023434,002350: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK 023435,002351: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER 023436,002352: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES 023437,002353: 25,2543 00006 EXTEND 023438,002354: # Page 544 023439,002355: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE 023440,002356: 25,2545 30001 DCA 0 023441,002357: 25,2546 52062 DXCH ITEMP1 023442,002358: 25,2547 22002 LXCH Q # L(CALLER +2) TO L 023443,002359: 023444,002360: 25,2550 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN 023445,002361: 25,2551 70110 MASK RADMODES 023446,002362: 25,2552 10000 CCS A 023447,002363: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING 023448,002364: 25,2554 30061 CA ITEMP1 023449,002365: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS 023450,002366: 25,2556 66161 DEC -.30555 # 1 ABS(T) L 55 DEGS 023451,002367: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS 023452,002368: 023453,002369: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE 023454,002370: 25,2561 00006 EXTEND 023455,002371: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS 023456,002372: 25,2563 64562 AD 5.5DEGS 023457,002373: 25,2564 04512 SHAFTLIM TC MAGSUB 023458,002374: 25,2565 64420 DEC -.35833 # 64.5 DEGREES 023459,002375: 25,2566 00001 TC L # NOT IN LIMITS 023460,002376: 25,2567 04560 TC RRLIMOK # IN LIMITS 023461,002377: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES 023462,002378: 25,2571 12564 TCF SHAFTLIM 023463,002379: 023464,002380: 25,2572 03512 20.5DEGS DEC .11389 023465,002381: 023466,002382: # Page 545 023467,002383: # PROGRAM NAME: BEGDES 023468,002384: 023469,002385: # FUNCTIONAL DESCRIPTION: 023470,002386: 023471,002387: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE 023472,002388: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A 023473,002389: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO, 023474,002390: # CONTROL IS TRANFERRED TO STDESIG AFTER ROUTINE REMODE IS 023475,002391: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE 023476,002392: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF 023477,002393: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED 023478,002394: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION 023479,002395: # FLAG IS NOT PRESET, THE CONTINUOUS DESIGNATE FLAG (RADMODES 023480,002396: # BIT 15) IS CHECKED. IF PRESENT, AN EXECUTIVE CALL IS IMMEDIATELY 023481,002397: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE 023482,002398: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING 023483,002399: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED. 023484,002400: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES 023485,002401: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO 023486,002402: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE 023487,002403: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS 023488,002404: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4) 023489,002405: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE 023490,002406: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE 023491,002407: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG 023492,002408: # (RADMODES BIT 10) REMOVED BEFORE EEXITING TO RDBADEND. IF 023493,002409: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE 023494,002410: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED 023495,002411: # BEFORE REPEATING THIS PROCEDURE AT STDESIG. 023496,002412: 023497,002413: # CALLING SEQUENCE: 023498,002414: 023499,002415: # WAITLIST CALL FROM STARTDES 023500,002416: # TCF BEGDES FROM DORREPOS 023501,002417: # TC STDESIG RETURNING, FROM REMODE 023502,002418: 023503,002419: # ERASABLE INITIALIZATION REQUIRED: 023504,002420: 023505,002421: # DESCOUNT, FINDVAC 023506,002422: 023507,002423: # JOBS OR TASKS INITIATED: DODES 023508,002424: 023509,002425: # ALARMS: PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA 023510,002426: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED. 023511,002427: 023512,002428: # EXIT: TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT) 023513,002429: # ENDRADAR (NO DESIGNATE -- RADMODES BIT 10) 023514,002430: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED) 023515,002431: 023516,002432: 25,2573 40110 BEGDES CS RADMODES 023517,002433: # Page 546 023518,002434: 25,2574 74736 MASK REMODBIT 023519,002435: 25,2575 10000 CCS A 023520,002436: 25,2576 02602 TC STDESIG 023521,002437: 25,2577 02171 TC REMODE 023522,002438: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND. 023523,002439: 25,2601 00062 DEC 50 B-14 023524,002440: 023525,002441: 25,2602 34741 STDESIG CAF REPOSBIT 023526,002442: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US 023527,002443: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A 023528,002444: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS. 023529,002445: 023530,002446: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED. 023531,002447: 25,2607 12612 TCF +3 # IF SO, DON'T CHECK BIT 10 TO SEE IF IN 023532,002448: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY. 023533,002449: 25,2611 12630 TCF MOREDES +1 023534,002450: 023535,002451: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF 023536,002452: 25,2613 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR 023537,002453: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER 023538,002454: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL. 023539,002455: 023540,002456: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TIME LIMIT HAS EXPIRED 023541,002457: 25,2617 12627 TCF MOREDES 023542,002458: 023543,002459: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR 023544,002460: 25,2621 00006 EXTEND 023545,002461: 25,2622 03012 WAND CHAN12 023546,002462: 25,2623 44742 BADDES CS DESIGBIT # REMOVE DESIGNATE FLAG 023547,002463: 25,2624 70110 MASK RADMODES 023548,002464: 25,2625 54110 TS RADMODES 023549,002465: 25,2626 13562 TCF RDBADEND 023550,002466: 023551,002467: 25,2627 55114 MOREDES TS DESCOUNT 023552,002468: 25,2630 37714 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS. 023553,002469: 25,2631 05105 TC FINDVAC 023554,002470: 25,2632 E7,1456 EBANK= LOSCOUNT 023555,002471: 25,2632 02636 52067 2CADR DODES 023556,002472: 023557,002473: 25,2634 12600 TCF DESLOOP 023558,002474: 023559,002475: 25,2635 20002 B14+B2 OCT 20002 023560,002476: 023561,002477: # Page 547 023562,002478: # PROGRAM NAME: DODES 023563,002479: 023564,002480: # FUNCTIONAL DESCRIPTION: 023565,002481: 023566,002482: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE 023567,002483: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND 023568,002484: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO 023569,002485: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE 023570,002486: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS: 023571,002487: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT) 023572,002488: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S)) 023573,002489: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2 023574,002490: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE 023575,002491: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS 023576,002492: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN 023577,002493: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE 023578,002494: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING, 023579,002495: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT 023580,002496: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) 023581,002497: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS 023582,002498: # OPERATING (SRCHOPT FLAT SET) THE TRACK ENABLE IS NOT CLEARED. IF NO 023583,002499: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS 023584,002500: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS 023585,002501: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITON 023586,002502: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 023587,002503: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT 023588,002504: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE 023589,002505: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN 023590,002506: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE 023591,002507: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESETN, THE 023592,002508: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, AND ENDOFJOB 023593,002509: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12 023594,002510: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE 023595,002511: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD 023596,002512: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, 023597,002513: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, 023598,002514: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT 023599,002515: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION 023600,002516: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED 023601,002517: # VIA ENDOFJOB. 023602,002518: 023603,002519: # CALLING SEQUENCE: 023604,002520: 023605,002521: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES. 023606,002522: 023607,002523: # ERASABLE INITIALIZATION REQUIRED: 023608,002524: 023609,002525: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES), 023610,002526: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES 023611,002527: 023612,002528: # SUBROUTINES CALLED: 023613,002529: 023614,002530: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT 023615,002531: # Page 548 023616,002532: 023617,002533: # JOBS OR TASKS INITIATED: 023618,002534: 023619,002535: # NONE 023620,002536: 023621,002537: # ALARMS: NONE 023622,002538: 023623,002539: # EXIT: ENDOFJOB (ALWAYS) 023624,002540: 023625,002541: 25,2636 00006 DODES EXTEND 023626,002542: 25,2637 30036 DCA CDUT 023627,002543: 25,2640 53110 DXCH TANG 023628,002544: 023629,002545: 25,2641 06037 TC INTPRET 023630,002546: 023631,002547: 25,2642 77201 SETPD VLOAD 023632,002548: 25,2643 00001 0 023633,002549: 25,2644 01102 RRTARGET 023634,002550: 25,2645 74214 BON VXSC 023635,002551: 25,2646 00311 RRNBSW 023636,002552: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES 023637,002553: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE 023638,002554: 25,2651 63372 VSL1 PDVL 023639,002555: 25,2652 01761 LOSVEL 023640,002556: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS 023641,002557: 25,2654 13072 MCTOMS 023642,002558: 25,2655 45056 UNIT CALL 023643,002559: 25,2656 47537 CDUTRIG 023644,002560: 25,2657 77624 CALL 023645,002561: 25,2660 47671 *SMNB* 023646,002562: 023647,002563: 25,2661 14041 DONBRD STODL 32D 023648,002564: 25,2662 01111 TANG +1 023649,002565: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0, 023650,002566: 25,2664 21576 CDULOGIC # -SIN(S)). 023651,002567: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2. 023652,002568: 25,2666 41546 COS PUSH 023653,002569: 25,2667 65205 DMP PDDL 023654,002570: 25,2670 00041 32D 023655,002571: 25,2671 00045 36D 023656,002572: 25,2672 44205 DMP BDSU 023657,002573: 25,2673 00001 0 023658,002574: 25,2674 77626 STADR 023659,002575: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND 023660,002576: 023661,002577: 25,2676 47135 SLOAD RTB 023662,002578: 25,2677 01110 TANG 023663,002579: 25,2700 21576 CDULOGIC 023664,002580: 25,2701 71406 PUSH COS # COS(T) TO 4. 023665,002581: 25,2702 73525 PDDL SIN 023666,002582: 25,2703 41206 PUSH DMP # SIN(T) TO 6. 023667,002583: 25,2704 00003 2 023668,002584: # Page 549 023669,002585: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = [SIN(T)SIN(S)] 023670,002586: 25,2706 00005 4 # [ COS(T) ] 023671,002587: 25,2707 41325 PDDL DMP # [SIN(T)COS(S)] 023672,002588: 25,2710 00007 6 023673,002589: 25,2711 00001 0 023674,002590: 25,2712 55552 SL1 VDEF 023675,002591: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND. 023676,002592: 25,2714 00041 32D 023677,002593: 023678,002594: # Page 550 023679,002595: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A 023680,002596: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET. 023681,002597: 023682,002598: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESREG ANGLE. 023683,002599: 25,2716 00006 EXTEND 023684,002600: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS. 023685,002601: 25,2720 55107 TS TANG # TRUNNION COMMAND. 023686,002602: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF 023687,002603: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A 023688,002604: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT 023689,002605: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE 023690,002606: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH 023691,002607: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND. 023692,002608: 25,2727 41110 +3 CS TANG +1 023693,002609: 25,2730 00006 EXTEND 023694,002610: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS. 023695,002611: 25,2732 55110 TS TANG +1 # SHAFT COMMAND FOR RROUT 023696,002612: 25,2733 06037 TC INTPRET 023697,002613: 023698,002614: 25,2734 41345 DLOAD DMP 023699,002615: 25,2735 00003 2 # COS(S). 023700,002616: 25,2736 00005 4 # COS(T). 023701,002617: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR. 023702,002618: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T) 023703,002619: 25,2741 00001 0 # SIN(S). 023704,002620: 25,2742 72405 DMP SL1 023705,002621: 25,2743 00005 4 # COS(T). 023706,002622: 25,2744 43066 VDEF BON # FORM URR IN NB AXES. 023707,002623: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41 023708,002624: 25,2746 52751 +3 023709,002625: 25,2747 77624 CALL 023710,002626: 25,2750 47673 *NBSM* # GET URR IN SM AXES. 023711,002627: 25,2751 77441 DOT EXIT 023712,002628: 25,2752 01102 RRTARGET # GET COSIN OF ANGLE BETWEEN RR AND LOS 023713,002629: 023714,002630: 25,2753 00006 EXTEND 023715,002631: 25,2754 43070 DCS COS1/2DG 023716,002632: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2. 023717,002633: 25,2756 10154 CCS MPAC 023718,002634: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER 023719,002635: 25,2760 12762 TCF +2 023720,002636: 25,2761 34753 CA ONE 023721,002637: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT. 023722,002638: # Page 551 023723,002639: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED. 023724,002640: 023725,002641: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT 023726,002642: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF 023727,002643: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS 023728,002644: 25,2766 13017 TCF DORROUT 023729,002645: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS. 023730,002646: 25,2770 13000 TCF DGOODCHK 023731,002647: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED, 023732,002648: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED. 023733,002649: 25,2773 10000 CCS A 023734,002650: 25,2774 13005 TCF RRDESDUN 023735,002651: 023736,002652: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER 023737,002653: 25,2776 00006 EXTEND 023738,002654: 25,2777 05012 WOR CHAN12 023739,002655: 023740,002656: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET 023741,002657: 25,3001 00006 EXTEND 023742,002658: 25,3002 02033 RAND CHAN33 023743,002659: 25,3003 10000 CCS A 023744,002660: 25,3004 13017 TCF DORROUT 023745,002661: 023746,002662: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT 023747,002663: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND. 023748,002664: 25,3007 00004 INHINT 023749,002665: 25,3010 54110 TS RADMODES 023750,002666: 023751,002667: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREENT A 023752,002668: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD 023753,002669: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER 023754,002670: 25,3014 00006 EXTEND 023755,002671: 25,3015 03012 WAND CHAN12 023756,002672: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED. 023757,002673: 023758,002674: 25,3017 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE 023759,002675: 25,3020 77712 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS 023760,002676: 25,3021 00006 EXTEND 023761,002677: 25,3022 13041 BZF NOTP20 023762,002678: 25,3023 06037 TC INTPRET 023763,002679: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE 023764,002680: 25,3025 01102 RRTARGET 023765,002681: 25,3026 01767 MLOSV 023766,002682: 25,3027 41572 VSL1 PUSH 023767,002683: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY 023768,002684: 25,3031 01761 LOSVEL # TO LOS VECTOR 023769,002685: 25,3032 13072 MCTOMS 023770,002686: 25,3033 53362 VSR1 VAD 023771,002687: 25,3034 77656 UNIT 023772,002688: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT) 023773,002689: # Page 552 023774,002690: 25,3036 00045 36D 023775,002691: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE 023776,002692: 25,3040 77776 EXIT 023777,002693: 25,3041 00004 NOTP20 INHINT 023778,002694: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR 023779,002695: 25,3043 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER 023780,002696: 25,3044 10000 CCS A 023781,002697: 25,3045 02306 TC RROUT 023782,002698: 023783,002699: 25,3046 30076 CA FLAGWRD2 023784,002700: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST 023785,002701: 25,3050 00006 EXTEND # LOS COUNTER 023786,002702: 25,3051 15155 BZF ENDOFJOB 023787,002703: 25,3052 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET 023788,002704: 25,3053 03064 TC DODESEND # A NEW LOS 023789,002705: 25,3054 00004 INHINT 023790,002706: 25,3055 06027 TC KILLTASK # YES -- KILL TASK WHICH SCHEDULES DODES 023791,002707: 25,3056 52602 CADR DESLOOP +2 023792,002708: 25,3057 00003 RELINT 023793,002709: 25,3060 10067 CCS NEWJOB 023794,002710: 25,3061 05122 TC CHANG1 023795,002711: 25,3062 04616 TC BANKCALL 023796,002712: 25,3063 50731 CADR R21LEM2 023797,002713: 023798,002714: 25,3064 55456 DODESEND TS LOSCOUNT 023799,002715: 25,3065 05155 TC ENDOFJOB 023800,002716: 023801,002717: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC. 023802,002718: 25,3067 7712 BIT12,14 EQUALS PRIO24 # OCT 24000 023803,002719: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES. 023804,002720: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13 023805,002721: 023806,002722: # Page 553 023807,002723: # RADAR READ INITIALIZATION 023808,002724: 023809,002725: # RADAR DATA READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW. 023810,002726: 023811,002727: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING. 023812,002728: 25,3074 00017 ALLREAD OCT 17 023813,002729: 023814,002730: 25,3075 03114 LRVELZ TC INITREAD 023815,002731: 25,3076 00016 OCT 16 023816,002732: 023817,002733: 25,3077 03114 LRVELY TC INITREAD 023818,002734: 25,3100 00015 OCT 15 023819,002735: 023820,002736: 25,3101 03114 LRVELX TC INITREAD 023821,002737: 25,3102 00014 OCT 14 023822,002738: 023823,002739: 25,3103 03113 RRRDOT TC INITREAD -1 023824,002740: 25,3104 00012 OCT 12 023825,002741: 023826,002742: 25,3105 03113 RRRANGE TC INITREAD -1 023827,002743: 25,3106 00011 OCT 11 023828,002744: 023829,002745: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE 023830,002746: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP. 023831,002747: 023832,002748: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMENTARILY 023833,002749: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES 023834,002750: 25,3111 51105 INDEX TIMEHOLD 023835,002751: 25,3112 13075 TCF LRVELZ 023836,002752: 023837,002753: # Page 554 023838,002754: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE 023839,002755: 25,3114 00004 INITREAD INHINT 023840,002756: 023841,002757: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING 023842,002758: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE 023843,002759: 25,3117 74751 MP BIT3 # ENCOUNTERED). 023844,002760: 25,3120 53106 DXCH TIMEHOLD 023845,002761: 023846,002762: 25,3121 10000 CCS A 023847,002763: 25,3122 55111 TS NSAMP 023848,002764: 25,3123 64753 AD ONE 023849,002765: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES. 023850,002766: # DOUBLE 023851,002767: 25,3124 55100 TS SAMPLIM 023852,002768: 023853,002769: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS. 023854,002770: 25,3126 00006 EXTEND 023855,002771: 25,3127 02033 RAND CHAN33 023856,002772: 25,3130 55113 TS OLDATAGD 023857,002773: 023858,002774: 25,3131 43074 CS ALLREAD 023859,002775: 25,3132 00006 EXTEND 023860,002776: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS 023861,002777: 023862,002778: 25,3134 50002 INDEX Q 023863,002779: 25,3135 30000 CAF 0 023864,002780: 25,3136 00006 EXTEND 023865,002781: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS 023866,002782: 023867,002783: 25,3140 00006 EXTEND 023868,002784: 25,3141 30025 DCA TIME2 023869,002785: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT 023870,002786: 023871,002787: 25,3143 34755 CAF ZERO 023872,002788: 25,3144 54001 TS L 023873,002789: 25,3145 53102 DXCH SAMPLSUM 023874,002790: 25,3146 12366 TCF ROADBACK 023875,002791: 023876,002792: 25,3147 00230 DGBITS OCT 230 023877,002793: 023878,002794: # Page 555 023879,002795: # RADAR RUPT READER 023880,002796: 023881,002797: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA & LOTS MORE. 023882,002798: 023883,002799: 25,2000 SETLOC RADARUPT 023884,002800: 25,2000 BANK 023885,002801: 023886,002802: 25,3150 COUNT* $$/RRUPT 023887,002803: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS 023888,002804: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND). 023889,002805: 25,3152 54016 TS BANKRUPT 023890,002806: 25,3153 00006 EXTEND 023891,002807: 25,3154 22012 QXCH QRUPT 023892,002808: 023893,002809: 25,3155 34757 CAF SEVEN 023894,002810: 25,3156 00006 EXTEND 023895,002811: 25,3157 02013 RAND CHAN13 023896,002812: 25,3160 55335 TS DNINDEX 023897,002813: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE 023898,002814: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS) 023899,002815: 25,3163 30046 CA RNRAD 023900,002816: 25,3164 51335 INDEX DNINDEX 023901,002817: 25,3165 55332 TS DNRRANGE -1 023902,002818: 25,3166 11100 TRYCOUNT CCS SAMPLIM 023903,002819: 25,3167 13211 TCF PLENTY 023904,002820: 25,3170 13174 TCF NOMORE 023905,002821: 25,3171 05567 TC ALARM 023906,002822: 25,3172 00520 OCT 520 023907,002823: 25,3173 05270 TC RESUME 023908,002824: 023909,002825: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET? 023910,002826: 25,3175 74735 MASK LRBYBIT 023911,002827: 25,3176 00006 EXTEND 023912,002828: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM. 023913,002829: 023914,002830: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG. 023915,002831: 25,3201 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM 023916,002832: 25,3202 00006 EXTEND 023917,002833: 25,3203 13206 BZF BADRAD 023918,002834: 023919,002835: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM. 023920,002836: 25,3205 00521 OCT 521 023921,002837: 25,3206 44753 BADRAD CS ONE 023922,002838: 25,3207 55100 TS SAMPLIM 023923,002839: 25,3210 03560 TC RDBADEND -2 023924,002840: 25,3211 55100 PLENTY TS SAMPLIM 023925,002841: 25,3212 34751 CAF BIT3 023926,002842: 25,3213 00006 EXTEND 023927,002843: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR 023928,002844: 25,3215 00006 EXTEND 023929,002845: # Page 556 023930,002846: 25,3216 13276 BZF RENDRAD 023931,002847: 023932,002848: 25,3217 03364 TC R77CHECK # R77 QUITS HERE. 023933,002849: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION 023934,002850: 25,3221 00006 EXTEND 023935,002851: 25,3222 06033 RXOR CHAN33 023936,002852: 25,3223 74746 MASK BIT6 023937,002853: 25,3224 00006 EXTEND 023938,002854: 25,3225 13231 BZF VELCHK 023939,002855: 023940,002856: 25,3226 05567 TC ALARM 023941,002857: 25,3227 00522 OCT 522 023942,002858: 25,3230 03206 TC BADRAD 023943,002859: 023944,002860: 25,3231 36245 VELCHK CAF BIN3 # = 00003 OCT 023945,002861: 25,3232 00006 EXTEND 023946,002862: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT 023947,002863: 25,3234 76245 MASK BIN3 023948,002864: 25,3235 00006 EXTEND 023949,002865: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING 023950,002866: 023951,002867: 25,3237 34733 CAF POSMAX 023952,002868: 25,3240 70046 MASK RNRAD 023953,002869: 25,3241 62000 AD LVELBIAS 023954,002870: 25,3242 54001 TS L 023955,002871: 25,3243 30046 CAE RNRAD 023956,002872: 25,3244 60000 DOUBLE 023957,002873: 25,3245 74753 MASK BIT1 023958,002874: 25,3246 52064 DXCH ITEMP3 023959,002875: 023960,002876: 25,3247 34744 CAF BIT8 # DATA GOOD ISN'T CHECKED UNTIL AFTER READ- 023961,002877: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK 023962,002878: # INDEPENDENT OF DATA GOOD. 023963,002879: 023964,002880: 25,3251 11111 CCS NSAMP 023965,002881: 25,3252 03262 TC NOEND 023966,002882: 25,3253 44753 GOODRAD CS ONE 023967,002883: 25,3254 55100 TS SAMPLIM 023968,002884: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED, 023969,002885: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF. 023970,002886: 25,3257 54110 TS RADMODES 023971,002887: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD. 023972,002888: 25,3261 03553 TC RGOODEND -2 023973,002889: 023974,002890: 25,3262 55111 NOEND TS NSAMP 023975,002891: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE. 023976,002892: 25,3264 13266 TCF +2 023977,002893: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE. 023978,002894: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT. 023979,002895: 25,3267 00006 EXTEND 023980,002896: # Page 557 023981,002897: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT 023982,002898: 25,3271 05270 TC RESUME 023983,002899: 023984,002900: 023985,002901: 25,3272 34747 LRHEIGHT CAF BIT5 023986,002902: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33) 023987,002903: 023988,002904: 25,3274 34743 CAF BIT9 023989,002905: 25,3275 03320 TC SCALECHK -1 023990,002906: 023991,002907: 25,3276 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF 023992,002908: 25,3277 70110 MASK RADMODES # LIMITS. 023993,002909: 25,3300 10000 CCS A 023994,002910: 25,3301 13206 TCF BADRAD 023995,002911: 023996,002912: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASN'T FAILED. 023997,002913: 25,3303 74745 MASK RCDUFBIT 023998,002914: 25,3304 10000 CCS A 023999,002915: 25,3305 13206 TCF BADRAD 024000,002916: 024001,002917: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD. 024002,002918: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33) 024003,002919: 024004,002920: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT. 024005,002921: 25,3311 00006 EXTEND 024006,002922: 25,3312 02013 RAND CHAN13 024007,002923: 25,3313 54002 TS Q # FOR LATER TESTING. 024008,002924: 25,3314 10000 CCS A 024009,002925: 25,3315 13317 TCF +2 024010,002926: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT. 024011,002927: 25,3317 34751 CAF BIT3 024012,002928: 25,3320 54001 TS L 024013,002929: 024014,002930: 25,3321 00006 SCALECHK EXTEND 024015,002931: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW 024016,002932: 25,3323 56001 XCH L 024017,002933: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE 024018,002934: 25,3325 00006 EXTEND 024019,002935: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER 024020,002936: 25,3327 10000 CCS A 024021,002937: 25,3330 03350 TC SCALCHNG # THEY DIFFER. 024022,002938: 024023,002939: 25,3331 34733 RADIN CAF POSMAX 024024,002940: 25,3332 70046 MASK RNRAD 024025,002941: 25,3333 54064 TS ITEMP4 024026,002942: 024027,002943: 25,3334 30046 CAE RNRAD 024028,002944: 25,3335 60000 DOUBLE 024029,002945: 25,3336 74753 MASK BIT1 024030,002946: 25,3337 54063 TS ITEMP3 024031,002947: # Page 558 024032,002948: 25,3340 10002 CCS Q # SEE IF RR RDOT. 024033,002949: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED. 024034,002950: 024035,002951: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS 024036,002952: 25,3343 42002 DCS RDOTBIAS 024037,002953: 25,3344 20064 DASAMPL DAS ITEMP3 024038,002954: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND 024039,002955: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE. 024040,002956: 25,3347 03253 TC GOODRAD 024041,002957: 024042,002958: 25,3350 22110 SCALCHNG LXCH RADMODES 024043,002959: 25,3351 64753 AD BIT1 024044,002960: 25,3352 00006 EXTEND 024045,002961: 25,3353 06001 RXOR LCHAN 024046,002962: 25,3354 54110 TS RADMODES 024047,002963: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS. 024048,002964: 25,3356 00006 EXTEND 024049,002965: 25,3357 02033 RAND CHAN33 024050,002966: 25,3360 55113 TS OLDATAGD 024051,002967: 25,3361 05504 TC UPFLAG # SET RNGSCFLG 024052,002968: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1 024053,002969: 25,3363 13206 TCF BADRAD 024054,002970: 024055,002971: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT. 024056,002972: 024057,002973: 25,3364 40101 R77CHECK CS FLAGWRD5 024058,002974: 25,3365 74741 MASK R77FLBIT 024059,002975: 25,3366 10000 CCS A 024060,002976: 25,3367 00002 TC Q # NOT R77 024061,002977: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES 024062,002978: 25,3371 70110 MASK RADMODES 024063,002979: 25,3372 54001 TS L 024064,002980: 25,3373 33401 CA BITS5,8 024065,002981: 25,3374 00006 EXTEND 024066,002982: 25,3375 02033 RAND CHAN33 024067,002983: 25,3376 60001 AD L 024068,002984: 25,3377 54110 TS RADMODES 024069,002985: 25,3400 03553 TC RGOODEND -2 024070,002986: 25,3401 00220 BITS5,8 OCT 220 024071,002987: 024072,002988: # Page 559 024073,002989: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE. 024074,002990: 024075,002991: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR. 024076,002992: 25,3403 13405 TCF +2 # ON HIGH SCALE. 024077,002993: 25,3404 13345 TCF DGCHECK2 024078,002994: 024079,002995: 25,3405 31335 CA DNINDEX 024080,002996: 25,3406 74751 MASK BIT3 024081,002997: 25,3407 10000 CCS A 024082,002998: 25,3410 13417 TCF LRSCK 024083,002999: 024084,003000: 25,3411 52064 DXCH ITEMP3 024085,003001: 25,3412 20001 DDOUBL 024086,003002: 25,3413 20001 DDOUBL 024087,003003: 25,3414 20001 DDOUBL 024088,003004: 25,3415 52064 DXCH ITEMP3 024089,003005: 024090,003006: 25,3416 13345 TCF DGCHECK2 024091,003007: 024092,003008: 25,3417 10063 LRSCK CCS ITEMP3 024093,003009: 25,3420 13431 TCF +11 024094,003010: 25,3421 40064 CS ITEMP4 024095,003011: 25,3422 63441 AD HISCALIM 024096,003012: 25,3423 00006 EXTEND 024097,003013: 25,3424 63431 BZMF +5 024098,003014: 024099,003015: 25,3425 40107 CS FLGWRD11 024100,003016: 25,3426 74751 MASK SCABBIT 024101,003017: 25,3427 26107 ADS FLGWRD11 024102,003018: 25,3430 13434 TCF +4 024103,003019: 024104,003020: 25,3431 44751 CS SCABBIT 024105,003021: 25,3432 70107 MASK FLGWRD11 024106,003022: 25,3433 54107 TS FLGWRD11 024107,003023: 024108,003024: 25,3434 00006 EXTEND 024109,003025: 25,3435 30064 DCA ITEMP3 024110,003026: 25,3436 20001 DDOUBL 024111,003027: 25,3437 20001 DDOUBL 024112,003028: 25,3440 13344 TCF DASAMPL 024113,003029: 024114,003030: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT ****************************** 024115,003031: # Page 560 024116,003032: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND 024117,003033: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE 024118,003034: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF 024119,003035: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF 024120,003036: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED, 024121,003037: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD 024122,003038: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND 024123,003039: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA 024124,003040: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP. 024125,003041: 25,3453 60001 AD L 024126,003042: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO. 024127,003043: 25,3455 03263 TC RESAMPLE 024128,003044: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO 024129,003045: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION. 024130,003046: 25,3460 00002 TC Q 024131,003047: 024132,003048: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT 024133,003049: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED. 024134,003050: 25,3463 60061 AD ITEMP1 024135,003051: 25,3464 54110 TS RADMODES 024136,003052: 024137,003053: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N 024138,003054: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY. 024139,003055: 25,3467 03616 TC RADLITES 024140,003056: 25,3470 13174 TCF NOMORE 024141,003057: # Page 561 024142,003058: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE. 024143,003059: 024144,003060: 25,2000 SETLOC P20S1 024145,003061: 25,2000 BANK 024146,003062: 024147,003063: 25,3471 COUNT* $$/RSUB 024148,003064: 25,3471 00004 LRPOS2 INHINT 024149,003065: 024150,003066: 25,3472 40110 CS RADMODES 024151,003067: 25,3473 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2 024152,003068: 25,3474 26110 ADS RADMODES 024153,003069: 024154,003070: 25,3475 34745 CAF BIT7 024155,003071: 25,3476 00006 EXTEND 024156,003072: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE. 024157,003073: 25,3500 00006 EXTEND 024158,003074: 25,3501 13530 BZF RADNOOP 024159,003075: 024160,003076: 25,3502 34737 CAF BIT13 024161,003077: 25,3503 00006 EXTEND 024162,003078: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2 024163,003079: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS. 024164,003080: 25,3506 05203 TC WAITLIST 024165,003081: 25,3507 E7,1456 EBANK= LOSCOUNT 024166,003082: 25,3507 03543 52067 2CADR LRPOSCAN 024167,003083: 024168,003084: 25,3511 02366 TC ROADBACK 024169,003085: 024170,003086: 25,3512 55100 LRPOSNXT TS SAMPLIM 024171,003087: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER 024172,003088: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS. 024173,003089: 024174,003090: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON 024175,003091: 25,3516 00006 EXTEND 024176,003092: 25,3517 02033 RAND CHAN33 024177,003093: 25,3520 00006 EXTEND 024178,003094: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE. 024179,003095: 024180,003096: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP. 024181,003097: 25,3523 13512 TCF LRPOSNXT 024182,003098: 024183,003099: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM. 024184,003100: 25,3525 00006 EXTEND 024185,003101: 25,3526 03012 WAND CHAN12 024186,003102: 25,3527 13562 TCF RDBADEND 024187,003103: 024188,003104: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED. 024189,003105: 25,3531 05203 TC WAITLIST 024190,003106: 25,3532 E7,1456 EBANK= LOSCOUNT 024191,003107: 25,3532 03555 52067 2CADR RGOODEND 024192,003108: # Page 562 024193,003109: 25,3534 02366 TC ROADBACK 024194,003110: 024195,003111: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT 024196,003112: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT. 024197,003113: 024198,003114: 25,3537 44737 CS BIT13 # REMOVE COMMAND 024199,003115: 25,3540 00006 EXTEND 024200,003116: 25,3541 03012 WAND CHAN12 024201,003117: 25,3542 13555 TCF RGOODEND 024202,003118: 024203,003119: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES. 024204,003120: 25,3544 13512 TCF LRPOSNXT 024205,003121: 25,3545 01130 6SECS DEC 600 B-14 024206,003122: # Page 563 024207,003123: # SEQUENCES TO TERMINATE RR OPERATIONS. 024208,003124: 024209,003125: 25,3546 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END. 024210,003126: 25,3547 70110 MASK RADMODES 024211,003127: 25,3550 10000 CCS A 024212,003128: 25,3551 13555 TCF RGOODEND 024213,003129: 25,3552 13562 TCF RDBADEND 024214,003130: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL 024215,003131: 25,3554 54734 TS RUPTAGN 024216,003132: 024217,003133: 25,3555 34752 RGOODEND CAF TWO 024218,003134: 25,3556 04635 TC POSTJUMP 024219,003135: 25,3557 17665 CADR GOODEND 024220,003136: 024221,003137: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WIATLIST. 024222,003138: 25,3561 54734 TS RUPTAGN 024223,003139: 25,3562 34752 RDBADEND CAF TWO 024224,003140: 25,3563 04635 TC POSTJUMP 024225,003141: 25,3564 17662 CADR BADEND 024226,003142: 024227,003143: 25,3565 6245 BIN3 EQUALS THREE 024228,003144: 024229,003145: # Page 564 024230,003146: # PROGRAM NAME: LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION 024231,003147: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66 024232,003148: 024233,003149: # FUNCTIONAL DESCRPIPTION: 024234,003150: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERRED TO IN CALLER + 1. 024235,003151: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET. 024236,003152: # 3) COMPUTES THE MAGNITUDE OF TEH LOS VECTOR AND STORES IT IN MLOSV 024237,003153: 024238,003154: # CALLING SEQUENCE: CALL 024239,003155: # LPS20.1 024240,003156: 024241,003157: # SUBROUTINES CALLED: 024242,003158: # LEMPREC, CSMPREC 024243,003159: 024244,003160: # NORMAL EXIT: RETURN TO CALLER + 2. 024245,003161: 024246,003162: # ERROR EXITS: NONE 024247,003163: 024248,003164: # ALARMS: NONE 024249,003165: 024250,003166: # OUTPUT: 024251,003167: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET 024252,003168: # MAGNITUDE OF TEH LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV 024253,003169: # RRNBSW CLEARED. 024254,003170: 024255,003171: # INITIALIZED ERASABLE 024256,003172: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION 024257,003173: # SEE ORBITAL INTEGRATION ROUTINE 024258,003174: 024259,003175: # DEBRIS: 024260,003176: # MPAC DESTROYED BY THE ROUTINE 024261,003177: 024262,003178: 23,2314 BANK 23 024263,003179: 24,2000 SETLOC P20S 024264,003180: 24,2000 BANK 024265,003181: # Page 565 024266,003182: 24,3255 COUNT* $$/LPS20 024267,003183: 024268,003184: 24,3255 43020 LPS20.1 STQ BOFF 024269,003185: 24,3256 01757 LS21X 024270,003186: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21 024271,003187: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE 024272,003188: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE 024273,003189: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC 024274,003190: 24,3263 51274 CSMINT 024275,003191: 24,3264 77624 LMINT CALL 024276,003192: 24,3265 27100 LEMCONIC # EXTRAPOLATE LEM 024277,003193: 24,3266 77775 VLOAD 024278,003194: 24,3267 00001 RATT 024279,003195: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29 024280,003196: 24,3271 00007 VATT 024281,003197: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7 024282,003198: 24,3273 00015 TAT 024283,003199: 24,3274 34041 CSMINT STCALL TDEC1 024284,003200: 24,3275 27066 CSMCONIC # EXTRAPOLATE CSM 024285,003201: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM) 024286,003202: 24,3277 00007 VATT 024287,003203: 24,3300 02360 LMVEL 024288,003204: 24,3301 76521 MXV VSL1 024289,003205: 24,3302 01734 REFSMMAT 024290,003206: 24,3303 77776 EXIT 024291,003207: 24,3304 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE 024292,003208: 24,3305 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES 024293,003209: 24,3306 06037 TC INTPRET 024294,003210: 24,3307 25761 STOVL LOSVEL 024295,003211: 24,3310 00001 RATT 024296,003212: 24,3311 43051 VSU BOFF 024297,003213: 24,3312 02352 LMPOS 024298,003214: 24,3313 00350 RNDVZFLG 024299,003215: 24,3314 51321 NOTSHIFT 024300,003216: 24,3315 77604 BOVB 024301,003217: 24,3316 57753 TCDANZIG 024302,003218: 24,3317 77661 VSL 024303,003219: 24,3320 20212 9D 024304,003220: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER 024305,003221: 24,3322 50102 526ALARM # THAN 400 N. M. 024306,003222: 24,3323 76521 MXV VSL1 024307,003223: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER 024308,003224: 24,3325 15102 STODL RRTARGET 024309,003225: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR 024310,003226: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE 024311,003227: 24,3330 77614 CLRGO 024312,003228: 24,3331 00231 RRNBSW 024313,003229: 24,3332 01757 LS21X 024314,003230: 024315,003231: # Page 566 024316,003232: # PROGRAM NAME: LPS20.2 400 NM RANGE CHECK 024317,003233: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66 024318,003234: 024319,003235: # FUNCTIONAL DESCRIPTION: 024320,003236: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM. 024321,003237: 024322,003238: # CALLING SEQUENCE: CALL 024323,003239: # LPS20.2 024324,003240: 024325,003241: # SUBROUTINES CALLED: NONE 024326,003242: 024327,003243: # NORMAL EXIT: RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.) 024328,003244: 024329,003245: # ERROR EXITS: RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM) 024330,003246: 024331,003247: # ALARMS: NONE 024332,003248: 024333,003249: # OUTPUT: NONE 024334,003250: 024335,003251: # INITIALIZED ERASEABLE: 024336,003252: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR 024337,003253: 024338,003254: # DEBRIS: 024339,003255: # MPAC DESTROYED BY THIS ROUTINE 024340,003256: 024341,003257: 25,2000 SETLOC P20S1 024342,003258: 25,2000 BANK 024343,003259: 25,3565 COUNT* $$/LPS20 024344,003260: 024345,003261: 25,3565 45345 LPS20.2 DLOAD DSU 024346,003262: 25,3566 01767 MLOSV # MAGNITUDE OF LOS 024347,003263: 25,3567 13600 FHNM # OVER 400NM 024348,003264: 25,3570 77644 BPL 024349,003265: 25,3571 53574 TOFAR 024350,003266: 25,3572 43535 SLOAD RVQ 024351,003267: 25,3573 06522 ZERO/SP 024352,003268: 25,3574 43535 TOFAR SLOAD RVQ 024353,003269: 25,3575 13577 ONE/SP 024354,003270: 25,3576 00001 ONE/SP DEC 1 B-14 024355,003271: # Page 567 024356,003272: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20 024357,003273: 024358,003274: # Page 568 024359,003275: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1) 024360,003276: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66 024361,003277: 024362,003278: # FUNCTIONAL DESCRIPTION: 024363,003279: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS 024364,003280: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR 024365,003281: # RR REPOSITION AND RR CDU FAIL 024366,003282: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES 024367,003283: 024368,003284: # CALLING SEQUENCE: BANKCALL FOR LRS22.1 024369,003285: 024370,003286: # SUBROUTINES CALLED: 024371,003287: # RRDOT LPS20.1 024372,003288: # RRRANGE BANKCALL 024373,003289: # RADSTALL CDULOGIC 024374,003290: # RRNB SMNB 024375,003291: 024376,003292: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0 024377,003293: 024378,003294: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS: 024379,003295: # 00001 -- ERROR EXIT 1 -- RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION) 024380,003296: # 00002 -- ERROR EXIT 2 -- RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS 024381,003297: 024382,003298: # ALARMS: 521 -- COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR) 024383,003299: # (THIS ALARM IS ISSUED BY RADARREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT) 024384,003300: 024385,003301: # OUTPUT: RRLOSVEC -- THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) -- A HALF-UNIT VECTOR 024386,003302: # RM -- THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED BY B-29 (USED BY LRS22.2 AND LRS22.3) 024387,003303: 024388,003304: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3: 024389,003305: # RDOTM -- THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED BY B-7 024390,003306: # RRTRUN -- THE RR TRUNNION ANGLE, DP, IN REVOLUTIONS, SCALED B0 024391,003307: # RRSHAFT -- RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0 024392,003308: # AIG,AMG,AOG -- THE CDU ANGLES, THREE SP WORDS 024393,003309: # MKTIME -- THE TIME OF THE RR READING, DP, IN CENTISECONDS 024394,003310: 024395,003311: # ERASABLE INITIALIZATION REQUIRED: 024396,003312: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED: 024397,003313: # Page 569 024398,003314: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE 024399,003315: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT 024400,003316: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ, AND TIME1 AND TIME2 024401,003317: 024402,003318: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST 024403,003319: 024404,003320: 32,2366 BANK 32 024405,003321: 32,2000 SETLOC LRS22 024406,003322: 32,2000 BANK 024407,003323: 32,2366 COUNT* $$/LRS22 024408,003324: 024409,003325: 32,2366 04645 LRS22.1 TC MAKECADR 024410,003326: 32,2367 55737 TS LRS22.1X 024411,003327: 32,2370 05516 TC DOWNFLAG 024412,003328: 32,2371 00120 ADRES RNGSCFLG 024413,003329: 32,2372 00004 INHINT 024414,003330: 32,2373 34751 CAF BIT3 024415,003331: 32,2374 00006 EXTEND # GET RR RANGE SCALE 024416,003332: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3 024417,003333: 32,2376 54001 TS L 024418,003334: 32,2377 44751 CS RRRSBIT 024419,003335: 32,2400 70110 MASK RADMODES 024420,003336: 32,2401 60001 AD L 024421,003337: 32,2402 54110 TS RADMODES 024422,003338: 32,2403 00003 RELINT 024423,003339: 32,2404 04616 READRDOT TC BANKCALL 024424,003340: 32,2405 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE) 024425,003341: 32,2406 04616 TC BANKCALL 024426,003342: 32,2407 17714 CADR RADSTALL # WAIT FOR DATA READ COMPLETION 024427,003343: 32,2410 12542 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1 024428,003344: 024429,003345: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU 024430,003346: 32,2412 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT 024431,003347: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK 024432,003348: 32,2414 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING 024433,003349: 32,2415 53747 DXCH RDOTMSAV 024434,003350: 32,2416 00006 EXTEND 024435,003351: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES 024436,003352: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK 024437,003353: 32,2421 30032 CA CDUX 024438,003354: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK 024439,003355: 32,2423 00006 EXTEND 024440,003356: 32,2424 30025 DCA TIME2 # SAVE TIME 024441,003357: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDUY READINGS IN MPAC 024442,003358: 32,2426 00006 EXTEND 024443,003359: 32,2427 30036 DCA CDUT # SAVE TRUNNION AND SHAFT ANGLES FOR RRNB 024444,003360: 32,2430 53110 DXCH TANG 024445,003361: # Page 570 024446,003362: 32,2431 00003 RELINT 024447,003363: 32,2432 04616 TC BANKCALL 024448,003364: 32,2433 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE) 024449,003365: 32,2434 04616 TC BANKCALL 024450,003366: 32,2435 17714 CADR RADSTALL # WAIT FOR READ COMPLETE 024451,003367: 32,2436 02536 TC CHEXERR # CHECK FOR ERRORS DURING READ 024452,003368: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK 024453,003369: 32,2440 53334 DXCH DNRRANGE # RANGE, RANGE RATE (RAW DATA) 024454,003370: 32,2441 53761 DXCH RANGRDOT 024455,003371: 32,2442 52162 DXCH MPAC +5 024456,003372: 32,2443 53755 DXCH MKTIME # MARK TIME 024457,003373: 32,2444 52160 DXCH MPAC +3 024458,003374: 32,2445 53460 DXCH AIG # CDUY, CDUZ 024459,003375: 32,2446 00006 EXTEND 024460,003376: 32,2447 31110 DCA TANG # PRESERVE TANG 024461,003377: 32,2450 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES 024462,003378: 32,2451 30156 CA MPAC +2 024463,003379: 32,2452 55461 TS AOG # CDUX 024464,003380: 32,2453 06037 TC INTPRET 024465,003381: 32,2454 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D 024466,003382: 32,2455 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING 024467,003383: 32,2456 57261 SL DMPR # START WITH READING SCALED B-28, -.6278 024468,003384: 32,2457 20217 14D # FT./SECOND PER BIT 024469,003385: 32,2460 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7 024470,003386: 32,2461 03751 STORE RDOTM 024471,003387: 32,2462 47135 SLOAD RTB 024472,003388: 32,2463 01110 TANG # GET TRUNNION ANGLE 024473,003389: 32,2464 21576 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIOINS 024474,003390: 32,2465 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3) 024475,003391: 32,2466 47135 SLOAD RTB 024476,003392: 32,2467 01111 TANG +1 # DITTO FOR SHAFT ANGLE 024477,003393: 32,2470 21576 CDULOGIC 024478,003394: 32,2471 17736 STODL RRSHAFT 024479,003395: 32,2472 01102 SAMPLSUM 024480,003396: 32,2473 66405 DMP SL2R # CONVERT UNITS AND SCALING DP RANGE 024481,003397: 32,2474 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29 024482,003398: 32,2475 37757 STCALL RM 024483,003399: 32,2476 46041 RRNB # COMPUTE RADAR LOS USING RRNB 024484,003400: 32,2477 17741 STODL RRBORSIT # AND SAVE 024485,003401: 32,2500 00025 20D 024486,003402: 32,2501 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ 024487,003403: 32,2502 51255 LPS20.1 024488,003404: 32,2503 77776 EXIT 024489,003405: 32,2504 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME 024490,003406: 32,2505 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB 024491,003407: 32,2506 31460 CA AMG 024492,003408: 32,2507 54770 TS CDUSPOT +2 024493,003409: 32,2510 31461 CA AOG 024494,003410: 32,2511 54772 TS CDUSPOT +4 024495,003411: 32,2512 06037 TC INTPRET 024496,003412: # Page 571 024497,003413: 32,2513 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION 024498,003414: 32,2514 01102 RRTARGET 024499,003415: 32,2515 47651 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB. 024500,003416: 32,2516 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE 024501,003417: 32,2517 03741 RRBORSIT 024502,003418: 32,2520 65552 SL1 ACOS # BETWEEN THEM 024503,003419: 32,2521 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY 024504,003420: 32,2522 50025 DSU BMN # IS IT LESS THAN 3 DEGREES 024505,003421: 32,2523 24546 THREEDEG 024506,003422: 32,2524 64531 NORMEXIT # YES -- NORMAL EXIT 024507,003423: 024508,003424: 32,2525 77776 EXIT # ERROR EXIT 2 024509,003425: 32,2526 34752 CAF BIT2 # SET ERROR CODE 024510,003426: 32,2527 54154 TS MPAC 024511,003427: 32,2530 12534 TCF OUT22.1 024512,003428: 024513,003429: 32,2531 77776 NORMEXIT EXIT # NORMAL EXIT -- SET MPAC EQUAL ZERO 024514,003430: 32,2532 34755 CAF ZERO 024515,003431: 32,2533 54154 TS MPAC 024516,003432: 32,2534 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1 024517,003433: 32,2535 04640 TC BANKJUMP 024518,003434: 32,2536 30101 CHEXERR CAE FLAGWRD5 024519,003435: 32,2537 74742 MASK RNGSCBIT 024520,003436: 32,2540 10000 CCS A # CHECK IF RANGE SCALE CHANGED 024521,003437: 32,2541 12404 TCF READRDOT # YES -- TAKE ANOTHER READING 024522,003438: 024523,003439: 32,2542 34753 EREXIT1 CA BIT1 # SET ERROR CODE 024524,003440: 32,2543 54154 TS MPAC 024525,003441: 32,2544 02534 TC OUT22.1 024526,003442: 32,2545 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0 024527,003443: 024528,003444: 32,2547 1101 RRLOSVEC EQUALS RRTARGET 024529,003445: 024530,003446: # Page 572 024531,003447: # PROGRAM NAME -- LRS22.2 (DATA READ SUBROUTINE 2) 024532,003448: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 4-11-67 024533,003449: 024534,003450: # FUNCTIONAL DESCRIPTION: 024535,003451: # (Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003) 024536,003452: # 2) CHECKS IF THE RR LOS (I.E., THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS 024537,003453: 024538,003454: # CALLING SEQUENCE: BANKCALL FOR LRS22.2 024539,003455: 024540,003456: # SUBROUTINES CALLED: G+N, AUTO, SETMAXDB 024541,003457: 024542,003458: # NORMAL EXIT: RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN) 024543,003459: 024544,003460: # ERROR EXIT: RETURN TO CALLER WITH MPAC SET TO 00001 -- RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS. 024545,003461: 024546,003462: # ALARMS: NONE 024547,003463: 024548,003464: # ERASABLE INITIALIZATION REQUIRED: 024549,003465: # RRLOSVEC -- THE RR LINE-OF-SIGHT VECTOR -- A HALF UNIT VECTOR COMPUTED BY LRS22.1 024550,003466: # RM -- RR RANGE, METERS B-29, FROM LRS22.1 024551,003467: # BIT 14 CHANNEL 31 -- INDICATES AUTOPILOT IS IN AUTO MODE 024552,003468: 024553,003469: # DEBRIS -- A,L,Q,MPAC -- PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE 024554,003470: 024555,003471: 24,2000 SETLOC P20S 024556,003472: 24,2000 BANK 024557,003473: 24,3333 04645 LRS22.2 TC MAKECADR 024558,003474: 24,3334 55737 TS LRS22.1X 024559,003475: 24,3335 06037 TC INTPRET 024560,003476: # CHECK IF RR LOS IS WITHIN 30 DEG OF 024561,003477: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIT 024562,003478: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR 024563,003479: # LOS VECTOR, A HALF UNIT VECTOR 024564,003480: # IN NAV BASE AXES) 024565,003481: 24,3340 50025 DSU BMN 024566,003482: 24,3341 11355 30DEG 024567,003483: 24,3342 51347 OKEXIT # NORMAL EXIT -- WITHIN 30 DEG. 024568,003484: 24,3343 77776 EXIT # ERROR EXIT -- NOT WITHIN 30 DEG. 024569,003485: 24,3344 34753 CAF BIT1 # SETS ERROR CODE IN MPAC 024570,003486: 24,3345 54154 TS MPAC 024571,003487: 24,3346 13352 TCF OUT22.2 024572,003488: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT -- SET MPAC = ZERO 024573,003489: 024574,003490: # Page 573 024575,003491: 24,3350 34755 CAF ZERO 024576,003492: 24,3351 54154 TS MPAC 024577,003493: 24,3352 31737 OUT22.2 CAE LRS22.1X 024578,003494: 24,3353 04640 TC BANKJUMP 024579,003495: 024580,003496: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0 024581,003497: 024582,003498: # Page 574 024583,003499: # PROGRAM NAME -- LSR22.3 DATE -- 29 MAY 1967 024584,003500: # MOD. NO 3 LOG SECTION -- P20-P25 024585,003501: # MOD. BY -- DANFORTH ASSEMBLY LEMP20S REV 10 024586,003502: 024587,003503: # FUNCTIONAL DESCRIPTION: 024588,003504: # THIS ROUTINE COMPUTES THE B-VECTORS ADN DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS 024589,003505: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES 024590,003506: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR. 024591,003507: 024592,003508: # CALLING SEQUENCE: 024593,003509: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM 024594,003510: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE 024595,003511: # COMPUTED STATE VECTOR DEVATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY 024596,003512: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE 024597,003513: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE 024598,003514: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK. 024599,003515: 024600,003516: # SUBROUTINES CALLED: 024601,003517: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN 024602,003518: # GETULC RADARANG INCORP2 NBSM INTSTALL 024603,003519: 024604,003520: # OUTPUT: 024605,003521: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT) 024606,003522: # NUMBER OF MARKS INCORPORATED IN MARKCTR 024607,003523: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29 024608,003524: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7 024609,003525: # UPDATED W-MATRIX 024610,003526: 024611,003527: # ERASABLE INITIALIZATION REQUIRED: 024612,003528: # LM AND CSM STATE VECTORS 024613,003529: # W-MATRIX 024614,003530: # MARK TIME IN MKTIME 024615,003531: # RADAR RANGE IN RM METERS B-29 024616,003532: # RANGE RATE IN RDOTM METERS/CSES B-7 024617,003533: # SHAFT ANGLE IN RRSHAFT REVS. B0 024618,003534: # TRUNNION ANGLE IN RRTRUN REVS. B0 024619,003535: # GIMBAL ANGLES INNER IN AIG 024620,003536: # MIDDLE IN AMG 024621,003537: # OUTER IN ACG 024622,003538: # REFSMMAT 024623,003539: # RENDWFLG 024624,003540: # NOANGFLG 024625,003541: # VEHUPFLG 024626,003542: 024627,003543: # DEBRIS: 024628,003544: # PUSHLIST -- ALL 024629,003545: # MX, MY, MZ (VECTORS) 024630,003546: # Page 575 024631,003547: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T 024632,003548: 024633,003549: 13,2207 BANK 13 024634,003550: 26,2000 SETLOC P20S3 024635,003551: 26,2000 BANK 024636,003552: 024637,003553: 26,2412 E7,1456 EBANK= LOSCOUNT 024638,003554: 26,2412 COUNT* $$/LSR22 024639,003555: 26,2412 77624 LSR22.3 CALL 024640,003556: 26,2413 11244 GRP2PC 024641,003557: 26,2414 43014 BON SET 024642,003558: 26,2415 04307 SURFFLAG # ARE WE ON LUNAR SURFACE 024643,003559: 26,2416 55200 LSR22.4 # YES 024644,003560: 26,2417 02466 DMENFLG 024645,003561: 26,2420 45014 BOFF CALL 024646,003562: 26,2421 00747 VEHUPFLG 024647,003563: 26,2422 54454 DOLEM 024648,003564: 26,2423 27414 INTSTALL 024649,003565: 26,2424 45014 CLEAR CALL # LM PRECISION INTEGRATION 024650,003566: 26,2425 01674 VINTFLAG 024651,003567: 26,2426 26644 SETIFLGS 024652,003568: 26,2427 77624 CALL 024653,003569: 26,2430 55242 INTGRCAL 024654,003570: 26,2431 77624 CALL 024655,003571: 26,2432 11244 GRP2PC 024656,003572: 26,2433 77624 CALL 024657,003573: 26,2434 27414 INTSTALL 024658,003574: 26,2435 43014 CLEAR BOFF 024659,003575: 26,2436 01676 DIM0FLAG 024660,003576: 26,2437 02756 RENDWFLG 024661,003577: 26,2440 54444 NOTWCSM 024662,003578: 26,2441 43014 SET SET # CSM WITH W-MATRIX INTEGRATION 024663,003579: 26,2442 01476 DIM0FLAG 024664,003580: 26,2443 01475 D6OR9FLG 024665,003581: 26,2444 43014 NOTWCSM SET CLEAR 024666,003582: 26,2445 01474 VINTFLAG 024667,003583: 26,2446 01673 INTYPFLG 024668,003584: 26,2447 45014 SET CALL 024669,003585: 26,2450 01472 STATEFLG 024670,003586: 26,2451 55242 INTGRCAL 024671,003587: 26,2452 77650 GOTO 024672,003588: 26,2453 54504 MARKTEST 024673,003589: 26,2454 77624 DOLEM CALL 024674,003590: 26,2455 27414 INTSTALL 024675,003591: 26,2456 45014 SET CALL 024676,003592: 26,2457 01474 VINTFLAG 024677,003593: 26,2460 26644 SETIFLGS 024678,003594: 26,2461 77624 CALL 024679,003595: 26,2462 55242 INTGRCAL 024680,003596: # Page 576 024681,003597: 26,2463 77624 CALL 024682,003598: 26,2464 11244 GRP2PC 024683,003599: 26,2465 77624 CALL 024684,003600: 26,2466 27414 INTSTALL 024685,003601: 26,2467 43014 CLEAR BOFF 024686,003602: 26,2470 01676 DIM0FLAG 024687,003603: 26,2471 02756 RENDWFLG 024688,003604: 26,2472 54476 NOTWLEM 024689,003605: 26,2473 43014 SET SET # LM WITH W-MATRIX INTEGRATION 024690,003606: 26,2474 01476 DIM0FLAG 024691,003607: 26,2475 01475 D6OR9FLG 024692,003608: 26,2476 43014 NOTWLEM CLEAR CLEAR 024693,003609: 26,2477 01673 INTYPFLG 024694,003610: 26,2500 01674 VINTFLAG 024695,003611: 26,2501 45014 SET CALL 024696,003612: 26,2502 01472 STATEFLG 024697,003613: 26,2503 55242 INTGRCAL 024698,003614: 26,2504 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED 024699,003615: 26,2505 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED 024700,003616: 26,2506 54510 RANGEBQ 024701,003617: 26,2507 55251 WLINIT # YES -- REINITIALIZE 024702,003618: 26,2510 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE 024703,003619: 26,2511 04307 SURFFLAG 024704,003620: 26,2512 54520 RANGEBQ1 024705,003621: 26,2513 34755 CA ZERO 024706,003622: 26,2514 55745 TS R65CNTR 024707,003623: 26,2515 04616 TC BANKCALL 024708,003624: 26,2516 46123 CADR R65LEM 024709,003625: 26,2517 06037 TC INTPRET 024710,003626: 26,2520 43174 RANGEBQ1 AXT,2 BON # CLEAR X2 024711,003627: 26,2521 00000 0 024712,003628: 26,2522 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE 024713,003629: 26,2523 54526 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER 024714,003630: 26,2524 77714 INCR,2 024715,003631: 26,2525 00002 2 024716,003632: 26,2526 45134 SETX2 SXA,2 CALL 024717,003633: 26,2527 03720 SCALSHFT # 0 -- MOON. 2 -- EARTH. 024718,003634: 26,2530 11244 GRP2PC 024719,003635: 26,2531 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49 024720,003636: 26,2532 00001 1 024721,003637: 26,2533 03745 WHCHREAD 024722,003638: 26,2534 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12) 024723,003639: 26,2535 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40) 024724,003640: 26,2536 20635 28D 024725,003641: 26,2537 77634 RTB 024726,003642: 26,2540 21633 TPMODE # AND SAVE IN 20D 024727,003643: 26,2541 00025 STORE 20D 024728,003644: 26,2542 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ 024729,003645: 26,2543 55333 GETULC # B-VECTORS FOR RANGE 024730,003646: 26,2544 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED 024731,003647: # Page 577 024732,003648: 26,2545 00707 VEHUPFLG 024733,003649: 26,2546 54547 +1 024734,003650: 26,2547 27525 STOVL BVECTOR 024735,003651: 26,2550 06522 ZEROVECS 024736,003652: 26,2551 03533 STORE BVECTOR +6 # B1 024737,003653: 26,2552 17541 STODL BVECTOR +12D # B2 024738,003654: 26,2553 00045 36D 024739,003655: 26,2554 44257 SRR* BDSU 024740,003656: 26,2555 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29 024741,003657: 26,2556 03757 RM # RM - (MAGNITUDE RCSM-RLM) 024742,003658: 26,2557 77657 SLR* 024743,003659: 26,2560 56574 2,2 # SHIFT TO EARTH/MOON SPHERE 024744,003660: 26,2561 17547 STODL DELTAQ # EARTH B-29. MOON B-27 024745,003661: 26,2562 00045 36D # RLC B-29/B-27 024746,003662: 26,2563 63501 NORM DSQ # NORMALIZE AND SQUARE 024747,003663: 26,2564 00047 X1 024748,003664: 26,2565 53605 DMP SR* 024749,003665: 26,2566 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN 024750,003666: 26,2567 20577 0 -2,1 # UNNORMALIZE 024751,003667: 26,2570 53657 SR* SR* 024752,003668: 26,2571 20601 0,1 024753,003669: 26,2572 57176 0,2 024754,003670: 26,2573 47057 SR* RTB 024755,003671: 26,2574 57176 0,2 024756,003672: 26,2575 21633 TPMODE 024757,003673: 26,2576 02707 STORE VARIANCE # B-40 024758,003674: 26,2577 76276 DCOMP TAD 024759,003675: 26,2600 00025 20D # B-40 024760,003676: 26,2601 72240 BMN TLOAD 024761,003677: 26,2602 54605 QOK 024762,003678: 26,2603 00025 20D # B-40 024763,003679: 26,2604 02707 STORE VARIANCE 024764,003680: 26,2605 77624 QOK CALL 024765,003681: 26,2606 55401 LGCUPDTE 024766,003682: 024767,003683: 26,2607 45131 SSP CALL 024768,003684: 26,2610 03746 WHCHREAD 024769,003685: 26,2611 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49 024770,003686: 26,2612 11244 GRP2PC 024771,003687: 26,2613 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE 024772,003688: 26,2614 55333 GETULC 024773,003689: 26,2615 53725 PDDL SR* # GET RLC SCALED B-29/B-27 024774,003690: 26,2616 00045 36D # AND SHIFT TO B-23 024775,003691: 26,2617 57202 0 -4,2 024776,003692: 26,2620 24045 STOVL 36D # THEN STORE BACK IN 36D 024777,003693: 26,2621 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED 024778,003694: 26,2622 00707 VEHUPFLG 024779,003695: 26,2623 54624 +1 024780,003696: 26,2624 77761 VXSC 024781,003697: 26,2625 00045 36D # B1 = RLC (B-24/B-22) 024782,003698: # Page 578 024783,003699: 26,2626 27533 STOVL BVECTOR +6 024784,003700: 26,2627 01653 NUVLEM 024785,003701: 26,2630 53257 VSR* VAD 024786,003702: 26,2631 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE 024787,003703: 26,2632 01667 VCVLEM # EARTH B-7. MOON B-5 024788,003704: 26,2633 53715 PDVL VSR* # VL TO PD6 024789,003705: 26,2634 01601 NUVCSM 024790,003706: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE 024791,003707: 26,2636 52255 VAD VSU 024792,003708: 26,2637 01615 VCVCSM 024793,003709: 26,2640 50315 PDVL DOT # VC - VL = VLC TO PD6 024794,003710: 26,2641 00001 0 024795,003711: 26,2642 00007 6 024796,003712: 26,2643 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12 024797,003713: 26,2644 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8 024798,003714: 26,2645 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12 024799,003715: 26,2646 01773 RATEVAR 024800,003716: 26,2647 02707 STORE VARIANCE 024801,003717: 26,2650 54335 SLOAD SR 024802,003718: 26,2651 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12) 024803,003719: 26,2652 20621 16D # SHIFT TO DP (B-4) 024804,003720: 26,2653 00031 STORE 24D # AND SAVE IN 24D 024805,003721: 26,2654 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE 024806,003722: 26,2655 02707 VARIANCE 024807,003723: 26,2656 54662 VOK # BRANCH -- NO 024808,003724: 26,2657 77745 DLOAD # YES -- USE MINIMUM VARIANCE 024809,003725: 26,2660 00031 24D 024810,003726: 26,2661 02707 STORE VARIANCE 024811,003727: 26,2662 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6 024812,003728: 26,2663 53725 PDDL SLR* # TO B-10/B-8 024813,003729: 26,2664 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE 024814,003730: 26,2665 56577 0 -1,2 # B-7 TO B-10/B-8 024815,003731: 26,2666 77625 DSU 024816,003732: 26,2667 77675 DMPR 024817,003733: 26,2670 00045 36D 024818,003734: 26,2671 27547 STOVL DELTAQ # B-33 024819,003735: 26,2672 00001 0 # NOW GET B0 024820,003736: 26,2673 47235 VXV VXV # (ULC X VLC) X ULC 024821,003737: 26,2674 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED 024822,003738: 26,2675 00707 VEHUPFLG 024823,003739: 26,2676 54677 +1 024824,003740: 26,2677 77657 VSR* 024825,003741: 26,2700 57200 0 -2,2 # SCALED B-5 024826,003742: 26,2701 27525 STOVL BVECTOR 024827,003743: 26,2702 06522 ZEROVECS 024828,003744: 26,2703 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST 024829,003745: 26,2704 27541 STOVL BVECTOR +12D 024830,003746: 26,2705 03525 BVECTOR 024831,003747: 26,2706 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE 024832,003748: 26,2707 00025 20D # SHIFT COUNT IN 20D 024833,003749: # Page 579 024834,003750: 26,2710 51575 VLOAD ABVAL 024835,003751: 26,2711 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE 024836,003752: 26,2712 71301 NORM DLOAD 024837,003753: 26,2713 00027 22D # SHIFT COUNT IN 22D 024838,003754: 26,2714 00027 22D # FIND WHICH SHIFT IS SMALLER 024839,003755: 26,2715 50025 DSU BMN # BRANCH -- B0 HAS A SMALLER SHIFT COUNT 024840,003756: 26,2716 00025 20D 024841,003757: 26,2717 54723 VOK1 024842,003758: 26,2720 52150 LXA,1 GOTO 024843,003759: 26,2721 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT 024844,003760: 26,2722 54725 VOK2 024845,003761: 26,2723 77750 VOK1 LXA,1 024846,003762: 26,2724 00024 20D 024847,003763: 26,2725 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE 024848,003764: 26,2726 03525 BVECTOR # WITH THI SSHIFT COUNT 024849,003765: 26,2727 20201 0,1 024850,003766: 26,2730 27525 STOVL BVECTOR 024851,003767: 26,2731 03533 BVECTOR +6 024852,003768: 26,2732 77657 VSL* 024853,003769: 26,2733 20201 0,1 024854,003770: 26,2734 17533 STODL BVECTOR +6 024855,003771: 26,2735 03547 DELTAQ 024856,003772: 26,2736 77657 SL* 024857,003773: 26,2737 20201 0,1 024858,003774: 26,2740 03547 STORE DELTAQ 024859,003775: 26,2741 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT 024860,003776: 26,2742 00045 36D 024861,003777: 26,2743 20200 0 -1,1 024862,003778: 26,2744 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE 024863,003779: 26,2745 02707 VARIANCE 024864,003780: 26,2746 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ 024865,003781: 26,2747 21633 TPMODE 024866,003782: 26,2750 36707 STCALL VARIANCE # AND STORE TP VARIANCE 024867,003783: 26,2751 55401 LGCUPDTE 024868,003784: 024869,003785: 26,2752 77624 CALL 024870,003786: 26,2753 11244 GRP2PC 024871,003787: 26,2754 77414 BON EXIT # ARE ANGLES TO BE DONE 024872,003788: 26,2755 04307 SURFFLAG 024873,003789: 26,2756 55176 RENDEND # NO 024874,003790: 26,2757 E7,1457 EBANK= AIG 024875,003791: 26,2757 33332 MXMYMZ CAF AIGBANK 024876,003792: 26,2760 54006 TS BBANK 024877,003793: 26,2761 31457 CA AIG # YES, COMPUTE MX, MY, MZ 024878,003794: 26,2762 54766 TS CDUSPOT 024879,003795: 26,2763 31460 CA AMG 024880,003796: 26,2764 54770 TS CDUSPOT +2 024881,003797: 26,2765 31461 CA AOG 024882,003798: 26,2766 54772 TS CDUSPOT +4 # GIMBAL ANGLES NOW IN CDUSPOT FOR TRG*NBSM 024883,003799: 26,2767 06037 TC INTPRET 024884,003800: # Page 580 024885,003801: 26,2770 45175 VLOAD CALL 024886,003802: 26,2771 06520 UNITX 024887,003803: 26,2772 47664 TRG*NBSM 024888,003804: 26,2773 76505 VXM VSL1 024889,003805: 26,2774 01734 REFSMMAT 024890,003806: 26,2775 27677 STOVL MX 024891,003807: 26,2776 06516 UNITY 024892,003808: 26,2777 77624 CALL 024893,003809: 26,3000 47673 *NBSM* 024894,003810: 26,3001 76505 VXM VSL1 024895,003811: 26,3002 01734 REFSMMAT 024896,003812: 26,3003 27705 STOVL MY 024897,003813: 26,3004 06514 UNITZ 024898,003814: 26,3005 77624 CALL 024899,003815: 26,3006 47673 *NBSM* 024900,003816: 26,3007 76505 VXM VSL1 024901,003817: 26,3010 01734 REFSMMAT 024902,003818: 26,3011 37713 SHAFTBQ STCALL MZ 024903,003819: 26,3012 55361 RADARANG 024904,003820: 26,3013 45131 SSP CALL # STORE SHAFT CODE (3) FOR R3 IN NOUN 49 024905,003821: 26,3014 03746 WHCHREAD 024906,003822: 26,3015 00003 DEC 3 B-14 024907,003823: 26,3016 11244 GRP2PC 024908,003824: 26,3017 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG. 024909,003825: 26,3020 03724 ULC 024910,003826: 26,3021 03677 MX 024911,003827: 26,3022 77752 SL1 024912,003828: 26,3023 24023 STOVL SINTH # 18D 024913,003829: 26,3024 03724 ULC 024914,003830: 26,3025 72441 DOT SL1 024915,003831: 26,3026 03713 MZ 024916,003832: 26,3027 34021 STCALL COSTH # 16D 024917,003833: 26,3030 26510 ARCTAN 024918,003834: 26,3031 41221 BDSU DMP 024919,003835: 26,3032 03736 RRSHAFT 024920,003836: 26,3033 15441 2PI/8 024921,003837: 26,3034 41472 SL3R PUSH 024922,003838: 26,3035 52545 DLOAD SL3 024923,003839: 26,3036 01701 X789 024924,003840: 26,3037 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0 024925,003841: 26,3040 56176 0,2 024926,003842: 26,3041 53605 DMP SRR* 024927,003843: 26,3042 03722 RXZ 024928,003844: 26,3043 21601 0,1 # SHIFT TO EARTH/MOON SPHERE 024929,003845: 26,3044 27547 STOVL DELTAQ # EARTH B-29. MOON B-27 024930,003846: 26,3045 03724 ULC 024931,003847: 26,3046 76435 VXV VSL1 024932,003848: 26,3047 03705 MY 024933,003849: 26,3050 77656 UNIT 024934,003850: 26,3051 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED 024935,003851: # Page 581 024936,003852: 26,3052 00747 VEHUPFLG 024937,003853: 26,3053 55054 +1 024938,003854: 26,3054 27525 STOVL BVECTOR 024939,003855: 26,3055 06522 ZEROVECS 024940,003856: 26,3056 03533 STORE BVECTOR +6 024941,003857: 26,3057 17541 STODL BVECTOR +12D 024942,003858: 26,3060 03722 RXZ 024943,003859: 26,3061 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25 024944,003860: 26,3062 20577 0 -2,1 024945,003861: 26,3063 56176 0,2 024946,003862: 26,3064 03541 STORE BVECTOR +12D 024947,003863: 26,3065 77735 SLOAD 024948,003864: 26,3066 02011 SHAFTVAR 024949,003865: 26,3067 41215 DAD DMP 024950,003866: 26,3070 15436 IMUVAR # RAD**2 B12 024951,003867: 26,3071 03722 RXZ 024952,003868: 26,3072 41257 SRR* DMP 024953,003869: 26,3073 21601 0,1 # SHIFT TO EARTH/MOON SPHERE 024954,003870: 26,3074 03722 RXZ 024955,003871: 26,3075 53657 SR* SR* 024956,003872: 26,3076 20577 0 -2,1 024957,003873: 26,3077 57176 0,2 024958,003874: 26,3100 47057 SR* RTB 024959,003875: 26,3101 57176 0,2 024960,003876: 26,3102 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION 024961,003877: 26,3103 36707 STCALL VARIANCE # B-40 024962,003878: 26,3104 55401 LGCUPDTE 024963,003879: 024964,003880: 26,3105 77624 CALL 024965,003881: 26,3106 11244 GRP2PC 024966,003882: 26,3107 77624 TRUNBQ CALL 024967,003883: 26,3110 55361 RADARANG 024968,003884: 26,3111 45131 SSP CALL # STORE TRUNNION CODE (4) FOR R3 IN N49 024969,003885: 26,3112 03746 WHCHREAD 024970,003886: 26,3113 00004 DEC 4 B-14 024971,003887: 26,3114 11244 GRP2PC 024972,003888: 26,3115 47375 VLOAD VXV 024973,003889: 26,3116 03724 ULC 024974,003890: 26,3117 03705 MY 024975,003891: 26,3120 47372 VSL1 VXV 024976,003892: 26,3121 03724 ULC 024977,003893: 26,3122 77772 VSL1 # (ULC X MY) X ULC 024978,003894: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED 024979,003895: 26,3124 00747 VEHUPFLG 024980,003896: 26,3125 55126 +1 024981,003897: 26,3126 27525 STOVL BVECTOR 024982,003898: 26,3127 06522 ZEROVECS 024983,003899: 26,3130 03533 STORE BVECTOR +6 024984,003900: 26,3131 17541 STODL BVECTOR +12D 024985,003901: 26,3132 03722 RXZ 024986,003902: # Page 582 024987,003903: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25 024988,003904: 26,3134 20577 0 -2,1 024989,003905: 26,3135 56176 0,2 024990,003906: 26,3136 03543 STORE BVECTOR +14D 024991,003907: 26,3137 77735 SLOAD 024992,003908: 26,3140 02012 TRUNVAR 024993,003909: 26,3141 41215 DAD DMP 024994,003910: 26,3142 15436 IMUVAR 024995,003911: 26,3143 03722 RXZ 024996,003912: 26,3144 41257 SRR* DMP 024997,003913: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE 024998,003914: 26,3146 03722 RXZ 024999,003915: 26,3147 53657 SR* SR* 025000,003916: 26,3150 20577 0 -2,1 025001,003917: 26,3151 57176 0,2 025002,003918: 26,3152 47057 SR* RTB 025003,003919: 26,3153 57176 0,2 025004,003920: 26,3154 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION 025005,003921: 26,3155 16707 STODL VARIANCE 025006,003922: 26,3156 03732 SINTHETA 025007,003923: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6 025008,003924: 26,3160 03734 RRTRUN 025009,003925: 26,3161 56405 DMP SL3R 025010,003926: 26,3162 15441 2PI/8 025011,003927: 26,3163 52525 PDDL SL3 025012,003928: 26,3164 01703 X789 +2 025013,003929: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0 025014,003930: 26,3166 56176 0,2 025015,003931: 26,3167 53605 DMP SRR* 025016,003932: 26,3170 03722 RXZ 025017,003933: 26,3171 21601 0,1 025018,003934: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27 025019,003935: 26,3173 55401 LGCUPDTE 025020,003936: 26,3174 77624 CALL 025021,003937: 26,3175 11244 GRP2PC 025022,003938: 26,3176 77650 RENDEND GOTO 025023,003939: 26,3177 50566 R22LEM93 025024,003940: 025025,003941: # FUNCTIONAL DESCRIPTION: 025026,003942: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM 025027,003943: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE BE-VECTORS AND DELTA Q FOR RANGE 025028,003944: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR 025029,003945: 025030,003946: # SUBROUTINES CALLED: 025031,003947: # INTSTALL LGCUPDTE INCORP1 RP-TO-R 025032,003948: # INTEGRV GETULC INCORP2 025033,003949: 025034,003950: # OUTPUT 025035,003951: # CORRECTED CSM STATE VECTOR (PERMANENT) 025036,003952: # NUMBER OF MARKS INCORPORATED IN MARKCTR 025037,003953: # Page 583 025038,003954: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29 025039,003955: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7 025040,003956: # UPDATED W-MATRIX 025041,003957: 025042,003958: # ERASABLE INITIALIZATION REQUIRED 025043,003959: # LM AND CSM STATE VECTORS 025044,003960: # W-MATRIX 025045,003961: # MARK TIME IN MKTIME 025046,003962: # RADAR RANGE IN RM METERS B-29 025047,003963: # RANGE RATE IN RDOTM METERS/CSEC B-7 025048,003964: # VEHUPFLG 025049,003965: 025050,003966: 26,3200 77624 LSR22.4 CALL 025051,003967: 26,3201 27414 INTSTALL 025052,003968: 26,3202 43014 SET CLEAR 025053,003969: 26,3203 01472 STATEFLG 025054,003970: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD. 025055,003971: 26,3205 77624 CALL 025056,003972: 26,3206 55242 INTGRCAL 025057,003973: 26,3207 77624 CALL 025058,003974: 26,3210 11244 GRP2PC 025059,003975: 26,3211 45014 CLEAR CALL 025060,003976: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP 025061,003977: 26,3213 27414 INTSTALL 025062,003978: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH 025063,003979: 26,3215 03463 MARKCTR 025064,003980: 26,3216 55231 INITWMX6 # YES, INITIALIZE 6X6 W-MATRIX 025065,003981: 26,3217 43014 CLEAR SET 025066,003982: 26,3220 01675 D6OR9FLG 025067,003983: 26,3221 01476 DIM0FLAG 025068,003984: 26,3222 43014 SET CLEAR 025069,003985: 26,3223 01474 VINTFLAG 025070,003986: 26,3224 01673 INTYPFLG 025071,003987: 26,3225 77624 CALL 025072,003988: 26,3226 55242 INTGRCAL 025073,003989: 26,3227 77650 GOTO 025074,003990: 26,3230 54510 RANGEBQ 025075,003991: 025076,003992: 26,3231 77624 INITWMX6 CALL 025077,003993: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX 025078,003994: 26,3233 45014 SET CALL 025079,003995: 26,3234 01474 VINTFLAG 025080,003996: 26,3235 26644 SETIFLGS 025081,003997: 26,3236 77624 CALL 025082,003998: 26,3237 55242 INTGRCAL 025083,003999: 26,3240 77650 GOTO 025084,004000: 26,3241 54510 RANGEBQ 025085,004001: 025086,004002: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV 025087,004003: # Page 584 025088,004004: 26,3242 71220 INTGRCAL STQ DLOAD 025089,004005: 26,3243 03675 IGRET 025090,004006: 26,3244 03755 MKTIME 025091,004007: 26,3245 34041 STCALL TDEC1 025092,004008: 26,3246 27134 INTEGRV 025093,004009: 26,3247 77650 GOTO 025094,004010: 26,3250 03675 IGRET 025095,004011: 025096,004012: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING 025097,004013: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES. 025098,004014: 025099,004015: 26,3251 E5,1400 EBANK= W 025100,004016: 26,3251 77776 WLINIT EXIT 025101,004017: 26,3252 33331 CAF WBANK 025102,004018: 26,3253 54006 TS BBANK 025103,004019: 26,3254 33437 CAF WSIZE 025104,004020: 26,3255 55257 TS W.IND 025105,004021: 26,3256 34755 CAF ZERO 025106,004022: 26,3257 51257 INDEX W.IND 025107,004023: 26,3260 55400 TS W 025108,004024: 26,3261 11257 CCS W.IND 025109,004025: 26,3262 03255 TC -5 025110,004026: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7 025111,004027: 26,3264 54006 TS BBANK 025112,004028: 26,3265 06037 TC INTPRET 025113,004029: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH 025114,004030: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF 025115,004031: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL 025116,004032: 26,3271 02001 WRENDPOS 025117,004033: 26,3272 77650 GOTO 025118,004034: 26,3273 55276 WPOSTORE 025119,004035: 26,3274 77735 WLSRFPOS SLOAD 025120,004036: 26,3275 02007 WSURFPOS 025121,004037: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE 025122,004038: 26,3277 20606 5 025123,004039: 26,3300 02401 STORE W 025124,004040: 26,3301 02411 STORE W +8D 025125,004041: 26,3302 02421 STORE W +16D 025126,004042: 26,3303 67214 BON SLOAD 025127,004043: 26,3304 04307 SURFFLAG 025128,004044: 26,3305 55311 WLSRFVEL 025129,004045: 26,3306 02002 WRENDVEL 025130,004046: 26,3307 77650 GOTO 025131,004047: 26,3310 55313 WVELSTOR 025132,004048: 26,3311 77735 WLSRFVEL SLOAD 025133,004049: 26,3312 02010 WSURFVEL 025134,004050: 26,3313 02511 WVELSTOR STORE W +72D 025135,004051: 26,3314 02521 STORE W +80D 025136,004052: 26,3315 02531 STORE W +88D 025137,004053: 26,3316 77735 SLOAD 025138,004054: # Page 585 025139,004055: 26,3317 02003 WSHAFT 025140,004056: 26,3320 02621 STORE W +144D 025141,004057: 26,3321 77735 SLOAD 025142,004058: 26,3322 02004 WTRUN 025143,004059: 26,3323 02631 STORE W +152D 025144,004060: 26,3324 66214 SET SSP # SET RENDWFLG -- W-MATRIX VALID 025145,004061: 26,3325 02476 RENDWFLG 025146,004062: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO 025147,004063: 26,3327 00000 0 025148,004064: 26,3330 77616 RVQ 025149,004065: 025150,004066: 26,3331 E5,1400 EBANK= W 025151,004067: 26,3331 54065 WBANK BBCON WLINIT 025152,004068: 26,3332 E7,1457 EBANK= AIG 025153,004069: 26,3332 54067 AIGBANK BBCON LSR22.3 025154,004070: 025155,004071: # GETULC 025156,004072: 025157,004073: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM 025158,004074: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE 025159,004075: # MAGNITUDE IN 36D. 025160,004076: 025161,004077: 26,3333 77201 GETULC SETPD VLOAD 025162,004078: 26,3334 00001 0 025163,004079: 26,3335 01645 DELTALEM 025164,004080: 26,3336 77754 LXA,2 025165,004081: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT 025166,004082: 26,3340 53257 VSR* VAD 025167,004083: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE 025168,004084: 26,3342 01661 RCVLEM 025169,004085: 26,3343 53715 PDVL VSR* 025170,004086: 26,3344 01573 DELTACSM 025171,004087: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE 025172,004088: 26,3346 52255 VAD VSU 025173,004089: 26,3347 01607 RCVCSM 025174,004090: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY 025175,004091: 26,3351 21724 NORMUNX1 025176,004092: 26,3352 17724 STODL ULC 025177,004093: 26,3353 00045 36D 025178,004094: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT 025179,004095: 26,3355 20201 0,1 025180,004096: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D 025181,004097: 26,3357 03724 ULC 025182,004098: 26,3360 77616 RVQ 025183,004099: 025184,004100: # RADARANG 025185,004101: 025186,004102: # THIS SUBROUTINE COMPUTS SINTHETA = -ULC DOT MY 025187,004103: # RXZ = (SQRT (1-SINTHETA**2))RLC 025188,004104: # OUTPUT 025189,004105: # ULC IN ULC, PD0 025190,004106: # Page 586 025191,004107: # RLC IN PD36D 025192,004108: # SIN THETA IN SINTHETA AND PD6 025193,004109: # RXZ NORM IN RXZ (N IN X1) 025194,004110: 025195,004111: 26,3361 45020 RADARANG STQ CALL 025196,004112: 26,3362 03675 RDRET 025197,004113: 26,3363 55333 GETULC 025198,004114: 26,3364 50276 VCOMP DOT 025199,004115: 26,3365 03705 MY 025200,004116: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6 025201,004117: 26,3367 03732 STORE SINTHETA 025202,004118: 26,3370 44316 DSQ BDSU 025203,004119: 26,3371 06512 DP1/4TH # 1-(SIN THETA)**2 025204,004120: 26,3372 41366 SQRT DMP 025205,004121: 26,3373 00045 36D 025206,004122: 26,3374 60352 SL1 NORM 025207,004123: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1 025208,004124: 26,3376 03722 STORE RXZ 025209,004125: 26,3377 77650 GOTO # EXIT 025210,004126: 26,3400 03675 RDRET 025211,004127: 26,3401 45020 LGCUPDTE STQ CALL 025212,004128: 26,3402 03675 LGRET 025213,004129: 26,3403 46531 INCORP1 025214,004130: 26,3404 51575 VLOAD ABVAL 025215,004131: 26,3405 02673 DELTAX +6 025216,004132: 26,3406 53754 LXA,2 SRR* 025217,004133: 26,3407 03720 SCALSHFT # 0 -- MOON. 2 -- EARTH 025218,004134: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7 025219,004135: 26,3411 24317 STOVL R22DISP +2 025220,004136: 26,3412 02665 DELTAX 025221,004137: 26,3413 53646 ABVAL SRR* 025222,004138: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29 025223,004139: 26,3415 00315 STORE R22DISP 025224,004140: 26,3416 54335 SLOAD SR 025225,004141: 26,3417 02005 RMAX 025226,004142: 26,3420 20613 10D 025227,004143: 26,3421 50025 DSU BMN 025228,004144: 26,3422 00315 R22DISP 025229,004145: 26,3423 50572 R22LEM96 # GO DISPLAY 025230,004146: 26,3424 45335 SLOAD DSU 025231,004147: 26,3425 02006 VMAX 025232,004148: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION 025233,004149: 26,3427 77640 BMN 025234,004150: 26,3430 50572 R22LEM96 # GO DISPLAY 025235,004151: 26,3431 77624 ASTOK CALL 025236,004152: 26,3432 46743 INCORP2 025237,004153: 26,3433 77650 GOTO 025238,004154: 26,3434 03675 LGRET 025239,004155: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2 025240,004156: 025241,004157: 26,3437 00241 WSIZE DEC 161 B-14 025242,004158: # Page 587 025243,004159: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2 025244,004160: 025245,004161: 26,3442 E7,1456 EBANK= LOSCOUNT 025246,004162: # Page 588 025247,004163: 025248,004164: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE 025249,004165: # MCD NO. 0 BY P. VOLANTE, SDC DATE 1-15-67 025250,004166: 025251,004167: # FUNCTIONAL DESCRIPTION 025252,004168: 025253,004169: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM 025254,004170: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE 025255,004171: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN 025256,004172: # ATTITUDE MANEUVER. 025257,004173: 025258,004174: # CALLING SEQUENCE -- BANKCALL FOR LRS24.1 025259,004175: 025260,004176: # SUBROUTINES CALLED 025261,004177: 025262,004178: # LEMCONIC R61LEM 025263,004179: # CSMCONIC RRDESSM 025264,004180: # JOBDELAY FLAGDOWN 025265,004181: # WAITLIST FLAGUP 025266,004182: # RRNB BANKCALL 025267,004183: 025268,004184: # EXIT -- TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET 025269,004185: 025270,004186: # OUTPUT 025271,004187: 025272,004188: # DATAGOOD (SP) -- FOR DISPLAY IN R1 -- 00000 INDICATES NO LOCKON 025273,004189: # 11111 INDICATES LOCKON ACHIEVED 025274,004190: # OMEGAD (SP) -- FOR DISPLAY IN R2 -- ANGLE BETWEEN RR BORESIGNT VECTOR AND THE SPACECRAFT +Z AXIS 025275,004191: 025276,004192: # ERASABLE INITIALIZATION REQUIRED: 025277,004193: 025278,004194: # SEARCH FLAG MUST BE SET 025279,004195: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX 025280,004196: 025281,004197: # DEBRIS 025282,004198: 025283,004199: # RLMSRCH UXVECT 025284,004200: # VXRLM UYVECT 025285,004201: # LOSDESRD NSRCHPNT 025286,004202: # DATAGOOD OMEGAD 025287,004203: # MPAC PUSHLIST 025288,004204: 025289,004205: 26,3442 COUNT* $$/LRS24 025290,004206: 26,3442 34755 LRS24.1 CAF ZERO 025291,004207: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO 025292,004208: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR 025293,004209: 26,3445 00006 EXTEND 025294,004210: # Page 589 025295,004211: 26,3446 05012 WOR CHAN12 025296,004212: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED 025297,004213: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET) 025298,004214: 26,3451 00006 EXTEND 025299,004215: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB 025300,004216: 025301,004217: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT. 025302,004218: 26,3454 00004 INHINT 025303,004219: 26,3455 05203 TC WAITLIST # IN 6 SECONDS 025304,004220: 26,3456 E7,1456 EBANK= LOSCOUNT 025305,004221: 26,3456 03643 54067 2CADR CALLDGCH 025306,004222: 025307,004223: 26,3460 00003 RELINT 025308,004224: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS 025309,004225: 26,3462 74736 MASK REMODBIT 025310,004226: 26,3463 00006 EXTEND 025311,004227: 26,3464 15155 BZF ENDOFJOB # YES -- WAIT SIX SECONDS 025312,004228: 26,3465 06037 TC INTPRET 025313,004229: 025314,004230: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC. 025315,004231: 26,3467 21573 LOADTIME 025316,004232: 26,3470 15715 1.5SECS 025317,004233: 26,3471 34041 LRS24.11 STCALL TDEC1 025318,004234: 26,3472 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR 025319,004235: 26,3473 77775 VLOAD 025320,004236: 26,3474 00001 RATT 025321,004237: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION 025322,004238: 26,3476 00007 VATT 025323,004239: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY 025324,004240: 26,3500 00015 TAT 025325,004241: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR 025326,004242: 26,3502 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR 025327,004243: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM) 025328,004244: 26,3504 00001 RATT 025329,004245: 26,3505 03676 RLMSRCH 025330,004246: 26,3506 77656 UNIT 025331,004247: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS 025332,004248: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM)) 025333,004249: 26,3511 47256 UNIT VXV 025334,004250: 26,3512 00001 RATT 025335,004251: 26,3513 77656 UNIT 025336,004252: 26,3514 03704 STORE VXRCM 025337,004253: 26,3515 52375 VLOAD VSU 025338,004254: 26,3516 00007 VATT 025339,004255: 26,3517 03740 SAVLEMV 025340,004256: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER 025341,004257: 26,3521 01734 REFSMMAT 025342,004258: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM) 025343,004259: 26,3523 53135 SLOAD BZE # CHECK IF N=0 025344,004260: # Page 590 025345,004261: 26,3524 03737 NSRCHPNT 025346,004262: 26,3525 55636 DESGLOS # YES -- DESIGNATE ALONG LOS 025347,004263: 26,3526 53025 DSU BZE # IS N=1 025348,004264: 26,3527 15711 ONEOCT # YES -- CALCULATE X AND Y AXES OF 025349,004265: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM 025350,004266: 26,3531 77775 VLOAD # NO -- ROTATE X-Y AXES TO NEXT SEARCH POINT 025351,004267: 26,3532 03720 UXVECT 025352,004268: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS 025353,004269: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX 025354,004270: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY 025355,004271: 26,3536 77761 VXSC 025356,004272: 26,3537 15705 SIN60DEG # UX = (COS 60)UXPR + (SIN 60)UYPR 025357,004273: 26,3540 27720 STOVL UXVECT 025358,004274: 26,3541 00015 UXVECTPR 025359,004275: 26,3542 53361 VXSC VAD 025360,004276: 26,3543 06520 COS60DEG 025361,004277: 26,3544 03720 UXVECT 025362,004278: 26,3545 77656 UNIT 025363,004279: 26,3546 27720 STOVL UXVECT 025364,004280: 26,3547 00015 UXVECTPR # UY = (-SIN 60)UXPR + (COS 60)UYPR 025365,004281: 26,3550 77761 VXSC 025366,004282: 26,3551 15705 SIN60DEG 025367,004283: 26,3552 27726 STOVL UYVECT 025368,004284: 26,3553 00023 UYVECTPR 025369,004285: 26,3554 52361 VXSC VSU 025370,004286: 26,3555 06520 COS60DEG 025371,004287: 26,3556 03726 UYVECT 025372,004288: 26,3557 77656 UNIT 025373,004289: 26,3560 03726 STORE UYVECT 025374,004290: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY) 025375,004291: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES 025376,004292: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN 025377,004293: 26,3564 64256 UNIT MXV 025378,004294: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES 025379,004295: 26,3566 77772 VSL1 025380,004296: 26,3567 25102 CONTDESG STOVL RRTARGET 025381,004297: 26,3570 03740 SAVLEMV 025382,004298: 26,3571 01761 STORE LOSVEL 025383,004299: 26,3572 77776 EXIT 025384,004300: 26,3573 00004 INHINT 025385,004301: 26,3574 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK 025386,004302: 26,3575 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST 025387,004303: # POINT IN THE PATTERN 025388,004304: 26,3576 44735 CONTDES2 CS CDESBIT 025389,004305: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE 025390,004306: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED. 025391,004307: 26,3601 54110 TS RADMODES 025392,004308: 26,3602 06037 TC INTPRET 025393,004309: 025394,004310: 26,3603 77624 CALL 025395,004311: # Page 591 025396,004312: 26,3604 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR 025397,004313: 025398,004314: 26,3605 77776 EXIT 025399,004315: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22) 025400,004316: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20) 025401,004317: 025402,004318: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND 025403,004319: # SPACECRAFT +Z AXIS 025404,004320: 26,3610 00006 OMEGCALC EXTEND 025405,004321: 26,3611 30036 DCA CDUT 025406,004322: 26,3612 53753 DXCH TANGNB 025407,004323: 26,3613 06037 TC INTPRET 025408,004324: 26,3614 77624 CALL 025409,004325: 26,3615 46041 RRNB 025410,004326: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF 025411,004327: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D) 025412,004328: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2 025413,004329: 26,3621 77776 EXIT 025414,004330: 26,3622 05155 TC ENDOFJOB 025415,004331: # Page 592 025416,004332: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM. 025417,004333: 025418,004334: 26,3623 47375 CALCXY VLOAD VXV 025419,004335: 26,3624 03704 VXRCM 025420,004336: 26,3625 03712 LOSDESRD 025421,004337: 26,3626 77656 UNIT 025422,004338: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS 025423,004339: 26,3630 03712 LOSDESRD 025424,004340: 26,3631 53435 VXV UNIT 025425,004341: 26,3632 03720 UXVECT 025426,004342: 26,3633 03726 STORE UYVECT # UY = LOS X UX 025427,004343: 26,3634 77650 GOTO 025428,004344: 26,3635 55561 OFFCALC 025429,004345: 025430,004346: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS 025431,004347: 26,3637 03712 LOSDESRD 025432,004348: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS 025433,004349: 26,3641 52172 VSL1 GOTO 025434,004350: 26,3642 55567 CONTDESG 025435,004351: 025436,004352: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET 025437,004353: 26,3644 74745 MASK RNDVZBIT 025438,004354: 26,3645 00006 EXTEND 025439,004355: 26,3646 15261 BZF TASKOVER # NO -- EXIT R24 025440,004356: 26,3647 37713 CAF PRIO25 # YES -- SCHEDULE JOB TO DRIVE RADAR TO NEXT 025441,004357: 26,3650 05105 TC FINDVAC # PONT IN SEARCH PATTERN 025442,004358: 26,3651 E7,1675 EBANK= RLMSRCH 025443,004359: 26,3651 03654 54067 2CADR DATGDCHK 025444,004360: 025445,004361: 26,3653 05261 TC TASKOVER 025446,004362: 025447,004363: 26,3654 34750 DATGDCHK CAF BIT4 025448,004364: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT 025449,004365: 26,3656 02033 RAND CHAN33 025450,004366: 26,3657 00006 EXTEND 025451,004367: 26,3660 13667 BZF STORE1S # YES -- GO TO STORE 11111 FOR DISPLAY IN R1 025452,004368: 26,3661 46242 CS SIX 025453,004369: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6 025454,004370: 26,3663 00006 EXTEND 025455,004371: 26,3664 13442 BZF LRS24.1 # YES -- RESET N = 0 AND START AROUND AGAIN 025456,004372: 26,3665 25736 INCR NSRCHPNT # NO -- SET N = N+1 AND GO TO 025457,004373: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN 025458,004374: 025459,004375: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1 025460,004376: 26,3670 55733 TS DATAGOOD 025461,004377: # Page 593 025462,004378: 26,3671 00004 INHINT 025463,004379: 26,3672 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM 025464,004380: 26,3673 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK 025465,004381: 26,3674 05155 TC ENDOFJOB 025466,004382: 025467,004383: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 -- LOS NOT IN MODE2 025468,004384: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER 025469,004385: 26,3677 00004 INHINT # REQUIRED IN P20 025470,004386: 26,3700 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT 025471,004387: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN 025472,004388: 26,3702 05155 TC ENDOFJOB 025473,004389: 025474,004390: 26,3703 25547 ALL1S DEC 11111 B-14 025475,004391: 26,3704 33555 01106 SIN60DEG 2DEC .86603 025476,004392: 26,3706 23,2517 COS60DEG = DPHALF # (2DEC .50) 025477,004393: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS 025478,004394: 26,3706 UYVECTPR EQUALS 18D 025479,004395: 26,3706 RLMUNIT EQUALS 12D 025480,004396: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES 025481,004397: 025482,004398: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE -- THESE TWO CONSTANTS MUST **** 025483,004399: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE **** 025484,004400: 025485,004401: # **** ONEOCT NEEDS A LOWER ORDER **** 025486,004402: # **** WORD OF ZEROES **** 025487,004403: 26,3713 01130 6SECONDS DEC 600 B-14 025488,004404: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28 025489,004405: 025490,004406: 26,3716 23,2521 ZERO/SP EQUALS HI6ZEROS 025491,004407: 025492,004408: 4616 BLOCK 02 025493,004409: 6000 SETLOC FFTAG5 025494,004410: 6000 BANK 025495,004411: 6022 COUNT* $$/P20 025496,004412: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF 025497,004413: 6023 36026 DCA VB56CADR # GOTOP00H 025498,004414: 6024 15165 TCF SUPDXCHZ 025499,004415: 6025 E7,1471 EBANK= WHOCARES 025500,004416: 6025 03024 66107 VB56CADR 2CADR TRMTRACK 025501,004417: 025502,004418: # Page 594 025503,004419: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT) 025504,004420: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968 025505,004421: 025506,004422: # FUNCTIONAL DESCRIPTION: 025507,004423: 025508,004424: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTES LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE 025509,004425: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF 025510,004426: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT 025511,004427: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR 025512,004428: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN 025513,004429: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT. 025514,004430: 025515,004431: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER 025516,004432: 025517,004433: # SUBROUTINES CALLED: 025518,004434: 025519,004435: # REMODE RRPONLY 025520,004436: # UNIT MPACVBUF 025521,004437: # QUICTRIG AX*SR*T 025522,004438: # SPSIN SPCOS 025523,004439: # SETRRECR RROUT 025524,004440: # RRRDOT RRRANGE 025525,004441: 025526,004442: # EXIT: TO NOR29NOW, IN SERVICER. 025527,004443: 025528,004444: # OUTPUT: (ALL FOR DOWNLINK) 025529,004445: 025530,004446: # RM RDOTM (RAW) 025531,004447: # AIG AMG 025532,004448: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT, 025533,004449: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000. 025534,004450: # MKTIME 025535,004451: # Page 595 025536,004452: 025537,004453: # ERASABLE INITIALIZATION REQUIRED: 025538,004454: 025539,004455: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29) 025540,004456: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START) 025541,004457: # R(CSM) V(CSM) 025542,004458: # R V (PIPTIME THRU V BY AVE G IN SERVICER) 025543,004459: 025544,004460: # DEBRIS: 025545,004461: 025546,004462: # RADMODES (BIT 10) 025547,004463: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL) 025548,004464: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV) 025549,004465: # LOSCMFLG READRFLG 025550,004466: 025551,004467: # ALARMS: NONE. 025552,004468: 025553,004469: # COMPONENT JOBS AND TASKS: 025554,004470: 025555,004471: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE: ALWAYS: TASK PREPOS29. 025556,004472: # DESIGNATING: TASK BEGDES29 & JOB R29DODES. 025557,004473: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE. 025558,004474: 025559,004475: 33,2045 BANK 33 025560,004476: 33,2000 SETLOC R29/SERV 025561,004477: 33,2000 BANK 025562,004478: 025563,004479: 33,2045 COUNT* $$/r29 025564,004480: 025565,004481: 33,2045 5014 NR29&RDR EQUALS EBANK5 025566,004482: 025567,004483: # Page 596 025568,004484: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA 025569,004485: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE). 025570,004486: 025571,004487: 33,2045 40110 R29 CS RADMODES 025572,004488: 33,2046 74742 MASK DESIGBIT 025573,004489: 33,2047 00006 EXTEND 025574,004490: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON. 025575,004491: 025576,004492: 33,2051 00004 INHINT 025577,004493: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON. 025578,004494: 33,2053 44736 CS BIT14 025579,004495: 33,2054 00006 EXTEND 025580,004496: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE. 025581,004497: 33,2056 44740 CS LOSCMBIT 025582,004498: 33,2057 70076 MASK FLAGWRD2 025583,004499: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF. 025584,004500: 33,2061 44753 CS OLDESBIT 025585,004501: 33,2062 70074 MASK STATE 025586,004502: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED. 025587,004503: 33,2064 04616 TC BANKCALL 025588,004504: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS. 025589,004505: 33,2066 34740 CA ANTENBIT 025590,004506: 33,2067 70110 MASK RADMODES 025591,004507: 33,2070 10000 CCS A # TEST RR MODE BIT. 025592,004508: 33,2071 12104 TCF SETPRPOS # MODE 2. 025593,004509: 025594,004510: 33,2072 35031 CA PRIO21 # MODE 1: MUST REMODE. 025595,004511: 33,2073 05072 TC NOVAC 025596,004512: 33,2074 E7,1456 EBANK= LOSCOUNT 025597,004513: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN. 025598,004514: 025599,004515: 33,2076 44742 CS DESIGBIT 025600,004516: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES 025601,004517: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE 025602,004518: 33,2101 34736 CA REMODBIT 025603,004519: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON. 025604,004520: 33,2103 12570 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS. 025605,004521: 025606,004522: 33,2104 34753 SETPRPOS CA ONE 025607,004523: 33,2105 05203 TC WAITLIST 025608,004524: 33,2106 E7,1456 EBANK= LOSCOUNT 025609,004525: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO 180 DEG. 025610,004526: 025611,004527: 33,2110 34741 CA REPOSBIT 025612,004528: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON. 025613,004529: 33,2112 12570 TCF NOR29NOW 025614,004530: 025615,004531: # Page 597 025616,004532: # FORCE RENDEZVOUS RADAR INTO MODE 2. 025617,004533: 025618,004534: 33,2113 34753 R29REM0J CA ONE 025619,004535: 33,2114 05203 TC WAITLIST 025620,004536: 33,2115 E7,1456 EBANK= LOSCOUNT 025621,004537: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK. 025622,004538: 025623,004539: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING 025624,004540: 33,2120 17714 CADR RADSTALL 025625,004541: 025626,004542: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN. 025627,004543: 33,2122 15155 TCF ENDOFJOB 025628,004544: 025629,004545: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG. 025630,004546: 025631,004547: 25,2000 SETLOC R29S1 025632,004548: 25,2000 BANK 025633,004549: 025634,004550: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG. 025635,004551: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU. 025636,004552: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF. 025637,004553: 25,3604 70110 MASK RADMODES 025638,004554: 25,3605 54110 TS RADMODES 025639,004555: 25,3606 15261 TCF TASKOVER 025640,004556: 025641,004557: # COMPUTE THE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP. 025642,004558: 025643,004559: 33,2045 SETLOC R29 025644,004560: 33,2045 BANK 025645,004561: 025646,004562: 33,2123 00006 R29.LOS EXTEND 025647,004563: 33,2124 41235 DCS PIPTIME 025648,004564: 33,2125 52155 DXCH MPAC 025649,004565: 33,2126 00006 EXTEND 025650,004566: 33,2127 30025 DCA TIME2 025651,004567: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28. 025652,004568: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION. 025653,004569: 33,2132 30155 CA MPAC +1 025654,004570: 33,2133 00006 EXTEND 025655,004571: 33,2134 74740 MP BIT12 025656,004572: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17. 025657,004573: 33,2136 06037 TC INTPRET 025658,004574: # Page 598 025659,004575: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN 025660,004576: # START IT UP WHEN THE DATA IS IN PLACE. 025661,004577: 025662,004578: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME 025663,004579: 33,2140 01726 V(CSM) 025664,004580: 33,2141 03527 V # LOSVEL = V(CSM) - V 025665,004581: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM 025666,004582: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET 025667,004583: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES. 025668,004584: 33,2145 03521 R 025669,004585: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.) 025670,004586: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM- 025671,004587: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA. 025672,004588: 33,2151 12570 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA. 025673,004589: 025674,004590: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES 025675,004591: 33,2153 00001 0 025676,004592: 33,2154 77761 VXSC 025677,004593: 33,2155 26177 .5SECB17 025678,004594: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY. 025679,004595: 33,2157 77414 CLEAR EXIT 025680,004596: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA. 025681,004597: 025682,004598: 33,2161 40074 CS STATE 025683,004599: 33,2162 74753 MASK OLDESBIT 025684,004600: 33,2163 00006 EXTEND 025685,004601: 33,2164 12570 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED. 025686,004602: 33,2165 00004 INHINT 025687,004603: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW. 025688,004604: 025689,004605: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND. 025690,004606: 33,2170 44776 CS SUPER110 # -96D +100D = 4. 025691,004607: 33,2171 64777 AD 1SEC # 0 +100D = 100D. 025692,004608: 33,2172 05203 TC WAITLIST 025693,004609: 33,2173 E7,1456 EBANK= LOSCOUNT 025694,004610: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP. 025695,004611: 025696,004612: 33,2175 12570 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS. 025697,004613: 025698,004614: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17 025699,004615: 025700,004616: # Page 599 025701,004617: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A 025702,004618: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA. 025703,004619: 025704,004620: 24,3356 BANK 24 025705,004621: 24,2000 SETLOC P20S 025706,004622: 24,2000 BANK 025707,004623: 025708,004624: 24,3356 COUNT* $$/R29 025709,004625: 025710,004626: 24,3356 35031 BEGDES29 CAF PRIO21 025711,004627: 24,3357 05072 TC NOVAC 025712,004628: 24,3360 E3,1760 EBANK= LOSVDT/4 025713,004629: 24,3360 02547 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND. 025714,004630: 025715,004631: 24,3362 34774 R29DLOOP CAF .5SEC 025716,004632: 24,3363 05224 TC VARDELAY 025717,004633: 025718,004634: 24,3364 40110 CS RADMODES 025719,004635: 24,3365 74742 MASK DESIGBIT 025720,004636: 24,3366 10000 CCS A 025721,004637: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF. 025722,004638: 025723,004639: 24,3370 40076 CS FLAGWRD2 025724,004640: 24,3371 74740 MASK LOSCMBIT 025725,004641: 24,3372 00006 EXTEND 025726,004642: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA. 025727,004643: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON. 025728,004644: 24,3375 13356 TCF BEGDES29 025729,004645: 025730,004646: 24,3376 34753 CA ONE 025731,004647: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA. 025732,004648: # Page 600 025733,004649: # R29DODES: RR DESIGNATION LOOP FOR R29 025734,004650: 025735,004651: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR 025736,004652: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY, 025737,004653: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT 025738,004654: # ALL. THE UNIT(LOSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE- 025739,004655: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP. 025740,004656: 025741,004657: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ 025742,004658: # TASK WHEN LOCK-ON IS ACHIEVED. 025743,004659: 025744,004660: 32,2547 BANK 32 025745,004661: 32,2000 SETLOC F2DPS*32 025746,004662: 32,2000 BANK 025747,004663: 025748,004664: 32,2547 COUNT* $$/R29 025749,004665: 32,2547 E3,1760 EBANK= LOSVDT/4 025750,004666: 025751,004667: 32,2547 34753 R29DODES CA ONE 025752,004668: 32,2550 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP. 025753,004669: 32,2551 34756 CA FIVE 025754,004670: 025755,004671: 32,2552 10000 R29DVBEG CCS A # COUNT DOWN BY TWO'S IN VECTOR LOOP. 025756,004672: 32,2553 54002 TS Q 025757,004673: 32,2554 11107 CCS TANG 025758,004674: 32,2555 12563 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP. 025759,004675: 025760,004676: 32,2556 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND). 025761,004677: 32,2557 50002 INDEX Q 025762,004678: 32,2560 31761 DCA LOSVDT/4 025763,004679: 32,2561 50002 INDEX Q 025764,004680: 32,2562 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND. 025765,004681: 025766,004682: 32,2563 00006 R29DPAS1 EXTEND 025767,004683: 32,2564 50002 INDEX Q 025768,004684: 32,2565 31102 DCA LOSSM 025769,004685: 32,2566 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO- 025770,004686: 32,2567 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS). 025771,004687: 32,2570 11107 CCS TANG 025772,004688: 32,2571 12577 TCF R29DVEND # BUG OUT HERE IN 1ST PASS. 025773,004689: 025774,004690: 32,2572 00006 EXTEND 025775,004691: 32,2573 50002 INDEX Q 025776,004692: 32,2574 31761 DCA LOSVDT/4 025777,004693: 32,2575 50002 INDEX Q 025778,004694: 32,2576 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS). 025779,004695: 025780,004696: 32,2577 10002 R29DVEND CCS Q 025781,004697: 32,2600 12552 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP. 025782,004698: 025783,004699: # Page 601 025784,004700: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS). 025785,004701: 025786,004702: 32,2601 52156 DXCH MPAC +1 025787,004703: 32,2602 52155 DXCH MPAC 025788,004704: 32,2603 32774 CA R29FXLOC # = ADRES INTB15 + -34D 025789,004705: 32,2604 54120 TS FIXLOC 025790,004706: 32,2605 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH 025791,004707: 32,2606 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE. 025792,004708: 32,2607 07532 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA. 025793,004709: 025794,004710: 32,2610 11107 CCS TANG 025795,004711: 32,2611 12613 TCF +2 025796,004712: 32,2612 12627 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS. 025797,004713: 32,2613 00004 INHINT # ENSURE CONSISTENT CDU READINGS. 025798,004714: 32,2614 00006 EXTEND 025799,004715: 32,2615 30036 DCA CDUT 025800,004716: 32,2616 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES. 025801,004717: 32,2617 30033 CA CDUY 025802,004718: 32,2620 54766 TS CDUSPOT 025803,004719: 32,2621 30034 CA CDUZ 025804,004720: 32,2622 54770 TS CDUSPOT +2 025805,004721: 32,2623 30032 CA CDUX 025806,004722: 32,2624 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T. 025807,004723: 32,2625 04616 TC BANKCALL 025808,004724: 32,2626 47615 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES. 025809,004725: 025810,004726: 32,2627 46245 GOTANGLS CS THREE 025811,004727: 32,2630 04616 TC BANKCALL 025812,004728: 32,2631 47675 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB). 025813,004729: 025814,004730: 32,2632 11107 CCS TANG 025815,004731: 32,2633 12635 TCF +2 025816,004732: 32,2634 12702 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS. 025817,004733: 025818,004734: # Page 602 025819,004735: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF 025820,004736: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E., SMALLER ANGLE). 025821,004737: 025822,004738: 32,2635 00004 INHINT 025823,004739: 32,2636 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP. 025824,004740: 32,2637 31766 CA SAVECDUT 025825,004741: 32,2640 05032 TC SPCOS 025826,004742: 32,2641 54166 TS PUSHLOC # PUSHLOC = COS T. 025827,004743: 32,2642 41766 CS SAVECDUT 025828,004744: 32,2643 05033 TC SPSIN 025829,004745: 32,2644 54163 TS MODE # MODE = -SIN T. 025830,004746: 32,2645 00006 EXTEND 025831,004747: 32,2646 70124 MP VBUF +2 # FORM - SIN T ULOSNBY. 025832,004748: 32,2647 52155 DXCH MPAC 025833,004749: 32,2650 31767 CA SAVECDUT +1 025834,004750: 32,2651 05033 TC SPSIN 025835,004751: 32,2652 55766 TS SAVECDUT # SAVECDUT NOW = SIN S. 025836,004752: 32,2653 00006 EXTEND 025837,004753: 32,2654 70166 MP PUSHLOC 025838,004754: 32,2655 00006 EXTEND 025839,004755: 32,2656 70122 MP VBUF # FORM SIN S COS T ULOSNBX. 025840,004756: 32,2657 20155 DAS MPAC 025841,004757: 32,2660 31767 CA SAVECDUT +1 025842,004758: 32,2661 05032 TC SPCOS 025843,004759: 32,2662 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S. 025844,004760: 32,2663 00006 EXTEND 025845,004761: 32,2664 70166 MP PUSHLOC 025846,004762: 32,2665 00006 EXTEND 025847,004763: 32,2666 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ. 025848,004764: 32,2667 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T, 025849,004765: 32,2670 00006 EXTEND # -SIN T, COS S COS T). 025850,004766: 32,2671 30155 DCA MPAC 025851,004767: 32,2672 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR). 025852,004768: 32,2673 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS. 025853,004769: 32,2674 34736 CA BIT14 025854,004770: 32,2675 12676 NOOP 025855,004771: 32,2676 00006 EXTEND 025856,004772: 32,2677 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE. 025857,004773: 32,2700 00003 RELINT 025858,004774: 32,2701 12551 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP. 025859,004775: 025860,004776: # Page 603 025861,004777: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HAVE THE ERROR IN HALF A SECOND. 025862,004778: 025863,004779: 32,2702 31767 R29DPAS2 CA SAVECDUT +1 025864,004780: 32,2703 00006 EXTEND 025865,004781: 32,2704 70122 MP VBUF # FORM COS S ULOSNB'X. 025866,004782: 32,2705 53110 DXCH TANG 025867,004783: 32,2706 41766 CS SAVECDUT 025868,004784: 32,2707 00006 EXTEND 025869,004785: 32,2710 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z. 025870,004786: 32,2711 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0, 025871,004787: 32,2712 40163 CS MODE # - SIN S) 025872,004788: 32,2713 00006 EXTEND 025873,004789: 32,2714 71766 MP SAVECDUT 025874,004790: 32,2715 00006 EXTEND 025875,004791: 32,2716 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X. 025876,004792: 32,2717 52155 DXCH MPAC 025877,004793: 32,2720 30166 CA PUSHLOC 025878,004794: 32,2721 00006 EXTEND 025879,004795: 32,2722 70124 MP VBUF +2 # FORM COS T ULOSNB'Y. 025880,004796: 32,2723 20155 DAS MPAC 025881,004797: 32,2724 40163 CS MODE 025882,004798: 32,2725 00006 EXTEND 025883,004799: 32,2726 71767 MP SAVECDUT +1 025884,004800: 32,2727 00006 EXTEND 025885,004801: 32,2730 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z. 025886,004802: 32,2731 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'. 025887,004803: 32,2732 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T). 025888,004804: 32,2733 00006 EXTEND 025889,004805: 32,2734 72775 MP RR29GAIN 025890,004806: 32,2735 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD. 025891,004807: 32,2736 00006 EXTEND 025892,004808: 32,2737 72775 MP RR29GAIN 025893,004809: 32,2740 55110 TS TANG +1 # STORE REFINED S CMD. 025894,004810: 025895,004811: # Page 604 025896,004812: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START 025897,004813: # READING DATA FROM THE RENDEZVOUS RADAR. 025898,004814: 025899,004815: 32,2741 34750 DGOOD? CAF BIT4 025900,004816: 32,2742 00006 EXTEND 025901,004817: 32,2743 02033 RAND CHAN33 # GET RR DATA-GOOD BIT. 025902,004818: 32,2744 00004 INHINT # (MAINLY FOR RROUT). 025903,004819: 32,2745 00006 EXTEND 025904,004820: 32,2746 12752 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT. 025905,004821: 025906,004822: 32,2747 04616 TC BANKCALL 025907,004823: 32,2750 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS. 025908,004824: 32,2751 12770 TCF END29DOD 025909,004825: 025910,004826: 32,2752 44742 R29LOKON CS DESIGBIT 025911,004827: 32,2753 70110 MASK RADMODES 025912,004828: 32,2754 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER. 025913,004829: 32,2755 44752 CS BIT2 025914,004830: 32,2756 00006 EXTEND 025915,004831: 32,2757 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS. 025916,004832: 32,2760 34743 CA READRBIT 025917,004833: 32,2761 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED. 025918,004834: 32,2762 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC. 025919,004835: 32,2763 44776 CS SUPER110 # -96D + 100D = 4. 025920,004836: 32,2764 64777 AD 1SEC # 0 + 100D = 100D. 025921,004837: 32,2765 05203 TC WAITLIST 025922,004838: 32,2766 E7,1456 EBANK= LOSCOUNT 025923,004839: 32,2766 03400 50067 2CADR R29READ # START READING TASK AND JOB. 025924,004840: 025925,004841: 32,2770 44740 END29DOD CS LOSCMBIT 025926,004842: 32,2771 70076 MASK FLAGWRD2 025927,004843: 32,2772 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG. 025928,004844: 32,2773 15155 TCF ENDOFJOB 025929,004845: 025930,004846: 32,2774 00052 R29FXLOC ADRES INTB15+ -34D 025931,004847: 32,2775 56655 RR29GAIN DEC -.53624 025932,004848: 32,2776 E3,1760 LOSVDT/4 EQUALS LOSVEL 025933,004849: 32,2776 1101 LOSSM EQUALS RRTARGET 025934,004850: 32,2776 E3,1766 SAVECDUT EQUALS MLOSV 025935,004851: 025936,004852: # Page 605 025937,004853: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON 025938,004854: 025939,004855: 24,3400 BANK 24 025940,004856: 24,2000 SETLOC P20S 025941,004857: 24,2000 BANK 025942,004858: 025943,004859: 24,3400 COUNT* $$/R29 025944,004860: 025945,004861: 24,3400 E7,1456 EBANK= LOSCOUNT 025946,004862: 025947,004863: 24,3400 37714 R29READ CAF PRIO26 # CALLED BY WAITLIST 025948,004864: 24,3401 05072 TC NOVAC 025949,004865: 24,3402 E7,1456 EBANK= LOSCOUNT 025950,004866: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29. 025951,004867: 025952,004868: 24,3404 35000 CA 2SECS 025953,004869: 24,3405 05224 TC VARDELAY 025954,004870: 025955,004871: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL 025956,004872: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.) 025957,004873: 24,3410 10000 CCS A 025958,004874: 24,3411 13400 TCF R29READ # IT'S OK: CALL IT AGAIN. 025959,004875: 24,3412 15261 TCF TASKOVER # IT AIN'T: WAIT FOR REDESIGNATE. 025960,004876: 025961,004877: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC. 025962,004878: 24,3414 74741 MASK NR29FBIT 025963,004879: 24,3415 10000 CCS A # TEST "NOR29FLG". 025964,004880: 24,3416 13475 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE. 025965,004881: 025966,004882: 24,3417 30110 CA RADMODES 025967,004883: 24,3420 74752 MASK AUTOMBIT 025968,004884: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT. 025969,004885: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE. 025970,004886: 025971,004887: 24,3423 04616 TC BANKCALL 025972,004888: 24,3424 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE. 025973,004889: 24,3425 04616 TC BANKCALL 025974,004890: 24,3426 17714 CADR RADSTALL # GOT TO SLEEP UNTIL IT'S READY. 025975,004891: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE. 025976,004892: 025977,004893: # Page 606 025978,004894: # R29 RADAR READING CONTINUED. 025979,004895: 025980,004896: 24,3430 53106 DXCH TIMEHOLD 025981,004897: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK. 025982,004898: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES. 025983,004899: 24,3433 00006 EXTEND 025984,004900: 24,3434 30036 DCA CDUT 025985,004901: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK. 025986,004902: 24,3436 00006 EXTEND 025987,004903: 24,3437 30034 DCA CDUY 025988,004904: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFERED FOR COPYCYCLE. 025989,004905: 24,3441 30032 CA CDUX 025990,004906: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK. 025991,004907: 025992,004908: 24,3443 04616 R29RANGE TC BANKCALL 025993,004909: 24,3444 53105 CADR RRRANGE # INITIATE READING OF RR RANGE. 025994,004910: 24,3445 04616 TC BANKCALL 025995,004911: 24,3446 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY. 025996,004912: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH? 025997,004913: 025998,004914: 24,3450 00004 INHINT 025999,004915: 24,3451 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK. 026000,004916: 24,3452 53757 DXCH RM 026001,004917: 24,3453 52155 DXCH MPAC 026002,004918: 24,3454 53755 DXCH MKTIME 026003,004919: 24,3455 52157 DXCH MPAC +2 026004,004920: 24,3456 53753 DXCH TANGNB 026005,004921: 24,3457 52161 DXCH MPAC +4 026006,004922: 24,3460 53460 DXCH AIG 026007,004923: 24,3461 30162 CA MPAC +6 026008,004924: 24,3462 55461 TS AOG 026009,004925: 24,3463 34753 CA ONE 026010,004926: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT. 026011,004927: 24,3465 15155 TCF ENDOFJOB 026012,004928: 026013,004929: 24,3466 40101 R29RRR? CS FLAGWRD5 026014,004930: 24,3467 74742 MASK BIT10 026015,004931: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)? 026016,004932: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE. 026017,004933: 24,3472 05516 TC DOWNFLAG 026018,004934: 24,3473 00120 ADRES RNGSCFLG 026019,004935: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN. 026020,004936: 026021,004937: 24,3475 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE 026022,004938: 24,3476 55462 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL. 026023,004939: 24,3477 05516 TC DOWNFLAG 026024,004940: 24,3500 00063 ADRES READRFLG 026025,004941: 24,3501 44736 CS BIT14 026026,004942: 24,3502 00006 EXTEND 026027,004943: # Page 607 026028,004944: 24,3503 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE. 026029,004945: 24,3504 15155 TCF ENDOFJOB 026030,004946: 026031,004947: # Page 608 026032,004948: # W-MATRIX MONITOR 026033,004949: 026034,004950: 31,2007 BANK 31 026035,004951: 31,2000 SETLOC VB67 026036,004952: 31,2000 BANK 026037,004953: 31,2007 COUNT* $$/EXTVB 026038,004954: 026039,004955: 31,2007 E4,1600 EBANK= WWPOS 026040,004956: 026041,004957: 31,2007 06037 V67CALL TC INTPRET 026042,004958: 31,2010 77624 CALL 026043,004959: 31,2011 62120 V67WW 026044,004960: 31,2012 77776 EXIT 026045,004961: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR 026046,004962: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY 026047,004963: 31,2015 53607 DXCH WWBIAS +2 026048,004964: 31,2016 00006 EXTEND 026049,004965: 31,2017 31603 DCA WWVEL 026050,004966: 31,2020 53611 DXCH WWBIAS +4 026051,004967: 31,2021 00006 EXTEND 026052,004968: 31,2022 31605 DCA WWBIAS 026053,004969: 31,2023 53613 DXCH WWBIAS +6 026054,004970: 31,2024 32143 V06N99DS CAF V06N99 026055,004971: 31,2025 04616 TC BANKCALL 026056,004972: 31,2026 20334 CADR GOXDSPF 026057,004973: 31,2027 15472 TCF ENDEXT 026058,004974: 31,2030 12032 TCF V6N99PRO 026059,004975: 31,2031 12024 TCF V06N99DS 026060,004976: 31,2032 22007 V6N99PRO ZL 026061,004977: 31,2033 34756 CA FIVE 026062,004978: 31,2034 54002 N99LOOP TS Q 026063,004979: 31,2035 50002 INDEX Q 026064,004980: 31,2036 41600 CS WWPOS 026065,004981: 31,2037 50002 INDEX Q 026066,004982: 31,2040 61606 AD WWPOS +6 026067,004983: 31,2041 26001 ADS L 026068,004984: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO. 026069,004985: 31,2043 12034 TCF N99LOOP 026070,004986: 31,2044 22000 LXCH A 026071,004987: 31,2045 00006 EXTEND 026072,004988: 31,2046 12051 BZF V06N9933 026073,004989: 31,2047 05504 TC UPFLAG 026074,004990: 31,2050 00160 ADRES V67FLAG 026075,004991: 026076,004992: 31,2051 06037 V06N9933 TC INTPRET 026077,004993: 31,2052 77414 BON EXIT 026078,004994: 31,2053 03707 V67FLAG 026079,004995: 31,2054 62056 +2 026080,004996: 31,2055 15472 TCF ENDEXT 026081,004997: 31,2056 77745 DLOAD 026082,004998: # Page 609 026083,004999: 31,2057 02201 WWPOS 026084,005000: 31,2060 72412 SL4 SL1 026085,005001: 31,2061 14001 STODL 0D 026086,005002: 31,2062 02203 WWVEL 026087,005003: 31,2063 14003 STODL 2D 026088,005004: 31,2064 02205 WWBIAS 026089,005005: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO 026090,005006: 31,2066 20213 10D # INTERNAL SCALING (B+5) 026091,005007: 31,2067 00005 STORE 4D 026092,005008: 31,2070 72014 BON LXA,1 026093,005009: 31,2071 04307 SURFFLAG 026094,005010: 31,2072 62102 V67SURF 026095,005011: 31,2073 00000 0D 026096,005012: 31,2074 72130 SXA,1 LXA,1 026097,005013: 31,2075 02000 WRENDPOS 026098,005014: 31,2076 00002 2D 026099,005015: 31,2077 52130 SXA,1 GOTO 026100,005016: 31,2100 02001 WRENDVEL 026101,005017: 31,2101 62110 V67CLRF 026102,005018: 31,2102 66150 V67SURF LXA,1 SXA,1 026103,005019: 31,2103 00000 0D 026104,005020: 31,2104 02006 WSURFPOS 026105,005021: 31,2105 66150 LXA,1 SXA,1 026106,005022: 31,2106 00002 2D 026107,005023: 31,2107 02007 WSURFVEL 026108,005024: 31,2110 66150 V67CLRF LXA,1 SXA,1 026109,005025: 31,2111 00004 4D 026110,005026: 31,2112 02003 WTRUN 026111,005027: 31,2113 77730 SXA,1 026112,005028: 31,2114 02002 WSHAFT 026113,005029: 31,2115 77414 CLEAR EXIT 026114,005030: 31,2116 02676 RENDWFLG 026115,005031: 31,2117 15472 TCF ENDEXT 026116,005032: 31,2120 40020 V67WW STQ BOV 026117,005033: 31,2121 00051 S2 026118,005034: 31,2122 62123 +1 026119,005035: 31,2123 45014 CLEAR CALL 026120,005036: 31,2124 03667 V67FLAG 026121,005037: 31,2125 27414 INTSTALL 026122,005038: 31,2126 71331 SSP DLOAD 026123,005039: 31,2127 00051 S1 026124,005040: 31,2130 00006 DEC 6 B-14 026125,005041: 31,2131 06522 ZEROVECS 026126,005042: 31,2132 02201 STORE WWPOS 026127,005043: 31,2133 02203 STORE WWVEL 026128,005044: 31,2134 02205 STORE WWBIAS 026129,005045: 31,2135 77770 AXT,1 026130,005046: 31,2136 00066 DEC 54 B-14 026131,005047: 31,2137 47573 NXPOSVEL VLOAD* VSQ 026132,005048: 31,2140 02467 W +54D,1 026133,005049: # Page 610 026134,005050: 31,2141 77650 GOTO 026135,005051: 31,2142 60002 ADDPOS 026136,005052: 31,2143 01543 V06N99 VN 0699 026137,005053: 026138,005054: 30,2000 SETLOC VB67A 026139,005055: 30,2000 BANK 026140,005056: 30,2002 COUNT* $$/EXTVB 026141,005057: 026142,005058: 30,2002 77615 ADDPOS DAD 026143,005059: 30,2003 02201 WWPOS 026144,005060: 30,2004 02201 STORE WWPOS 026145,005061: 30,2005 47573 VLOAD* VSQ 026146,005062: 30,2006 02555 W +108D,1 026147,005063: 30,2007 77615 DAD 026148,005064: 30,2010 02203 WWVEL 026149,005065: 30,2011 02203 STORE WWVEL 026150,005066: 30,2012 47573 VLOAD* VSQ 026151,005067: 30,2013 02643 W +162D,1 026152,005068: 30,2014 77615 DAD 026153,005069: 30,2015 02205 WWBIAS 026154,005070: 30,2016 02205 STORE WWBIAS 026155,005071: 30,2017 75500 TIX,1 SQRT 026156,005072: 30,2020 62137 NXPOSVEL 026157,005073: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO 026158,005074: 30,2022 20613 10D # NOUN SCALING (B-5) 026159,005075: 30,2023 16205 STODL WWBIAS 026160,005076: 30,2024 02203 WWVEL 026161,005077: 30,2025 77766 SQRT 026162,005078: 30,2026 16203 STODL WWVEL 026163,005079: 30,2027 02201 WWPOS 026164,005080: 30,2030 77766 SQRT 026165,005081: 30,2031 02201 STORE WWPOS 026166,005082: 30,2032 52000 BOV GOTO 026167,005083: 30,2033 60035 +2 026168,005084: 30,2034 60042 V67XXX 026169,005085: 30,2035 77745 DLOAD 026170,005086: 30,2036 06530 DPPOSMAX 026171,005087: 30,2037 02201 STORE WWPOS 026172,005088: 30,2040 02203 STORE WWVEL 026173,005089: 30,2041 02205 STORE WWBIAS 026174,005090: 30,2042 45345 V67XXX DLOAD DSU 026175,005091: 30,2043 02201 WWPOS 026176,005092: 30,2044 20060 FT99999 026177,005093: 30,2045 71240 BMN DLOAD 026178,005094: 30,2046 60051 +3 026179,005095: 30,2047 20060 FT99999 026180,005096: 30,2050 02201 STORE WWPOS 026181,005097: 30,2051 66150 LXA,1 SXA,1 026182,005098: 30,2052 00051 S2 026183,005099: 30,2053 00052 QPRET 026184,005100: # Page 611 026185,005101: 30,2054 77776 EXIT 026186,005102: 30,2055 04635 TC POSTJUMP 026187,005103: 30,2056 27425 CADR INTWAKE 026188,005104: 026189,005105: 30,2057 01670 17000 FT99999 2DEC 30479 B-19 026190,005106: 026191,005107: # Page 612 026192,005108: 25,3607 BANK 25 026193,005109: 25,2000 SETLOC RADARUPT 026194,005110: 25,2000 BANK 026195,005111: 25,3607 COUNT* $$/RRUPT 026196,005112: 026197,005113: 25,3607 E7,1456 EBANK= LOSCOUNT 026198,005114: 026199,005115: 25,3607 34753 R12LITES CA ONE 026200,005116: 25,3610 71303 MASK IMODES33 026201,005117: 25,3611 10000 CCS A 026202,005118: 25,3612 14707 TCF ISWRETRN 026203,005119: 026204,005120: 25,3613 03630 TC HLIGHT 026205,005121: 25,3614 03625 TC HLIGHT -3 026206,005122: 25,3615 14707 TCF ISWRETRN 026207,005123: 026208,005124: 25,3616 34753 RADLITES CA BIT1 026209,005125: 25,3617 71303 MASK IMODES33 026210,005126: 25,3620 10000 CCS A 026211,005127: 25,3621 00002 TC Q 026212,005128: 026213,005129: 25,3622 44747 CS BIT5 026214,005130: 25,3623 60061 AD ITEMP1 026215,005131: 25,3624 10000 CCS A 026216,005132: 25,3625 44753 CS ONE 026217,005133: 25,3626 13664 TCF VLIGHT 026218,005134: 026219,005135: 25,3627 14570 TCF RRTRKF 026220,005136: 026221,005137: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX 026222,005138: 026223,005139: 25,3631 34747 CA HLITE 026224,005140: 25,3632 54001 TS L 026225,005141: 026226,005142: 25,3633 30107 CA FLGWRD11 026227,005143: 25,3634 74751 MASK SCABBIT 026228,005144: 25,3635 10000 CCS A 026229,005145: 25,3636 13656 TCF ONLITES 026230,005146: 25,3637 34747 CA LRALTBIT 026231,005147: 25,3640 70110 BOTHLITS MASK RADMODES 026232,005148: 25,3641 10000 CCS A 026233,005149: 25,3642 13656 TCF ONLITES 026234,005150: 026235,005151: 25,3643 30107 CA FLGWRD11 026236,005152: 25,3644 50065 INDEX ITEMP5 026237,005153: 25,3645 74753 MASK HFLSHBIT 026238,005154: 25,3646 10000 CCS A 026239,005155: 25,3647 14570 TCF RRTRKF 026240,005156: # Page 613 026241,005157: 25,3650 00006 LITIT EXTEND 026242,005158: 25,3651 22066 QXCH ITEMP6 026243,005159: 25,3652 04602 TC TRKFLON +1 026244,005160: 026245,005161: 25,3653 00006 EXTEND 026246,005162: 25,3654 22066 QXCH ITEMP6 026247,005163: 25,3655 14570 TCF RRTRKF 026248,005164: 026249,005165: 026250,005166: 25,3656 50065 ONLITES INDEX ITEMP5 026251,005167: 25,3657 44753 CS HFLSHBIT 026252,005168: 25,3660 70107 MASK FLGWRD11 026253,005169: 25,3661 54107 TS FLGWRD11 026254,005170: 026255,005171: 25,3662 30001 CA L 026256,005172: 25,3663 13650 TCF LITIT 026257,005173: 25,3664 54065 VLIGHT TS ITEMP5 026258,005174: 25,3665 34751 CA VLITE 026259,005175: 25,3666 54001 TS L 026260,005176: 25,3667 34744 CA BIT8 026261,005177: 25,3670 13640 TCF BOTHLITS 026262,005178: 026263,005179: 25,3671 4747 HLITE EQUALS BIT5 026264,005180: 25,3671 4751 VLITE EQUALS BIT3 026265,005181: 026266,005182: # *** END OF LEMP20S .127 *** End of include-file P20-P25.agc. Parent file is MAIN.agc