Source Code

020810,000001: # Copyright: Public domain. 020811,000002: # Filename: P20-P25.agc 020812,000003: # Purpose: A section of Luminary 1C, revision 131. 020813,000004: # It is part of the source code for the Lunar Module's (LM) 020814,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. 020815,000006: # This file is intended to be a faithful transcription, except 020816,000007: # that the code format has been changed to conform to the 020817,000008: # requirements of the yaYUL assembler rather than the 020818,000009: # original YUL assembler. 020819,000010: # Reference: pp. 501-623 of 1729.pdf. 020820,000011: # Contact: Ron Burkey <info@sandroid.org>. 020821,000012: # Website: www.ibiblio.org/apollo/index.html 020822,000013: # Mod history: 05/15/03 RSB. Began transcribing. 020823,000014: # 12/01/03 RSB. Entered/corrected the previously-missing code from 020824,000015: # the bottom of p. 595 using a replacement scan 020825,000016: # provided by Gary Neff. 020826,000017: # 05/14/05 RSB Corrected website reference above. 020827,000018: # 2010-10-25 JL Fixed p583 page number. 020828,000019: # 2011-05-07 JL Removed workarounds. 020829,000020: 020830,000021: # Page 501 020831,000022: # RENDEZVOUS NAVIGATION PROGRAM 20 020832,000023: 020833,000024: # PROGRAM DESCRIPTION 020834,000025: 020835,000026: # MOD NO -- 2 020836,000027: # BY P. VOLANTE 020837,000028: 020838,000029: # FUNCTIONAL DESCRIPTION 020839,000030: 020840,000031: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM 020841,000032: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER 020842,000033: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY) 020843,000034: # ON THE BASIS OF THE RR TRACKING DATA. 020844,000035: 020845,000036: # CALLING SEQUENCE -- 020846,000037: 020847,000038: # ASTRONAUT REQUEST THROUGH DSKY V37E20E 020848,000039: 020849,000040: # SUBROUTINES CALLED 020850,000041: 020851,000042: # R02BOTH (IMU STATUS CHECK) FLAGUP 020852,000043: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN 020853,000044: # R23LEM (MANUAL ACQUISITION) BANKCALL 020854,000045: # LS201 (LOS DETERMINATION) TASKOVER 020855,000046: # LS202 (RANGE LIMIT TEST) 020856,000047: # R61LEM (PREFERRED TRACKING ATTITUDE) 020857,000048: # R21LEM (RR DESIGNATE) ENDOFJOB 020858,000049: # R22LEM (DATA READ) GOPERF1 020859,000050: # R31LEM (RENDEZVOUS PARAMETER DISPLAY) 020860,000051: # PRIOLARM (PRIORITY DISPLAY) 020861,000052: 020862,000053: # NORMAL EXIT MODES -- 020863,000054: 020864,000055: # P20 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING 020865,000056: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E 020866,000057: 020867,000058: # ALARM OR ABORT EXIT MODES -- 020868,000059: 020869,000060: # RANGE GREATER THAN 400 NM DISPLAY 020870,000061: 020871,000062: # OUTPUT 020872,000063: 020873,000064: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER) 020874,000065: 020875,000066: # ERASABLE INITIALIZATION REQUIRED 020876,000067: 020877,000068: # FLAGS SET + RESET 020878,000069: 020879,000070: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG 020880,000071: 020881,000072: # DEBRIS 020882,000073: 020883,000074: # CENTRALS -- A,Q,L 020884,000075: 020885,000076: 25,2073 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S. 020886,000077: 020887,000078: 33,2045 BANK 33 020888,000079: 24,2000 SETLOC P20S 020889,000080: 24,2000 BANK 020890,000081: 020891,000082: 24,2000 E7,1456 EBANK= LOSCOUNT 020892,000083: 24,2000 COUNT* $$/P20 020893,000084: 24,2000 24,2000 PROG22 = PROG20 020894,000085: 24,2000 05327 PROG20 TC 2PHSCHNG 020895,000086: 24,2001 00004 OCT 4 020896,000087: 24,2002 05022 OCT 05022 020897,000088: 24,2003 26000 OCT 26000 # PRIORITY 26 020898,000089: 24,2004 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE 020899,000090: # Page 502 020900,000091: 24,2005 02007 TC ORBCHGO # YES 020901,000092: 24,2006 02036 TC PROG20A -2 # NO -- CONTINUE WITH P20 020902,000093: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG -- CSM STATE 020903,000094: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED 020904,000095: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT 020905,000096: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT 020906,000097: 24,2013 34363 CAF OCT00012 020907,000098: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION 020908,000099: 24,2015 20634 CADR GOPERF4 020909,000100: 24,2016 06001 TC GOTOP00H # TERMINATE 020910,000101: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK 020911,000102: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY 020912,000103: 24,2021 44753 ORBCHG1 CS ONE 020913,000104: 24,2022 61144 AD OPTION2 020914,000105: 24,2023 00006 EXTEND 020915,000106: 24,2024 12040 BZF PROG20A 020916,000107: 24,2025 32311 CAF V06N33* 020917,000108: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED 020918,000109: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH 020919,000110: 24,2030 06001 TC GOTOP00H # TERMINATE 020920,000111: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK 020921,000112: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY 020922,000113: 24,2033 06042 ORBCHG2 TC INTPRET 020923,000114: 24,2034 77650 GOTO 020924,000115: 24,2035 64217 ORBCHG3 020925,000116: 020926,000117: 32,2217 BANK 32 020927,000118: 32,2000 SETLOC P20S4 020928,000119: 32,2000 BANK 020929,000120: 32,2217 COUNT* $$/P20 020930,000121: 020931,000122: 32,2217 77624 ORBCHG3 CALL 020932,000123: 32,2220 27410 INTSTALL 020933,000124: 32,2221 77745 DLOAD 020934,000125: 32,2222 03442 TIG 020935,000126: 32,2223 03661 STORE LNCHTM 020936,000127: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME 020937,000128: 32,2225 43014 CLEAR CLEAR 020938,000129: 32,2226 01674 VINTFLAG # LM INTEGRATION 020939,000130: 32,2227 01673 INTYPFLG # PRECISION -- ENCKE 020940,000131: 32,2230 43014 CLEAR CLEAR 020941,000132: 32,2231 01676 DIM0FLAG # NO W-MATRIX 020942,000133: 32,2232 01675 D6OR9FLG 020943,000134: 32,2233 77624 CALL 020944,000135: 32,2234 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION 020945,000136: 32,2235 77624 CALL 020946,000137: 32,2236 11210 GRP2PC 020947,000138: 32,2237 77775 VLOAD 020948,000139: 32,2240 00017 RATT1 020949,000140: 32,2241 17631 STODL RSUBL # SAVE LM POSITION 020950,000141: 32,2242 00015 TAT 020951,000142: # Page 503 020952,000143: 32,2243 34041 STCALL TDEC1 020953,000144: 32,2244 27410 INTSTALL 020954,000145: 32,2245 43014 SET CLEAR 020955,000146: 32,2246 01474 VINTFLAG # CSM INTEGRATION 020956,000147: 32,2247 01673 INTYPFLG 020957,000148: 32,2250 43014 CLEAR BOFF 020958,000149: 32,2251 01676 DIM0FLAG 020959,000150: 32,2252 02756 RENDWFLG # W MATRIX VALID 020960,000151: 32,2253 64257 NOWMATX # NO 020961,000152: 32,2254 43014 SET SET # YES -- SET FOR W MATRIX 020962,000153: 32,2255 01476 DIM0FLAG 020963,000154: 32,2256 01475 D6OR9FLG 020964,000155: 32,2257 77624 NOWMATX CALL 020965,000156: 32,2260 27133 INTEGRV # CSM INTEGRATION 020966,000157: 32,2261 77624 CALL 020967,000158: 32,2262 11210 GRP2PC 020968,000159: 32,2263 77775 VLOAD 020969,000160: 32,2264 00025 VATT1 020970,000161: 32,2265 25761 STOVL VSUBC # SAVE CSM POSITION 020971,000162: 32,2266 00017 RATT1 020972,000163: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION 020973,000164: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE 020974,000165: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(GM)) 020975,000166: 32,2272 24025 STOVL 20D # SAVE NSUB1 020976,000167: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL 020977,000168: 32,2274 53435 VXV UNIT # PLANE CHANGE 020978,000169: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1) 020979,000170: 32,2276 27637 STOVL UCSM 020980,000171: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM 020981,000172: 32,2300 50256 UNIT DOT # AND RSUBC 020982,000173: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM)) 020983,000174: 32,2302 77752 SL1 020984,000175: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE 020985,000176: 32,2304 44316 DSQ BDSU # COMPUTE SINE A 020986,000177: 32,2305 06514 ONEB-2 020987,000178: 32,2306 77766 SQRT 020988,000179: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE 020989,000180: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH 020990,000181: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETHA B-27 020991,000182: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH. 020992,000183: 32,2313 77676 VCOMP 020993,000184: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5 020994,000185: 32,2315 45014 CLEAR CALL 020995,000186: 32,2316 03666 RVSW 020996,000187: 32,2317 24732 TIMETHET 020997,000188: 32,2320 77676 VCOMP 020998,000189: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM 020999,000190: 32,2322 77745 DLOAD 021000,000191: 32,2323 00037 T 021001,000192: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME 021002,000193: # Page 504 021003,000194: 32,2325 03645 NEWVEL 021004,000195: 32,2326 77646 ABVAL 021005,000196: 32,2327 24025 STOVL 20D 021006,000197: 32,2330 00001 0D 021007,000198: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM 021008,000199: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO SCM ORBITAL PLANE 021009,000200: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM)) 021010,000201: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED 021011,000202: 32,2335 03653 NEWPOS # ORBITAL PLANE 021012,000203: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) 021013,000204: 32,2337 00025 20D 021014,000205: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY 021015,000206: 32,2341 11210 GRP2PC 021016,000207: 32,2342 77624 CALL 021017,000208: 32,2343 27410 INTSTALL 021018,000209: 32,2344 44345 DLOAD BDSU 021019,000210: 32,2345 03663 TRANSTM # LAUNCH TIME -- TRANSFER TIME 021020,000211: 32,2346 03661 LNCHTM 021021,000212: 32,2347 25517 STOVL TET 021022,000213: 32,2350 03653 NEWPOS 021023,000214: 32,2351 01535 STORE RCV 021024,000215: 32,2352 25503 STOVL RRECT 021025,000216: 32,2353 03665 NCSMVEL 021026,000217: 32,2354 35511 STCALL VRECT 021027,000218: 32,2355 27705 MINIRECT 021028,000219: 32,2356 45174 AXT,2 CALL 021029,000220: 32,2357 00002 2 021030,000221: 32,2360 26660 ATOPCSM 021031,000222: 32,2361 77624 CALL 021032,000223: 32,2362 27417 INTWAKE0 021033,000224: 32,2363 77776 EXIT 021034,000225: 32,2364 04616 TC BANKCALL 021035,000226: 32,2365 50040 CADR PROG20A 021036,000227: 021037,000228: 24,2036 BANK 24 021038,000229: 24,2000 SETLOC P20S 021039,000230: 24,2000 BANK 021040,000231: 24,2036 COUNT* $$/P20 021041,000232: 021042,000233: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG -- LM STATE VECTOR 021043,000234: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED 021044,000235: 24,2040 04616 PROG20A TC BANKCALL 021045,000236: 24,2041 11233 CADR R02BOTH 021046,000237: 24,2042 05504 TC UPFLAG 021047,000238: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG 021048,000239: 24,2044 05504 TC UPFLAG 021049,000240: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG 021050,000241: 24,2046 05504 TC UPFLAG 021051,000242: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG 021052,000243: 24,2050 05516 TC DOWNFLAG 021053,000244: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF 021054,000245: # Page 505 021055,000246: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET 021056,000247: 24,2053 00040 ADRES ACMODFLG 021057,000248: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING 021058,000249: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CAN'T READ RADAR 021059,000250: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED 021060,000251: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG) 021061,000252: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG 021062,000253: 24,2061 00041 ADRES LOSCMFLG 021063,000254: 24,2062 06011 TC CLRADMOD 021064,000255: 24,2063 05353 P20LEM1 TC PHASCHNG 021065,000256: 24,2064 04022 OCT 04022 021066,000257: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER 021067,000258: 24,2066 55462 TS MARKCTR 021068,000259: 24,2067 06042 TC INTPRET # LOS DETERMINATION ROUTINE 021069,000260: 24,2070 77634 RTB 021070,000261: 24,2071 21574 LOADTIME 021071,000262: 24,2072 34041 STCALL TDEC1 021072,000263: 24,2073 51256 LPS20.1 021073,000264: 24,2074 77624 CALL 021074,000265: 24,2075 53570 LPS20.2 # TEST RANGE R/UTINE 021075,000266: 24,2076 77776 EXIT 021076,000267: 24,2077 50154 INDEX MPAC 021077,000268: 24,2100 02101 TC +1 021078,000269: 24,2101 02111 TC P20LEMA # NORMAL RETURN WTIHIN 400 N M 021079,000270: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT -- RANGE > 400 N. MI. 021080,000271: 24,2103 04616 TC BANKCALL 021081,000272: 24,2104 21563 CADR PRIOLARM 021082,000273: 24,2105 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 021083,000274: 24,2106 02102 TC -4 # PROC (ILLEGAL) 021084,000275: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE 021085,000276: 24,2110 05155 TC ENDOFJOB 021086,000277: 021087,000278: 24,2111 05353 P20LEMA TC PHASCHNG 021088,000279: 24,2112 04022 OCT 04022 021089,000280: 24,2113 02670 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG) 021090,000281: 24,2114 02117 TC P20LEMB 021091,000282: 24,2115 04616 TC BANKCALL 021092,000283: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE 021093,000284: 24,2117 05353 P20LEMB TC PHASCHNG 021094,000285: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37 021095,000286: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST 021096,000287: 24,2122 37717 CAF PRIO26 # RESTORE PRIORITY 26 021097,000288: 24,2123 05146 TC PRIOCHNG 021098,000289: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET 021099,000290: 24,2125 74747 MASK TRACKBIT 021100,000291: 24,2126 00006 EXTEND 021101,000292: 24,2127 12232 BZF P20LEMWT # BRANCH -- NO -- WAIT FOR IT TO BE SET 021102,000293: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT 021103,000294: 24,2131 00006 EXTEND 021104,000295: # Page 506 021105,000296: 24,2132 02033 RAND CHAN33 021106,000297: 24,2133 00006 EXTEND 021107,000298: 24,2134 12170 BZF P20LEMB3 # YES -- DO AUTOMATIC ACQUISITION (R21) 021108,000299: 021109,000300: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF 021110,000301: 24,2136 61010 AD MODREG # MAJOR MODE IS 20 021111,000302: 24,2137 00006 EXTEND 021112,000303: 24,2140 12153 BZF P20LEMB6 # BRANCH -- YES -- OKAY TO DO PLEASE PERFORM 021113,000304: 021114,000305: 24,2141 67751 AD NEG2 # ALSO CHECK FOR P22 021115,000306: 24,2142 00006 EXTEND 021116,000307: 24,2143 12153 BZF P20LEMB6 # BRANCH -- YES OK TO DO PLEASE PERFORM 021117,000308: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET -- FLASH PRIORITY ALARM 514 -- 021118,000309: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE 021119,000310: 24,2146 21563 CADR PRIOLARM 021120,000311: 24,2147 06025 TC GOTOV56 # TERMINATE EXITS VIA V56 021121,000312: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK 021122,000313: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN 021123,000314: 24,2152 05155 TC ENDOFJOB 021124,000315: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION 021125,000316: 24,2154 04616 TC BANKCALL 021126,000317: 24,2155 20624 CADR GOPERF1 021127,000318: 24,2156 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 021128,000319: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN 021129,000320: 24,2160 02670 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23) 021130,000321: 24,2161 02166 TC P20LEMB2 # YES -- R23 NOT ALLOWED -- TURN ON OPR ERROR 021131,000322: 24,2162 03137 TC R23LEM # NO -- DO MANUAL ACQUISITION 021132,000323: 021133,000324: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 -- LOCKON ACHIEVED 021134,000325: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK 021135,000326: 24,2165 02117 TC P20LEMB # RR AUTO MODE 021136,000327: 021137,000328: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY 021138,000329: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE 021139,000330: 021140,000331: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED 021141,000332: 24,2171 74737 MASK RCDU0BIT 021142,000333: 24,2172 00006 EXTEND 021143,000334: 24,2173 12205 BZF P20LEMB4 # BRANCH -- YES -- WAIT 021144,000335: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET 021145,000336: 24,2175 70076 MASK FLAGWRD2 021146,000337: 24,2176 00006 EXTEND 021147,000338: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISITION 021148,000339: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE 021149,000340: 24,2201 00037 ADRES SRCHOPTN 021150,000341: # Page 507 021151,000342: 24,2202 05516 TC DOWNFLAG 021152,000343: 24,2203 00040 ADRES ACMODFLG 021153,000344: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ 021154,000345: 021155,000346: 24,2205 32304 P20LEMB4 CAF 250DEC 021156,000347: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING 021157,000348: 24,2207 01736 CADR DELAYJOB # ZEROED -- THEN GO BACK AND CHECK AGAIN 021158,000349: 24,2210 02170 TC P20LEMB3 021159,000350: 021160,000351: 24,2211 06042 P20LEMC3 TC INTPRET 021161,000352: 24,2212 77634 RTB 021162,000353: 24,2213 21574 LOADTIME 021163,000354: 24,2214 34041 STCALL TDEC1 021164,000355: 24,2215 50312 UPPSV 021165,000356: 24,2216 77776 P20LEMC4 EXIT 021166,000357: 24,2217 05353 P20LEMC TC PHASCHNG 021167,000358: 24,2220 04022 OCT 04022 021168,000359: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET 021169,000360: 24,2222 74745 MASK RNDVZBIT 021170,000361: 24,2223 00006 EXTEND 021171,000362: 24,2224 15155 BZF ENDOFJOB # NO -- EXIT P20 021172,000363: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1) 021173,000364: 24,2226 74747 MASK TRACKBIT 021174,000365: 24,2227 00006 EXTEND 021175,000366: 24,2230 12264 BZF P20LEMD # BRANCH -- TRACK FLAG NOT ON -- WAIT 15 SECONDS 021176,000367: 24,2231 02675 P20LEMF TC R21LEM 021177,000368: 021178,000369: 24,2232 32304 P20LEMWT CAF 250DEC 021179,000370: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK 021180,000371: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS 021181,000372: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET 021182,000373: 24,2236 74747 MASK TRACKBIT 021183,000374: 24,2237 00006 EXTEND 021184,000375: 24,2240 15155 BZF ENDOFJOB # NO -- EXIT WITHOUT DOING 2.7 PHASE CHANGE 021185,000376: 24,2241 05353 P20LMWT1 TC PHASCHNG 021186,000377: 24,2242 40072 OCT 40072 021187,000378: 24,2243 05155 TC ENDOFJOB 021188,000379: 021189,000380: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET 021190,000381: 24,2245 74745 MASK RNDVZBIT 021191,000382: 24,2246 00006 EXTEND 021192,000383: 24,2247 15261 BZF TASKOVER # NO -- EXIT P20/R22 021193,000384: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET 021194,000385: 24,2251 74747 MASK TRACKBIT 021195,000386: 24,2252 00006 EXTEND 021196,000387: 24,2253 12261 BZF P20LEMC2 # NO -- DON'T SCHEDULE R22 JOB 021197,000388: # Page 508 021198,000389: 24,2254 37717 CAF PRIO26 # YES -- SCHEDULE R22 JOB (RR DATA READ) 021199,000390: 24,2255 05105 TC FINDVAC 021200,000391: 24,2256 E7,1456 EBANK= LOSCOUNT 021201,000392: 24,2256 02631 50067 2CADR R22LEM42 021202,000393: 021203,000394: 24,2260 05261 TC TASKOVER 021204,000395: 021205,000396: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS 021206,000397: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN 021207,000398: 021208,000399: 24,2263 02244 TC P20LEMC1 021209,000400: 021210,000401: 24,2264 32667 P20LEMD CAF 1500DEC 021211,000402: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 5 SECONDS 021212,000403: 24,2266 02270 ADRES P20LEMD1 021213,000404: 24,2267 05155 TC ENDOFJOB 021214,000405: 021215,000406: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET 021216,000407: 24,2271 74747 MASK TRACKBIT 021217,000408: 24,2272 10000 CCS A 021218,000409: 24,2273 12277 TCF P20LEMD2 # YES -- SCHEDULE DESIGNATE JOB 021219,000410: 24,2274 05221 TC FIXDELAY # NO -- WAIT 15 SECONDS 021220,000411: 24,2275 02734 DEC 1500 B-14 021221,000412: 24,2276 02270 TC P20LEMD1 021222,000413: 021223,000414: 24,2277 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21 021224,000415: 24,2300 05105 TC FINDVAC 021225,000416: 24,2301 E7,1456 EBANK= LOSCOUNT 021226,000417: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION 021227,000418: 021228,000419: 24,2303 05261 TC TASKOVER 021229,000420: 021230,000421: 24,2304 00372 250DEC DEC 250 B-14 021231,000422: 24,2305 00526 ALRM526 OCT 00526 021232,000423: 24,2306 00201 OCT201 OCT 00201 021233,000424: 24,2307 00514 ALRM514 OCT 514 021234,000425: 24,2310 00074 MAXTRIES DEC 60 B-14 021235,000426: 24,2311 4363 OCT00012 EQUALS BINCON 021236,000427: 24,2311 23,2513 ONEB-2 EQUALS DP1/4TH 021237,000428: 24,2311 01441 V06N33* VN 0633 021238,000429: 24,2312 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS 021239,000430: 24,2313 01757 LS21X # TO PRESENT TIME 021240,000431: 24,2314 27410 INTSTALL 021241,000432: 24,2315 77624 CALL 021242,000433: 24,2316 26643 SETIFLGS 021243,000434: 24,2317 43014 BOF SET # IF W-MATRIX INVALID, DON'T INTEGRATE IT 021244,000435: # Page 509 021245,000436: 24,2320 02756 RENDWFLG 021246,000437: 24,2321 50332 UPPSV1 021247,000438: 24,2322 01476 DIM0FLAG # SET DIM0FLAG TO INTEGRATE W-MATRIX 021248,000439: 24,2323 43014 BON SET 021249,000440: 24,2324 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6 021250,000441: 24,2325 50327 UPPSV5 021251,000442: 24,2326 01475 D6OR9FLG # OTHERWISE 9X9 021252,000443: 24,2327 77614 UPPSV5 BOF 021253,000444: 24,2330 00747 VEHUPFLG 021254,000445: 24,2331 50364 UPPSV3 021255,000446: 24,2332 77614 UPPSV1 SET 021256,000447: 24,2333 01474 VINTFLAG 021257,000448: 24,2334 77624 CALL 021258,000449: 24,2335 27133 INTEGRV 021259,000450: 24,2336 77624 CALL # GROUP 2 PHASE CHANGE 021260,000451: 24,2337 11210 GRP2PC # TO PROTECT INTEGRATION 021261,000452: 24,2340 77624 CALL 021262,000453: 24,2341 27410 INTSTALL 021263,000454: 24,2342 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT. 021264,000455: 24,2343 01571 TETCSM 021265,000456: 24,2344 01674 VINTFLAG 021266,000457: 24,2345 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE 021267,000458: 24,2346 26643 SETIFLGS # WITHOUT W-MATRIX 021268,000459: 24,2347 34041 STCALL TDEC1 021269,000460: 24,2350 27133 INTEGRV 021270,000461: 24,2351 77214 BOFF VLOAD 021271,000462: 24,2352 04347 SURFFLAG 021272,000463: 24,2353 50216 P20LEMC4 021273,000464: 24,2354 01661 RCVLEM 021274,000465: 24,2355 77742 VSR2 021275,000466: 24,2356 26352 STOVL LMPOS 021276,000467: 24,2357 01667 VCVLEM 021277,000468: 24,2360 77742 VSR2 021278,000469: 24,2361 02360 STORE LMVEL 021279,000470: 24,2362 77650 GOTO 021280,000471: 24,2363 01757 LS21X 021281,000472: 021282,000473: 24,2364 45014 UPPSV3 CLEAR CALL 021283,000474: 24,2365 01674 VINTFLAG 021284,000475: 24,2366 27133 INTEGRV 021285,000476: 24,2367 77624 CALL 021286,000477: 24,2370 11210 GRP2PC 021287,000478: 24,2371 77624 CALL 021288,000479: 24,2372 27410 INTSTALL 021289,000480: 24,2373 71214 SET DLOAD 021290,000481: 24,2374 01474 VINTFLAG 021291,000482: 24,2375 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT. 021292,000483: 24,2376 77650 GOTO 021293,000484: 24,2377 50345 UPPSV4 021294,000485: # Page 510 021295,000486: 24,2400 E7,1456 EBANK= LOSCOUNT 021296,000487: 24,2400 COUNT* $$/P22 021297,000488: 021298,000489: # Page 511 021299,000490: # PROGRAM DESCRIPTION 021300,000491: 021301,000492: # PREFERRED TRACKING ATTITUDE PROGRAM P25 021302,000493: # MOD NO -- 3 021303,000494: # BY P. VOLANTE 021304,000495: 021305,000496: # FUNCTIONAL DESCRIPTION 021306,000497: 021307,000498: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING 021308,000499: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRTACKING BEACON AT THE 021309,000500: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND 021310,000501: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS. 021311,000502: 021312,000503: # CALLING SEQUENCE -- 021313,000504: 021314,000505: # ASTRONAUT REQUEST THROUGH DSKY V37E25E 021315,000506: 021316,000507: # SUBROUTINES CALLED -- 021317,000508: 021318,000509: # BANKCALL FLAGUP 021319,000510: # R02BOTH (IMU STATUS CHECK) ENDOFJOB 021320,000511: # R61LEM (PREF TRK ATT ROUT) WAITLIST 021321,000512: # TASKOVER FINDVAC 021322,000513: 021323,000514: # NORMAL EXIT MODES -- 021324,000515: 021325,000516: # P25 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING 021326,000517: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E 021327,000518: 021328,000519: # ALARM OR ABORT EXIT MODES -- 021329,000520: 021330,000521: # NONE 021331,000522: 021332,000523: # OUTPUT 021333,000524: 021334,000525: # ERASABLE INITIALIZATION REQUIRED 021335,000526: 021336,000527: # FLAGS SET + RESET 021337,000528: 021338,000529: # TRACKFLG, P25FLAG 021339,000530: 021340,000531: # DEBRIS 021341,000532: 021342,000533: # NONE 021343,000534: 021344,000535: 24,2400 E7,1456 EBANK= LOSCOUNT 021345,000536: 24,2400 COUNT* $$/P25 021346,000537: 24,2400 05327 PROG25 TC 2PHSCHNG 021347,000538: 24,2401 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37) 021348,000539: 24,2402 05022 OCT 05022 021349,000540: 24,2403 26000 OCT 26000 # PRIORITY 26 021350,000541: 021351,000542: 24,2404 04616 TC BANKCALL 021352,000543: 24,2405 11233 CADR R02BOTH # IMU STATUS CHECK 021353,000544: 24,2406 05504 TC UPFLAG 021354,000545: 24,2407 00031 ADRES TRACKFLG # SET TRACK FLAG 021355,000546: 24,2410 05504 TC UPFLAG 021356,000547: 24,2411 00006 ADRES P25FLAG # SET P25FLAG 021357,000548: 24,2412 05516 TC DOWNFLAG 021358,000549: 24,2413 00010 ADRES RNDVZFLG 021359,000550: 24,2414 05353 P25LEM1 TC PHASCHNG 021360,000551: 24,2415 04022 OCT 04022 021361,000552: 24,2416 34743 CAF P25FLBIT 021362,000553: 24,2417 70074 MASK STATE # IS P25FLAG SET 021363,000554: 24,2420 00006 EXTEND 021364,000555: 24,2421 15155 BZF ENDOFJOB 021365,000556: 24,2422 34747 CAF TRACKBIT # IS TRACKFLAG SET? 021366,000557: # Page 512 021367,000558: 24,2423 70075 MASK STATE +1 021368,000559: 24,2424 00006 EXTEND 021369,000560: 24,2425 12433 BZF P25LMWT1 # NO -- SKIP PHASE CHANGE AND WAIT 1 MINUTE 021370,000561: 24,2426 34757 CAF SEVEN # CALL R65 -- FINE PREFERRED 021371,000562: 24,2427 55745 TS R65CNTR 021372,000563: 24,2430 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE 021373,000564: 24,2431 46123 CADR R65LEM 021374,000565: 24,2432 02414 TC P25LEM1 # THEN GO CHECK FLAGS 021375,000566: 24,2433 32444 P25LMWT1 CAF 60SCNDS 021376,000567: 24,2434 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN 021377,000568: 24,2435 02437 ADRES P25LEM2 021378,000569: 24,2436 05155 TC ENDOFJOB 021379,000570: 24,2437 35024 P25LEM2 CAF PRIO14 021380,000571: 24,2440 05105 TC FINDVAC 021381,000572: 24,2441 E7,1456 EBANK= LOSCOUNT 021382,000573: 24,2441 02414 50067 2CADR P25LEM1 021383,000574: 021384,000575: 24,2443 05261 TC TASKOVER 021385,000576: 24,2444 13560 60SCNDS DEC 6000 B-14 021386,000577: 021387,000578: # Page 513 021388,000579: # DATA READ ROUTINE 22 (LEM) 021389,000580: # PROGRAM DESCRIPTION 021390,000581: 021391,000582: # MOD NO -- 2 021392,000583: # BY P. VOLANTE 021393,000584: 021394,000585: # FUNCTIONAL DESCRIPTION 021395,000586: 021396,000587: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER 021397,000588: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20) 021398,000589: 021399,000590: # CALLING SEQUENCE -- 021400,000591: 021401,000592: # TC BANKCALL 021402,000593: # CADR R22LEM 021403,000594: 021404,000595: # SUBROUTINES CALLED -- 021405,000596: 021406,000597: # LSR22.1 GOFLASH WAITLIST 021407,000598: # LSR22.2 PRIOLARM BANKCALL 021408,000599: # LSR22.3 R61LEM 021409,000600: 021410,000601: # NORMAL EXIT MODES -- 021411,000602: 021412,000603: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA 021413,000604: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME 021414,000605: # R22 WILL TERMINATE SELF. 021415,000606: 021416,000607: # ALARM OR ABORT EXIT MODES -- 021417,000608: 021418,000609: # PRIORITY ALARM 021419,000610: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT 021420,000611: 021421,000612: # OUTPUT 021422,000613: 021423,000614: # SEE OUTPUT FROM LSR22.3 021424,000615: 021425,000616: # ERASABLE INITIALIZATION REQUIRED 021426,000617: 021427,000618: # SEE LSR22.1, LSR22.2, LSR22.3 021428,000619: 021429,000620: # FLAGS SET + RESET 021430,000621: 021431,000622: # NOANGFLG 021432,000623: 021433,000624: # DEBRIS 021434,000625: 021435,000626: # SEE LSR22.1, LSR22.2, LSR22.3 021436,000627: 021437,000628: 24,2445 E7,1737 EBANK= LRS22.1X 021438,000629: 24,2445 COUNT* $$/R22 021439,000630: 24,2445 05353 R22LEM TC PHASCHNG 021440,000631: 24,2446 04022 OCT 04022 021441,000632: 24,2447 34745 CAF RNDVZBIT # IS RENDEZVOUS FLAG SET? 021442,000633: 24,2450 70074 MASK STATE 021443,000634: 24,2451 00006 EXTEND 021444,000635: 24,2452 15155 BZF ENDOFJOB # NO -- EXIT R22 AND P20 021445,000636: 24,2453 34747 CAF TRACKBIT # IS TRACKFLAG SET? 021446,000637: 24,2454 70075 MASK STATE +1 021447,000638: 24,2455 00006 EXTEND 021448,000639: 24,2456 12640 BZF R22WAIT # NO WAIT 021449,000640: 24,2457 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL 021450,000641: 24,2460 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARS IT) 021451,000642: 24,2461 02012 RAND CHAN12 021452,000643: 24,2462 00006 EXTEND 021453,000644: 24,2463 12111 BZF P20LEMA # NO -- RETURN TO P20 021454,000645: 24,2464 34752 CAF BIT2 # YES 021455,000646: 24,2465 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT 021456,000647: 24,2466 02033 RAND CHAN33 021457,000648: # Page 514 021458,000649: 24,2467 00006 EXTEND 021459,000650: 24,2470 12472 BZF +2 # YES CONTINUE 021460,000651: 24,2471 02135 TC P20LEMB5 # NO -- SET IT 021461,000652: 24,2472 40110 CS RADMODES # ARE RR CDUS BEING ZEROED 021462,000653: 24,2473 74737 MASK RCDU0BIT 021463,000654: 24,2474 00006 EXTEND 021464,000655: 24,2475 12631 BZF R22LEM42 # CDUS BEING ZEROED 021465,000656: 24,2476 05353 TC PHASCHNG # IF A RESTART OCCURS, AND EXTRA RADAR 021466,000657: 24,2477 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED 021467,000658: 24,2500 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS 021468,000659: 24,2501 64366 CADR LRS22.1 # DATA READ SUBROUTINE 021469,000660: 24,2502 50154 INDEX MPAC 021470,000661: 24,2503 02504 TC +1 021471,000662: 24,2504 02525 TC R22LEM2 # NORMAL RETURN (GOOD DATA) 021472,000663: 24,2505 02217 TC P20LEMC # COULD NOT READ RADAR -- TRY TO REDESIGNATE 021473,000664: 24,2506 32664 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM) 021474,000665: 24,2507 04616 TC BANKCALL 021475,000666: 24,2510 21563 CADR PRIOLARM 021476,000667: 24,2511 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 021477,000668: 24,2512 02515 TC R22LEM1 # PROC (DISPLAY DELTA THETA) 021478,000669: 24,2513 02506 TC -5 # ENTER (ILLEGAL OPTION) 021479,000670: 24,2514 05155 TC ENDOFJOB 021480,000671: 021481,000672: 24,2515 05353 R22LEM1 TC PHASCHNG 021482,000673: 24,2516 04022 OCT 04022 021483,000674: 24,2517 32665 CAF V06N05 # DISPLAY DELTA THETA 021484,000675: 24,2520 04616 TC BANKCALL 021485,000676: 24,2521 20510 CADR PRIODSP 021486,000677: 24,2522 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 021487,000678: 24,2523 02525 TC R22LEM2 # PROC (OK CONTINUE) 021488,000679: 24,2524 02217 TC P20LEMC # ENTER (RECYCLE) 021489,000680: 24,2525 05353 R22LEM2 TC PHASCHNG 021490,000681: 24,2526 04022 OCT 04022 021491,000682: 24,2527 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET) 021492,000683: 24,2530 02545 TC R22LEM3 # YES -- BYPASS FLAG CHECKS AND LRS22.2 021493,000684: 24,2531 30075 CA FLAGWRD1 # IS TRACK FLAG SET 021494,000685: 24,2532 74747 MASK TRACKBIT 021495,000686: 24,2533 00006 EXTEND 021496,000687: 24,2534 12640 BZF R22WAIT # NO -- WAIT 021497,000688: 24,2535 04616 TC BANKCALL # YES 021498,000689: 24,2536 51334 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z 021499,000690: 24,2537 50154 INDEX MPAC 021500,000691: 24,2540 02541 TC +1 021501,000692: 24,2541 02545 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS) 021502,000693: 24,2542 04616 TC BANKCALL 021503,000694: 24,2543 46116 CADR R61LEM 021504,000695: 24,2544 02640 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS 021505,000696: 24,2545 40075 R22LEM3 CS FLAGWRD1 # SHOULD W BYPASS STATE VECTOR UPDATE 021506,000697: 24,2546 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?) 021507,000698: # Page 515 021508,000699: 24,2547 00006 EXTEND 021509,000700: 24,2550 12631 BZF R22LEM42 # BRANCH -- YES 021510,000701: 24,2551 30075 CA FLAGWRD1 # IS UPDATE FLAG SET 021511,000702: 24,2552 74745 MASK UPDATBIT 021512,000703: 24,2553 00006 EXTEND 021513,000704: 24,2554 12631 BZF R22LEM42 # UPDATE FLAG NOT SET 021514,000705: 24,2555 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART 021515,000706: 24,2556 55055 TS PHSPRDT2 021516,000707: 021517,000708: 24,2557 06042 TC INTPRET 021518,000709: 24,2560 77650 GOTO 021519,000710: 24,2561 54416 LSR22.3 021520,000711: 24,2562 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3 021521,000712: 24,2563 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINS 021522,000713: 24,2564 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE 021523,000714: 24,2565 12624 TCF R22LEM44 021524,000715: 24,2566 77776 R22LEM96 EXIT 021525,000716: 24,2567 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE 021526,000717: 24,2570 55746 TS N49FLAG # V06 N49 DISPLAY HASN'T BEEN ANSWERED 021527,000718: 24,2571 05353 TC PHASCHNG 021528,000719: 24,2572 04022 OCT 04022 # TO PROTECT DISPLAY 021529,000720: 24,2573 37720 CAF PRIO27 # PROTECT DISPLAY 021530,000721: 24,2574 05072 TC NOVAC 021531,000722: 24,2575 E7,1746 EBANK= N49FLAG 021532,000723: 24,2575 02645 50067 2CADR N49DSP 021533,000724: 021534,000725: 24,2577 06042 TC INTPRET 021535,000726: 24,2600 77735 SLOAD 021536,000727: 24,2601 03747 N49FLAG 021537,000728: 24,2602 50054 BZE BMN # LOOP TO CHECK IF FLAG 021538,000729: 24,2603 50600 -3 # SETTING CHANGED -- BRANCH -- NO 021539,000730: 24,2604 50612 R22LEM7 # PROCEED 021540,000731: 24,2605 77650 GOTO # DISPLAY ANSWERED BY RECYCLE -- INCORPORATE 021541,000732: 24,2606 03675 LGRET # NEXT MEASUREMENT 021542,000733: 24,2607 44752 V34TON49 CS TWO 021543,000734: 24,2610 55746 TS N49FLAG 021544,000735: 24,2611 05155 TC ENDOFJOB 021545,000736: 24,2612 77776 R22LEM7 EXIT 021546,000737: 24,2613 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM 021547,000738: 24,2614 64752 AD TWO 021548,000739: 24,2615 00006 EXTEND 021549,000740: 24,2616 12445 BZF R22LEM # BRANCH -- TERM -- TAKE ANOTHER RR READING 021550,000741: 24,2617 06042 TC INTPRET 021551,000742: 24,2620 77624 CALL 021552,000743: 24,2621 11210 GRP2PC # PHASE CHANGE AND 021553,000744: 24,2622 77650 GOTO # GO TO INCOPORATE DATA. 021554,000745: 24,2623 55431 ASTOK 021555,000746: 24,2624 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED. 021556,000747: 24,2625 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE 021557,000748: 24,2626 02642 TC R22LEM46 # YES -- WAIT 2 SECONDS 021558,000749: # Page 516 021559,000750: 24,2627 34756 CA FIVE # NOT ON LUNAR SURFACE 021560,000751: 24,2630 02634 TC R22LEM45 # R65COUNTER = 5 021561,000752: 24,2631 02670 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET) 021562,000753: 24,2632 02642 TC R22LEM46 # YES -- WAIT 2 SECONDS 021563,000754: 24,2633 34752 CA TWO # NO -- SET R65COUNTER = 2 021564,000755: 24,2634 55745 R22LEM45 TS R65CNTR 021565,000756: 24,2635 04616 TC BANKCALL 021566,000757: 24,2636 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE 021567,000758: 24,2637 02445 TC R22LEM 021568,000759: 24,2640 32667 R22WAIT CAF 1500DEC 021569,000760: 24,2641 02233 TC P20LEMWT +1 021570,000761: 021571,000762: 24,2642 04616 R22LEM46 TC BANKCALL 021572,000763: 24,2643 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK 021573,000764: 24,2644 02445 TC R22LEM 021574,000765: 021575,000766: 24,2645 32666 N49DSP CAF V06N49NB 021576,000767: 24,2646 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE -- FLASH 021577,000768: 24,2647 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V 021578,000769: 24,2650 02607 TC V34TON49 # TERMINATE -- SET N49FLAG = -2 021579,000770: 24,2651 44753 CS ONE # PROCEED -- N49FLAG = -1 021580,000771: 24,2652 55746 TS N49FLAG # RECYCLE -- N49FLAG = + VALUE 021581,000772: 24,2653 05155 TC ENDOFJOB 021582,000773: 24,2654 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR 021583,000774: 24,2655 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING 021584,000775: 24,2656 04616 TC BANKCALL # WHICH ISN'T USED TO PREVENT TAKING A BAD 021585,000776: 24,2657 53112 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE 021586,000777: 24,2660 04616 TC BANKCALL # BAD DATA 021587,000778: 24,2661 17705 CADR RADSTALL # WAIT FOR READ COMPLETE 021588,000779: 24,2662 02217 TC P20LEMC # COULD NOT READ RADAR -- TRY TO REDISGNATE 021589,000780: 24,2663 02445 TC R22LEM # READ SUCCESSFUL -- CONTINUE AT R22 021590,000781: 021591,000782: 24,2664 00525 ALRM525 OCT 00525 021592,000783: 24,2665 01405 V06N05 VN 00605 021593,000784: 24,2666 01461 V06N49NB VN 00649 021594,000785: 24,2667 02734 1500DEC DEC 1500 B-14 021595,000786: 021596,000787: # LUNSFCHECK -- CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG) 021597,000788: # RETURNS TO CALLER +1 IF P22FLAG SET 021598,000789: # TO CALLER +2 IF P22FLAG NOT SET 021599,000790: 021600,000791: 24,2670 COUNT* $$/P22 021601,000792: 24,2670 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE 021602,000793: 24,2671 74744 MASK SURFFBIT # IS SURFFLAG SET? 021603,000794: 24,2672 10000 CCS A # BRANCH -- P22FLAG SET 021604,000795: 24,2673 24002 INCR Q # NOT SET 021605,000796: 24,2674 00002 TC Q # RETURN 021606,000797: 021607,000798: # Page 517 021608,000799: # RR DESIGNATE ROUTINE (R21LEM) 021609,000800: # PROGRAM DESCRIPTION 021610,000801: 021611,000802: # MOD NO -- 2 021612,000803: # BY P. VOLANTE 021613,000804: 021614,000805: # FUNCTIONAL DESCRIPTION 021615,000806: 021616,000807: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION 021617,000808: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20. 021618,000809: 021619,000810: # CALLING SEQUENCE -- 021620,000811: 021621,000812: # TC BANKCALL 021622,000813: # CADR R21LEM 021623,000814: 021624,000815: # SUBROUTINES CALLED -- 021625,000816: 021626,000817: # FINDVAC FLAGUP ENDOFJOB PRIOLARM 021627,000818: # NOVAC INTPRET LPS20.1 PHASCHNG 021628,000819: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN 021629,000820: # TASKOVER BANKCALL RADSTALL RRDESSM 021630,000821: 021631,000822: # NORMAL EXIT MODES 021632,000823: # 021633,000824: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ 021634,000825: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA) 021635,000826: 021636,000827: # ALARM OR ABORT EXIT MODES -- 021637,000828: 021638,000829: # PRIORITY ALARM 503 WHEN LOCK-ON HASN'T BEEN ACHIEVED AFTER 30SECS -- 021639,000830: # THIS REQUIRES ASTRONAUT INTERFACE: SELECTION OF SEARCH OPTION OF 021640,000831: # ACQUISITION 021641,000832: 021642,000833: # OUTPUT 021643,000834: 021644,000835: # SEE LPS20.1, RRDESSM 021645,000836: 021646,000837: # ERASABLE INITIALIZATION REQUIRED 021647,000838: 021648,000839: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM 021649,000840: 021650,000841: # FLAGS SET + RESET 021651,000842: 021652,000843: # LOSCMFLG LOKONSW 021653,000844: 021654,000845: # DEBRIS 021655,000846: 021656,000847: # SEE LPS20.1, RRSESSM 021657,000848: 021658,000849: 24,2675 E7,1456 EBANK= LOSCOUNT 021659,000850: 24,2675 COUNT* $$/R21 021660,000851: 24,2675 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE 021661,000852: 24,2676 00006 EXTEND 021662,000853: 24,2677 03012 WAND CHAN12 021663,000854: 24,2700 02670 TC LUNSFCHK 021664,000855: 24,2701 02706 TC R21LEM5 021665,000856: 24,2702 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER 021666,000857: 24,2703 55106 TS TANG # IF NOT ON SURFACE -- MODE 1 -- (T=0,S=0) 021667,000858: 24,2704 55107 TS TANG +1 021668,000859: 24,2705 02716 TC R21LEM6 021669,000860: 24,2706 34740 R21LEM5 CAF BIT12 021670,000861: 24,2707 70110 MASK RADMODES 021671,000862: 24,2710 10000 CCS A 021672,000863: 24,2711 02726 TC R21LEM10 021673,000864: 24,2712 34735 CAF BIT15 021674,000865: 24,2713 55106 TS TANG 021675,000866: 24,2714 44736 CS HALF 021676,000867: 24,2715 55107 TS TANG +1 021677,000868: 021678,000869: # Page 518 021679,000870: 24,2716 05516 R21LEM6 TC DOWNFLAG 021680,000871: 24,2717 00012 ADRES LOKONSW 021681,000872: 24,2720 04616 TC BANKCALL 021682,000873: 24,2721 52506 CADR RRDESNB 021683,000874: 24,2722 02723 TC +1 021684,000875: 24,2723 04616 TC BANKCALL 021685,000876: 24,2724 17705 CADR RADSTALL 021686,000877: 24,2725 02761 TC R21-503 # BAD RETURN FROM DESIGNATE -- ISSUE ALARM 021687,000878: 24,2726 05504 R21LEM10 TC UPFLAG 021688,000879: 24,2727 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES 021689,000880: 24,2730 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS) 021690,000881: 24,2731 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON 021691,000882: 24,2732 36250 R21LEM2 CAF THREE 021692,000883: 24,2733 55456 TS LOSCOUNT 021693,000884: 24,2734 06042 R21LEM1 TC INTPRET 021694,000885: 24,2735 43234 RTB DAD 021695,000886: 24,2736 21574 LOADTIME 021696,000887: 24,2737 11122 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC. 021697,000888: 24,2740 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE 021698,000889: 24,2741 51256 LPS20.1 021699,000890: 24,2742 77776 EXIT 021700,000891: 24,2743 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR -- ON DESIRED 021701,000892: 24,2744 00012 ADRES LOKONSW 021702,000893: 24,2745 05516 TC DOWNFLAG 021703,000894: 24,2746 00126 ADRES NORRMON 021704,000895: 24,2747 06042 TC INTPRET 021705,000896: 24,2750 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1) 021706,000897: 24,2751 52404 RRDESSM # DESIGNATE ROUTINE 021707,000898: 24,2752 77776 EXIT 021708,000899: 24,2753 03002 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE 021709,000900: # ON LUNAR SURFACE 021710,000901: 24,2754 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED. 021711,000902: 24,2755 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED 021712,000903: 24,2756 17705 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE -- LOCKON OR 021713,000904: 24,2757 02761 TC +2 # BAD END -- LOCKON NOT ACHIEVED IN 60 TRIES 021714,000905: 24,2760 02770 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON) 021715,000906: 24,2761 33000 R21-503 CAF ALRM503 # ISSUE ALARM 503 021716,000907: 24,2762 04616 TC BANKCALL 021717,000908: 24,2763 21563 CADR PRIOLARM 021718,000909: 24,2764 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING 021719,000910: 24,2765 02775 TC R21SRCH # PROC 021720,000911: 24,2766 02211 TC P20LEMC3 021721,000912: 24,2767 05155 TC ENDOFJOB 021722,000913: 24,2770 05516 R21END TC DOWNFLAG 021723,000914: 24,2771 00041 ADRES LOSCMFLG # RESET LOSCMFLG 021724,000915: 24,2772 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE 021725,000916: 24,2773 02232 TC P20LEMWT # YES -- BYPASS V50 N 72 DISPLAY 021726,000917: 24,2774 03123 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY 021727,000918: 24,2775 05353 R21SRCH TC PHASCHNG 021728,000919: 24,2776 04022 OCT 04022 021729,000920: # Page 519 021730,000921: 24,2777 03210 TC R24LEM # SEARCH ROUTINE 021731,000922: 24,3000 00503 ALRM503 OCT 00503 021732,000923: 24,3001 00527 ALRM527 OCT 527 021733,000924: 021734,000925: 24,3002 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR 021735,000926: 24,3003 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.) 021736,000927: 24,3004 05504 TC UPFLAG 021737,000928: 24,3005 00005 ADRES FSPASFLG # SET FIRST PASS FLAG 021738,000929: 24,3006 05516 TC DOWNFLAG # RESET LOS BEING 021739,000930: 24,3007 00041 ADRES LOSCMFLG # COMPUTED FLAG 021740,000931: 24,3010 06042 TC INTPRET 021741,000932: 24,3011 77634 R21LEM12 RTB 021742,000933: 24,3012 21574 LOADTIME 021743,000934: 24,3013 77615 R21LEM00 DAD 021744,000935: 24,3014 11120 TENSEC # TIME T = T + 10 SECS. 021745,000936: 24,3015 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV 021746,000937: 24,3016 34041 STCALL TDEC1 021747,000938: 24,3017 51256 LPS20.1 # COMPUTE LOS AT TIME T 021748,000939: 24,3020 77624 CALL 021749,000940: 24,3021 52404 RRDESSM 021750,000941: 24,3022 77776 EXIT 021751,000942: 24,3023 03035 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE 021752,000943: 24,3024 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED 021753,000944: 24,3025 06032 TC KILLTASK 021754,000945: 24,3026 52604 CADR BEGDES 021755,000946: 24,3027 06042 TC INTPRET 021756,000947: 24,3030 43014 BOF CLRGO 021757,000948: 24,3031 00345 FSPASFLG # FIRST PASS THRU REPOSITION 021758,000949: 24,3032 51045 R21LEMB # NO -- GO TO CONTINUOUS DESIGNATE 021759,000950: 24,3033 00225 FSPASFLG # YES -- RESET FIRST PASS FLAG 021760,000951: 24,3034 51042 R21LEM50 021761,000952: 24,3035 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES? 021762,000953: 24,3036 03040 TC R21LEM7 # NO -- ADD 10 SECS. RECOMPUTE LOS 021763,000954: 24,3037 03107 TC R21LEM11 # YES -- PUT OUT ALARM 530 021764,000955: 24,3040 55423 R21LEM7 TS REPOSCNT 021765,000956: 24,3041 06042 TC INTPRET 021766,000957: 24,3042 52145 R21LEM50 DLOAD GOTO 021767,000958: 24,3043 03425 REPOSTM 021768,000959: 24,3044 51013 R21LEM00 021769,000960: 24,3045 77745 R21LEMB DLOAD 021770,000961: 24,3046 03425 REPOSTM 021771,000962: 24,3047 34041 STCALL TDEC1 021772,000963: 24,3050 50312 UPPSV 021773,000964: 24,3051 77776 EXIT 021774,000965: 24,3052 05504 TC UPFLAG # SET RADMODES BIT 15 FOR 021775,000966: 24,3053 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION 021776,000967: 24,3054 05516 TC DOWNFLAG 021777,000968: 24,3055 00012 ADRES LOKONSW 021778,000969: 24,3056 05504 TC UPFLAG 021779,000970: # Page 520 021780,000971: 24,3057 00126 ADRES NORRMON 021781,000972: 24,3060 04616 TC BANKCALL 021782,000973: 24,3061 52506 CADR RRDESNB 021783,000974: 24,3062 03063 TC +1 021784,000975: 24,3063 06042 TC INTPRET 021785,000976: 24,3064 44234 RTB BDSU 021786,000977: 24,3065 21574 LOADTIME # COMPUTE DELTA TIME 021787,000978: 24,3066 03425 REPOSTM # FOR LONGCALL 021788,000979: 24,3067 03427 STORE DELTATM 021789,000980: 24,3070 77776 EXIT 021790,000981: 24,3071 00006 EXTEND 021791,000982: 24,3072 31427 DCA DELTATM 021792,000983: 24,3073 05277 TC LONGCALL 021793,000984: 24,3074 E7,1456 EBANK= LOSCOUNT 021794,000985: 24,3074 03077 50067 2CADR R21LEM9 021795,000986: 021796,000987: 24,3076 05155 TC ENDOFJOB 021797,000988: 24,3077 06032 R21LEM9 TC KILLTASK 021798,000989: 24,3100 52613 CADR STDESIG 021799,000990: 24,3101 06011 TC CLRADMOD 021800,000991: 24,3102 37717 CAF PRIO26 021801,000992: 24,3103 05105 TC FINDVAC 021802,000993: 24,3104 E7,1456 EBANK= LOSCOUNT 021803,000994: 24,3104 02726 50067 2CADR R21LEM10 021804,000995: 021805,000996: 24,3106 05261 TC TASKOVER 021806,000997: 24,3107 33116 R21LEM11 CAF ALRM530 # ALARM 530 -- LOS NOT IN COVERAGE 021807,000998: 24,3110 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR 021808,000999: 24,3111 21563 CADR PRIOLARM # 600 SECS. 021809,001000: 24,3112 06025 TC GOTOV56 021810,001001: 24,3113 06025 TC GOTOV56 021811,001002: 24,3114 06025 TC GOTOV56 021812,001003: 24,3115 05155 TC ENDOFJOB 021813,001004: 24,3116 00530 ALRM530 OCT 00530 021814,001005: 24,3117 00000 01750 TENSEC 2DEC 1000 B-28 021815,001006: 021816,001007: 24,3121 00000 00062 HALFSEC 2DEC 50 B-28 021817,001008: 021818,001009: 24,3123 05353 R21DISP TC PHASCHNG 021819,001010: 24,3124 04022 OCT 04022 021820,001011: 24,3125 33136 CAF V06N72PV # FLASH V 50 N 72 -- PLEASE PERFORM RR 021821,001012: 24,3126 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION 021822,001013: 24,3127 20711 CADR GOPERF2R 021823,001014: 24,3130 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56 021824,001015: 24,3131 02232 TC P20LEMWT # PROCEED CONTINUES TO R22 021825,001016: 24,3132 03125 TC -5 # ENTER ILLEGAL 021826,001017: 24,3133 34745 CAF BIT7 021827,001018: 24,3134 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY 021828,001019: 24,3135 05155 TC ENDOFJOB 021829,001020: 021830,001021: # Page 521 021831,001022: 24,3136 01510 V06N72PV VN 00672 021832,001023: 021833,001024: # Page 522 021834,001025: # MANUAL ACQUISITION ROUTINE R23LEM 021835,001026: # PROGRAM DESCRIPTION 021836,001027: 021837,001028: # MOD NO -- 2 021838,001029: # BY P. VOLANTE 021839,001030: 021840,001031: # FUNCTIONAL DESCRIPTION 021841,001032: 021842,001033: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR 021843,001034: 021844,001035: # CALLING SEQUENCE -- 021845,001036: 021846,001037: # TC R23LEM 021847,001038: 021848,001039: # SUBROUTINES CALLED 021849,001040: 021850,001041: # BANKCALL R61LEM 021851,001042: # SETMINDB GOPERF1 021852,001043: 021853,001044: # NORMAL EXIT MODES -- 021854,001045: 021855,001046: # IN RESPONSE TO THE GOPERF1, SELECTION OF ENTER WILL RECYCLE R23 021856,001047: # SELECTION OF PROC WILL CONTINUE R23 021857,001048: # SELECTION OF TERM WILL TERMINATE R23 + P20 021858,001049: 021859,001050: # ALARM OR ABORT EXIT MODES -- 021860,001051: 021861,001052: # SEE NORMAL EXIT MODES ABOVE 021862,001053: 021863,001054: # OUTPUT 021864,001055: 021865,001056: # N.A. 021866,001057: 021867,001058: # ERASABLE INITIALIZATION REQUIRED -- 021868,001059: 021869,001060: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE) 021870,001061: 021871,001062: 24,3137 1142 EBANK= GENRET 021872,001063: 24,3137 COUNT* $$/R23 021873,001064: 24,3137 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG 021874,001065: 24,3140 00126 ADRES NORRMON 021875,001066: 24,3141 00004 INHINT 021876,001067: 24,3142 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND 021877,001068: 24,3143 40141 CADR SETMINDB 021878,001069: 24,3144 00003 RELINT 021879,001070: 24,3145 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER 021880,001071: 24,3146 00006 EXTEND 021881,001072: 24,3147 05012 WOR CHAN12 021882,001073: 24,3150 33207 CAF OCT205 021883,001074: 24,3151 04616 TC BANKCALL 021884,001075: 24,3152 20624 CADR GOPERF1 021885,001076: 24,3153 03200 TC R23LEM2 # TERMINATE 021886,001077: 24,3154 03156 TC R23LEM11 # PROCEDE 021887,001078: 24,3155 03203 TC R23LEM3 # ENTER -- DO ANOTHER MANEUVER 021888,001079: 24,3156 00004 R23LEM11 INHINT 021889,001080: 24,3157 04523 TC RRLIMCHK # YES -- CHECK IF ANTENNA IS WITHIN LIMITS 021890,001081: 24,3160 00035 ADRES CDUT 021891,001082: 24,3161 03170 TC OUTOFLIM # NOT WITHIN LIMITS 021892,001083: 24,3162 04674 TC IBNKCALL # RESTORE DEADBAND TO 021893,001084: 24,3163 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE 021894,001085: 24,3164 00003 RELINT 021895,001086: 24,3165 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG 021896,001087: 24,3166 00126 ADRES NORRMON 021897,001088: 24,3167 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20 021898,001089: 24,3170 00003 OUTOFLIM RELINT 021899,001090: # Page 523 021900,001091: 24,3171 33206 CAF OCT501PV 021901,001092: 24,3172 04616 TC BANKCALL # ISSUE ALARM -- RR ANTENNA NOT WITHIN 021902,001093: 24,3173 21563 CADR PRIOLARM # LIMITS 021903,001094: 24,3174 03200 TC R23LEM2 # TERMINATE -- EXIT R23 TO R00 (GO TO P00H) 021904,001095: 24,3175 03171 TC OUTOFLIM +1 # PROCEED ILLEGAL 021905,001096: 24,3176 03203 TC R23LEM3 # RECYCLE -- TO ANOTHER MANEUVER 021906,001097: 24,3177 05155 TC ENDOFJOB 021907,001098: 24,3200 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG 021908,001099: 24,3201 00126 ADRES NORRMON 021909,001100: 24,3202 06025 TC GOTOV56 # AND EXIT VIA V56 021910,001101: 24,3203 04616 R23LEM3 TC BANKCALL 021911,001102: 24,3204 46116 CADR R61LEM 021912,001103: 24,3205 03145 TC R23LEM1 021913,001104: 021914,001105: 24,3206 00501 OCT501PV OCT 501 021915,001106: 24,3207 00205 OCT205 OCT 205 021916,001107: 021917,001108: # Page 524 021918,001109: # SEARCH ROUTINE R24LEM 021919,001110: # PROGRAM DESCRIPTION 021920,001111: 021921,001112: # MOD NO -- 2 021922,001113: # BY P. VOLANTE 021923,001114: 021924,001115: # FUNCTIONAL DESCRIPTION 021925,001116: 021926,001117: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS 021927,001118: # FAILED TO ACQUIRE TEH CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW 021928,001119: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN IN SIDELOBE. 021929,001120: 021930,001121: # CALLING SEQUENCE 021931,001122: 021932,001123: # CAF PRIONN 021933,001124: # TC FINDVAC 021934,001125: # EBANK= DATAGOOD 021935,001126: # 2CADR R24LEM 021936,001127: 021937,001128: # SUBROUTINES CALLED 021938,001129: 021939,001130: # FLAGUP FLAGDOWN BANKCALL 021940,001131: # R61LEM GOFLASHR FINDVAC 021941,001132: # ENDOFJOB NOVAC LSR24.1 021942,001133: 021943,001134: # NORMAL EXIT MODES -- 021944,001135: 021945,001136: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER 021946,001137: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) 021947,001138: 021948,001139: # ALARM OR ABORT EXIT MODES -- 021949,001140: 021950,001141: # SEE NORMAL EXIT MODES ABOVE 021951,001142: 021952,001143: # OUTPUT -- 021953,001144: 021954,001145: # SEE OUTPUT FROM LSR24.1 + R61LEM 021955,001146: 021956,001147: # ERASABLE INITIALIZATION REQUIRED 021957,001148: 021958,001149: # SET INPUT FOR LSR24.1 021959,001150: 021960,001151: # FLAGS SET + RESET 021961,001152: 021962,001153: # SRCHOPT, ACMODFLG 021963,001154: 021964,001155: 24,3210 E7,1733 EBANK= DATAGOOD 021965,001156: 24,3210 COUNT* $$/R24 021966,001157: 24,3210 05504 R24LEM TC UPFLAG 021967,001158: 24,3211 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG 021968,001159: 24,3212 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE 021969,001160: 24,3213 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21 021970,001161: 24,3214 34755 R24LEM1 CAF ZERO 021971,001162: 24,3215 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR 021972,001163: 24,3216 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS 021973,001164: 24,3217 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS 021974,001165: 24,3220 05353 R24LEM2 TC PHASCHNG 021975,001166: 24,3221 04022 OCT 04022 021976,001167: 24,3222 33255 CAF V16N80 021977,001168: 24,3223 04616 TC BANKCALL 021978,001169: 24,3224 20505 CADR PRIODSPR 021979,001170: 24,3225 06025 TC GOTOV56 021980,001171: 24,3226 03232 TC R24END # PROCEED EXIT R24 TO P20LEM1 021981,001172: 021982,001173: 24,3227 03236 TC R24LEM3 # RECYCLE -- CALL R61 TO MANEUVER S/C 021983,001174: # Page 525 021984,001175: 24,3230 04616 TC BANKCALL 021985,001176: 24,3231 55442 CADR LRS24.1 021986,001177: 24,3232 06032 R24END TC KILLTASK 021987,001178: 24,3233 55643 CADR CALLDGCH 021988,001179: 24,3234 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES. 021989,001180: 24,3235 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20 021990,001181: 021991,001182: 6011 BLOCK 3 021992,001183: 6000 SETLOC FFTAG6 021993,001184: 6000 BANK 021994,001185: 6011 COUNT* $$/R24 021995,001186: 021996,001187: 6011 46021 CLRADMOD CS BIT10+15 021997,001188: 6012 00004 INHINT 021998,001189: 6013 70110 MASK RADMODES 021999,001190: 6014 54110 TS RADMODES 022000,001191: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS 022001,001192: 6016 00006 EXTEND 022002,001193: 6017 03012 WAND CHAN12 # USER WILL RELINT 022003,001194: 022004,001195: 6020 00002 TC Q 022005,001196: 022006,001197: 6021 41000 BIT10+15 OCT 41000 022007,001198: 022008,001199: 24,3236 BANK 24 022009,001200: 24,2000 SETLOC P20S 022010,001201: 24,2000 BANK 022011,001202: 24,3236 COUNT* $$/R24 022012,001203: 022013,001204: 24,3236 05353 R24LEM3 TC PHASCHNG 022014,001205: 24,3237 04022 OCT 04022 022015,001206: 24,3240 06032 TC KILLTASK 022016,001207: 24,3241 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN 022017,001208: 24,3242 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES 022018,001209: 24,3243 34774 CAF .5SEC 022019,001210: 24,3244 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE 022020,001211: 24,3245 01736 CADR DELAYJOB 022021,001212: 24,3246 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE 022022,001213: 24,3247 03252 TC R24LEM4 # YES -- DON'T DO ATTITUDE MANEUVER 022023,001214: 24,3250 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING 022024,001215: 24,3251 46116 CADR R61LEM # ATTITUDE MANEUVER 022025,001216: 24,3252 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY 022026,001217: 24,3253 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT 022027,001218: # RRDESSM WILL RETURN TO CALLER 022028,001219: 24,3254 03220 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY 022029,001220: 022030,001221: 24,3255 04120 V16N80 VN 01680 022031,001222: 022032,001223: # Page 526 022033,001224: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM 022034,001225: # PROGRAM DESCRIPTION 022035,001226: 022036,001227: # MOD NO: 3 DATE: 4-11-67 022037,001228: # MOD BY: P. VOLANTE, SDC 022038,001229: 022039,001230: # FUNCTIONAL DESCRIPTION -- 022040,001231: 022041,001232: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR 022042,001233: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED 022043,001234: # ATTITUDE. 022044,001235: 022045,001236: # CALLING SEQUENCE -- 022046,001237: 022047,001238: # TC BANKCALL 022048,001239: # CADR R61LEM 022049,001240: 022050,001241: # SUBROUTINES CALLED 022051,001242: 022052,001243: # LPS20.1 VECPOINT 022053,001244: # KALCMAN3 022054,001245: 022055,001246: # NORMAL EXIT MODES -- 022056,001247: 022057,001248: # NORMAL RETURN IS TO CALLER + 1 022058,001249: 022059,001250: # ALARM OR ABORT EXIT MODES -- 022060,001251: 022061,001252: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG + 022062,001253: # RENDEZVOUS FLAG ARE NOT SET. 022063,001254: 022064,001255: # OUTPUT -- 022065,001256: 022066,001257: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60) 022067,001258: 022068,001259: # ERASABLE INITIALIZATION REQUIRED 022069,001260: 022070,001261: # GENRET USED TO SAVE Q FOR RETURN 022071,001262: 022072,001263: # FLAGS SET + RESET 022073,001264: 022074,001265: # 3AXISFLG 022075,001266: 022076,001267: # DEBRIS 022077,001268: 022078,001269: # SEE SUBROUTINES 022079,001270: 022080,001271: 23,2000 SETLOC R61 022081,001272: 23,2000 BANK 022082,001273: 23,2116 E7,1456 EBANK= LOSCOUNT 022083,001274: 23,2116 COUNT* $$/R61 022084,001275: 23,2116 04645 R61LEM TC MAKECADR 022085,001276: 23,2117 55142 TS GENRET 022086,001277: 23,2120 05504 TC UPFLAG # SET R61 FLAG 022087,001278: 23,2121 00024 ADRES R61FLAG 022088,001279: 23,2122 02152 TC R61C+L02 022089,001280: 23,2123 04645 R65LEM TC MAKECADR 022090,001281: 23,2124 55142 TS GENRET 022091,001282: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG 022092,001283: 23,2126 00024 ADRES R61FLAG 022093,001284: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA 022094,001285: 23,2130 00006 EXTEND # GOOD NOT PRESENT 022095,001286: 23,2131 02033 RAND CHAN33 022096,001287: 23,2132 10000 CCS A 022097,001288: 23,2133 12152 TCF R61C+L02 # NO DATA GOOD 022098,001289: 23,2134 05504 TC UPFLAG 022099,001290: # Page 527 022100,001291: 23,2135 00063 ADRES R04FLAG # PREVENT 521 ALM 022101,001292: 23,2136 04616 TC BANKCALL # READ RR RANGE AND RDOT 022102,001293: 23,2137 53112 CADR RRRDOT # EVERY R65 PASS (3 TIMES 022103,001294: 23,2140 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE 022104,001295: 23,2141 17705 CADR RADSTALL # DURING ANY MARK PROCESSING. 022105,001296: 23,2142 12143 NOOP 022106,001297: 23,2143 04616 TC BANKCALL 022107,001298: 23,2144 53114 CADR RRRANGE 022108,001299: 23,2145 04616 TC BANKCALL 022109,001300: 23,2146 17705 CADR RADSTALL 022110,001301: 23,2147 12150 NOOP 022111,001302: 23,2150 05516 TC DOWNFLAG 022112,001303: 23,2151 00063 ADRES R04FLAG 022113,001304: 23,2152 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG 022114,001305: 23,2153 70075 MASK STATE +1 022115,001306: 23,2154 00006 EXTEND 022116,001307: 23,2155 12314 BZF R65WAIT # NOT SET 022117,001308: 23,2156 06042 R61C+L03 TC INTPRET 022118,001309: 23,2157 77775 VLOAD 022119,001310: 23,2160 06516 HIUNITZ 022120,001311: 23,2161 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR 022121,001312: 23,2162 43234 R61LEM1 RTB DAD 022122,001313: 23,2163 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER 022123,001314: 23,2164 15712 3SECONDS # SIX SECOND PERIOD. 022124,001315: 23,2165 34041 STCALL TDEC1 022125,001316: 23,2166 51256 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE 022126,001317: 23,2167 77775 VLOAD 022127,001318: 23,2170 01101 RRTARGET 022128,001319: 23,2171 03773 STORE POINTVSM 022129,001320: 23,2172 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1 022130,001321: 23,2173 46322 READCDUD 022131,001322: 23,2174 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS 022132,001323: 23,2175 00322 STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI 022133,001324: 23,2176 77776 EXIT 022134,001325: 23,2177 05353 TC PHASCHNG 022135,001326: 23,2200 04022 OCT 04022 022136,001327: 23,2201 34747 CAF TRACKBIT # IS TRACK FLAG SET 022137,001328: 23,2202 70075 MASK FLAGWRD1 022138,001329: 23,2203 00006 EXTEND 022139,001330: 23,2204 12314 BZF R65WAIT 022140,001331: 23,2205 04616 TC BANKCALL 022141,001332: 23,2206 54261 CADR G+N,AUTO # CHECK FOR AUTO MODE 022142,001333: 23,2207 10000 CCS A 022143,001334: 23,2210 02302 TC R61C+L04 # NOT IN AUTO 022144,001335: 23,2211 06042 TC INTPRET 022145,001336: 23,2212 45175 VLOAD CALL 022146,001337: 23,2213 01101 RRTARGET 022147,001338: 23,2214 47650 CDU*SMNB 022148,001339: 23,2215 45345 DLOAD DSU # GET PHI -- ARCCOS OF Z-COMPONENT OF LOS 022149,001340: 23,2216 00162 MPAC +5 022150,001341: # Page 528 022151,001342: 23,2217 06320 COS15DEG 022152,001343: 23,2220 77440 R61LEM2 BMN EXIT # BRANCH -- PHI > 15 DEGREES 022153,001344: 23,2221 46236 R61C+L05 # PHI GRE 10DEG 022154,001345: 23,2222 E6,1634 EBANK= CDUXD 022155,001346: 23,2222 35015 CAF EBANK6 022156,001347: 23,2223 54003 TS EBANK 022157,001348: 23,2224 00004 INHINT 022158,001349: 23,2225 00006 EXTEND 022159,001350: 23,2226 30322 DCA CPHI 022160,001351: 23,2227 53635 DXCH CDUXD 022161,001352: 23,2230 30323 CA CPSI 022162,001353: 23,2231 55636 TS CDUZD 022163,001354: 23,2232 00003 RELINT 022164,001355: 23,2233 E7,1456 EBANK= LOSCOUNT 022165,001356: 23,2233 35016 CAF EBANK7 022166,001357: 23,2234 54003 TS EBANK 022167,001358: 23,2235 02261 TC R61C+L06 022168,001359: 23,2236 77776 R61C+L05 EXIT 022169,001360: 23,2237 00004 INHINT 022170,001361: 23,2240 04674 TC IBNKCALL 022171,001362: 23,2241 40154 FCADR ZATTEROR 022172,001363: 23,2242 04674 TC IBNKCALL 022173,001364: 23,2243 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR 022174,001365: 23,2244 05516 TC DOWNFLAG 022175,001366: 23,2245 00124 ADRES 3AXISFLG 022176,001367: 23,2246 05504 TC UPFLAG 022177,001368: 23,2247 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG 022178,001369: 23,2250 04616 TC BANKCALL 022179,001370: 23,2251 54123 CADR R60LEM 022180,001371: 23,2252 00004 INHINT 022181,001372: 23,2253 04674 TC IBNKCALL 022182,001373: 23,2254 40115 FCADR RESTORDB 022183,001374: 23,2255 05353 TC PHASCHNG 022184,001375: 23,2256 04022 OCT 04022 022185,001376: 23,2257 05516 TC DOWNFLAG 022186,001377: 23,2260 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG 022187,001378: 23,2261 30075 R61C+L06 CA FLAGWRD1 022188,001379: 23,2262 74742 MASK R61FLBIT 022189,001380: 23,2263 10000 CCS A 022190,001381: 23,2264 02305 TC R61C+L4 022191,001382: 23,2265 11745 CCS R65CNTR 022192,001383: 23,2266 02270 TC +2 022193,001384: 23,2267 02305 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE 022194,001385: 23,2270 55745 TS R65CNTR 022195,001386: 23,2271 32321 CAF 06SEC 022196,001387: 23,2272 05173 TC TWIDDLE 022197,001388: 23,2273 02275 ADRES R61C+L2 022198,001389: 23,2274 05155 TC ENDOFJOB 022199,001390: 23,2275 37717 R61C+L2 CAF PRIO26 022200,001391: 23,2276 05105 TC FINDVAC 022201,001392: # Page 529 022202,001393: 23,2277 E7,1456 EBANK= LOSCOUNT 022203,001394: 23,2277 02127 46067 2CADR R61C+L01 022204,001395: 022205,001396: 23,2301 05261 TC TASKOVER 022206,001397: 23,2302 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI 022207,001398: 23,2303 54272 CADR BALLANGS 022208,001399: 23,2304 02261 TC R61C+L06 022209,001400: 23,2305 31142 R61C+L4 CAE GENRET 022210,001401: 23,2306 14640 TCF BANKJUMP # EXIT R61 022211,001402: 23,2307 32316 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET 022212,001403: 23,2310 70074 MASK STATE 022213,001404: 23,2311 00006 EXTEND 022214,001405: 23,2312 15155 BZF ENDOFJOB # NO -- EXIT ROUTINE AND PROGRAM. 022215,001406: 23,2313 02261 TC R61C+L06 # YES EXIT ROUTINE 022216,001407: 23,2314 04635 R65WAIT TC POSTJUMP 022217,001408: 23,2315 50232 CADR P20LEMWT 022218,001409: 022219,001410: 23,2316 00500 BIT7+9PV OCT 00500 022220,001411: 23,2317 17350 34602 COS15DEG 2DEC 0.96593 B-1 022221,001412: 022222,001413: 23,2321 01130 06SEC DEC 600 B-14 022223,001414: 23,2322 PHI EQUALS 20D 022224,001415: 23,2322 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN 022225,001416: 23,2323 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP 022226,001417: 23,2324 56003 XCH EBANK 022227,001418: 23,2325 54070 TS RUPTREG1 022228,001419: 23,2326 E6,1634 EBANK= CDUXD 022229,001420: 23,2326 31634 CA CDUXD 022230,001421: 23,2327 54154 TS MPAC 022231,001422: 23,2330 00006 EXTEND 022232,001423: 23,2331 31636 DCA CDUYD 022233,001424: 23,2332 52156 DXCH MPAC +1 022234,001425: 23,2333 30070 CA RUPTREG1 022235,001426: 23,2334 54003 TS EBANK 022236,001427: 23,2335 00003 RELINT 022237,001428: 23,2336 16502 TCF TMODE 022238,001429: 022239,001430: 4512 BLOCK 02 022240,001431: 4000 SETLOC RADARFF 022241,001432: 4000 BANK 022242,001433: 022243,001434: 4512 E7,1456 EBANK= LOSCOUNT 022244,001435: 4512 COUNT* $$/RRSUB 022245,001436: 022246,001437: # Page 530 022247,001438: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE 022248,001439: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC. 022249,001440: 022250,001441: 4512 00006 MAGSUB EXTEND 022251,001442: 4513 64515 BZMF +2 022252,001443: 4514 14516 TCF +2 022253,001444: 4515 40000 COM 022254,001445: 022255,001446: 4516 50002 INDEX Q 022256,001447: 4517 60000 AD 0 022257,001448: 4520 00006 EXTEND 022258,001449: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+1 022259,001450: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2 022260,001451: 022261,001452: # Page 531 022262,001453: # PROGRAM NAME: RRLIMCHK 022263,001454: 022264,001455: # FUNCTIONAL DESCRIPTION: 022265,001456: 022266,001457: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN 022267,001458: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND 022268,001459: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR 022269,001460: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR 022270,001461: # MODE 1 AND =1 FOR MODE 2. 022271,001462: 022272,001463: # MODE 1 -- THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS 022273,001464: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS, 022274,001465: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES. 022275,001466: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3. 022276,001467: 022277,001468: # MODE 2 -- THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS 022278,001469: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN 022279,001470: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125 022280,001471: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN 022281,001472: # TO L +3. 022282,001473: 022283,001474: # CALLING SEQUENCE: 022284,001475: 022285,001476: # L TC RLIMCHK (WITH INTERRUPT INHIBITED) 022286,001477: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS) 022287,001478: 022288,001479: # ERASABLE INITIALIZATION REQUIRED: 022289,001480: 022290,001481: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT 022291,001482: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS -- UNSWITCHED ERASABLE OR 022292,001483: # CURRENT EBANK). 022293,001484: 022294,001485: # SUBROUTINES CALLED: MAGSUB 022295,001486: 022296,001487: # JOBS OR TASKS INITIATED: NONE 022297,001488: 022298,001489: # ALARMS: NONE 022299,001490: 022300,001491: # EXIT: L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE) 022301,001492: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE) 022302,001493: 022303,001494: 4523 00006 RRLIMCHK EXTEND 022304,001495: 4524 50002 INDEX Q 022305,001496: 4525 50000 INDEX 0 022306,001497: 4526 30001 DCA 0 022307,001498: 4527 24002 INCR Q 022308,001499: 4530 52062 DXCH ITEMP1 022309,001500: 4531 22002 LXCH Q # L(CALLER +2) TO L. 022310,001501: 022311,001502: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN. 022312,001503: 4533 70110 MASK RADMODES 022313,001504: 4534 10000 CCS A 022314,001505: 4535 14550 TCF MODE2CHK 022315,001506: 022316,001507: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS 022317,001508: # Page 532 022318,001509: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS. 022319,001510: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS 022320,001511: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS) 022321,001512: 022322,001513: 4542 34562 CAF 5.5DEGS 022323,001514: 4543 60062 AD ITEMP2 022324,001515: 4544 04512 TC MAGSUB 022325,001516: 4545 64420 DEC -.35833 # 64.5 DEGS 022326,001517: 4546 00001 TC L 022327,001518: 4547 04560 TC RRLIMOK # IN LIMITS. 022328,001519: 022329,001520: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS 022330,001521: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS. 022331,001522: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS 022332,001523: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS) 022333,001524: 4554 00001 TC L 022334,001525: 022335,001526: 4555 30061 CA ITEMP1 022336,001527: 4556 04512 TC MAGSUB 022337,001528: 4557 51615 DEC -.69444 # 125 DEGS 022338,001529: 022339,001530: 4560 50001 RRLIMOK INDEX L 022340,001531: 4561 00001 TC L # ( = TC 1 ) 022341,001532: 022342,001533: 4562 00765 5.5DEGS DEC .03056 022343,001534: 4563 16450 82DEGS DEC .45556 022344,001535: 022345,001536: # Page 533 022346,001537: # PROGRAM NAME: SETTRKF 022347,001538: 022348,001539: # FUNCTIONAL DESCRIPTION: 022349,001540: 022350,001541: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. 022351,001542: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED. 022352,001543: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1. 022353,001544: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY: 022354,001545: # 1) RR CDU'S BEING ZEROED, RR CDU OK, AND RR NOT IN 022355,001546: # AUTO MODE (RADMODES BITS 13, 7, 2). 022356,001547: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS 022357,001548: # 8,5) 022358,001549: # 3) NO RR DATA (RADMODES BIT 4) 022359,001550: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH 022360,001551: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL 022361,001552: # LAMP (DSPTAB +11D BIT 8) BEING TURNED OFF OR IS LEFT OFF. THEREFORE, THE 022362,001553: # TRACKER FAIL LAMP IS TURN ON IF: 022363,001554: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU'S NOT BEING ZEROED 022364,001555: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH 022365,001556: # EITHER THE ALT OR VEL INFORMATION 022366,001557: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES 022367,001558: # WITH EITHER THE AL 022368,001559: 022369,001560: # CALLING SEQUENCE: 022370,001561: 022371,001562: # L TC SETTRKF 022372,001563: 022373,001564: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D 022374,001565: 022375,001566: # SUBROUTINES CALLED: NONE 022376,001567: 022377,001568: # ALARMS: TRACKER FAIL LAMP 022378,001569: 022379,001570: # EXIT: L +1 (ALWAYS) 022380,001571: 022381,001572: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST 022382,001573: 4565 71300 MASK IMODES33 022383,001574: 4566 10000 CCS A 022384,001575: 4567 00002 TC Q 022385,001576: 022386,001577: 4570 34744 RRTRKF CA BIT8 022387,001578: 4571 54001 TS L 022388,001579: 022389,001580: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED. 022390,001581: 4573 70110 MASK RADMODES 022391,001582: 4574 00006 EXTEND 022392,001583: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE. 022393,001584: 022394,001585: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED. 022395,001586: 4577 70110 MASK RADMODES 022396,001587: # Page 534 022397,001588: 4600 10000 CCS A 022398,001589: 4601 30001 TRKFLON CA L 022399,001590: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES. 022400,001591: 4603 70001 MASK L 022401,001592: 4604 00006 EXTEND 022402,001593: 4605 16745 BZF TCQ # NO CHANGE. 022403,001594: 022404,001595: 4606 31035 FLIP CA DSPTAB +11D # CAN'T USE LXCH DSPTAB +11D (RESTART PROB) 022405,001596: 4607 00006 EXTEND 022406,001597: 4610 06001 RXOR LCHAN 022407,001598: 4611 74733 MASK POSMAX 022408,001599: 4612 64735 AD BIT15 022409,001600: 4613 55035 TS DSPTAB +11D 022410,001601: 4614 00002 TC Q 022411,001602: 022412,001603: 4615 10102 13,7,2 OCT 10102 022413,001604: 4616 ENDRMODF EQUALS 022414,001605: 022415,001606: # Page 535 022416,001607: # PROGRAM NAME: RRTURNON 022417,001608: 022418,001609: # FUNCTIONAL DESCRIPTION: 022419,001610: 022420,001611: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WTIH 022421,001612: # RRZEROSB, ZEROES TEH CDU'S AND DETERMINES THE RR MODE. 022422,001613: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE 022423,001614: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM 022424,001615: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG 022425,001616: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON'T 022426,001617: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE 022427,001618: # TO SEE IF A PROGRAM IS USEING THE RR (STATE BIT 7). IF 022428,001619: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU 022429,001620: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE 022430,001621: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS 022431,001622: # TC TASKOVER. 022432,001623: 022433,001624: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER-ON (garbled) 022434,001625: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING 022435,001626: # THE RR (STATE BIT 7). 022436,001627: 022437,001628: # ERASABLE INITIALIZATION REQUIRED: 022438,001629: 022439,001630: # RADMODES, STATE 022440,001631: 022441,001632: # SUBROUTINES CALLED: RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR 022442,001633: 022443,001634: # JOBS OR TASKS INITIATED: 022444,001635: # 022445,001636: # NONE 022446,001637: 022447,001638: # ALARMS: NONE (SEE RRZEROSB) 022448,001639: 022449,001640: # EXIT: TASKOVER, ENDRADAR (WAITING PROGRAM) 022450,001641: 022451,001642: 24,3256 BANK 24 022452,001643: 25,2000 SETLOC P20S1 022453,001644: 25,2000 BANK 022454,001645: 022455,001646: 25,2073 E7,1456 EBANK= LOSCOUNT 022456,001647: 25,2073 COUNT* $$/RSUB 022457,001648: 25,2073 02102 RRTURNON TC RRZEROSB 022458,001649: 25,2074 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG 022459,001650: 25,2075 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WON'T ALARM. 022460,001651: 25,2076 44753 CS TURNONBT 022461,001652: 25,2077 70110 MASK RADMODES 022462,001653: 25,2100 54110 TS RADMODES 022463,001654: 25,2101 15261 TCF TASKOVER 022464,001655: # Page 536 022465,001656: # PROGRAM NAME: RRZEROSB 022466,001657: 022467,001658: # FUNCTIONAL DESCRIPTION: 022468,001659: 022469,001660: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU'S, 022470,001661: # DETERMINE THE RR MODE, AND TURN ON THE TRACKER FAIL 022471,001662: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12 022472,001663: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC 022473,001664: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER 022474,001665: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS 022475,001666: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU'S 022476,001667: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE 022477,001668: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE 022478,001669: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION 022479,001670: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF 022480,001671: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2. 022481,001672: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO 022482,001673: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO 022483,001674: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON. 022484,001675: 022485,001676: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO) 022486,001677: 022487,001678: # ERASABLE INITIALIZATION REQUIRED: 022488,001679: 022489,001680: # RADMODES (BIT 13 SET), DSPTAB +11D 022490,001681: 022491,001682: # SUBROUTINES CALLED: FIXDELAY, MAGSUB, SETTRKF 022492,001683: 022493,001684: # JOBS OR TASKS INITIATED: 022494,001685: 022495,001686: # NONE 022496,001687: 022497,001688: # ALARMS: TRAKCER FAIL 022498,001689: 022499,001690: # EXIT: L +1 (ALWAYS) 022500,001691: 022501,001692: 25,2102 00006 RRZEROSB EXTEND 022502,001693: 25,2103 23312 QXCH RRRET 022503,001694: 25,2104 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE 022504,001695: 25,2105 00006 EXTEND # COMING HERE. 022505,001696: 25,2106 05012 WOR CHAN12 # TURN ON ZERO RR CDU 022506,001697: 25,2107 05221 TC FIXDELAY 022507,001698: 25,2110 00002 DEC 2 B-14 022508,001699: 022509,001700: 25,2111 34755 CAF ZERO 022510,001701: 25,2112 54035 TS CDUT 022511,001702: 25,2113 54036 TS CDUS 022512,001703: 25,2114 44753 CS ONE # REMOVE ZEROING BIT. 022513,001704: 25,2115 00006 EXTEND 022514,001705: 25,2116 03012 WAND CHAN12 022515,001706: 25,2117 05221 TC FIXDELAY 022516,001707: 25,2120 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS. -- D.281 022517,001708: 022518,001709: 25,2121 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT 022519,001710: # Page 537 022520,001711: 25,2122 70110 MASK RADMODES 022521,001712: 25,2123 54110 TS RADMODES 022522,001713: 022523,001714: 25,2124 30035 CA CDUT 022524,001715: 25,2125 04512 TC MAGSUB 022525,001716: 25,2126 57777 DEC -.5 022526,001717: 25,2127 12132 TCF +3 # IF MODE 2. 022527,001718: 022528,001719: 25,2130 34755 CAF ZERO 022529,001720: 25,2131 12133 TCF +2 022530,001721: 25,2132 34740 CAF ANTENBIT 022531,001722: 25,2133 56110 XCH RADMODES 022532,001723: 25,2134 77744 MASK -BIT12 022533,001724: 25,2135 26110 ADS RADMODES 022534,001725: 022535,001726: 25,2136 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW. 022536,001727: 022537,001728: 25,2137 01312 TC RRRET # DONE. 022538,001729: 022539,001730: 25,2140 7744 -BIT12 EQUALS -1/8 # IN SPROOT 022540,001731: 022541,001732: # Page 538 022542,001733: # PROGRAM NAME: DORREPOS 022543,001734: 022544,001735: # FUNCTIONAL DESCRIPTION: 022545,001736: 022546,001737: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE TEH RENDEZVOUS RADAR 022547,001738: # TO A SAFE POSITION. INIITALLY SETRRECR IS CALLED WHERE THE RR 022548,001739: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD 022549,001740: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE 022550,001741: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR 022551,001742: # TURN-ON FLOAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT, 022552,001743: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER 022553,001744: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT 022554,001745: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED 022555,001746: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180 022556,001747: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA 022557,001748: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN 022558,001749: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 022559,001750: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A 022560,001751: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS 022561,001752: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANFERRED TO 022562,001753: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS 022563,001754: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES 022564,001755: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT 022565,001756: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR 022566,001757: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO 022567,001758: # TASKOVER. 022568,001759: 022569,001760: # CALLING SEQUENCE: 022570,001761: 022571,001762: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES 022572,001763: # NOT WITHIN LIMITS OF CURRENT MODE. 022573,001764: 022574,001765: # ERASABLE INITIALIZATION REQUIRED: 022575,001766: 022576,001767: # RADMODES 022577,001768: 022578,001769: # SUBROUTINES CALLED 022579,001770: 022580,001771: # RRTONLY, RRSONLY, BEGDES (EXIT) 022581,001772: 022582,001773: # JOBS OR TASKS INITIATED: 022583,001774: 022584,001775: # NONE 022585,001776: 022586,001777: # ALARMS: NONE 022587,001778: 022588,001779: # EXIT: TASKOVER, BEGDES 022589,001780: 022590,001781: 25,2140 02167 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS. 022591,001782: 022592,001783: # ALARM 501 DELETED IN DANCE 279 PER PCR 97. 022593,001784: 022594,001785: 25,2141 05221 TC FIXDELAY 022595,001786: 25,2142 00002 DEC 2 B-14 022596,001787: 022597,001788: 25,2143 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS. 022598,001789: # Page 539 022599,001790: 25,2144 70110 MASK RADMODES 022600,001791: 25,2145 10000 CCS A 022601,001792: 25,2146 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2. 022602,001793: 25,2147 02252 TC RRTONLY 022603,001794: 022604,001795: 25,2150 34740 CAF ANTENBIT # NOT PUT SHAFT IN RIGHT POSITION 022605,001796: 25,2151 70110 MASK RADMODES 022606,001797: 25,2152 10000 CCS A 022607,001798: 25,2153 44736 CS HALF # -90 FOR MODE 2. 022608,001799: 25,2154 02255 TC RRSONLY 022609,001800: 022610,001801: 25,2155 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IN REMODE 022611,001802: # REQUESTED DURING REPOSITION. 022612,001803: 25,2156 70110 MASK RADMODES # REMOVE REPOSITION BIT. 022613,001804: 25,2157 54110 TS RADMODES 022614,001805: 25,2160 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE. 022615,001806: 25,2161 10000 CCS A 022616,001807: 25,2162 12604 TCF BEGDES 022617,001808: 25,2163 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED, 022618,001809: 25,2164 00006 EXTEND # REMOVE ERROR COUNTER ENABLE. 022619,001810: 25,2165 03012 WAND CHAN12 022620,001811: 25,2166 15261 TCF TASKOVER 022621,001812: 022622,001813: 25,2167 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS 022623,001814: 25,2170 00006 EXTEND 022624,001815: 25,2171 02012 RAND CHAN12 022625,001816: 25,2172 10000 CCS A # DO NOT CLEAR LAST COMMAND IF 022626,001817: 25,2173 00002 TC Q # ERROR COUNTERS ARE ENABLED 022627,001818: 022628,001819: 25,2174 54112 TS LASTYCMD 022629,001820: 25,2175 54113 TS LASTXCMD 022630,001821: 25,2176 34752 CAF BIT2 022631,001822: 25,2177 00006 EXTEND 022632,001823: 25,2200 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS. 022633,001824: 25,2201 00002 TC Q 022634,001825: # Page 540 022635,001826: # PROGRAM NAME: REMODE 022636,001827: 022637,001828: # FUNCTIONAL DESCRIPTION 022638,001829: 022639,001830: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE 022640,001831: # TRUNNION ANGLE TO 0 DEGREES IF TEH CURRENT MODE IS MODE 1, 022641,001832: # 180 DEGREES FOR MODE 2, TEHN DRIVES THE SHAFT ANGLE TO -45 022642,001833: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES, 022643,001834: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE 022644,001835: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE 022645,001836: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG 022646,001837: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO 022647,001838: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 022648,001839: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE 022649,001840: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG 022650,001841: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN 022651,001842: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130 022652,001843: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO 022653,001844: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV 022654,001845: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW 022655,001846: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14) 022656,001847: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM 022657,001848: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL. 022658,001849: 022659,001850: # CALLIN SEQUENCE: 022660,001851: 022661,001852: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET. 022662,001853: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK 022663,001854: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE 022664,001855: # OTHER MODE. 022665,001856: 022666,001857: # ERASABLE INIITIALIZATION REQUIRED: 022667,001858: 022668,001859: # RADMODES 022669,001860: 022670,001861: # SUBROUTINES CALLED: 022671,001862: 022672,001863: # RRTONLY, RRSONL, RMODINV (ACTUALLY PART OF) 022673,001864: 022674,001865: # JOBS OR TASKS INITIATED: 022675,001866: 022676,001867: # NONE 022677,001868: 022678,001869: # EXIT: STDESIG 022679,001870: 022680,001871: 25,2202 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180) 022681,001872: 25,2203 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED) 022682,001873: 25,2204 10000 CCS A 022683,001874: 25,2205 34735 CAF BIT15 022684,001875: 25,2206 02252 TC RRTONLY 022685,001876: 022686,001877: 25,2207 37743 CAF -45DEGSR 022687,001878: 25,2210 02255 TC RRSONLY 022688,001879: # Page 541 022689,001880: 25,2211 40110 CS RADMODES 022690,001881: 25,2212 74740 MASK ANTENBIT 022691,001882: 25,2213 10000 CCS A 022692,001883: 25,2214 32243 CAF -80DEGSR # GO TO T = -130 (-50). 022693,001884: 25,2215 62242 AD -50DEGSR 022694,001885: 25,2216 02252 TC RRTONLY 022695,001886: 022696,001887: 25,2217 40110 CS RADMODES 022697,001888: 25,2220 74740 MASK ANTENBIT 022698,001889: 25,2221 10000 CCS A 022699,001890: 25,2222 34735 CAF BIT15 # GO TO T = -180 (+0). 022700,001891: 25,2223 02252 TC RRTONLY 022701,001892: 022702,001893: 25,2224 40110 CS RADMODES # GO TO S = -90 (+0). 022703,001894: 25,2225 74740 MASK ANTENBIT 022704,001895: 25,2226 10000 CCS A 022705,001896: 25,2227 44736 CS HALF 022706,001897: 25,2230 02255 TC RRSONLY 022707,001898: 022708,001899: 25,2231 02244 TC RMODINV 022709,001900: 25,2232 44736 CS REMODBIT # END OF REMODE. 022710,001901: 25,2233 70110 MASK RADMODES 022711,001902: 25,2234 54110 TS RADMODES 022712,001903: 022713,001904: 25,2235 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE? 022714,001905: 25,2236 70110 MASK RADMODES # (BIT10 RADMODES = 1) 022715,001906: 25,2237 00006 EXTEND 022716,001907: 25,2240 13560 BZF RGOODEND # NO -- RETURN TO CALLER WAITING IN RADSTALL 022717,001908: 25,2241 02613 TC STDESIG # YES -- RETURN TO DESIGNATE 022718,001909: 25,2242 7743 -45DEGSR = 13,14,15 022719,001910: 25,2242 67070 -50DEGSR DEC -.27778 022720,001911: 25,2243 61615 -80DEGSR DEC -.44444 022721,001912: 022722,001913: 25,2244 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS. 022723,001914: 25,2245 34740 CAF ANTENBIT 022724,001915: 25,2246 00006 EXTEND 022725,001916: 25,2247 06001 RXOR LCHAN 022726,001917: 25,2250 54110 TS RADMODES 022727,001918: 25,2251 00002 TC Q 022728,001919: 022729,001920: # Page 542 022730,001921: # PROGRAM NAMES: RRTONLY, RRSONLY 022731,001922: 022732,001923: # FUNCTIONAL DESCRIPTION: 022733,001924: 022734,001925: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIT 022735,001926: # RRMANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO 022736,001927: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION 022737,001928: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST, 022738,001929: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES 022739,001930: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10) 022740,001931: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A 022741,001932: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE 022742,001933: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB 022743,001934: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES, 022744,001935: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS 022745,001936: # TRANFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER 022746,001937: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS 022747,001938: # REPEATED. 022748,001939: 022749,001940: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI) 022750,001941: # L TC RRTONLY (TRUNNION ONLY) 022751,001942: # RRSONLY (SHAFT ONLY) 022752,001943: # RRTONLY IS CALLED BY PREPOS29; 022753,001944: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE 022754,001945: 022755,001946: # ERASABLE INITIALIZATION REQUIRED: 022756,001947: 022757,001948: # C(A) = DESIRED ANGLE, RADMODES 022758,001949: 022759,001950: # SUBROUTINES CALLED: 022760,001951: 022761,001952: # FIXDELAY, REPOSRPT, MAGSUB, RADMODES 022762,001953: 022763,001954: # JOBS OR TASKS INITIATED: 022764,001955: 022765,001956: # NONE 022766,001957: 022767,001958: # ALARMS: NONE 022768,001959: 022769,001960: # EXIT: REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT -- RADMODES 022770,001961: # BITS 14, 11) 022771,001962: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE) 022772,001963: 022773,001964: 25,2252 55313 RRTONLY TS RDES # DESIRED TRUNNION ANGLE. 022774,001965: 25,2253 34755 CAF ZERO 022775,001966: 25,2254 12257 TCF RR1AXIS 022776,001967: 022777,001968: 25,2255 55313 RRSONLY TS RDES # SHAFT COMMANDS WARE UNRESOLVED SINCE THIS 022778,001969: 25,2256 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180. 022779,001970: 022780,001971: 25,2257 55314 RR1AXIS TS RRINDEX 022781,001972: 25,2260 00006 EXTEND 022782,001973: 25,2261 23312 QXCH RRRET 022783,001974: 25,2262 12265 TCF RR1AX2 022784,001975: 022785,001976: # Page 543 022786,001977: 25,2263 05221 NXTRR1AX TC FIXDELAY 022787,001978: 25,2264 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND. 022788,001979: 022789,001980: 25,2265 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTS A DESIGNATE WHICH 022790,001981: 25,2266 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN 022791,001982: 25,2267 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE 022792,001983: 25,2270 12155 BZF REPOSRPT # REMODE IMMEDIATELY. 022793,001984: 022794,001985: 25,2271 31313 CA RDES 022795,001986: 25,2272 00006 EXTEND 022796,001987: 25,2273 51314 INDEX RRINDEX 022797,001988: 25,2274 20035 MSU CDUT 022798,001989: 25,2275 54061 TS ITEMP1 # SAVE ERROR SIGNAL. 022799,001990: 25,2276 00006 EXTEND 022800,001991: 25,2277 72316 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5 022801,001992: 25,2300 54001 TS L 022802,001993: 25,2301 30110 CA RADMODES 022803,001994: 25,2302 74752 MASK AUTOMBIT 022804,001995: 25,2303 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT. 022805,001996: 25,2304 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE. 022806,001997: 25,2305 77644 DEC -.00555 # SCALED IN HALF-REVS. 022807,001998: 022808,001999: 25,2306 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT. 022809,002000: 25,2307 01312 TC RRRET # RETURN TO CALLER. 022810,002001: 022811,002002: 25,2310 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO. 022812,002003: 25,2311 12313 TCF +2 # SETTING A TO 0. 022813,002004: 25,2312 56001 XCH L 022814,002005: 25,2313 53355 DXCH TRUNNCMD 022815,002006: 25,2314 02317 TC RROUT 022816,002007: 022817,002008: 25,2315 12263 TCF NXTRR1AX # COME BACK IN .5 SECONDS. 022818,002009: 022819,002010: 25,2316 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC. 022820,002011: 022821,002012: # Page 544 022822,002013: # PROGRAM NAME: RROUT 022823,002014: 022824,002015: # FUNCTIONAL DESCRIPTION: 022825,002016: 022826,002017: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR 022827,002018: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND 022828,002019: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS 022829,002020: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF 022830,002021: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN 022831,002022: # 384 PULSES. IF NOT, CONTROL IS TRANFERRED TO RROUTLIM TO 022832,002023: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS 022833,002024: # THEN CALCULATED BETWEEN THE DESIRED STATE AND TEH PRESENT STATE OF 022834,002025: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD. 022835,002026: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND 022836,002027: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE 022837,002028: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11) 022838,002029: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM. 022839,002030: 022840,002031: # CALLING SEQUENCE: 022841,002032: # 022842,002033: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY 022843,002034: # RRTONLY, RRSONLY, AND DODES 022844,002035: 022845,002036: # ERASABLE INITIALIZATION REQURIED: 022846,002037: 022847,002038: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD 022848,002039: # (1ST PASS = 0), RR ERROR COUNTER ENAGLE SET (CHAN 12 BIT 2). 022849,002040: 022850,002041: # SUBROUTINES CALLED: 022851,002042: 022852,002043: # MAGSUB 022853,002044: 022854,002045: # JOBS OR TASKS INITIATED: 022855,002046: 022856,002047: # NONE 022857,002048: 022858,002049: # ALARMS: NONE 022859,002050: 022860,002051: # EXIT: L+1 (ALWAYS) 022861,002052: 022862,002053: 25,2317 22002 RROUT LXCH Q # SAVE RETURN 022863,002054: 25,2320 34753 CAF ONE # LOOP TWICE. 022864,002055: 25,2321 54062 RROUT2 TS ITEMP2 022865,002056: 25,2322 50000 INDEX A 022866,002057: 25,2323 31354 CA TRUNNCMD 022867,002058: 25,2324 54061 TS ITEMP1 # SAVE SIGN COMMAND FOR LIMITING. 022868,002059: 022869,002060: 25,2325 04512 TC MAGSUB # SEE IF WITHIN LIMITS. 022870,002061: 25,2326 77177 -RRLIMIT DEC -384 B-14 022871,002062: 25,2327 12346 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384. 022872,002063: 022873,002064: 25,2330 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED 022874,002065: 25,2331 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN 022875,002066: 25,2332 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD 022876,002067: 25,2333 40000 COM 022877,002068: # Page 545 022878,002069: 25,2334 60061 AD ITEMP1 022879,002070: 25,2335 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER 022880,002071: 25,2336 50062 INDEX ITEMP2 022881,002072: 25,2337 54053 TS CDUTCMD 022882,002073: 022883,002074: 25,2340 10062 CCS ITEMP2 # PROCESS BOTH INPUTS. 022884,002075: 25,2341 12321 TCF RROUT2 022885,002076: 022886,002077: 25,2342 35020 CAF PRIO6 # ENABLE COUNTERS. 022887,002078: 25,2343 00006 EXTEND 022888,002079: 25,2344 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T 022889,002080: 25,2345 00001 TC L # RETURN. 022890,002081: 022891,002082: 25,2346 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384. 022892,002083: 25,2347 42326 CS -RRLIMIT 022893,002084: 25,2350 12352 TCF +2 022894,002085: 25,2351 32326 CA -RRLIMIT 022895,002086: 25,2352 54061 TS ITEMP1 022896,002087: 25,2353 12331 TCF SETRRCTR +1 022897,002088: 022898,002089: # Page 546 022899,002090: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE. 022900,002091: 022901,002092: 25,2354 32403 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO 022902,002093: 25,2355 70110 MASK RADMODES # IF SO, DON'T RE-ZERO CDUS. 022903,002094: 25,2356 10000 CCS A 022904,002095: 25,2357 13513 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND). 022905,002096: 022906,002097: 25,2360 00004 INHINT 022907,002098: 25,2361 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS. 022908,002099: 25,2362 70110 MASK RADMODES 022909,002100: 25,2363 64737 AD RCDU0BIT 022910,002101: 25,2364 54110 TS RADMODES 022911,002102: 022912,002103: 25,2365 34753 CAF ONE 022913,002104: 25,2366 05203 TC WAITLIST 022914,002105: 25,2367 E7,1456 EBANK= LOSCOUNT 022915,002106: 25,2367 02401 52067 2CADR RRZ2 022916,002107: 022917,002108: 25,2371 40110 CS RADMODES # SEE IF IN AUTO MODE. 022918,002109: 25,2372 74752 MASK AUTOMBIT 022919,002110: 25,2373 10000 CCS A 022920,002111: 25,2374 12377 TCF ROADBACK 022921,002112: 25,2375 05567 TC ALARM # AUTO DISCRETE NOT PRESENT -- TRYING 022922,002113: 25,2376 00510 OCT 510 022923,002114: 25,2377 00003 ROADBACK RELINT 022924,002115: 25,2400 14631 TCF SWRETURN 022925,002116: 022926,002117: 25,2401 02102 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO. 022927,002118: 25,2402 13551 TCF ENDRADAR 022928,002119: 022929,002120: 25,2403 02001 BIT11+1 OCT 02001 022930,002121: 022931,002122: # Page 547 022932,002123: # PROGRAM NAME: RRDESSM 022933,002124: 022934,002125: # FUNCTIONAL DESCRIPTION: 022935,002126: 022936,002127: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE 022937,002128: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF-SIGHT (LOS VECTOR 022938,002129: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT 022939,002130: # ORIENTATION. INITIALLY THE IMU CDU'S ARE READ AND CONTROL 022940,002131: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE 022941,002132: # MEMBER TO NAVIGATION BASE CORRDINATES (SEE STG MEMO 699) 022942,002133: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES, 022943,002134: # TRUNNION AND SHAFT, FOR BOT THE PRESENT AND ALTERNATE MODE. 022944,002135: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE 022945,002136: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETUREN 022946,002137: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS 022947,002138: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN THE LIMITS OF THE 022948,002139: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR 022949,002140: # ANTENNA MODE FLAG (RADMOES BIT 12), RRLIMCHK IS CALLED 022950,002141: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN 022951,002142: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED, 022952,002143: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION 022953,002144: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE 022954,002145: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS 022955,002146: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES 022956,002147: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM 022957,002148: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED. 022958,002149: 022959,002150: # CALLING SEQUENCE: 022960,002151: 022961,002152: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES) 022962,002153: # L+1 RRDESM 022963,002154: # L+2 BASIC (VEHICLE MANEUVER REQUIRED) 022964,002155: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED) 022965,002156: 022966,002157: # ERASABLE INITIALIZATION REQUIRED: 022967,002158: 022968,002159: # RRTARGET, RADMODES 022969,002160: 022970,002161: # SUBROUTINES CALLED: 022971,002162: 022972,002163: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY 022973,002164: # PART OF), RMODINV 022974,002165: 022975,002166: # JOBS OR TASKS INITIATED: 022976,002167: 022977,002168: # NONE 022978,002169: 022979,002170: # ALARMS: NONE 022980,002171: 022981,002172: # EXIT: L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE) 022982,002173: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLES ATTITUDE -- RETURNS 022983,002174: # TO L+3 FROM STARTDES) 022984,002175: 022985,002176: 25,2404 43020 RRDESSM STQ CLEAR 022986,002177: 25,2405 01112 DESRET 022987,002178: # Page 548 022988,002179: 25,2406 00271 RRNBSW 022989,002180: 25,2407 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X 022990,002181: 25,2410 47541 CDUTRIG 022991,002182: 25,2411 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION 022992,002183: 25,2412 01101 RRTARGET 022993,002184: 25,2413 47673 *SMNB* 022994,002185: 022995,002186: 25,2414 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND 022996,002187: 25,2415 26133 RRANGLES # ALTERNATE MODE. 022997,002188: 25,2416 77776 EXIT 022998,002189: 022999,002190: 25,2417 00004 INHINT 023000,002191: 25,2420 04523 TC RRLIMCHK 023001,002192: 25,2421 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE. 023002,002193: 25,2422 02425 TC +3 # NOT IN CURRENT MODE 023003,002194: 25,2423 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ. 023004,002195: 25,2424 02443 TC STARTDES # SHOW DESIGNATE REQUIRED 023005,002196: 25,2425 40104 CS FLAGWRD8 023006,002197: 25,2426 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F) 023007,002198: 25,2427 00006 EXTEND 023008,002199: 25,2430 12467 BZF NORDSTAL # BRANCH -- YES -- CANNOT DESIGNATE IN MODE 2 023009,002200: 25,2431 02472 TC TRYSWS 023010,002201: 023011,002202: 25,2432 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES 023012,002203: 25,2433 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE 023013,002204: 25,2434 00006 EXTEND 023014,002205: 25,2435 12467 BZF NORDSTAL # BRANCH -- YES -- RETURN TO CALLER -- ALARM 527 023015,002206: 25,2436 30074 CA STATE 023016,002207: 25,2437 74745 MASK RNDVZBIT 023017,002208: 25,2440 10000 CCS A # TEST RNDVZFLG 023018,002209: 25,2441 02502 TC NODESSM # NOT ON MOON -- CALL FOR ATTITUDE MANEUVER 023019,002210: 25,2442 15155 TCF ENDOFJOB # ... BUT NOT IN R29. 023020,002211: 023021,002212: # Page 549 023022,002213: # PROGRAM NAME: STARTDES 023023,002214: 023024,002215: # FUNCTIONAL DESCRIPTION: 023025,002216: 023026,002217: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. 023027,002218: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. 023028,002219: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITON 023029,002220: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE 023030,002221: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED. 023031,002222: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS 023032,002223: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE 023033,002224: # THAT 30 SECONDS WILL BE ALLOWED FOR TEH RR DATA GOO INBIT 023034,002225: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10 023035,002226: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED. 023036,002227: # THE REPOSITON FLAG (RADMODES BIT 11) IS CHECKED. IT SET, 023037,002228: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM 023038,002229: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED 023039,002230: # ANGLES FOLLOWING THE REPOSITON OR REMODE IF ONE WAS 023040,002231: # REQUESTED. IF TEH REPOSITON FLAG IS NOT SET, SETRRECR IS CALLED 023041,002232: # WITH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) 023042,002233: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE 023043,002234: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR 023044,002235: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES 023045,002236: # AFTER WITH THE PROGRAM EXITS TO L+3 OF TEH CALLING PROGRAM. 023046,002237: 023047,002238: # CALLING SEQUENCE: 023048,002239: 023049,002240: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS. 023050,002241: 023051,002242: # ERASABLE INITIALIZATION REQUIRED: 023052,002243: 023053,002244: # RADMODES, (SEE DODES) 023054,002245: 023055,002246: # SUBROUTINES CALLED 023056,002247: 023057,002248: # SETRRECR, WAITLIST 023058,002249: 023059,002250: # JOBS OR TASKS INITIATED: 023060,002251: 023061,002252: # BEGDES 023062,002253: 023063,002254: # ALARMS: NONE 023064,002255: 023065,002256: # EXIT: L+3 OF CALLING PROGRAM (SEE RRDESSM) 023066,002257: # L+2 OF CALLING PROGRAM (SEE RRDESNB) 023067,002258: 023068,002259: 25,2443 25112 STARTDES INCR DESRET 023069,002260: 25,2444 40110 CS RADMODES 023070,002261: 25,2445 74742 MASK DESIGBIT 023071,002262: 25,2446 26110 ADS RADMODES 023072,002263: 25,2447 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS. 023073,002264: 25,2450 10000 CCS A 023074,002265: 25,2451 12457 TCF DESRETRN # ECTR ALREADY SET UP. 023075,002266: 023076,002267: 25,2452 02167 TC SETRRECR # SET UP ERROR COUNTERS. 023077,002268: # Page 550 023078,002269: 25,2453 34752 CAF TWO 023079,002270: 25,2454 05203 TC WAITLIST 023080,002271: 25,2455 E7,1456 EBANK= LOSCOUNT 023081,002272: 25,2455 02604 52067 2CADR BEGDES 023082,002273: 023083,002274: 25,2457 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE 023084,002275: 25,2460 00006 EXTEND 023085,002276: 25,2461 12463 BZF DESRTRN # YES SET EXIT 023086,002277: 25,2462 05155 TC ENDOFJOB # NO 023087,002278: 25,2463 00003 DESRTRN RELINT 023088,002279: 25,2464 25112 INCR DESRET 023089,002280: 25,2465 31112 CA DESRET 023090,002281: 25,2466 14640 TCF BANKJUMP 023091,002282: 023092,002283: 25,2467 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE 023093,002284: 25,2470 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW 023094,002285: 25,2471 12463 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL 023095,002286: 023096,002287: # Page 551 023097,002288: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE. 023098,002289: 023099,002290: 25,2472 02244 TRYSWS TC RMODINV # (NOT RUPT INHIBIT) 023100,002291: 25,2473 04523 TC RRLIMCHK # TRY DIFFERENT MODE. 023101,002292: 25,2474 01110 ADRES MODEB 023102,002293: 25,2475 12502 TCF NODESSM # VEHICLE MANEUVER REQUIRED 023103,002294: 023104,002295: 25,2476 02244 TC RMODINV # RESET BIT12 023105,002296: 25,2477 34736 CAF REMODBIT # SET FLAG FOR REMODE. 023106,002297: 25,2500 26110 ADS RADMODES 023107,002298: 023108,002299: 25,2501 12423 TCF OKDESSM 023109,002300: 023110,002301: 25,2502 02244 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN 023111,002302: 25,2503 25112 INCR DESRET # TO CALLER +2 023112,002303: 25,2504 12467 TCF NORDSTAL 023113,002304: 023114,002305: 25,2505 00074 MAXTRYS DEC 60 B-14 023115,002306: 023116,002307: # Page 552 023117,002308: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN 023118,002309: # TANG AND TANG +1. 023119,002310: 023120,002311: 25,2506 04645 RRDESNB TC MAKECADR 023121,002312: 25,2507 55112 TS DESRET 023122,002313: 023123,002314: 25,2510 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOINING 023124,002315: 25,2511 00041 ADRES LOSCMFLG # BACK TO R21 023125,002316: 25,2512 32505 CA MAXTRYS # SET TIME LIMIT COUNTER 023126,002317: 25,2513 55113 TS DESCOUNT # FOR DESIGNATE 023127,002318: 25,2514 00004 INHINT # SEE IF CURRENT MODE OK. 023128,002319: 25,2515 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK 023129,002320: 25,2516 01106 ADRES TANG 023130,002321: 25,2517 12534 TCF TRYSWN # SEE IF IN OTHER MODE. 023131,002322: 023132,002323: 25,2520 00003 OKDESNB RELINT 023133,002324: 25,2521 00006 EXTEND 023134,002325: 25,2522 31107 DCA TANG 023135,002326: 25,2523 53753 DXCH TANGNB 023136,002327: 25,2524 06042 TC INTPRET 023137,002328: 023138,002329: 25,2525 77624 CALL # GET LOS IN NB COORDS. 023139,002330: 25,2526 46041 RRNB 023140,002331: 25,2527 01101 STORE RRTARGET 023141,002332: 023142,002333: 25,2530 77414 SET EXIT 023143,002334: 25,2531 00071 RRNBSW 023144,002335: 023145,002336: 25,2532 00004 INHINT 023146,002337: 25,2533 12444 TCF STARTDES +1 023147,002338: 25,2534 02244 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO. 023148,002339: 25,2535 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK 023149,002340: 25,2536 01106 ADRES TANG 023150,002341: 25,2537 12544 TCF NODESNB # NOT POSSIBLE. 023151,002342: 023152,002343: 25,2540 02244 TC RMODINV 023153,002344: 25,2541 34736 CAF REMODBIT # CALL FOR REMODE. 023154,002345: 25,2542 26110 ADS RADMODES 023155,002346: 25,2543 12520 TCF OKDESNB 023156,002347: 023157,002348: 25,2544 02244 NODESNB TC RMODINV # REINVERT MODE BIT. 023158,002349: 25,2545 05567 TC ALARM # BAD INPUT ANGLES. 023159,002350: 25,2546 00502 OCT 502 023160,002351: 25,2547 06011 TC CLRADMOD 023161,002352: 25,2550 05155 TC ENDOFJOB # AVOID 503 ALARM. 023162,002353: 023163,002354: 25,2551 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK 023164,002355: 25,2552 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER 023165,002356: 25,2553 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES 023166,002357: 25,2554 00006 EXTEND 023167,002358: # Page 553 023168,002359: 25,2555 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE 023169,002360: 25,2556 30001 DCA 0 023170,002361: 25,2557 52062 DXCH ITEMP1 023171,002362: 25,2560 22002 LXCH Q # L(CALLER +2) TO L 023172,002363: 023173,002364: 25,2561 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN 023174,002365: 25,2562 70110 MASK RADMODES 023175,002366: 25,2563 10000 CCS A 023176,002367: 25,2564 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING 023177,002368: 25,2565 30061 CA ITEMP1 023178,002369: 25,2566 04512 TC MAGSUB # MODE 1 IS DEFINED AS 023179,002370: 25,2567 66161 DEC -.30555 # 1 ABS(T) L 55 DEGS 023180,002371: 25,2570 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS 023181,002372: 023182,002373: 25,2571 30062 CA ITEMP2 # LOAD SHAFT ANGLE 023183,002374: 25,2572 00006 EXTEND 023184,002375: 25,2573 62601 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS 023185,002376: 25,2574 64562 AD 5.5DEGS 023186,002377: 25,2575 04512 SHAFTLIM TC MAGSUB 023187,002378: 25,2576 64420 DEC -.35833 # 64.5 DEGREES 023188,002379: 25,2577 00001 TC L # NOT IN LIMITS 023189,002380: 25,2600 04560 TC RRLIMOK # IN LIMITS 023190,002381: 25,2601 62603 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES 023191,002382: 25,2602 12575 TCF SHAFTLIM 023192,002383: 023193,002384: 25,2603 03512 20.5DEGS DEC .11389 023194,002385: 023195,002386: # Page 554 023196,002387: # PROGRAM NAME: BEGDES 023197,002388: 023198,002389: # FUNCTIONAL DESCRIPTION: 023199,002390: 023200,002391: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE 023201,002392: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A 023202,002393: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO, 023203,002394: # CONTROL IS TRANFERRED TO STDESIG AFTER ROUTINE REMODE IS 023204,002395: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHRE 023205,002396: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF 023206,002397: # PRESETN, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED 023207,002398: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION 023208,002399: # FLAG IS NOT PRESET, THE CONTINUS DESIGNATE FLAG (RADMODES 023209,002400: # BIT 15) IS CHECKED. IF PRESENT, AN EXECUTIVE CALL IS IMMEDIATELY 023210,002401: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BFORE 023211,002402: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING 023212,002403: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED. 023213,002404: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES 023214,002405: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO 023215,002406: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE 023216,002407: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS 023217,002408: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4) 023218,002409: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE 023219,002410: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE 023220,002411: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG 023221,002412: # (RADMODES BIT 10) REMOVED BEFORE EEXITING TO RDBADEND. IF 023222,002413: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE 023223,002414: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED 023224,002415: # BEFORE REPEATING THIS PROCEDURE AT STDESIG. 023225,002416: 023226,002417: # CALLING SEQUENCE: 023227,002418: 023228,002419: # WAITLIST CALL FROM STARTDES 023229,002420: # TCF BEGDES FROM DORREPOS 023230,002421: # TC STDESIG RETURNING, FROM REMODE 023231,002422: 023232,002423: # ERASABLE INITIALIZATION REQUIRED: 023233,002424: 023234,002425: # DESCOUNT, FINDVAC 023235,002426: 023236,002427: # JOBS OR TASKS INITIATED: DODES 023237,002428: 023238,002429: # ALARMS: PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA 023239,002430: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED. 023240,002431: 023241,002432: # EXIT: TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT) 023242,002433: # ENDRADAR (NO DESIGNATE -- RADMODES BIT 10) 023243,002434: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED) 023244,002435: 023245,002436: 25,2604 40110 BEGDES CS RADMODES 023246,002437: # Page 555 023247,002438: 25,2605 74736 MASK REMODBIT 023248,002439: 25,2606 10000 CCS A 023249,002440: 25,2607 02613 TC STDESIG 023250,002441: 25,2610 02202 TC REMODE 023251,002442: 25,2611 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND. 023252,002443: 25,2612 00062 DEC 50 B-14 023253,002444: 023254,002445: 25,2613 34741 STDESIG CAF REPOSBIT 023255,002446: 25,2614 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US 023256,002447: 25,2615 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A 023257,002448: 25,2616 12634 TCF BADDES # REPOSITION TO BE IN PROGRESS. 023258,002449: 023259,002450: 25,2617 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED. 023260,002451: 25,2620 12623 TCF +3 # IF SO, DON'T CHECK BIT 10 TO SEE IF IN 023261,002452: 25,2621 12623 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY. 023262,002453: 25,2622 12640 TCF MOREDES +1 023263,002454: 023264,002455: 25,2623 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF 023265,002456: 25,2624 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR 023266,002457: 25,2625 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER 023267,002458: 25,2626 13551 TCF ENDRADAR # CHECKING RR CDU FAIL. 023268,002459: 023269,002460: 25,2627 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TIME LIMIT HAS EXPIRED 023270,002461: 25,2630 12637 TCF MOREDES 023271,002462: 023272,002463: 25,2631 42645 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR 023273,002464: 25,2632 00006 EXTEND 023274,002465: 25,2633 03012 WAND CHAN12 023275,002466: 25,2634 05516 BADDES TC DOWNFLAG 023276,002467: 25,2635 00271 ADRES DESIGFLG 023277,002468: 25,2636 13565 TCF RDBADEND 023278,002469: 023279,002470: 25,2637 55113 MOREDES TS DESCOUNT 023280,002471: 25,2640 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS. 023281,002472: 25,2641 05105 TC FINDVAC 023282,002473: 25,2642 E7,1456 EBANK= LOSCOUNT 023283,002474: 25,2642 02646 52067 2CADR DODES 023284,002475: 023285,002476: 25,2644 12611 TCF DESLOOP 023286,002477: 023287,002478: 25,2645 20002 B14+B2 OCT 20002 023288,002479: 023289,002480: # Page 556 023290,002481: # PROGRAM NAME: DODES 023291,002482: 023292,002483: # FUNCTIONAL DESCRIPTION: 023293,002484: 023294,002485: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE 023295,002486: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND 023296,002487: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO 023297,002488: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE 023298,002489: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS: 023299,002490: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT) 023300,002491: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S)) 023301,002492: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2 023302,002493: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE 023303,002494: # POLARITY FO TEH COMMAND. AT RRSCALUP EACH COMMAND IS 023304,002495: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN 023305,002496: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE 023306,002497: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING, 023307,002498: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT 023308,002499: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) 023309,002500: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS 023310,002501: # OPERATING (SRCHOPT FLAT SET) THE TRACK ENABLE IS NOT CLEARED. IF NO 023311,002502: # CONTINUOUS DESIGNATE AND BOT COMMANDS ARE NOT LESS THAN .5 DEGREES AS 023312,002503: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS 023313,002504: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITON 023314,002505: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 023315,002506: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT 023316,002507: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE 023317,002508: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN 023318,002509: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE 023319,002510: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESETN, THE 023320,002511: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, AND ENDOFJOB 023321,002512: # CALLED. IF LOCK-ON IS DESIRED, TEH RR AUTO TRACKER (CHAN 12 023322,002513: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE 023323,002514: # RR DATA GOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD 023324,002515: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, 023325,002516: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, 023326,002517: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT 023327,002518: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION 023328,002519: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED 023329,002520: # VIA ENDOFJOB. 023330,002521: 023331,002522: # CALLING SEQUENCE: 023332,002523: 023333,002524: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES. 023334,002525: 023335,002526: # ERASABLE INITIALIZATION REQUIRED: 023336,002527: 023337,002528: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES), 023338,002529: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES 023339,002530: 023340,002531: # SUBROUTINES CALLED: 023341,002532: 023342,002533: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT 023343,002534: # Page 557 023344,002535: 023345,002536: # JOBS OR TASKS INITIATED: 023346,002537: 023347,002538: # NONE 023348,002539: 023349,002540: # ALARMS: NONE 023350,002541: 023351,002542: # EXIT: ENDOFJOB (ALWAYS) 023352,002543: 023353,002544: 25,2646 00006 DODES EXTEND 023354,002545: 25,2647 30036 DCA CDUT 023355,002546: 25,2650 53107 DXCH TANG 023356,002547: 023357,002548: 25,2651 06042 TC INTPRET 023358,002549: 023359,002550: 25,2652 77201 SETPD VLOAD 023360,002551: 25,2653 00001 0 023361,002552: 25,2654 01101 RRTARGET 023362,002553: 25,2655 74214 BON VXSC 023363,002554: 25,2656 00311 RRNBSW 023364,002555: 25,2657 52671 DONBRD # TARGET IN NAV-BASE COORDINATES 023365,002556: 25,2660 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE 023366,002557: 25,2661 63372 VSL1 PDVL 023367,002558: 25,2662 01761 LOSVEL 023368,002559: 25,2663 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS 023369,002560: 25,2664 13101 MCTOMS 023370,002561: 25,2665 45056 UNIT CALL 023371,002562: 25,2666 47541 CDUTRIG 023372,002563: 25,2667 77624 CALL 023373,002564: 25,2670 47673 *SMNB* 023374,002565: 023375,002566: 25,2671 14041 DONBRD STODL 32D 023376,002567: 25,2672 01110 TANG +1 023377,002568: 25,2673 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0, 023378,002569: 25,2674 21577 CDULOGIC # -SIN(S)). 023379,002570: 25,2675 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2. 023380,002571: 25,2676 41546 COS PUSH 023381,002572: 25,2677 65205 DMP PDDL 023382,002573: 25,2700 00041 32D 023383,002574: 25,2701 00045 36D 023384,002575: 25,2702 44205 DMP BDSU 023385,002576: 25,2703 00001 0 023386,002577: 25,2704 77626 STADR 023387,002578: 25,2705 76667 STORE TANG +1 # SHAFT COMMAND 023388,002579: 023389,002580: 25,2706 47135 SLOAD RTB 023390,002581: 25,2707 01107 TANG 023391,002582: 25,2710 21577 CDULOGIC 023392,002583: 25,2711 71406 PUSH COS # COS(T) TO 4. 023393,002584: 25,2712 73525 PDDL SIN 023394,002585: 25,2713 41206 PUSH DMP # SIN(T) TO 6. 023395,002586: 25,2714 00003 2 023396,002587: # Page 558 023397,002588: 25,2715 65352 SL1 PDDL # DEFINE VECTOR U = [SIN(T)SIN(S)] 023398,002589: 25,2716 00005 4 # [ COS(T) ] 023399,002590: 25,2717 41325 PDDL DMP # [SIN(T)COS(S)] 023400,002591: 25,2720 00007 6 023401,002592: 25,2721 00001 0 023402,002593: 25,2722 55552 SL1 VDEF 023403,002594: 25,2723 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND. 023404,002595: 25,2724 00041 32D 023405,002596: 023406,002597: # Page 559 023407,002598: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A 023408,002599: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET. 023409,002600: 023410,002601: 25,2725 40154 CS MPAC # DOT WAS NEGATIVE OF DESREG ANGLE. 023411,002602: 25,2726 00006 EXTEND 023412,002603: 25,2727 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS. 023413,002604: 25,2730 55354 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT 023414,002605: 25,2731 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF 023415,002606: 25,2732 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A 023416,002607: 25,2733 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT 023417,002608: 25,2734 12737 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE 023418,002609: 25,2735 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH 023419,002610: 25,2736 12740 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND. 023420,002611: 25,2737 41107 +3 CS TANG +1 023421,002612: 25,2740 00006 EXTEND 023422,002613: 25,2741 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS. 023423,002614: 25,2742 55355 TS SHAFTCMD # SHAFT COMMAND FOR RROUT 023424,002615: 25,2743 06042 TC INTPRET 023425,002616: 023426,002617: 25,2744 41345 DLOAD DMP 023427,002618: 25,2745 00003 2 # COS(S). 023428,002619: 25,2746 00005 4 # COS(T). 023429,002620: 25,2747 65352 SL1 PDDL # Z COMPONENT OF URR. 023430,002621: 25,2750 65276 DCOMP PDDL # Y COMPONENT = -SIN(T) 023431,002622: 25,2751 00001 0 # SIN(S). 023432,002623: 25,2752 72405 DMP SL1 023433,002624: 25,2753 00005 4 # COS(T). 023434,002625: 25,2754 43066 VDEF BON # FORM URR IN NB AXES. 023435,002626: 25,2755 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41 023436,002627: 25,2756 52761 +3 023437,002628: 25,2757 77624 CALL 023438,002629: 25,2760 47675 *NBSM* # GET URR IN SM AXES. 023439,002630: 25,2761 77441 DOT EXIT 023440,002631: 25,2762 01101 RRTARGET # GET COSIN OF ANGLE BETWEEN RR AND LOS 023441,002632: 023442,002633: 25,2763 00006 EXTEND 023443,002634: 25,2764 43077 DCS COS1/2DG 023444,002635: 25,2765 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2. 023445,002636: 25,2766 10154 CCS MPAC 023446,002637: 25,2767 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER 023447,002638: 25,2770 12772 TCF +2 023448,002639: 25,2771 34753 CA ONE 023449,002640: 25,2772 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT. 023450,002641: # Page 560 023451,002642: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED. 023452,002643: 023453,002644: 25,2773 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT 023454,002645: 25,2774 12777 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF 023455,002646: 25,2775 12777 TCF SIGNLCHK # ERROR SIGNALS 023456,002647: 25,2776 13027 TCF DORROUT 023457,002648: 25,2777 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS. 023458,002649: 25,3000 13010 TCF DGOODCHK 023459,002650: 25,3001 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED, 023460,002651: 25,3002 74747 MASK LOKONBIT # PROBLEM IS FINISHED. 023461,002652: 25,3003 10000 CCS A 023462,002653: 25,3004 13015 TCF RRDESDUN 023463,002654: 023464,002655: 25,3005 34736 CAF BIT14 # ENABLE THE TRACKER 023465,002656: 25,3006 00006 EXTEND 023466,002657: 25,3007 05012 WOR CHAN12 023467,002658: 023468,002659: 25,3010 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET 023469,002660: 25,3011 00006 EXTEND 023470,002661: 25,3012 02033 RAND CHAN33 023471,002662: 25,3013 10000 CCS A 023472,002663: 25,3014 13027 TCF DORROUT 023473,002664: 023474,002665: 25,3015 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT 023475,002666: 25,3016 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND. 023476,002667: 25,3017 00004 INHINT 023477,002668: 25,3020 54110 TS RADMODES 023478,002669: 023479,002670: 25,3021 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREENT A 023480,002671: 25,3022 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD 023481,002672: 25,3023 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER 023482,002673: 25,3024 00006 EXTEND 023483,002674: 25,3025 03012 WAND CHAN12 023484,002675: 25,3026 15155 TCF ENDOFJOB # WITH ECTR DISABLED. 023485,002676: 023486,002677: 25,3027 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE 023487,002678: 25,3030 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS 023488,002679: 25,3031 00006 EXTEND 023489,002680: 25,3032 13051 BZF NOTP20 023490,002681: 25,3033 06042 TC INTPRET 023491,002682: 25,3034 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE 023492,002683: 25,3035 01101 RRTARGET 023493,002684: 25,3036 01767 MLOSV 023494,002685: 25,3037 41572 VSL1 PUSH 023495,002686: 25,3040 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY 023496,002687: 25,3041 01761 LOSVEL # TO LOS VECTOR 023497,002688: 25,3042 13101 MCTOMS 023498,002689: 25,3043 53362 VSR1 VAD 023499,002690: 25,3044 77656 UNIT 023500,002691: 25,3045 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT) 023501,002692: # Page 561 023502,002693: 25,3046 00045 36D 023503,002694: 25,3047 01767 STORE MLOSV # AND STORE MAGNITUDE 023504,002695: 25,3050 77776 EXIT 023505,002696: 25,3051 00004 NOTP20 INHINT 023506,002697: 25,3052 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR 023507,002698: 25,3053 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER 023508,002699: 25,3054 10000 CCS A 023509,002700: 25,3055 02317 TC RROUT 023510,002701: 023511,002702: 25,3056 30076 CA FLAGWRD2 023512,002703: 25,3057 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST 023513,002704: 25,3060 00006 EXTEND # LOS COUNTER 023514,002705: 25,3061 15155 BZF ENDOFJOB 023515,002706: 25,3062 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET 023516,002707: 25,3063 03073 TC DODESEND # A NEW LOS 023517,002708: 25,3064 06032 TC KILLTASK # YES -- KILL TASK WHICH SCHEDULES DODES 023518,002709: 25,3065 52613 CADR DESLOOP +2 023519,002710: 25,3066 00003 RELINT 023520,002711: 25,3067 10067 CCS NEWJOB 023521,002712: 25,3070 05122 TC CHANG1 023522,002713: 25,3071 04616 TC BANKCALL 023523,002714: 25,3072 50732 CADR R21LEM2 023524,002715: 023525,002716: 25,3073 55456 DODESEND TS LOSCOUNT 023526,002717: 25,3074 05155 TC ENDOFJOB 023527,002718: 023528,002719: 25,3075 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC. 023529,002720: 25,3076 7715 BIT12,14 EQUALS PRIO24 # OCT 24000 023530,002721: 25,3076 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES. 023531,002722: 25,3100 00310 00000 MCTOMS 2DEC 100 B-13 023532,002723: 023533,002724: # Page 562 023534,002725: # RADAR READ INITIALIZATION 023535,002726: 023536,002727: # RADAR DATA READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW. 023537,002728: 023538,002729: 25,3102 03122 LRALT TC INITREAD -1 # ONE SAMPLE PER READING. 023539,002730: 25,3103 00017 ALLREAD OCT 17 023540,002731: 023541,002732: 25,3104 03123 LRVELZ TC INITREAD 023542,002733: 25,3105 00016 OCT 16 023543,002734: 023544,002735: 25,3106 03123 LRVELY TC INITREAD 023545,002736: 25,3107 00015 OCT 15 023546,002737: 023547,002738: 25,3110 03123 LRVELX TC INITREAD 023548,002739: 25,3111 00014 OCT 14 023549,002740: 023550,002741: 25,3112 03122 RRRDOT TC INITREAD -1 023551,002742: 25,3113 00012 OCT 12 023552,002743: 023553,002744: 25,3114 03122 RRRANGE TC INITREAD -1 023554,002745: 25,3115 00011 OCT 11 023555,002746: 023556,002747: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE 023557,002748: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP. 023558,002749: 023559,002750: 25,3116 55104 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMENTARILY 023560,002751: 25,3117 34756 CAF FIVE # SPECIFY FIVE SAMPLES 023561,002752: 25,3120 51104 INDEX TIMEHOLD 023562,002753: 25,3121 13104 TCF LRVELZ 023563,002754: 023564,002755: # Page 563 023565,002756: 25,3122 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE 023566,002757: 25,3123 00004 INITREAD INHINT 023567,002758: 023568,002759: 25,3124 55104 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING 023569,002760: 25,3125 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE 023570,002761: 25,3126 74751 MP BIT3 # ENCOUNTERED). 023571,002762: 25,3127 53105 DXCH TIMEHOLD 023572,002763: 023573,002764: 25,3130 10000 CCS A 023574,002765: 25,3131 55110 TS NSAMP 023575,002766: 25,3132 64753 AD ONE 023576,002767: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES. 023577,002768: # DOUBLE 023578,002769: 25,3133 55077 TS SAMPLIM 023579,002770: 023580,002771: 25,3134 33156 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS. 023581,002772: 25,3135 00006 EXTEND 023582,002773: 25,3136 02033 RAND CHAN33 023583,002774: 25,3137 55112 TS OLDATAGD 023584,002775: 023585,002776: 25,3140 43103 CS ALLREAD 023586,002777: 25,3141 00006 EXTEND 023587,002778: 25,3142 03013 WAND CHAN13 # REMOVE ALL RADAR BITS 023588,002779: 023589,002780: 25,3143 50002 INDEX Q 023590,002781: 25,3144 30000 CAF 0 023591,002782: 25,3145 04674 TC IBNKCALL 023592,002783: 25,3146 36000 CADR RADSTART 023593,002784: 023594,002785: 25,3147 00006 EXTEND 023595,002786: 25,3150 30025 DCA TIME2 023596,002787: 25,3151 21105 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT 023597,002788: 023598,002789: 25,3152 34755 CAF ZERO 023599,002790: 25,3153 54001 TS L 023600,002791: 25,3154 53101 DXCH SAMPLSUM 023601,002792: 25,3155 12377 TCF ROADBACK 023602,002793: 023603,002794: 25,3156 00230 DGBITS OCT 230 023604,002795: 023605,002796: # Page 564 023606,002797: # RADAR RUPT READER 023607,002798: 023608,002799: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA & LOTS MORE. 023609,002800: 023610,002801: 25,2000 SETLOC RADARUPT 023611,002802: 25,2000 BANK 023612,002803: 023613,002804: 25,3157 COUNT* $$/RRUPT 023614,002805: 25,3157 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS 023615,002806: 25,3160 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND). 023616,002807: 25,3161 54016 TS BANKRUPT 023617,002808: 25,3162 00006 EXTEND 023618,002809: 25,3163 22012 QXCH QRUPT 023619,002810: 023620,002811: 25,3164 00006 EXTEND 023621,002812: 25,3165 31454 DCA TTOGO # LOAD TIME TO TIG 023622,002813: 25,3166 53272 DXCH TTOTIG # FOR R65 RADAR READING. 023623,002814: 023624,002815: 25,3167 34757 CAF SEVEN 023625,002816: 25,3170 00006 EXTEND 023626,002817: 25,3171 02013 RAND CHAN13 023627,002818: 25,3172 55332 TS DNINDEX 023628,002819: 25,3173 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE 023629,002820: 25,3174 13200 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS) 023630,002821: 25,3175 30046 CA RNRAD 023631,002822: 25,3176 51332 INDEX DNINDEX 023632,002823: 25,3177 55327 TS DNRRANGE -1 023633,002824: 25,3200 11077 TRYCOUNT CCS SAMPLIM 023634,002825: 25,3201 13223 TCF PLENTY 023635,002826: 25,3202 13206 TCF NOMORE 023636,002827: 25,3203 05567 TC ALARM 023637,002828: 25,3204 00520 OCT 520 023638,002829: 25,3205 05270 TC RESUME 023639,002830: 023640,002831: 25,3206 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET? 023641,002832: 25,3207 74735 MASK LRBYBIT 023642,002833: 25,3210 00006 EXTEND 023643,002834: 25,3211 13220 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM. 023644,002835: 023645,002836: 25,3212 40077 CS FLAGWRD3 # CHECK R04FLAG. 023646,002837: 25,3213 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM 023647,002838: 25,3214 00006 EXTEND 023648,002839: 25,3215 13220 BZF BADRAD 023649,002840: 023650,002841: 25,3216 05567 TC ALARM # P20 WANTS THE ALARM. 023651,002842: 25,3217 00521 OCT 521 023652,002843: 25,3220 44753 BADRAD CS ONE 023653,002844: 25,3221 55077 TS SAMPLIM 023654,002845: 25,3222 03563 TC RDBADEND -2 023655,002846: 25,3223 55077 PLENTY TS SAMPLIM 023656,002847: # Page 565 023657,002848: 25,3224 34751 CAF BIT3 023658,002849: 25,3225 00006 EXTEND 023659,002850: 25,3226 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR 023660,002851: 25,3227 00006 EXTEND 023661,002852: 25,3230 13277 BZF RENDRAD 023662,002853: 023663,002854: 25,3231 03365 TC R77CHECK # R77 QUITS HERE. 023664,002855: 25,3232 36250 VELCHK CAF BIN3 # = 00003 OCT 023665,002856: 25,3233 00006 EXTEND 023666,002857: 25,3234 06013 RXOR CHAN13 # RESET ACTIVITY BIT 023667,002858: 25,3235 76250 MASK BIN3 023668,002859: 25,3236 00006 EXTEND 023669,002860: 25,3237 13273 BZF LRHEIGHT # TAKE A LR RANGE READING 023670,002861: 023671,002862: 25,3240 34733 CAF POSMAX 023672,002863: 25,3241 70046 MASK RNRAD 023673,002864: 25,3242 62000 AD LVELBIAS 023674,002865: 25,3243 54001 TS L 023675,002866: 25,3244 30046 CAE RNRAD 023676,002867: 25,3245 60000 DOUBLE 023677,002868: 25,3246 74753 MASK BIT1 023678,002869: 25,3247 52064 DXCH ITEMP3 023679,002870: 023680,002871: 25,3250 34744 CAF BIT8 # DATA GOOD ISN'T CHECKED UNTIL AFTER READ- 023681,002872: 25,3251 03425 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK 023682,002873: # INDEPENDENT OF DATA GOOD. 023683,002874: 023684,002875: 25,3252 11110 CCS NSAMP 023685,002876: 25,3253 03263 TC NOEND 023686,002877: 25,3254 44753 GOODRAD CS ONE 023687,002878: 25,3255 55077 TS SAMPLIM 023688,002879: 25,3256 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED, 023689,002880: 25,3257 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF. 023690,002881: 25,3260 54110 TS RADMODES 023691,002882: 25,3261 03612 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD. 023692,002883: 25,3262 03556 TC RGOODEND -2 023693,002884: 023694,002885: 25,3263 55110 NOEND TS NSAMP 023695,002886: 25,3264 11077 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE. 023696,002887: 25,3265 13267 TCF +2 023697,002888: 25,3266 13444 TCF DATAFAIL # N SAMPLES NOT AVAILABLE. 023698,002889: 25,3267 34750 CAF BIT4 # RESET ACTIVITY BIT. 023699,002890: 25,3270 04674 TC IBNKCALL 023700,002891: 25,3271 36000 CADR RADSTART 023701,002892: 023702,002893: 25,3272 05270 TC RESUME 023703,002894: 023704,002895: 25,3273 34747 LRHEIGHT CAF BIT5 023705,002896: 25,3274 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33) 023706,002897: # Page 566 023707,002898: 25,3275 34743 CAF BIT9 023708,002899: 25,3276 03321 TC SCALECHK -1 023709,002900: 023710,002901: 25,3277 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF 023711,002902: 25,3300 70110 MASK RADMODES # LIMITS. 023712,002903: 25,3301 10000 CCS A 023713,002904: 25,3302 13220 TCF BADRAD 023714,002905: 023715,002906: 25,3303 40110 CS RADMODES # BE SURE RR CDU HASN'T FAILED. 023716,002907: 25,3304 74745 MASK RCDUFBIT 023717,002908: 25,3305 10000 CCS A 023718,002909: 25,3306 13220 TCF BADRAD 023719,002910: 023720,002911: 25,3307 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD. 023721,002912: 25,3310 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33) 023722,002913: 023723,002914: 25,3311 34753 CAF BIT1 # SEE IF RR RDOT. 023724,002915: 25,3312 00006 EXTEND 023725,002916: 25,3313 02013 RAND CHAN13 023726,002917: 25,3314 54002 TS Q # FOR LATER TESTING. 023727,002918: 25,3315 10000 CCS A 023728,002919: 25,3316 13320 TCF +2 023729,002920: 25,3317 13332 TCF RADIN # NO SCALE CHECK FOR RR RDOT. 023730,002921: 25,3320 34751 CAF BIT3 023731,002922: 25,3321 54001 TS L 023732,002923: 023733,002924: 25,3322 00006 SCALECHK EXTEND 023734,002925: 25,3323 02033 RAND CHAN33 # SCALE STATUS NOW 023735,002926: 25,3324 56001 XCH L 023736,002927: 25,3325 70110 MASK RADMODES # SCALE STATUS BEFORE 023737,002928: 25,3326 00006 EXTEND 023738,002929: 25,3327 06001 RXOR LCHAN # SEE IF THEY DIFFER 023739,002930: 25,3330 10000 CCS A 023740,002931: 25,3331 03351 TC SCALCHNG # THEY DIFFER. 023741,002932: 023742,002933: 25,3332 34733 RADIN CAF POSMAX 023743,002934: 25,3333 70046 MASK RNRAD 023744,002935: 25,3334 54064 TS ITEMP4 023745,002936: 023746,002937: 25,3335 30046 CAE RNRAD 023747,002938: 25,3336 60000 DOUBLE 023748,002939: 25,3337 74753 MASK BIT1 023749,002940: 25,3340 54063 TS ITEMP3 023750,002941: 023751,002942: 25,3341 10002 CCS Q # SEE IF RR RDOT. 023752,002943: 25,3342 13403 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED. 023753,002944: 023754,002945: 25,3343 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS 023755,002946: 25,3344 42002 DCS RDOTBIAS 023756,002947: 25,3345 20064 DASAMPL DAS ITEMP3 023757,002948: # Page 567 023758,002949: 25,3346 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND 023759,002950: 25,3347 03426 TC DGCHECK +1 # AFTER TAKING SAMPLE. 023760,002951: 25,3350 03254 TC GOODRAD 023761,002952: 023762,002953: 25,3351 22110 SCALCHNG LXCH RADMODES 023763,002954: 25,3352 64753 AD BIT1 023764,002955: 25,3353 00006 EXTEND 023765,002956: 25,3354 06001 RXOR LCHAN 023766,002957: 25,3355 54110 TS RADMODES 023767,002958: 25,3356 33156 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS. 023768,002959: 25,3357 00006 EXTEND 023769,002960: 25,3360 02033 RAND CHAN33 023770,002961: 25,3361 55112 TS OLDATAGD 023771,002962: 25,3362 05504 TC UPFLAG # SET RNGSCFLG 023772,002963: 25,3363 00120 ADRES RNGSCFLG # FOR LRS24.1 023773,002964: 25,3364 13220 TCF BADRAD 023774,002965: 023775,002966: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT. 023776,002967: 023777,002968: 25,3365 40101 R77CHECK CS FLAGWRD5 023778,002969: 25,3366 74741 MASK R77FLBIT 023779,002970: 25,3367 10000 CCS A 023780,002971: 25,3370 00002 TC Q # NOT R77 023781,002972: 25,3371 43402 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES 023782,002973: 25,3372 70110 MASK RADMODES 023783,002974: 25,3373 54001 TS L 023784,002975: 25,3374 33402 CA BITS5,8 023785,002976: 25,3375 00006 EXTEND 023786,002977: 25,3376 02033 RAND CHAN33 023787,002978: 25,3377 60001 AD L 023788,002979: 25,3400 54110 TS RADMODES 023789,002980: 25,3401 03556 TC RGOODEND -2 023790,002981: 25,3402 00220 BITS5,8 OCT 220 023791,002982: 023792,002983: # Page 568 023793,002984: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE. 023794,002985: 023795,002986: 25,3403 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR. 023796,002987: 25,3404 13406 TCF +2 # ON HIGH SCALE. 023797,002988: 25,3405 13346 TCF DGCHECK2 023798,002989: 023799,002990: 25,3406 31332 CA DNINDEX 023800,002991: 25,3407 74751 MASK BIT3 023801,002992: 25,3410 10000 CCS A 023802,002993: 25,3411 13420 TCF LRSCK 023803,002994: 023804,002995: 25,3412 52064 DXCH ITEMP3 023805,002996: 25,3413 20001 DDOUBL 023806,002997: 25,3414 20001 DDOUBL 023807,002998: 25,3415 20001 DDOUBL 023808,002999: 25,3416 52064 DXCH ITEMP3 023809,003000: 023810,003001: 25,3417 13346 TCF DGCHECK2 023811,003002: 023812,003003: 25,3420 00006 LRSCK EXTEND 023813,003004: 25,3421 30064 DCA ITEMP3 023814,003005: 25,3422 20001 DDOUBL 023815,003006: 25,3423 20001 DDOUBL 023816,003007: 25,3424 13345 TCF DASAMPL 023817,003008: 023818,003009: 25,3425 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND 023819,003010: 25,3426 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE 023820,003011: 25,3427 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF 023821,003012: 25,3430 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF 023822,003013: 25,3431 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED, 023823,003014: 25,3432 71112 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD 023824,003015: 25,3433 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND 023825,003016: 25,3434 57112 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA 023826,003017: 25,3435 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP. 023827,003018: 25,3436 60001 AD L 023828,003019: 25,3437 10000 CCS A # SHOULD BOTH BE ZERO. 023829,003020: 25,3440 03264 TC RESAMPLE 023830,003021: 25,3441 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO 023831,003022: 25,3442 21101 DAS SAMPLSUM # ACCUMULATION. 023832,003023: 25,3443 00002 TC Q 023833,003024: 023834,003025: 25,3444 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT 023835,003026: 25,3445 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED. 023836,003027: 25,3446 60061 AD ITEMP1 023837,003028: 25,3447 54110 TS RADMODES 023838,003029: 023839,003030: 25,3450 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N 023840,003031: 25,3451 53101 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY. 023841,003032: # Page 569 023842,003033: 25,3452 03612 TC RADLITES 023843,003034: 25,3453 13206 TCF NOMORE 023844,003035: 023845,003036: # Page 570 023846,003037: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD 023847,003038: 023848,003039: 17,2000 SETLOC C13BANK 023849,003040: 17,2000 BANK 023850,003041: 023851,003042: 17,2000 54002 RADSTART TS Q 023852,003043: 17,2001 00006 +1 EXTEND 023853,003044: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME 023854,003045: 17,2003 54001 TS L 023855,003046: 023856,003047: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5-BITS MATTER 023857,003048: 17,2005 40000 COM 023858,003049: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK 023859,003050: 17,2007 74346 MASK LOW5 023860,003051: 17,2010 55270 TS RADDEL 023861,003052: 023862,003053: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL 023863,003054: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL 023864,003055: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS 023865,003056: 023866,003057: 17,2014 30002 CA Q 023867,003058: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW 023868,003059: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP 023869,003060: 023870,003061: 17,2017 40001 CS L 023871,003062: 17,2020 55267 TS RADTIME # SAVE THE NEGATIVE TIME OF READ 023872,003063: 17,2021 04707 TC ISWRETRN 023873,003064: 023874,003065: 17,2022 55266 C13STAL1 TS C13FSAV 023875,003066: 023876,003067: 17,2023 34750 CA BIT4 023877,003068: 17,2024 00006 EXTEND 023878,003069: 17,2025 02013 RAND CHAN13 023879,003070: 17,2026 00006 EXTEND 023880,003071: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN 023881,003072: 023882,003073: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP *** 023883,003074: 17,2031 00006 EXTEND 023884,003075: 17,2032 00004 READ LOSCALAR 023885,003076: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ 023886,003077: 17,2034 64736 AD HALF 023887,003078: 17,2035 64736 AD HALF # CORECT FOR TIME OVERFLOW 023888,003079: 17,2036 56001 XCH L 023889,003080: 023890,003081: 17,2037 32053 CA 90MSCALR 023891,003082: 17,2040 61270 AD RADDEL 023892,003083: 17,2041 00006 EXTEND 023893,003084: 17,2042 60001 SU L 023894,003085: # Page 571 023895,003086: 17,2043 00006 EXTEND 023896,003087: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN 023897,003088: 023898,003089: 17,2045 62054 AD -DTSCALR 023899,003090: 17,2046 00006 EXTEND 023900,003091: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K. 023901,003092: 023902,003093: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN 023903,003094: 17,2051 31266 CA C13FSAV 023904,003095: 17,2052 52005 DTCF 023905,003096: 023906,003097: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR 023907,003098: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR 023908,003099: 023909,003100: 6000 SETLOC FFTAG6 023910,003101: 6000 BANK 023911,003102: 023912,003103: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (garbled) 023913,003104: 6023 56004 XCH FBANK 023914,003105: 6024 12022 TCF C13STAL1 023915,003106: 023916,003107: # Page 572 023917,003108: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE. 023918,003109: 023919,003110: 25,2000 SETLOC P20S1 023920,003111: 25,2000 BANK 023921,003112: 023922,003113: 25,3454 COUNT* $$/RSUB 023923,003114: 25,3454 00004 LRPOS2 INHINT 023924,003115: 023925,003116: 25,3455 40110 CS RADMODES 023926,003117: 25,3456 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2 023927,003118: 25,3457 26110 ADS RADMODES 023928,003119: 023929,003120: 25,3460 34745 CAF BIT7 023930,003121: 25,3461 00006 EXTEND 023931,003122: 25,3462 02033 RAND CHAN33 # SEE IF ALREADY THERE. 023932,003123: 25,3463 00006 EXTEND 023933,003124: 25,3464 13513 BZF RADNOOP 023934,003125: 023935,003126: 25,3465 34737 CAF BIT13 023936,003127: 25,3466 00006 EXTEND 023937,003128: 25,3467 05012 WOR CHAN12 # COMMAND TO POSITION 2 023938,003129: 25,3470 33530 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS. 023939,003130: 25,3471 05203 TC WAITLIST 023940,003131: 25,3472 E7,1456 EBANK= LOSCOUNT 023941,003132: 25,3472 03526 52067 2CADR LRPOSCAN 023942,003133: 023943,003134: 25,3474 02377 TC ROADBACK 023944,003135: 023945,003136: 25,3475 55077 LRPOSNXT TS SAMPLIM 023946,003137: 25,3476 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER 023947,003138: 25,3477 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS. 023948,003139: 023949,003140: 25,3500 34745 CAF BIT7 # SEE IF LR POS2 IS ON 023950,003141: 25,3501 00006 EXTEND 023951,003142: 25,3502 02033 RAND CHAN33 023952,003143: 25,3503 00006 EXTEND 023953,003144: 25,3504 13520 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE. 023954,003145: 023955,003146: 25,3505 11077 CCS SAMPLIM # SEE IF MAX TIME UP. 023956,003147: 25,3506 13475 TCF LRPOSNXT 023957,003148: 023958,003149: 25,3507 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM. 023959,003150: 25,3510 00006 EXTEND 023960,003151: 25,3511 03012 WAND CHAN12 023961,003152: 25,3512 13565 TCF RDBADEND 023962,003153: 023963,003154: 25,3513 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED. 023964,003155: 25,3514 05203 TC WAITLIST 023965,003156: 25,3515 E7,1456 EBANK= LOSCOUNT 023966,003157: 25,3515 03560 52067 2CADR RGOODEND 023967,003158: # Page 573 023968,003159: 25,3517 02377 TC ROADBACK 023969,003160: 023970,003161: 25,3520 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT 023971,003162: 25,3521 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT. 023972,003163: 023973,003164: 25,3522 44737 CS BIT13 # REMOVE COMMAND 023974,003165: 25,3523 00006 EXTEND 023975,003166: 25,3524 03012 WAND CHAN12 023976,003167: 25,3525 13560 TCF RGOODEND 023977,003168: 023978,003169: 25,3526 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES. 023979,003170: 25,3527 13475 TCF LRPOSNXT 023980,003171: 25,3530 01130 6SECS DEC 600 B-14 023981,003172: 023982,003173: 25,3531 03454 LRP2COMM TC LRPOS2 023983,003174: 25,3532 04616 TC BANKCALL 023984,003175: 25,3533 17705 CADR RADSTALL 023985,003176: 25,3534 03536 TC LP2ALM 023986,003177: 25,3535 13547 TCF GOPINNER 023987,003178: 023988,003179: 25,3536 05567 LP2ALM TC ALARM 023989,003180: 25,3537 00523 OCT 523 023990,003181: 25,3540 13547 TCF GOPINNER 023991,003182: 023992,003183: 25,3541 35016 V59GP63 CA EBANK7 023993,003184: 25,3542 54003 TS EBANK 023994,003185: 25,3543 E7,1427 EBANK= RPCRTIME 023995,003186: 25,3543 34733 CA POSMAX 023996,003187: 25,3544 55427 TS RPCRTIME 023997,003188: 25,3545 44736 CS BIT14 023998,003189: 25,3546 55430 TS RPCRTQSW 023999,003190: 25,3547 04635 GOPINNER TC POSTJUMP 024000,003191: 25,3550 21051 CADR PINBRNCH 024001,003192: 024002,003193: # Page 574 024003,003194: # SEQUENCES TO TERMINATE RR OPERATIONS. 024004,003195: 024005,003196: 25,3551 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END. 024006,003197: 25,3552 70110 MASK RADMODES 024007,003198: 25,3553 10000 CCS A 024008,003199: 25,3554 13560 TCF RGOODEND 024009,003200: 25,3555 13565 TCF RDBADEND 024010,003201: 25,3556 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL 024011,003202: 25,3557 54332 TS RUPTAGN 024012,003203: 024013,003204: 25,3560 34752 RGOODEND CAF TWO 024014,003205: 25,3561 04635 TC POSTJUMP 024015,003206: 25,3562 17656 CADR GOODEND 024016,003207: 024017,003208: 25,3563 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WIATLIST. 024018,003209: 25,3564 54332 TS RUPTAGN 024019,003210: 25,3565 34752 RDBADEND CAF TWO 024020,003211: 25,3566 04635 TC POSTJUMP 024021,003212: 25,3567 17653 CADR BADEND 024022,003213: 024023,003214: 25,3570 6250 BIN3 EQUALS THREE 024024,003215: 024025,003216: # Page 575 024026,003217: # PROGRAM NAME: LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION 024027,003218: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66 024028,003219: 024029,003220: # FUNCTIONAL DESCRPIPTION: 024030,003221: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERRED TO IN CALLER + 1. 024031,003222: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET. 024032,003223: # 3) COMPUTES THE MAGNITUDE OF TEH LOS VECTOR AND STORES IT IN MLOSV 024033,003224: 024034,003225: # CALLING SEQUENCE: CALL 024035,003226: # LPS20.1 024036,003227: 024037,003228: # SUBROUTINES CALLED: 024038,003229: # LEMPREC, CSMPREC 024039,003230: 024040,003231: # NORMAL EXIT: RETURN TO CALLER + 2. 024041,003232: 024042,003233: # ERROR EXITS: NONE 024043,003234: 024044,003235: # ALARMS: NONE 024045,003236: 024046,003237: # OUTPUT: 024047,003238: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET 024048,003239: # MAGNITUDE OF TEH LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV 024049,003240: # RRNBSW CLEARED. 024050,003241: 024051,003242: # INITIALIZED ERASABLE 024052,003243: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION 024053,003244: # SEE ORBITAL INTEGRATION ROUTINE 024054,003245: 024055,003246: # DEBRIS: 024056,003247: # MPAC DESTROYED BY THE ROUTINE 024057,003248: 024058,003249: 23,2337 BANK 23 024059,003250: 24,2000 SETLOC P20S 024060,003251: 24,2000 BANK 024061,003252: # Page 576 024062,003253: 24,3256 COUNT* $$/LPS20 024063,003254: 024064,003255: 24,3256 43020 LPS20.1 STQ BOFF 024065,003256: 24,3257 01757 LS21X 024066,003257: 24,3260 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21 024067,003258: 24,3261 51265 LMINT # SO CALL LEMCONIC TO GET LM STATE 024068,003259: 24,3262 77614 BON # IF IN R21 AND ON LUNAR SURFACE 024069,003260: 24,3263 04307 SURFFLAG # DON'T CALL LEMCONIC 024070,003261: 24,3264 51275 CSMINT 024071,003262: 24,3265 77624 LMINT CALL 024072,003263: 24,3266 27077 LEMCONIC # EXTRAPOLATE LEM 024073,003264: 24,3267 77775 VLOAD 024074,003265: 24,3270 00001 RATT 024075,003266: 24,3271 26352 STOVL LMPOS # SAVE LM POSITION B-29 024076,003267: 24,3272 00007 VATT 024077,003268: 24,3273 16360 STODL LMVEL # SAVE LM VELOCITY B-7 024078,003269: 24,3274 00015 TAT 024079,003270: 24,3275 34041 CSMINT STCALL TDEC1 024080,003271: 24,3276 27065 CSMCONIC # EXTRAPOLATE CSM 024081,003272: 24,3277 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM) 024082,003273: 24,3300 00007 VATT 024083,003274: 24,3301 02360 LMVEL 024084,003275: 24,3302 76521 MXV VSL1 024085,003276: 24,3303 01734 REFSMMAT 024086,003277: 24,3304 77776 EXIT 024087,003278: 24,3305 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE 024088,003279: 24,3306 52613 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES 024089,003280: 24,3307 06042 TC INTPRET 024090,003281: 24,3310 25761 STOVL LOSVEL 024091,003282: 24,3311 00001 RATT 024092,003283: 24,3312 43051 VSU BOFF 024093,003284: 24,3313 02352 LMPOS 024094,003285: 24,3314 00350 RNDVZFLG 024095,003286: 24,3315 51322 NOTSHIFT 024096,003287: 24,3316 77604 BOVB 024097,003288: 24,3317 57754 TCDANZIG 024098,003289: 24,3320 77661 VSL 024099,003290: 24,3321 20212 9D 024100,003291: 24,3322 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER 024101,003292: 24,3323 50102 526ALARM # THAN 400 N. M. 024102,003293: 24,3324 76521 MXV VSL1 024103,003294: 24,3325 01734 REFSMMAT # CONVERT TO STABLE MEMBER 024104,003295: 24,3326 15101 STODL RRTARGET 024105,003296: 24,3327 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR 024106,003297: 24,3330 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE 024107,003298: 24,3331 77614 CLRGO 024108,003299: 24,3332 00231 RRNBSW 024109,003300: 24,3333 01757 LS21X 024110,003301: 024111,003302: # Page 577 024112,003303: # PROGRAM NAME: LPS20.2 400 NM RANGE CHECK 024113,003304: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66 024114,003305: 024115,003306: # FUNCTIONAL DESCRIPTION: 024116,003307: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM. 024117,003308: 024118,003309: # CALLING SEQUENCE: CALL 024119,003310: # LPS20.2 024120,003311: 024121,003312: # SUBROUTINES CALLED: NONE 024122,003313: 024123,003314: # NORMAL EXIT: RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.) 024124,003315: 024125,003316: # ERROR EXITS: RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM) 024126,003317: 024127,003318: # ALARMS: NONE 024128,003319: 024129,003320: # OUTPUT: NONE 024130,003321: 024131,003322: # INITIALIZED ERASEABLE: 024132,003323: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR 024133,003324: 024134,003325: # DEBRIS: 024135,003326: # MPAC DESTROYED BY THIS ROUTINE 024136,003327: 024137,003328: 25,2000 SETLOC P20S1 024138,003329: 25,2000 BANK 024139,003330: 25,3570 COUNT* $$/LPS20 024140,003331: 024141,003332: 25,3570 45345 LPS20.2 DLOAD DSU 024142,003333: 25,3571 01767 MLOSV # MAGNITUDE OF LOS 024143,003334: 25,3572 13603 FHNM # OVER 400NM 024144,003335: 25,3573 77644 BPL 024145,003336: 25,3574 53577 TOFAR 024146,003337: 25,3575 43535 SLOAD RVQ 024147,003338: 25,3576 06524 ZERO/SP 024148,003339: 25,3577 43535 TOFAR SLOAD RVQ 024149,003340: 25,3600 13602 ONE/SP 024150,003341: 25,3601 00001 ONE/SP DEC 1 B-14 024151,003342: # Page 578 024152,003343: 25,3602 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20 024153,003344: 024154,003345: # Page 579 024155,003346: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1) 024156,003347: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66 024157,003348: 024158,003349: # FUNCTIONAL DESCRIPTION: 024159,003350: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS 024160,003351: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR 024161,003352: # RR REPOSITION AND RR CDU FAIL 024162,003353: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES 024163,003354: 024164,003355: # CALLING SEQUENCE: BANKCALL FOR LRS22.1 024165,003356: 024166,003357: # SUBROUTINES CALLED: 024167,003358: # RRDOT LPS20.1 024168,003359: # RRRANGE BANKCALL 024169,003360: # RADSTALL CDULOGIC 024170,003361: # RRNB SMNB 024171,003362: 024172,003363: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0 024173,003364: 024174,003365: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS: 024175,003366: # 00001 -- ERROR EXIT 1 -- RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION) 024176,003367: # 00002 -- ERROR EXIT 2 -- RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS 024177,003368: 024178,003369: # ALARMS: 521 -- COUNT NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR) 024179,003370: # (THIS ALARM IS ISSUED BY RADARREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT) 024180,003371: 024181,003372: # OUTPUT: RRLOSVEC -- THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) -- A HALF-UNIT VECTOR 024182,003373: # RM -- THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED BY B-29 (USED BY LRS22.2 AND LRS22.3) 024183,003374: 024184,003375: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3: 024185,003376: # RDOTM -- THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED BY B-7 024186,003377: # RRTRUN -- THE RR TRUNNION ANGLE, DP, IN REVOLUTIONS, SCALED B0 024187,003378: # RRSHAFT -- RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0 024188,003379: # AIG,AMG,ADG -- THE CDU ANGLES, THREE SP WORDS 024189,003380: # MKTIME -- THE TIME OF THE RR READING, DP, IN CENTISECONDS 024190,003381: 024191,003382: # ERASABLE INITIALIZATION REQUIRED: 024192,003383: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED: 024193,003384: # Page 580 024194,003385: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE 024195,003386: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT 024196,003387: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ, AND TIME1 AND TIME2 024197,003388: 024198,003389: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST 024199,003390: 024200,003391: 32,2366 BANK 32 024201,003392: 32,2000 SETLOC LRS22 024202,003393: 32,2000 BANK 024203,003394: 32,2366 COUNT* $$/LRS22 024204,003395: 024205,003396: 32,2366 04645 LRS22.1 TC MAKECADR 024206,003397: 32,2367 55737 TS LRS22.1X 024207,003398: 32,2370 05516 TC DOWNFLAG 024208,003399: 32,2371 00120 ADRES RNGSCFLG 024209,003400: 32,2372 00004 INHINT 024210,003401: 32,2373 34751 CAF BIT3 024211,003402: 32,2374 00006 EXTEND # GET RR RANGE SCALE 024212,003403: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3 024213,003404: 32,2376 54001 TS L 024214,003405: 32,2377 44751 CS RRRSBIT 024215,003406: 32,2400 70110 MASK RADMODES 024216,003407: 32,2401 60001 AD L 024217,003408: 32,2402 54110 TS RADMODES 024218,003409: 32,2403 00003 RELINT 024219,003410: 32,2404 04616 READRDOT TC BANKCALL 024220,003411: 32,2405 53112 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE) 024221,003412: 32,2406 04616 TC BANKCALL 024222,003413: 32,2407 17705 CADR RADSTALL # WAIT FOR DATA READ COMPLETION 024223,003414: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1 024224,003415: 024225,003416: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU 024226,003417: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT 024227,003418: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK 024228,003419: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING 024229,003420: 32,2415 53747 DXCH RDOTMSAV 024230,003421: 32,2416 00006 EXTEND 024231,003422: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES 024232,003423: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK 024233,003424: 32,2421 30032 CA CDUX 024234,003425: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK 024235,003426: 32,2423 00006 EXTEND 024236,003427: 32,2424 30025 DCA TIME2 # SAVE TIME 024237,003428: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDUY READINGS IN MPAC 024238,003429: 32,2426 00006 EXTEND 024239,003430: 32,2427 30036 DCA CDUT # SAVE TRUNNION AND SHAFT ANGLES FOR RRNB 024240,003431: 32,2430 53107 DXCH TANG 024241,003432: # Page 581 024242,003433: 32,2431 00003 RELINT 024243,003434: 32,2432 04616 TC BANKCALL 024244,003435: 32,2433 53114 CADR RRRANGE # READ RR RANGE (ONE SAMPLE) 024245,003436: 32,2434 04616 TC BANKCALL 024246,003437: 32,2435 17705 CADR RADSTALL # WAIT FOR READ COMPLETE 024247,003438: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ 024248,003439: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK 024249,003440: 32,2440 00006 EXTEND 024250,003441: 32,2441 31331 DCA DNRRANGE # RANGE, RANGE RATE (RAW DATA) 024251,003442: 32,2442 53761 DXCH RANGRDOT 024252,003443: 32,2443 52162 DXCH MPAC +5 024253,003444: 32,2444 53755 DXCH MKTIME # MARK TIME 024254,003445: 32,2445 52160 DXCH MPAC +3 024255,003446: 32,2446 53460 DXCH AIG # CDUY, CDUZ 024256,003447: 32,2447 00006 EXTEND 024257,003448: 32,2450 31107 DCA TANG # PRESERVE TANG 024258,003449: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES 024259,003450: 32,2452 30156 CA MPAC +2 024260,003451: 32,2453 55461 TS AOG # CDUX 024261,003452: 32,2454 06042 TC INTPRET 024262,003453: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D 024263,003454: 32,2456 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING 024264,003455: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278 024265,003456: 32,2460 20217 14D # FT./SECOND PER BIT 024266,003457: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7 024267,003458: 32,2462 03751 STORE RDOTM 024268,003459: 32,2463 47135 SLOAD RTB 024269,003460: 32,2464 01107 TANG # GET TRUNNION ANGLE 024270,003461: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIOINS 024271,003462: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3) 024272,003463: 32,2467 47135 SLOAD RTB 024273,003464: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE 024274,003465: 32,2471 21577 CDULOGIC 024275,003466: 32,2472 17736 STODL RRSHAFT 024276,003467: 32,2473 01101 SAMPLSUM 024277,003468: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING DP RANGE 024278,003469: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29 024279,003470: 32,2476 37757 STCALL RM 024280,003471: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB 024281,003472: 32,2500 17741 STODL RRBORSIT # AND SAVE 024282,003473: 32,2501 00025 20D 024283,003474: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ 024284,003475: 32,2503 51256 LPS20.1 024285,003476: 32,2504 77776 EXIT 024286,003477: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME 024287,003478: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB 024288,003479: 32,2507 31460 CA AMG 024289,003480: 32,2510 54767 TS CDUSPOT +2 024290,003481: 32,2511 31461 CA AOG 024291,003482: 32,2512 54771 TS CDUSPOT +4 024292,003483: # Page 582 024293,003484: 32,2513 06042 TC INTPRET 024294,003485: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION 024295,003486: 32,2515 01101 RRTARGET 024296,003487: 32,2516 47653 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB. 024297,003488: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE 024298,003489: 32,2520 03741 RRBORSIT 024299,003490: 32,2521 65552 SL1 ACOS # BETWEEN THEM 024300,003491: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY 024301,003492: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES 024302,003493: 32,2524 24547 THREEDEG 024303,003494: 32,2525 64532 NORMEXIT # YES -- NORMAL EXIT 024304,003495: 024305,003496: 32,2526 77776 EXIT # ERROR EXIT 2 024306,003497: 32,2527 34752 CAF BIT2 # SET ERROR CODE 024307,003498: 32,2530 54154 TS MPAC 024308,003499: 32,2531 12535 TCF OUT22.1 024309,003500: 024310,003501: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT -- SET MPAC EQUAL ZERO 024311,003502: 32,2533 34755 CAF ZERO 024312,003503: 32,2534 54154 TS MPAC 024313,003504: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1 024314,003505: 32,2536 04640 TC BANKJUMP 024315,003506: 32,2537 30101 CHEXERR CAE FLAGWRD5 024316,003507: 32,2540 74742 MASK RNGSCBIT 024317,003508: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED 024318,003509: 32,2542 12404 TCF READRDOT # YES -- TAKE ANOTHER READING 024319,003510: 024320,003511: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE 024321,003512: 32,2544 54154 TS MPAC 024322,003513: 32,2545 02535 TC OUT22.1 024323,003514: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0 024324,003515: 024325,003516: 32,2550 1100 RRLOSVEC EQUALS RRTARGET 024326,003517: 024327,003518: # Page 583 024328,003519: # PROGRAM NAME -- LRS22.2 (DATA READ SUBROUTINE 2) 024329,003520: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 4-11-67 024330,003521: 024331,003522: # FUNCTIONAL DESCRIPTION: 024332,003523: # (Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003) 024333,003524: # 2) CHECKS IF THE RR LOS (I.E., THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS 024334,003525: 024335,003526: # CALLING SEQUENCE: BANKCALL FOR LRS22.2 024336,003527: 024337,003528: # SUBROUTINES CALLED: G+N, AUTO, SETMAXDB 024338,003529: 024339,003530: # NORMAL EXIT: RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN) 024340,003531: 024341,003532: # ERROR EXIT: RETURN TO CALLER WITH MPAC SET TO 00001 -- RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS. 024342,003533: 024343,003534: # ALARMS: NONE 024344,003535: 024345,003536: # ERASABLE INITIALIZATION REQUIRED: 024346,003537: # RRLOSVEC -- THE RR LINE-OF-SIGHT VECTOR -- A HALF UNIT VECTOR COMPUTED BY LRS22.1 024347,003538: # RM -- RR RANGE, METERS B-29, FROM LRS22.1 024348,003539: # BIT 14 CHANNEL 31 -- INDICATES AUTOPILOT IS IN AUTO MODE 024349,003540: 024350,003541: # DEBRIS -- A,L,Q,MPAC -- PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE 024351,003542: 024352,003543: 24,2000 SETLOC P20S 024353,003544: 24,2000 BANK 024354,003545: 24,3334 04645 LRS22.2 TC MAKECADR 024355,003546: 24,3335 55737 TS LRS22.1X 024356,003547: 24,3336 06042 TC INTPRET 024357,003548: # CHECK IF RR LOS IS WITHIN 30 DEG OF 024358,003549: 24,3337 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIT 024359,003550: 24,3340 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR 024360,003551: # LOS VECTOR, A HALF UNIT VECTOR 024361,003552: # IN NAV BASE AXES) 024362,003553: 24,3341 50025 DSU BMN 024363,003554: 24,3342 11356 30DEG 024364,003555: 24,3343 51350 OKEXIT # NORMAL EXIT -- WITHIN 30 DEG. 024365,003556: 24,3344 77776 EXIT # ERROR EXIT -- NOT WITHIN 30 DEG. 024366,003557: 24,3345 34753 CAF BIT1 # SETS ERROR CODE IN MPAC 024367,003558: 24,3346 54154 TS MPAC 024368,003559: 24,3347 13353 TCF OUT22.2 024369,003560: 24,3350 77776 OKEXIT EXIT # NORMAL EXIT -- SET MPAC = ZERO 024370,003561: 024371,003562: # Page 584 024372,003563: 24,3351 34755 CAF ZERO 024373,003564: 24,3352 54154 TS MPAC 024374,003565: 24,3353 31737 OUT22.2 CAE LRS22.1X 024375,003566: 24,3354 04640 TC BANKJUMP 024376,003567: 024377,003568: 24,3355 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0 024378,003569: 024379,003570: # Page 585 024380,003571: # PROGRAM NAME -- LSR22.3 DATE -- 29 MAY 1967 024381,003572: # MOD. NO 3 LOG SECTION -- P20-P25 024382,003573: # MOD. BY -- DANFORTH ASSEMBLY LEMP20S REV 10 024383,003574: 024384,003575: # FUNCTIONAL DESCRIPTION: 024385,003576: # THIS ROUTINE COMPUTES THE B-VECTORS ADN DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS 024386,003577: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES 024387,003578: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR. 024388,003579: 024389,003580: # CALLING SEQUENCE: 024390,003581: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM 024391,003582: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE 024392,003583: # COMPUTED STATE VECTOR DEVATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY 024393,003584: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE 024394,003585: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE 024395,003586: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK. 024396,003587: 024397,003588: # SUBROUTINES CALLED: 024398,003589: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN 024399,003590: # GETULC RADARANG INCORP2 NBSM INTSTALL 024400,003591: 024401,003592: # OUTPUT: 024402,003593: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT) 024403,003594: # NUMBER OF MARKS INCORPORATED IN MARKCTR 024404,003595: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29 024405,003596: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7 024406,003597: # UPDATED W-MATRIX 024407,003598: 024408,003599: # ERASABLE INITIALIZATION REQUIRED: 024409,003600: # LM AND CSM STATE VECTORS 024410,003601: # W-MATRIX 024411,003602: # MARK TIME IN MKTIME 024412,003603: # RADAR RANGE IN RM METERS B-29 024413,003604: # RANGE RATE IN RDOTM METERS/CSES B-7 024414,003605: # SHAFT ANGLE IN RRSHAFT REVS. B0 024415,003606: # TRUNNION ANGLE IN RRTRUN REVS. B0 024416,003607: # GIMBAL ANGLES INNER IN AIG 024417,003608: # MIDDLE IN AMG 024418,003609: # OUTER IN ACG 024419,003610: # REFSMMAT 024420,003611: # RENDWFLG 024421,003612: # NOANGFLG 024422,003613: # VEHUPFLG 024423,003614: 024424,003615: # DEBRIS: 024425,003616: # PUSHLIST -- ALL 024426,003617: # MX, MY, MZ (VECTORS) 024427,003618: # Page 586 024428,003619: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T 024429,003620: 024430,003621: 13,2207 BANK 13 024431,003622: 26,2000 SETLOC P20S3 024432,003623: 26,2000 BANK 024433,003624: 024434,003625: 26,2416 E7,1456 EBANK= LOSCOUNT 024435,003626: 26,2416 COUNT* $$/LSR22 024436,003627: 26,2416 77624 LSR22.3 CALL 024437,003628: 26,2417 11210 GRP2PC 024438,003629: 26,2420 43014 BON SET 024439,003630: 26,2421 04307 SURFFLAG # ARE WE ON LUNAR SURFACE 024440,003631: 26,2422 55200 LSR22.4 # YES 024441,003632: 26,2423 02466 DMENFLG 024442,003633: 26,2424 45014 BOFF CALL 024443,003634: 26,2425 00747 VEHUPFLG 024444,003635: 26,2426 54460 DOLEM 024445,003636: 26,2427 27410 INTSTALL 024446,003637: 26,2430 45014 CLEAR CALL # LM PRECISION INTEGRATION 024447,003638: 26,2431 01674 VINTFLAG 024448,003639: 26,2432 26643 SETIFLGS 024449,003640: 26,2433 77624 CALL 024450,003641: 26,2434 55242 INTGRCAL 024451,003642: 26,2435 77624 CALL 024452,003643: 26,2436 11210 GRP2PC 024453,003644: 26,2437 77624 CALL 024454,003645: 26,2440 27410 INTSTALL 024455,003646: 26,2441 43014 CLEAR BOFF 024456,003647: 26,2442 01676 DIM0FLAG 024457,003648: 26,2443 02756 RENDWFLG 024458,003649: 26,2444 54450 NOTWCSM 024459,003650: 26,2445 43014 SET SET # CSM WITH W-MATRIX INTEGRATION 024460,003651: 26,2446 01476 DIM0FLAG 024461,003652: 26,2447 01475 D6OR9FLG 024462,003653: 26,2450 43014 NOTWCSM SET CLEAR 024463,003654: 26,2451 01474 VINTFLAG 024464,003655: 26,2452 01673 INTYPFLG 024465,003656: 26,2453 45014 SET CALL 024466,003657: 26,2454 01472 STATEFLG 024467,003658: 26,2455 55242 INTGRCAL 024468,003659: 26,2456 77650 GOTO 024469,003660: 26,2457 54510 MARKTEST 024470,003661: 26,2460 77624 DOLEM CALL 024471,003662: 26,2461 27410 INTSTALL 024472,003663: 26,2462 45014 SET CALL 024473,003664: 26,2463 01474 VINTFLAG 024474,003665: 26,2464 26643 SETIFLGS 024475,003666: 26,2465 77624 CALL 024476,003667: 26,2466 55242 INTGRCAL 024477,003668: # Page 587 024478,003669: 26,2467 77624 CALL 024479,003670: 26,2470 11210 GRP2PC 024480,003671: 26,2471 77624 CALL 024481,003672: 26,2472 27410 INTSTALL 024482,003673: 26,2473 43014 CLEAR BOFF 024483,003674: 26,2474 01676 DIM0FLAG 024484,003675: 26,2475 02756 RENDWFLG 024485,003676: 26,2476 54502 NOTWLEM 024486,003677: 26,2477 43014 SET SET # LM WITH W-MATRIX INTEGRATION 024487,003678: 26,2500 01476 DIM0FLAG 024488,003679: 26,2501 01475 D6OR9FLG 024489,003680: 26,2502 43014 NOTWLEM CLEAR CLEAR 024490,003681: 26,2503 01673 INTYPFLG 024491,003682: 26,2504 01674 VINTFLAG 024492,003683: 26,2505 45014 SET CALL 024493,003684: 26,2506 01472 STATEFLG 024494,003685: 26,2507 55242 INTGRCAL 024495,003686: 26,2510 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED 024496,003687: 26,2511 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED 024497,003688: 26,2512 54514 RANGEBQ 024498,003689: 26,2513 55251 WLINIT # YES -- REINITIALIZE 024499,003690: 26,2514 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE 024500,003691: 26,2515 04307 SURFFLAG 024501,003692: 26,2516 54524 RANGEBQ1 024502,003693: 26,2517 34755 CA ZERO 024503,003694: 26,2520 55745 TS R65CNTR 024504,003695: 26,2521 04616 TC BANKCALL 024505,003696: 26,2522 46123 CADR R65LEM 024506,003697: 26,2523 06042 TC INTPRET 024507,003698: 26,2524 43174 RANGEBQ1 AXT,2 BON # CLEAR X2 024508,003699: 26,2525 00000 0 024509,003700: 26,2526 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE 024510,003701: 26,2527 54532 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER 024511,003702: 26,2530 77714 INCR,2 024512,003703: 26,2531 00002 2 024513,003704: 26,2532 45134 SETX2 SXA,2 CALL 024514,003705: 26,2533 03720 SCALSHFT # 0 -- MOON. 2 -- EARTH. 024515,003706: 26,2534 11210 GRP2PC 024516,003707: 26,2535 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49 024517,003708: 26,2536 00001 1 024518,003709: 26,2537 01356 WHCHREAD 024519,003710: 26,2540 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12) 024520,003711: 26,2541 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40) 024521,003712: 26,2542 20635 28D 024522,003713: 26,2543 77634 RTB 024523,003714: 26,2544 21634 TPMODE # AND SAVE IN 20D 024524,003715: 26,2545 00025 STORE 20D 024525,003716: 26,2546 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ 024526,003717: 26,2547 55333 GETULC # B-VECTORS FOR RANGE 024527,003718: 26,2550 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED 024528,003719: # Page 588 024529,003720: 26,2551 00707 VEHUPFLG 024530,003721: 26,2552 54553 +1 024531,003722: 26,2553 27525 STOVL BVECTOR 024532,003723: 26,2554 06524 ZEROVECS 024533,003724: 26,2555 03533 STORE BVECTOR +6 # B1 024534,003725: 26,2556 17541 STODL BVECTOR +12D # B2 024535,003726: 26,2557 00045 36D 024536,003727: 26,2560 44257 SRR* BDSU 024537,003728: 26,2561 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29 024538,003729: 26,2562 03757 RM # RM - (MAGNITUDE RCSM-RLM) 024539,003730: 26,2563 77657 SLR* 024540,003731: 26,2564 56574 2,2 # SHIFT TO EARTH/MOON SPHERE 024541,003732: 26,2565 17547 STODL DELTAQ # EARTH B-29. MOON B-27 024542,003733: 26,2566 00045 36D # RLC B-29/B-27 024543,003734: 26,2567 63501 NORM DSQ # NORMALIZE AND SQUARE 024544,003735: 26,2570 00047 X1 024545,003736: 26,2571 53605 DMP SR* 024546,003737: 26,2572 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN 024547,003738: 26,2573 20577 0 -2,1 # UNNORMALIZE 024548,003739: 26,2574 53657 SR* SR* 024549,003740: 26,2575 20601 0,1 024550,003741: 26,2576 57176 0,2 024551,003742: 26,2577 47057 SR* RTB 024552,003743: 26,2600 57176 0,2 024553,003744: 26,2601 21634 TPMODE 024554,003745: 26,2602 02707 STORE VARIANCE # B-40 024555,003746: 26,2603 76276 DCOMP TAD 024556,003747: 26,2604 00025 20D # B-40 024557,003748: 26,2605 72240 BMN TLOAD 024558,003749: 26,2606 54611 QOK 024559,003750: 26,2607 00025 20D # B-40 024560,003751: 26,2610 02707 STORE VARIANCE 024561,003752: 26,2611 77624 QOK CALL 024562,003753: 26,2612 55401 LGCUPDTE 024563,003754: 024564,003755: 26,2613 45131 SSP CALL 024565,003756: 26,2614 01357 WHCHREAD 024566,003757: 26,2615 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49 024567,003758: 26,2616 11210 GRP2PC 024568,003759: 26,2617 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE 024569,003760: 26,2620 55333 GETULC 024570,003761: 26,2621 53725 PDDL SR* # GET RLC SCALED B-29/B-27 024571,003762: 26,2622 00045 36D # AND SHIFT TO B-23 024572,003763: 26,2623 57202 0 -4,2 024573,003764: 26,2624 24045 STOVL 36D # THEN STORE BACK IN 36D 024574,003765: 26,2625 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED 024575,003766: 26,2626 00707 VEHUPFLG 024576,003767: 26,2627 54630 +1 024577,003768: 26,2630 77761 VXSC 024578,003769: 26,2631 00045 36D # B1 = RLC (B-24/B-22) 024579,003770: # Page 589 024580,003771: 26,2632 27533 STOVL BVECTOR +6 024581,003772: 26,2633 01653 NUVLEM 024582,003773: 26,2634 53257 VSR* VAD 024583,003774: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE 024584,003775: 26,2636 01667 VCVLEM # EARTH B-7. MOON B-5 024585,003776: 26,2637 53715 PDVL VSR* # VL TO PD6 024586,003777: 26,2640 01601 NUVCSM 024587,003778: 26,2641 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE 024588,003779: 26,2642 52255 VAD VSU 024589,003780: 26,2643 01615 VCVCSM 024590,003781: 26,2644 50315 PDVL DOT # VC - VL = VLC TO PD6 024591,003782: 26,2645 00001 0 024592,003783: 26,2646 00007 6 024593,003784: 26,2647 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12 024594,003785: 26,2650 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8 024595,003786: 26,2651 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12 024596,003787: 26,2652 01773 RATEVAR 024597,003788: 26,2653 02707 STORE VARIANCE 024598,003789: 26,2654 54335 SLOAD SR 024599,003790: 26,2655 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12) 024600,003791: 26,2656 20621 16D # SHIFT TO DP (B-4) 024601,003792: 26,2657 00031 STORE 24D # AND SAVE IN 24D 024602,003793: 26,2660 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE 024603,003794: 26,2661 02707 VARIANCE 024604,003795: 26,2662 54666 VOK # BRANCH -- NO 024605,003796: 26,2663 77745 DLOAD # YES -- USE MINIMUM VARIANCE 024606,003797: 26,2664 00031 24D 024607,003798: 26,2665 02707 STORE VARIANCE 024608,003799: 26,2666 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6 024609,003800: 26,2667 53725 PDDL SLR* # TO B-10/B-8 024610,003801: 26,2670 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE 024611,003802: 26,2671 56577 0 -1,2 # B-7 TO B-10/B-8 024612,003803: 26,2672 77625 DSU 024613,003804: 26,2673 77675 DMPR 024614,003805: 26,2674 00045 36D 024615,003806: 26,2675 27547 STOVL DELTAQ # B-33 024616,003807: 26,2676 00001 0 # NOW GET B0 024617,003808: 26,2677 47235 VXV VXV # (ULC X VLC) X ULC 024618,003809: 26,2700 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED 024619,003810: 26,2701 00707 VEHUPFLG 024620,003811: 26,2702 54703 +1 024621,003812: 26,2703 77657 VSR* 024622,003813: 26,2704 57200 0 -2,2 # SCALED B-5 024623,003814: 26,2705 27525 STOVL BVECTOR 024624,003815: 26,2706 06524 ZEROVECS 024625,003816: 26,2707 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST 024626,003817: 26,2710 27541 STOVL BVECTOR +12D 024627,003818: 26,2711 03525 BVECTOR 024628,003819: 26,2712 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE 024629,003820: 26,2713 00025 20D # SHIFT COUNT IN 20D 024630,003821: # Page 590 024631,003822: 26,2714 51575 VLOAD ABVAL 024632,003823: 26,2715 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE 024633,003824: 26,2716 71301 NORM DLOAD 024634,003825: 26,2717 00027 22D # SHIFT COUNT IN 22D 024635,003826: 26,2720 00027 22D # FIND WHICH SHIFT IS SMALLER 024636,003827: 26,2721 50025 DSU BMN # BRANCH -- B0 HAS A SMALLER SHIFT COUNT 024637,003828: 26,2722 00025 20D 024638,003829: 26,2723 54727 VOK1 024639,003830: 26,2724 52150 LXA,1 GOTO 024640,003831: 26,2725 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT 024641,003832: 26,2726 54731 VOK2 024642,003833: 26,2727 77750 VOK1 LXA,1 024643,003834: 26,2730 00024 20D 024644,003835: 26,2731 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE 024645,003836: 26,2732 03525 BVECTOR # WITH THI SSHIFT COUNT 024646,003837: 26,2733 20201 0,1 024647,003838: 26,2734 27525 STOVL BVECTOR 024648,003839: 26,2735 03533 BVECTOR +6 024649,003840: 26,2736 77657 VSL* 024650,003841: 26,2737 20201 0,1 024651,003842: 26,2740 17533 STODL BVECTOR +6 024652,003843: 26,2741 03547 DELTAQ 024653,003844: 26,2742 77657 SL* 024654,003845: 26,2743 20201 0,1 024655,003846: 26,2744 03547 STORE DELTAQ 024656,003847: 26,2745 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT 024657,003848: 26,2746 00045 36D 024658,003849: 26,2747 20200 0 -1,1 024659,003850: 26,2750 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE 024660,003851: 26,2751 02707 VARIANCE 024661,003852: 26,2752 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ 024662,003853: 26,2753 21634 TPMODE 024663,003854: 26,2754 36707 STCALL VARIANCE # AND STORE TP VARIANCE 024664,003855: 26,2755 55401 LGCUPDTE 024665,003856: 024666,003857: 26,2756 77624 CALL 024667,003858: 26,2757 11210 GRP2PC 024668,003859: 26,2760 77414 BON EXIT # ARE ANGLES TO BE DONE 024669,003860: 26,2761 04307 SURFFLAG 024670,003861: 26,2762 55176 RENDEND # NO 024671,003862: 26,2763 E7,1457 EBANK= AIG 024672,003863: 26,2763 33332 MXMYMZ CAF AIGBANK 024673,003864: 26,2764 54006 TS BBANK 024674,003865: 26,2765 31457 CA AIG # YES, COMPUTE MX, MY, MZ 024675,003866: 26,2766 54765 TS CDUSPOT 024676,003867: 26,2767 31460 CA AMG 024677,003868: 26,2770 54767 TS CDUSPOT +2 024678,003869: 26,2771 31461 CA AOG 024679,003870: 26,2772 54771 TS CDUSPOT +4 # GIMBAL ANGLES NOW IN CDUSPOT FOR TRG*NBSM 024680,003871: 26,2773 06042 TC INTPRET 024681,003872: # Page 591 024682,003873: 26,2774 45175 VLOAD CALL 024683,003874: 26,2775 06522 UNITX 024684,003875: 26,2776 47666 TRG*NBSM 024685,003876: 26,2777 76505 VXM VSL1 024686,003877: 26,3000 01734 REFSMMAT 024687,003878: 26,3001 27677 STOVL MX 024688,003879: 26,3002 06520 UNITY 024689,003880: 26,3003 77624 CALL 024690,003881: 26,3004 47675 *NBSM* 024691,003882: 26,3005 76505 VXM VSL1 024692,003883: 26,3006 01734 REFSMMAT 024693,003884: 26,3007 27705 STOVL MY 024694,003885: 26,3010 06516 UNITZ 024695,003886: 26,3011 77624 CALL 024696,003887: 26,3012 47675 *NBSM* 024697,003888: 26,3013 76505 VXM VSL1 024698,003889: 26,3014 01734 REFSMMAT 024699,003890: 26,3015 37713 SHAFTBQ STCALL MZ 024700,003891: 26,3016 55361 RADARANG 024701,003892: 26,3017 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49 024702,003893: 26,3020 01357 WHCHREAD 024703,003894: 26,3021 00003 DEC 3 B-14 024704,003895: 26,3022 03724 ULC 024705,003896: 26,3023 72441 DOT SL1 024706,003897: 26,3024 03677 MX 024707,003898: 26,3025 24023 STOVL SINTH # 18D 024708,003899: 26,3026 03724 ULC 024709,003900: 26,3027 72441 DOT SL1 024710,003901: 26,3030 03713 MZ 024711,003902: 26,3031 34021 STCALL COSTH # 16D 024712,003903: 26,3032 26506 ARCTAN 024713,003904: 26,3033 41221 BDSU DMP 024714,003905: 26,3034 03736 RRSHAFT 024715,003906: 26,3035 15441 2PI/8 024716,003907: 26,3036 41472 SL3R PUSH 024717,003908: 26,3037 52545 DLOAD SL3 024718,003909: 26,3040 01701 X789 024719,003910: 26,3041 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0 024720,003911: 26,3042 56176 0,2 024721,003912: 26,3043 53605 DMP SRR* 024722,003913: 26,3044 03722 RXZ 024723,003914: 26,3045 21601 0,1 # SHIFT TO EARTH/MOON SPHERE 024724,003915: 26,3046 27547 STOVL DELTAQ # EARTH B-29. MOON B-27 024725,003916: 26,3047 03724 ULC 024726,003917: 26,3050 76435 VXV VSL1 024727,003918: 26,3051 03705 MY 024728,003919: 26,3052 77656 UNIT 024729,003920: 26,3053 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED 024730,003921: 26,3054 00747 VEHUPFLG 024731,003922: 26,3055 55056 +1 024732,003923: # Page 592 024733,003924: 26,3056 27525 STOVL BVECTOR 024734,003925: 26,3057 06524 ZEROVECS 024735,003926: 26,3060 03533 STORE BVECTOR +6 024736,003927: 26,3061 17541 STODL BVECTOR +12D 024737,003928: 26,3062 03722 RXZ 024738,003929: 26,3063 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25 024739,003930: 26,3064 20577 0 -2,1 024740,003931: 26,3065 56176 0,2 024741,003932: 26,3066 03541 STORE BVECTOR +12D 024742,003933: 26,3067 77735 SLOAD 024743,003934: 26,3070 02011 SHAFTVAR 024744,003935: 26,3071 41215 DAD DMP 024745,003936: 26,3072 15436 IMUVAR # RAD**2 B12 024746,003937: 26,3073 03722 RXZ 024747,003938: 26,3074 41257 SRR* DMP 024748,003939: 26,3075 21601 0,1 # SHIFT TO EARTH/MOON SPHERE 024749,003940: 26,3076 03722 RXZ 024750,003941: 26,3077 53657 SR* SR* 024751,003942: 26,3100 20577 0 -2,1 024752,003943: 26,3101 57176 0,2 024753,003944: 26,3102 47057 SR* RTB 024754,003945: 26,3103 57176 0,2 024755,003946: 26,3104 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION 024756,003947: 26,3105 36707 STCALL VARIANCE # B-40 024757,003948: 26,3106 55401 LGCUPDTE 024758,003949: 024759,003950: 26,3107 77624 CALL 024760,003951: 26,3110 11210 GRP2PC 024761,003952: 26,3111 77624 TRUNBQ CALL 024762,003953: 26,3112 55361 RADARANG 024763,003954: 26,3113 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49 024764,003955: 26,3114 01357 WHCHREAD 024765,003956: 26,3115 00004 DEC 4 B-14 024766,003957: 26,3116 03724 ULC 024767,003958: 26,3117 76435 VXV VSL1 024768,003959: 26,3120 03705 MY 024769,003960: 26,3121 76435 VXV VSL1 # (ULC X MY) X ULC 024770,003961: 26,3122 03724 ULC 024771,003962: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED 024772,003963: 26,3124 00747 VEHUPFLG 024773,003964: 26,3125 55126 +1 024774,003965: 26,3126 27525 STOVL BVECTOR 024775,003966: 26,3127 06524 ZEROVECS 024776,003967: 26,3130 03533 STORE BVECTOR +6 024777,003968: 26,3131 17541 STODL BVECTOR +12D 024778,003969: 26,3132 03722 RXZ 024779,003970: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25 024780,003971: 26,3134 20577 0 -2,1 024781,003972: 26,3135 56176 0,2 024782,003973: 26,3136 03543 STORE BVECTOR +14D 024783,003974: # Page 593 024784,003975: 26,3137 77735 SLOAD 024785,003976: 26,3140 02012 TRUNVAR 024786,003977: 26,3141 41215 DAD DMP 024787,003978: 26,3142 15436 IMUVAR 024788,003979: 26,3143 03722 RXZ 024789,003980: 26,3144 41257 SRR* DMP 024790,003981: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE 024791,003982: 26,3146 03722 RXZ 024792,003983: 26,3147 53657 SR* SR* 024793,003984: 26,3150 20577 0 -2,1 024794,003985: 26,3151 57176 0,2 024795,003986: 26,3152 47057 SR* RTB 024796,003987: 26,3153 57176 0,2 024797,003988: 26,3154 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION 024798,003989: 26,3155 16707 STODL VARIANCE 024799,003990: 26,3156 03732 SINTHETA 024800,003991: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6 024801,003992: 26,3160 03734 RRTRUN 024802,003993: 26,3161 56405 DMP SL3R 024803,003994: 26,3162 15441 2PI/8 024804,003995: 26,3163 52525 PDDL SL3 024805,003996: 26,3164 01703 X789 +2 024806,003997: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0 024807,003998: 26,3166 56176 0,2 024808,003999: 26,3167 53605 DMP SRR* 024809,004000: 26,3170 03722 RXZ 024810,004001: 26,3171 21601 0,1 024811,004002: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27 024812,004003: 26,3173 55401 LGCUPDTE 024813,004004: 26,3174 77624 CALL 024814,004005: 26,3175 11210 GRP2PC 024815,004006: 26,3176 77650 RENDEND GOTO 024816,004007: 26,3177 50562 R22LEM93 024817,004008: 024818,004009: # FUNCTIONAL DESCRIPTION: 024819,004010: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM 024820,004011: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE BE-VECTORS AND DELTA Q FOR RANGE 024821,004012: # AND RANGE RATE MEASURED BY TEH RENDEZVOUS RADAR 024822,004013: 024823,004014: # SUBROUTINES CALLED: 024824,004015: # INTSTALL LGCUPDTE INCORP1 RP-TO-R 024825,004016: # INTEGRV GETULC INCORP2 024826,004017: 024827,004018: # OUTPUT 024828,004019: # CORRECTED CSM STATE VECTOR (PERMANENT) 024829,004020: # NUMBER OF MARKS INCORPORATED IN MARKCTR 024830,004021: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29 024831,004022: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7 024832,004023: # UPDATED W-MATRIX 024833,004024: # Page 594 024834,004025: 024835,004026: # ERASABLE INITIALIZATION REQUIRED 024836,004027: # LM AND CSM STATE VECTORS 024837,004028: # W-MATRIX 024838,004029: # MARK TIME IN MKTIME 024839,004030: # RADAR RANGE IN RM METERS B-29 024840,004031: # RANGE RATE IN RDOTM METERS/CSEC B-7 024841,004032: # VEHUPFLG 024842,004033: 024843,004034: 26,3200 77624 LSR22.4 CALL 024844,004035: 26,3201 27410 INTSTALL 024845,004036: 26,3202 43014 SET CLEAR 024846,004037: 26,3203 01472 STATEFLG 024847,004038: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD. 024848,004039: 26,3205 77624 CALL 024849,004040: 26,3206 55242 INTGRCAL 024850,004041: 26,3207 77624 CALL 024851,004042: 26,3210 11210 GRP2PC 024852,004043: 26,3211 45014 CLEAR CALL 024853,004044: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP 024854,004045: 26,3213 27410 INTSTALL 024855,004046: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH 024856,004047: 26,3215 03463 MARKCTR 024857,004048: 26,3216 55231 INITWMX6 # YES, INITIALIZE 6X6 W-MATRIX 024858,004049: 26,3217 43014 CLEAR SET 024859,004050: 26,3220 01675 D6OR9FLG 024860,004051: 26,3221 01476 DIM0FLAG 024861,004052: 26,3222 43014 SET CLEAR 024862,004053: 26,3223 01474 VINTFLAG 024863,004054: 26,3224 01673 INTYPFLG 024864,004055: 26,3225 77624 CALL 024865,004056: 26,3226 55242 INTGRCAL 024866,004057: 26,3227 77650 GOTO 024867,004058: 26,3230 54514 RANGEBQ 024868,004059: 024869,004060: 26,3231 77624 INITWMX6 CALL 024870,004061: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX 024871,004062: 26,3233 45014 SET CALL 024872,004063: 26,3234 01474 VINTFLAG 024873,004064: 26,3235 26643 SETIFLGS 024874,004065: 26,3236 77624 CALL 024875,004066: 26,3237 55242 INTGRCAL 024876,004067: 26,3240 77650 GOTO 024877,004068: 26,3241 54514 RANGEBQ 024878,004069: 024879,004070: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV 024880,004071: 024881,004072: 26,3242 71220 INTGRCAL STQ DLOAD 024882,004073: 26,3243 03675 IGRET 024883,004074: 26,3244 03755 MKTIME 024884,004075: # Page 595 024885,004076: 26,3245 34041 STCALL TDEC1 024886,004077: 26,3246 27133 INTEGRV 024887,004078: 26,3247 77650 GOTO 024888,004079: 26,3250 03675 IGRET 024889,004080: 024890,004081: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING 024891,004082: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES. 024892,004083: 024893,004084: 26,3251 E5,1400 EBANK= W 024894,004085: 26,3251 77776 WLINIT EXIT 024895,004086: 26,3252 33331 CAF WBANK 024896,004087: 26,3253 54006 TS BBANK 024897,004088: 26,3254 33437 CAF WSIZE 024898,004089: 26,3255 55256 TS W.IND 024899,004090: 26,3256 34755 CAF ZERO 024900,004091: 024901,004092: # [All source code from addresses 26,3257-26,3321 inclusive is missing from the program 024902,004093: # listing. However, Mr. Gary Neff has provided a replacement scan of this page, and the 024903,004094: # source-code below has come from that replacement scan.] 024904,004095: 26,3257 51256 INDEX W.IND 024905,004096: 26,3260 55400 TS W 024906,004097: 26,3261 11256 CCS W.IND 024907,004098: 26,3262 03255 TC -5 024908,004099: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7 024909,004100: 26,3264 54006 TS BBANK 024910,004101: 26,3265 06042 TC INTPRET 024911,004102: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH 024912,004103: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF 024913,004104: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL 024914,004105: 26,3271 02001 WRENDPOS 024915,004106: 26,3272 77650 GOTO 024916,004107: 26,3273 55276 WPOSTORE 024917,004108: 26,3274 77735 WLSRFPOS SLOAD 024918,004109: 26,3275 02007 WSURFPOS 024919,004110: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE 024920,004111: 26,3277 20606 5 024921,004112: 26,3300 02401 STORE W 024922,004113: 26,3301 02411 STORE W +8D 024923,004114: 26,3302 02421 STORE W +16D 024924,004115: 26,3303 67214 BON SLOAD 024925,004116: 26,3304 04307 SURFFLAG 024926,004117: 26,3305 55311 WLSRFVEL 024927,004118: 26,3306 02002 WRENDVEL 024928,004119: 26,3307 77650 GOTO 024929,004120: 26,3310 55313 WVELSTOR 024930,004121: 26,3311 77735 WLSRFVEL SLOAD 024931,004122: 26,3312 02010 WSURFVEL 024932,004123: 26,3313 02511 WVELSTOR STORE W +72D 024933,004124: 26,3314 02521 STORE W +80D 024934,004125: 26,3315 02531 STORE W +88D 024935,004126: 26,3316 77735 SLOAD 024936,004127: 26,3317 02003 WSHAFT 024937,004128: 26,3320 02621 STORE W +144D 024938,004129: 26,3321 77735 SLOAD 024939,004130: # Page 596 024940,004131: 26,3322 02004 WTRUN 024941,004132: 26,3323 02631 STORE W +152D 024942,004133: 26,3324 66214 SET SSP # SET RENDWFLG -- W-MATRIX VALID 024943,004134: 26,3325 02476 RENDWFLG 024944,004135: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO 024945,004136: 26,3327 00000 0 024946,004137: 26,3330 77616 RVQ 024947,004138: 024948,004139: 26,3331 E5,1400 EBANK= W 024949,004140: 26,3331 54065 WBANK BBCON WLINIT 024950,004141: 26,3332 E7,1457 EBANK= AIG 024951,004142: 26,3332 54067 AIGBANK BBCON LSR22.3 024952,004143: 024953,004144: # GETULC 024954,004145: 024955,004146: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM 024956,004147: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE 024957,004148: # MAGNITUDE IN 36D. 024958,004149: 024959,004150: 26,3333 77201 GETULC SETPD VLOAD 024960,004151: 26,3334 00001 0 024961,004152: 26,3335 01645 DELTALEM 024962,004153: 26,3336 77754 LXA,2 024963,004154: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT 024964,004155: 26,3340 53257 VSR* VAD 024965,004156: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE 024966,004157: 26,3342 01661 RCVLEM 024967,004158: 26,3343 53715 PDVL VSR* 024968,004159: 26,3344 01573 DELTACSM 024969,004160: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE 024970,004161: 26,3346 52255 VAD VSU 024971,004162: 26,3347 01607 RCVCSM 024972,004163: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY 024973,004164: 26,3351 21725 NORMUNX1 024974,004165: 26,3352 17724 STODL ULC 024975,004166: 26,3353 00045 36D 024976,004167: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT 024977,004168: 26,3355 20201 0,1 024978,004169: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D 024979,004170: 26,3357 03724 ULC 024980,004171: 26,3360 77616 RVQ 024981,004172: 024982,004173: # RADARANG 024983,004174: 024984,004175: # THIS SUBROUTINE COMPUTS SINTHETA = -ULC DOT MY 024985,004176: # RXZ = (SQRT (1-SINTHETA**2))RLC 024986,004177: # OUTPUT 024987,004178: # ULC IN ULC, PD0 024988,004179: # RLC IN PD36D 024989,004180: # SIN THETA IN SINTHETA AND PD6 024990,004181: # RXZ NORM IN RXZ (N IN X1) 024991,004182: # Page 597 024992,004183: 024993,004184: 26,3361 45020 RADARANG STQ CALL 024994,004185: 26,3362 03675 RDRET 024995,004186: 26,3363 55333 GETULC 024996,004187: 26,3364 50276 VCOMP DOT 024997,004188: 26,3365 03705 MY 024998,004189: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6 024999,004190: 26,3367 03732 STORE SINTHETA 025000,004191: 26,3370 44316 DSQ BDSU 025001,004192: 26,3371 06514 DP1/4TH # 1-(SIN THETA)**2 025002,004193: 26,3372 41366 SQRT DMP 025003,004194: 26,3373 00045 36D 025004,004195: 26,3374 60352 SL1 NORM 025005,004196: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1 025006,004197: 26,3376 03722 STORE RXZ 025007,004198: 26,3377 77650 GOTO # EXIT 025008,004199: 26,3400 03675 RDRET 025009,004200: 26,3401 45020 LGCUPDTE STQ CALL 025010,004201: 26,3402 03675 LGRET 025011,004202: 26,3403 46533 INCORP1 025012,004203: 26,3404 51575 VLOAD ABVAL 025013,004204: 26,3405 02673 DELTAX +6 025014,004205: 26,3406 53754 LXA,2 SRR* 025015,004206: 26,3407 03720 SCALSHFT # 0 -- MOON. 2 -- EARTH 025016,004207: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7 025017,004208: 26,3411 24317 STOVL R22DISP +2 025018,004209: 26,3412 02665 DELTAX 025019,004210: 26,3413 53646 ABVAL SRR* 025020,004211: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29 025021,004212: 26,3415 00315 STORE R22DISP 025022,004213: 26,3416 54335 SLOAD SR 025023,004214: 26,3417 02005 RMAX 025024,004215: 26,3420 20613 10D 025025,004216: 26,3421 50025 DSU BMN 025026,004217: 26,3422 00315 R22DISP 025027,004218: 26,3423 50566 R22LEM96 # GO DISPLAY 025028,004219: 26,3424 45335 SLOAD DSU 025029,004220: 26,3425 02006 VMAX 025030,004221: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION 025031,004222: 26,3427 77640 BMN 025032,004223: 26,3430 50566 R22LEM96 # GO DISPLAY 025033,004224: 26,3431 77624 ASTOK CALL 025034,004225: 26,3432 46745 INCORP2 025035,004226: 26,3433 77650 GOTO 025036,004227: 26,3434 03675 LGRET 025037,004228: 26,3435 00103 03370 IMUVAR 2DEC 1 E-6 B12 # RAD**2 025038,004229: 025039,004230: 26,3437 00241 WSIZE DEC 161 B-14 025040,004231: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2 025041,004232: 025042,004233: 26,3442 E7,1456 EBANK= LOSCOUNT 025043,004234: 025044,004235: # Page 598 025045,004236: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE 025046,004237: # MCD NO. 0 BY P. VOLANTE, SDC DATE 1-15-67 025047,004238: 025048,004239: # FUNCTIONAL DESCRIPTION 025049,004240: 025050,004241: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM 025051,004242: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN TEH RADAR BORESIGHT AND THE 025052,004243: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN 025053,004244: # ATTITUDE MANEUVER. 025054,004245: 025055,004246: # CALLING SEQUENCE -- BANKCALL FOR LRS24.1 025056,004247: 025057,004248: # SUBROUTINES CALLED 025058,004249: 025059,004250: # LEMCONIC R61LEM 025060,004251: # CSMCONIC RRDESSM 025061,004252: # JOBDELAY FLAGDOWN 025062,004253: # WAITLIST FLAGUP 025063,004254: # RRNB BANKCALL 025064,004255: 025065,004256: # EXIT -- TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET 025066,004257: 025067,004258: # OUTPUT 025068,004259: 025069,004260: # DATAGOOD (SP) -- FOR DISPLAY IN R1 -- 00000 INDICATES NO LOCKON 025070,004261: # 11111 INDICATES LOCKON ACHIEVED 025071,004262: # OMEGAD (SP) -- FOR DISPLAY IN R2 -- ANGLE BETWEEN RR BORESIGNT VECTOR AND THE SPACECRAFT +Z AXIS 025072,004263: 025073,004264: # ERASABLE INITIALIZATION REQUIRED: 025074,004265: 025075,004266: # SEARCH FLAG MUST BE SET 025076,004267: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX 025077,004268: 025078,004269: # DEBRIS 025079,004270: 025080,004271: # RLMSRCH UXVECT 025081,004272: # VXRLM UYVECT 025082,004273: # LOSDESRD NSRCHPNT 025083,004274: # DATAGOOD OMEGAD 025084,004275: # MPAC PUSHLIST 025085,004276: 025086,004277: 26,3442 COUNT* $$/LRS24 025087,004278: 26,3442 34755 LRS24.1 CAF ZERO 025088,004279: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO 025089,004280: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR 025090,004281: 26,3445 00006 EXTEND 025091,004282: # Page 599 025092,004283: 26,3446 05012 WOR CHAN12 025093,004284: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED 025094,004285: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET) 025095,004286: 26,3451 00006 EXTEND 025096,004287: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB 025097,004288: 025098,004289: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT. 025099,004290: 26,3454 00004 INHINT 025100,004291: 26,3455 05203 TC WAITLIST # IN 6 SECONDS 025101,004292: 26,3456 E7,1456 EBANK= LOSCOUNT 025102,004293: 26,3456 03643 54067 2CADR CALLDGCH 025103,004294: 025104,004295: 26,3460 00003 RELINT 025105,004296: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS 025106,004297: 26,3462 74736 MASK REMODBIT 025107,004298: 26,3463 00006 EXTEND 025108,004299: 26,3464 15155 BZF ENDOFJOB # YES -- WAIT SIX SECONDS 025109,004300: 26,3465 06042 TC INTPRET 025110,004301: 025111,004302: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC. 025112,004303: 26,3467 21574 LOADTIME 025113,004304: 26,3470 15715 1.5SECS 025114,004305: 26,3471 34041 LRS24.11 STCALL TDEC1 025115,004306: 26,3472 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR 025116,004307: 26,3473 77775 VLOAD 025117,004308: 26,3474 00001 RATT 025118,004309: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION 025119,004310: 26,3476 00007 VATT 025120,004311: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY 025121,004312: 26,3500 00015 TAT 025122,004313: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR 025123,004314: 26,3502 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR 025124,004315: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM) 025125,004316: 26,3504 00001 RATT 025126,004317: 26,3505 03676 RLMSRCH 025127,004318: 26,3506 77656 UNIT 025128,004319: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS 025129,004320: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM)) 025130,004321: 26,3511 47256 UNIT VXV 025131,004322: 26,3512 00001 RATT 025132,004323: 26,3513 77656 UNIT 025133,004324: 26,3514 03704 STORE VXRCM 025134,004325: 26,3515 52375 VLOAD VSU 025135,004326: 26,3516 00007 VATT 025136,004327: 26,3517 03740 SAVLEMV 025137,004328: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER 025138,004329: 26,3521 01734 REFSMMAT 025139,004330: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM) 025140,004331: 26,3523 53135 SLOAD BZE # CHECK IF N=0 025141,004332: # Page 600 025142,004333: 26,3524 03737 NSRCHPNT 025143,004334: 26,3525 55636 DESGLOS # YES -- DESIGNATE ALONG LOS 025144,004335: 26,3526 53025 DSU BZE # IS N=1 025145,004336: 26,3527 15711 ONEOCT # YES -- CALCULATE X AND Y AXES OF 025146,004337: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM 025147,004338: 26,3531 77775 VLOAD # NO -- ROTATE X-Y AXES TO NEXT SEARCH POINT 025148,004339: 26,3532 03720 UXVECT 025149,004340: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS 025150,004341: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX 025151,004342: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY 025152,004343: 26,3536 77761 VXSC 025153,004344: 26,3537 15705 SIN60DEG # UX = (COS 60) UXPR + (SIN 60) UYPR 025154,004345: 26,3540 27720 STOVL UXVECT 025155,004346: 26,3541 00015 UXVECTPR 025156,004347: 26,3542 53361 VXSC VAD 025157,004348: 26,3543 06522 COS60DEG 025158,004349: 26,3544 03720 UXVECT 025159,004350: 26,3545 77656 UNIT 025160,004351: 26,3546 27720 STOVL UXVECT 025161,004352: 26,3547 00015 UXVECTPR # UY = (-SIN 60) UXPR + (COS 60) UYPR 025162,004353: 26,3550 77761 VXSC 025163,004354: 26,3551 15705 SIN60DEG 025164,004355: 26,3552 27726 STOVL UYVECT 025165,004356: 26,3553 00023 UYVECTPR 025166,004357: 26,3554 52361 VXSC VSU 025167,004358: 26,3555 06522 COS60DEG 025168,004359: 26,3556 03726 UYVECT 025169,004360: 26,3557 77656 UNIT 025170,004361: 26,3560 03726 STORE UYVECT 025171,004362: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY) 025172,004363: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES 025173,004364: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN 025174,004365: 26,3564 64256 UNIT MXV 025175,004366: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES 025176,004367: 26,3566 77772 VSL1 025177,004368: 26,3567 25101 CONTDESG STOVL RRTARGET 025178,004369: 26,3570 03740 SAVLEMV 025179,004370: 26,3571 01761 STORE LOSVEL 025180,004371: 26,3572 77776 EXIT 025181,004372: 26,3573 00004 INHINT 025182,004373: 26,3574 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK 025183,004374: 26,3575 52613 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST 025184,004375: # POINT IN THE PATTERN 025185,004376: 26,3576 44735 CONTDES2 CS CDESBIT 025186,004377: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE 025187,004378: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED. 025188,004379: 26,3601 54110 TS RADMODES 025189,004380: 26,3602 06042 TC INTPRET 025190,004381: 025191,004382: 26,3603 77624 CALL 025192,004383: # Page 601 025193,004384: 26,3604 52404 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR 025194,004385: 025195,004386: 26,3605 77776 EXIT 025196,004387: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22) 025197,004388: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20) 025198,004389: 025199,004390: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND 025200,004391: # SPACECRAFT +Z AXIS 025201,004392: 26,3610 00006 OMEGCALC EXTEND 025202,004393: 26,3611 30036 DCA CDUT 025203,004394: 26,3612 53753 DXCH TANGNB 025204,004395: 26,3613 06042 TC INTPRET 025205,004396: 26,3614 77624 CALL 025206,004397: 26,3615 46041 RRNB 025207,004398: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF 025208,004399: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D) 025209,004400: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2 025210,004401: 26,3621 77776 EXIT 025211,004402: 26,3622 05155 TC ENDOFJOB 025212,004403: # Page 602 025213,004404: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM. 025214,004405: 025215,004406: 26,3623 47375 CALCXY VLOAD VXV 025216,004407: 26,3624 03704 VXRCM 025217,004408: 26,3625 03712 LOSDESRD 025218,004409: 26,3626 77656 UNIT 025219,004410: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS 025220,004411: 26,3630 03712 LOSDESRD 025221,004412: 26,3631 53435 VXV UNIT 025222,004413: 26,3632 03720 UXVECT 025223,004414: 26,3633 03726 STORE UYVECT # UY = LOS X UX 025224,004415: 26,3634 77650 GOTO 025225,004416: 26,3635 55561 OFFCALC 025226,004417: 025227,004418: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS 025228,004419: 26,3637 03712 LOSDESRD 025229,004420: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS 025230,004421: 26,3641 52172 VSL1 GOTO 025231,004422: 26,3642 55567 CONTDESG 025232,004423: 025233,004424: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET 025234,004425: 26,3644 74745 MASK RNDVZBIT 025235,004426: 26,3645 00006 EXTEND 025236,004427: 26,3646 15261 BZF TASKOVER # NO -- EXIT R24 025237,004428: 26,3647 37716 CAF PRIO25 # YES -- SCHEDULE JOB TO DRIVE RADAR TO NEXT 025238,004429: 26,3650 05105 TC FINDVAC # PONT IN SEARCH PATTERN 025239,004430: 26,3651 E7,1675 EBANK= RLMSRCH 025240,004431: 26,3651 03654 54067 2CADR DATGDCHK 025241,004432: 025242,004433: 26,3653 05261 TC TASKOVER 025243,004434: 025244,004435: 26,3654 34750 DATGDCHK CAF BIT4 025245,004436: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT 025246,004437: 26,3656 02033 RAND CHAN33 025247,004438: 26,3657 00006 EXTEND 025248,004439: 26,3660 13667 BZF STORE1S # YES -- GO TO STORE 11111 FOR DISPLAY IN R1 025249,004440: 26,3661 46245 CS SIX 025250,004441: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6 025251,004442: 26,3663 00006 EXTEND 025252,004443: 26,3664 13442 BZF LRS24.1 # YES -- RESET N = 0 AND START AROUND AGAIN 025253,004444: 26,3665 25736 INCR NSRCHPNT # NO -- SET N = N+1 AND GO TO 025254,004445: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN 025255,004446: 025256,004447: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1 025257,004448: 26,3670 55733 TS DATAGOOD 025258,004449: # Page 603 025259,004450: 26,3671 00004 INHINT 025260,004451: 26,3672 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM 025261,004452: 26,3673 52613 CADR DESLOOP +2 # WAITLIST USING KILLTASK 025262,004453: 26,3674 05155 TC ENDOFJOB 025263,004454: 025264,004455: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 -- LOS NOT IN MODE2 025265,004456: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER 025266,004457: 26,3677 00004 INHINT # REQUIRED IN P20 025267,004458: 26,3700 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT 025268,004459: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN 025269,004460: 26,3702 05155 TC ENDOFJOB 025270,004461: 025271,004462: 26,3703 25547 ALL1S DEC 11111 B-14 025272,004463: 26,3704 33555 01106 SIN60DEG 2DEC .86603 025273,004464: 26,3706 23,2521 COS60DEG = DPHALF # (DEC .50) 025274,004465: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS 025275,004466: 26,3706 UYVECTPR EQUALS 18D 025276,004467: 26,3706 RLMUNIT EQUALS 12D 025277,004468: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES 025278,004469: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE -- THESE TWO CONSTANTS MUST **** 025279,004470: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE **** 025280,004471: # **** ONEOCT NEEDS A LOWER ORDER **** 025281,004472: # **** WORD OF ZEROES **** 025282,004473: 26,3713 01130 6SECONDS DEC 600 B-14 025283,004474: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28 025284,004475: 025285,004476: 26,3716 23,2523 ZERO/SP EQUALS HI6ZEROS 025286,004477: 025287,004478: 4616 BLOCK 02 025288,004479: 6000 SETLOC FFTAG5 025289,004480: 6000 BANK 025290,004481: 6025 COUNT* $$/P20 025291,004482: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF 025292,004483: 6026 36031 DCA VB56CADR # GOTOP00H 025293,004484: 6027 15165 TCF SUPDXCHZ 025294,004485: 6030 E7,1471 EBANK= WHOCARES 025295,004486: 6030 03045 66107 VB56CADR 2CADR TRMTRACK 025296,004487: 025297,004488: # Page 604 025298,004489: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT) 025299,004490: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968 025300,004491: 025301,004492: # FUNCTIONAL DESCRIPTION: 025302,004493: 025303,004494: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTES LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE 025304,004495: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF 025305,004496: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT 025306,004497: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR 025307,004498: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN 025308,004499: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT. 025309,004500: 025310,004501: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER 025311,004502: 025312,004503: # SUBROUTINES CALLED: 025313,004504: 025314,004505: # REMODE RRPONLY 025315,004506: # UNIT MPACVBUF 025316,004507: # QUICTRIG AX*SR*T 025317,004508: # SPSIN SPCOS 025318,004509: # SETRRECR RROUT 025319,004510: # RRRDOT RRRANGE 025320,004511: 025321,004512: # EXIT: TO NOR29NOW, IN SERVICER. 025322,004513: 025323,004514: # OUTPUT: (ALL FOR DOWNLINK) 025324,004515: 025325,004516: # RM RDOTM (RAW) 025326,004517: # AIG AMG 025327,004518: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT, 025328,004519: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000. 025329,004520: # MKTIME 025330,004521: # Page 605 025331,004522: 025332,004523: # ERASABLE INITIALIZATION REQUIRED: 025333,004524: 025334,004525: # NCR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29) 025335,004526: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START) 025336,004527: # R(CSM) V(CSM) 025337,004528: # R V (PIPTIME THRU V BY AVE G IN SERVICER) 025338,004529: 025339,004530: # DEBRIS: 025340,004531: 025341,004532: # RADMODES (BIT 10) 025342,004533: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL) 025343,004534: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV) 025344,004535: # LOSCMFLG READRFLG 025345,004536: 025346,004537: # ALARMS: NONE. 025347,004538: 025348,004539: # COMPONENT JOBS AND TASKS: 025349,004540: 025350,004541: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE: ALWAYS: TASK PREPOS29. 025351,004542: # DESIGNATING: TASK BEGDES29 & JOB R29DODES. 025352,004543: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE. 025353,004544: 025354,004545: 33,2045 BANK 33 025355,004546: 33,2000 SETLOC R29/SERV 025356,004547: 33,2000 BANK 025357,004548: 025358,004549: 33,2045 COUNT* $$/r29 025359,004550: 025360,004551: 33,2045 5014 NR29&RDR EQUALS EBANK5 025361,004552: 025362,004553: # Page 606 025363,004554: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA 025364,004555: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE). 025365,004556: 025366,004557: 33,2045 40110 R29 CS RADMODES 025367,004558: 33,2046 74742 MASK DESIGBIT 025368,004559: 33,2047 00006 EXTEND 025369,004560: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON. 025370,004561: 025371,004562: 33,2051 00004 INHINT 025372,004563: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON. 025373,004564: 33,2053 44736 CS BIT14 025374,004565: 33,2054 00006 EXTEND 025375,004566: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE. 025376,004567: 33,2056 44740 CS LOSCMBIT 025377,004568: 33,2057 70076 MASK FLAGWRD2 025378,004569: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF. 025379,004570: 33,2061 44753 CS OLDESBIT 025380,004571: 33,2062 70074 MASK STATE 025381,004572: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED. 025382,004573: 33,2064 04616 TC BANKCALL 025383,004574: 33,2065 52167 CADR SETRRECR # ENABLE RR ERROR COUNTERS. 025384,004575: 33,2066 34740 CA ANTENBIT 025385,004576: 33,2067 70110 MASK RADMODES 025386,004577: 33,2070 10000 CCS A # TEST RR MODE BIT. 025387,004578: 33,2071 12104 TCF SETPRPOS # MODE 2. 025388,004579: 025389,004580: 33,2072 35031 CA PRIO21 # MODE 1: MUST REMODE. 025390,004581: 33,2073 05072 TC NOVAC 025391,004582: 33,2074 E7,1456 EBANK= LOSCOUNT 025392,004583: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN. 025393,004584: 025394,004585: 33,2076 44742 CS DESIGBIT 025395,004586: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES 025396,004587: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE 025397,004588: 33,2101 34736 CA REMODBIT 025398,004589: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON. 025399,004590: 33,2103 12573 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS. 025400,004591: 025401,004592: 33,2104 34753 SETPRPOS CA ONE 025402,004593: 33,2105 05203 TC WAITLIST 025403,004594: 33,2106 E7,1456 EBANK= LOSCOUNT 025404,004595: 33,2106 03604 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO 180 DEG. 025405,004596: 025406,004597: 33,2110 34741 CA REPOSBIT 025407,004598: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON. 025408,004599: 33,2112 12573 TCF NOR29NOW 025409,004600: 025410,004601: # Page 607 025411,004602: # FORCE RENDEZVOUS RADAR INTO MODE 2. 025412,004603: 025413,004604: 33,2113 34753 R29REM0J CA ONE 025414,004605: 33,2114 05203 TC WAITLIST 025415,004606: 33,2115 E7,1456 EBANK= LOSCOUNT 025416,004607: 33,2115 02202 52067 2CADR REMODE # REMODE MUST RUN AS A TASK. 025417,004608: 025418,004609: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING 025419,004610: 33,2120 17705 CADR RADSTALL 025420,004611: 025421,004612: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN. 025422,004613: 33,2122 15155 TCF ENDOFJOB 025423,004614: 025424,004615: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG. 025425,004616: 025426,004617: 25,2000 SETLOC R29S1 025427,004618: 25,2000 BANK 025428,004619: 025429,004620: 25,3604 34735 PREPOS29 CA NEGMAX # -180 DEG. 025430,004621: 25,3605 02252 TC RRTONLY # DRIVE TRUNNION CDU. 025431,004622: 25,3606 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF. 025432,004623: 25,3607 70110 MASK RADMODES 025433,004624: 25,3610 54110 TS RADMODES 025434,004625: 25,3611 15261 TCF TASKOVER 025435,004626: 025436,004627: # COMPUTE THE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS TEHM TO THE R29DODES LOOP. 025437,004628: 025438,004629: 33,2045 SETLOC R29 025439,004630: 33,2045 BANK 025440,004631: 025441,004632: 33,2123 00006 R29.LOS EXTEND 025442,004633: 33,2124 41234 DCS PIPTIME 025443,004634: 33,2125 52155 DXCH MPAC 025444,004635: 33,2126 00006 EXTEND 025445,004636: 33,2127 30025 DCA TIME2 025446,004637: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28. 025447,004638: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION. 025448,004639: 33,2132 30155 CA MPAC +1 025449,004640: 33,2133 00006 EXTEND 025450,004641: 33,2134 74740 MP BIT12 025451,004642: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17. 025452,004643: 33,2136 06042 TC INTPRET 025453,004644: # Page 608 025454,004645: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN 025455,004646: # START IT UP WHEN THE DATA IS IN PLACE. 025456,004647: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME 025457,004648: 33,2140 01726 V(CSM) 025458,004649: 33,2141 03527 V # LOSVEL = V(CSM) - V 025459,004650: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM 025460,004651: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET 025461,004652: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES. 025462,004653: 33,2145 03521 R 025463,004654: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.) 025464,004655: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM- 025465,004656: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA. 025466,004657: 33,2151 12573 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA. 025467,004658: 025468,004659: 33,2152 25101 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES 025469,004660: 33,2153 00001 0 025470,004661: 33,2154 77761 VXSC 025471,004662: 33,2155 26177 .5SECB17 025472,004663: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY. 025473,004664: 33,2157 77414 CLEAR EXIT 025474,004665: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA. 025475,004666: 025476,004667: 33,2161 40074 CS STATE 025477,004668: 33,2162 74753 MASK OLDESBIT 025478,004669: 33,2163 00006 EXTEND 025479,004670: 33,2164 12573 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED. 025480,004671: 33,2165 00004 INHINT 025481,004672: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW. 025482,004673: 025483,004674: 33,2167 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND. 025484,004675: 33,2170 44776 CS SUPER110 # -96D +100D = 4. 025485,004676: 33,2171 64777 AD 1SEC # 0 +100D = 100D. 025486,004677: 33,2172 05203 TC WAITLIST 025487,004678: 33,2173 E7,1456 EBANK= LOSCOUNT 025488,004679: 33,2173 03357 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP. 025489,004680: 025490,004681: 33,2175 12573 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS. 025491,004682: 025492,004683: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17 025493,004684: 025494,004685: # Page 609 025495,004686: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A 025496,004687: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA. 025497,004688: 025498,004689: 24,3357 BANK 24 025499,004690: 24,2000 SETLOC P20S 025500,004691: 24,2000 BANK 025501,004692: 025502,004693: 24,3357 COUNT* $$/R29 025503,004694: 025504,004695: 24,3357 35031 BEGDES29 CAF PRIO21 025505,004696: 24,3360 05072 TC NOVAC 025506,004697: 24,3361 E3,1760 EBANK= LOSVDT/4 025507,004698: 24,3361 02550 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND. 025508,004699: 025509,004700: 24,3363 34774 R29DLOOP CAF .5SEC 025510,004701: 24,3364 05224 TC VARDELAY 025511,004702: 025512,004703: 24,3365 40110 CS RADMODES 025513,004704: 24,3366 74742 MASK DESIGBIT 025514,004705: 24,3367 10000 CCS A 025515,004706: 24,3370 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF. 025516,004707: 025517,004708: 24,3371 40076 CS FLAGWRD2 025518,004709: 24,3372 74740 MASK LOSCMBIT 025519,004710: 24,3373 00006 EXTEND 025520,004711: 24,3374 13377 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA. 025521,004712: 24,3375 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON. 025522,004713: 24,3376 13357 TCF BEGDES29 025523,004714: 025524,004715: 24,3377 34753 CA ONE 025525,004716: 24,3400 13364 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA. 025526,004717: # Page 610 025527,004718: # R29DODES: RR DESIGNATION LOOP FOR R29 025528,004719: 025529,004720: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR 025530,004721: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY, 025531,004722: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT 025532,004723: # ALL. THE UNIT(LOSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE- 025533,004724: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP. 025534,004725: 025535,004726: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ 025536,004727: # TASK WHEN LOCK-ON IS ACHIEVED. 025537,004728: 025538,004729: 32,2550 BANK 32 025539,004730: 32,2000 SETLOC F2DPS*32 025540,004731: 32,2000 BANK 025541,004732: 025542,004733: 32,2550 COUNT* $$/R29 025543,004734: 32,2550 E3,1760 EBANK= LOSVDT/4 025544,004735: 025545,004736: 32,2550 34753 R29DODES CA ONE 025546,004737: 32,2551 55106 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP. 025547,004738: 32,2552 34756 CA FIVE 025548,004739: 025549,004740: 32,2553 10000 R29DVBEG CCS A # COUNT DOWN BY TWO'S IN VECTOR LOOP. 025550,004741: 32,2554 54002 TS Q 025551,004742: 32,2555 11106 CCS TANG 025552,004743: 32,2556 12564 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP. 025553,004744: 025554,004745: 32,2557 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND). 025555,004746: 32,2560 50002 INDEX Q 025556,004747: 32,2561 31761 DCA LOSVDT/4 025557,004748: 32,2562 50002 INDEX Q 025558,004749: 32,2563 21101 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND. 025559,004750: 025560,004751: 32,2564 00006 R29DPAS1 EXTEND 025561,004752: 32,2565 50002 INDEX Q 025562,004753: 32,2566 31101 DCA LOSSM 025563,004754: 32,2567 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO- 025564,004755: 32,2570 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS). 025565,004756: 32,2571 11106 CCS TANG 025566,004757: 32,2572 12600 TCF R29DVEND # BUG OUT HERE IN 1ST PASS. 025567,004758: 025568,004759: 32,2573 00006 EXTEND 025569,004760: 32,2574 50002 INDEX Q 025570,004761: 32,2575 31761 DCA LOSVDT/4 025571,004762: 32,2576 50002 INDEX Q 025572,004763: 32,2577 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS). 025573,004764: 025574,004765: 32,2600 10002 R29DVEND CCS Q 025575,004766: 32,2601 12553 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP. 025576,004767: 025577,004768: # Page 611 025578,004769: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS). 025579,004770: 025580,004771: 32,2602 52156 DXCH MPAC +1 025581,004772: 32,2603 52155 DXCH MPAC 025582,004773: 32,2604 32776 CA R29FXLOC # = ADRES INTB15 + -34D 025583,004774: 32,2605 54120 TS FIXLOC 025584,004775: 32,2606 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH 025585,004776: 32,2607 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE. 025586,004777: 32,2610 07535 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA. 025587,004778: 025588,004779: 32,2611 11106 CCS TANG 025589,004780: 32,2612 12614 TCF +2 025590,004781: 32,2613 12630 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS. 025591,004782: 32,2614 00004 INHINT # ENSURE CONSISTENT CDU READINGS. 025592,004783: 32,2615 00006 EXTEND 025593,004784: 32,2616 30036 DCA CDUT 025594,004785: 32,2617 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES. 025595,004786: 32,2620 30033 CA CDUY 025596,004787: 32,2621 54765 TS CDUSPOT 025597,004788: 32,2622 30034 CA CDUZ 025598,004789: 32,2623 54767 TS CDUSPOT +2 025599,004790: 32,2624 30032 CA CDUX 025600,004791: 32,2625 54771 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T. 025601,004792: 32,2626 04616 TC BANKCALL 025602,004793: 32,2627 47617 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES. 025603,004794: 025604,004795: 32,2630 46250 GOTANGLS CS THREE 025605,004796: 32,2631 04616 TC BANKCALL 025606,004797: 32,2632 47677 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB). 025607,004798: 025608,004799: 32,2633 11106 CCS TANG 025609,004800: 32,2634 12636 TCF +2 025610,004801: 32,2635 12703 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS. 025611,004802: 025612,004803: # Page 612 025613,004804: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF 025614,004805: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E., SMALLER ANGLE). 025615,004806: 025616,004807: 32,2636 00004 INHINT 025617,004808: 32,2637 55106 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP. 025618,004809: 32,2640 31766 CA SAVECDUT 025619,004810: 32,2641 05032 TC SPCOS 025620,004811: 32,2642 54166 TS PUSHLOC # PUSHLOC = COS T. 025621,004812: 32,2643 41766 CS SAVECDUT 025622,004813: 32,2644 05033 TC SPSIN 025623,004814: 32,2645 54163 TS MODE # MODE = -SIN T. 025624,004815: 32,2646 00006 EXTEND 025625,004816: 32,2647 70124 MP VBUF +2 # FORM - SIN T ULOSNBY. 025626,004817: 32,2650 52155 DXCH MPAC 025627,004818: 32,2651 31767 CA SAVECDUT +1 025628,004819: 32,2652 05033 TC SPSIN 025629,004820: 32,2653 55766 TS SAVECDUT # SAVECDUT NOW = SIN S. 025630,004821: 32,2654 00006 EXTEND 025631,004822: 32,2655 70166 MP PUSHLOC 025632,004823: 32,2656 00006 EXTEND 025633,004824: 32,2657 70122 MP VBUF # FORM SIN S COS T ULOSNBX. 025634,004825: 32,2660 20155 DAS MPAC 025635,004826: 32,2661 31767 CA SAVECDUT +1 025636,004827: 32,2662 05032 TC SPCOS 025637,004828: 32,2663 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S. 025638,004829: 32,2664 00006 EXTEND 025639,004830: 32,2665 70166 MP PUSHLOC 025640,004831: 32,2666 00006 EXTEND 025641,004832: 32,2667 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ. 025642,004833: 32,2670 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T, 025643,004834: 32,2671 00006 EXTEND # -SIN T, COS S COS T). 025644,004835: 32,2672 30155 DCA MPAC 025645,004836: 32,2673 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR). 025646,004837: 32,2674 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS. 025647,004838: 32,2675 34736 CA BIT14 025648,004839: 32,2676 12677 NOOP 025649,004840: 32,2677 00006 EXTEND 025650,004841: 32,2700 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE. 025651,004842: 32,2701 00003 RELINT 025652,004843: 32,2702 12552 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP. 025653,004844: 025654,004845: # Page 613 025655,004846: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HAVE THE ERROR IN HALF A SECOND. 025656,004847: 025657,004848: 32,2703 31767 R29DPAS2 CA SAVECDUT +1 025658,004849: 32,2704 00006 EXTEND 025659,004850: 32,2705 70122 MP VBUF # FORM COS S ULOSNB'X. 025660,004851: 32,2706 53107 DXCH TANG 025661,004852: 32,2707 41766 CS SAVECDUT 025662,004853: 32,2710 00006 EXTEND 025663,004854: 32,2711 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z. 025664,004855: 32,2712 21107 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0, 025665,004856: 32,2713 40163 CS MODE # - SIN S) 025666,004857: 32,2714 00006 EXTEND 025667,004858: 32,2715 71766 MP SAVECDUT 025668,004859: 32,2716 00006 EXTEND 025669,004860: 32,2717 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X. 025670,004861: 32,2720 52155 DXCH MPAC 025671,004862: 32,2721 30166 CA PUSHLOC 025672,004863: 32,2722 00006 EXTEND 025673,004864: 32,2723 70124 MP VBUF +2 # FORM COS T ULOSNB'Y. 025674,004865: 32,2724 20155 DAS MPAC 025675,004866: 32,2725 40163 CS MODE 025676,004867: 32,2726 00006 EXTEND 025677,004868: 32,2727 71767 MP SAVECDUT +1 025678,004869: 32,2730 00006 EXTEND 025679,004870: 32,2731 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z. 025680,004871: 32,2732 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'. 025681,004872: 32,2733 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T). 025682,004873: 32,2734 00006 EXTEND 025683,004874: 32,2735 72777 MP RR29GAIN 025684,004875: 32,2736 55354 TS TRUNNCMD 025685,004876: 32,2737 31106 CA TANG 025686,004877: 32,2740 00006 EXTEND 025687,004878: 32,2741 72777 MP RR29GAIN 025688,004879: 32,2742 55355 TS SHAFTCMD # STORE REFINED SHAFT COMMAND FOR RROUT 025689,004880: 025690,004881: # Page 614 025691,004882: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START 025692,004883: # READING DATA FROM THE RENDEZVOUS RADAR. 025693,004884: 025694,004885: 32,2743 34750 DGOOD? CAF BIT4 025695,004886: 32,2744 00006 EXTEND 025696,004887: 32,2745 02033 RAND CHAN33 # GET RR DATA-GOOD BIT. 025697,004888: 32,2746 00004 INHINT # (MAINLY FOR RROUT). 025698,004889: 32,2747 00006 EXTEND 025699,004890: 32,2750 12754 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT. 025700,004891: 025701,004892: 32,2751 04616 TC BANKCALL 025702,004893: 32,2752 52317 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS. 025703,004894: 32,2753 12772 TCF END29DOD 025704,004895: 025705,004896: 32,2754 44742 R29LOKON CS DESIGBIT 025706,004897: 32,2755 70110 MASK RADMODES 025707,004898: 32,2756 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER. 025708,004899: 32,2757 44752 CS BIT2 025709,004900: 32,2760 00006 EXTEND 025710,004901: 32,2761 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS. 025711,004902: 32,2762 34743 CA READRBIT 025712,004903: 32,2763 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED. 025713,004904: 32,2764 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC. 025714,004905: 32,2765 44776 CS SUPER110 # -96D + 10D = 4. 025715,004906: 32,2766 64777 AD 1SEC # 0 + 100D = 100D. 025716,004907: 32,2767 05203 TC WAITLIST 025717,004908: 32,2770 E7,1456 EBANK= LOSCOUNT 025718,004909: 32,2770 03401 50067 2CADR R29READ # START READING TASK AND JOB. 025719,004910: 025720,004911: 32,2772 44740 END29DOD CS LOSCMBIT 025721,004912: 32,2773 70076 MASK FLAGWRD2 025722,004913: 32,2774 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG. 025723,004914: 32,2775 15155 TCF ENDOFJOB 025724,004915: 025725,004916: 32,2776 00052 R29FXLOC ADRES INTB15+ -34D 025726,004917: 32,2777 56655 RR29GAIN DEC -.53624 025727,004918: 32,3000 E3,1760 LOSVDT/4 EQUALS LOSVEL 025728,004919: 32,3000 1100 LOSSM EQUALS RRTARGET 025729,004920: 32,3000 E3,1766 SAVECDUT EQUALS MLOSV 025730,004921: 025731,004922: # Page 615 025732,004923: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON 025733,004924: 025734,004925: 24,3401 BANK 24 025735,004926: 24,2000 SETLOC P20S 025736,004927: 24,2000 BANK 025737,004928: 025738,004929: 24,3401 COUNT* $$/R29 025739,004930: 025740,004931: 24,3401 E7,1456 EBANK= LOSCOUNT 025741,004932: 025742,004933: 24,3401 37717 R29READ CAF PRIO26 # CALLED BY WAITLIST 025743,004934: 24,3402 05072 TC NOVAC 025744,004935: 24,3403 E7,1456 EBANK= LOSCOUNT 025745,004936: 24,3403 03414 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29. 025746,004937: 025747,004938: 24,3405 35000 CA 2SECS 025748,004939: 24,3406 05224 TC VARDELAY 025749,004940: 025750,004941: 24,3407 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL 025751,004942: 24,3410 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.) 025752,004943: 24,3411 10000 CCS A 025753,004944: 24,3412 13401 TCF R29READ # IT'S OK: CALL IT AGAIN. 025754,004945: 24,3413 15261 TCF TASKOVER # IT AIN'T: WAIT FOR REDESIGNATE. 025755,004946: 025756,004947: 24,3414 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC. 025757,004948: 24,3415 74741 MASK NR29FBIT 025758,004949: 24,3416 10000 CCS A # TEST "NOR29FLG". 025759,004950: 24,3417 13501 TCF ENDR29RD # R29 OVER, EXIT WITH RR STILL LOCKED ON. 025760,004951: 24,3420 30110 CA RADMODES 025761,004952: 24,3421 74752 MASK AUTOMBIT 025762,004953: 24,3422 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT. 025763,004954: 24,3423 13476 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE. 025764,004955: 025765,004956: 24,3424 04616 TC BANKCALL 025766,004957: 24,3425 53112 CADR RRRDOT # INITIATE READING OF RANGE RATE. 025767,004958: 24,3426 04616 TC BANKCALL 025768,004959: 24,3427 17705 CADR RADSTALL # GOT TO SLEEP UNTIL IT'S READY. 025769,004960: 24,3430 13476 TCF ENDRRD29 # BAD READ; REDESIGNATE. 025770,004961: 025771,004962: # Page 616 025772,004963: # R29 RADAR READING CONTINUED. 025773,004964: 025774,004965: 24,3431 53105 DXCH TIMEHOLD 025775,004966: 24,3432 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK. 025776,004967: 24,3433 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES. 025777,004968: 24,3434 00006 EXTEND 025778,004969: 24,3435 30036 DCA CDUT 025779,004970: 24,3436 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK. 025780,004971: 24,3437 00006 EXTEND 025781,004972: 24,3440 30034 DCA CDUY 025782,004973: 24,3441 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFERED FOR COPYCYCLE. 025783,004974: 24,3442 30032 CA CDUX 025784,004975: 24,3443 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK. 025785,004976: 025786,004977: 24,3444 04616 R29RANGE TC BANKCALL 025787,004978: 24,3445 53114 CADR RRRANGE # INITIATE READING OF RR RANGE. 025788,004979: 24,3446 04616 TC BANKCALL 025789,004980: 24,3447 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY. 025790,004981: 24,3450 13467 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH? 025791,004982: 025792,004983: 24,3451 00004 INHINT 025793,004984: 24,3452 53331 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK. 025794,004985: 24,3453 53757 DXCH RM 025795,004986: 24,3454 52155 DXCH MPAC 025796,004987: 24,3455 53755 DXCH MKTIME 025797,004988: 24,3456 52157 DXCH MPAC +2 025798,004989: 24,3457 53753 DXCH TANGNB 025799,004990: 24,3460 52161 DXCH MPAC +4 025800,004991: 24,3461 53460 DXCH AIG 025801,004992: 24,3462 30162 CA MPAC +6 025802,004993: 24,3463 55461 TS AOG 025803,004994: 24,3464 34753 CA ONE 025804,004995: 24,3465 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT. 025805,004996: 24,3466 15155 TCF ENDOFJOB 025806,004997: 025807,004998: 24,3467 40101 R29RRR? CS FLAGWRD5 025808,004999: 24,3470 74742 MASK BIT10 025809,005000: 24,3471 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)? 025810,005001: 24,3472 13476 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE. 025811,005002: 24,3473 05516 TC DOWNFLAG 025812,005003: 24,3474 00120 ADRES RNGSCFLG 025813,005004: 24,3475 13444 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN. 025814,005005: 025815,005006: 24,3476 44736 ENDRRD29 CS BIT14 # TROUBLE MADE US COME HERE TO LEAVE THE 025816,005007: 24,3477 00006 EXTEND # RR-READING MODE. DISCREDIT DOWNTEL 025817,005008: 24,3500 03012 WAND CHAN12 025818,005009: 24,3501 34755 ENDR29RD CA ZERO 025819,005010: 24,3502 55462 TS TRKMKCNT 025820,005011: 24,3503 05516 TC DOWNFLAG 025821,005012: 025822,005013: # Page 617 025823,005014: 24,3504 00063 ADRES READRFLG 025824,005015: 24,3505 15155 TCF ENDOFJOB 025825,005016: 025826,005017: # Page 618 025827,005018: # W-MATRIX MONITOR 025828,005019: 025829,005020: 31,2007 BANK 31 025830,005021: 31,2000 SETLOC VB67 025831,005022: 31,2000 BANK 025832,005023: 31,2007 COUNT* $$/EXTVB 025833,005024: 025834,005025: 31,2007 E4,1600 EBANK= WWPOS 025835,005026: 025836,005027: 31,2007 06042 V67CALL TC INTPRET 025837,005028: 31,2010 77624 CALL 025838,005029: 31,2011 62120 V67WW 025839,005030: 31,2012 77776 EXIT 025840,005031: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR 025841,005032: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY 025842,005033: 31,2015 53607 DXCH WWBIAS +2 025843,005034: 31,2016 00006 EXTEND 025844,005035: 31,2017 31603 DCA WWVEL 025845,005036: 31,2020 53611 DXCH WWBIAS +4 025846,005037: 31,2021 00006 EXTEND 025847,005038: 31,2022 31605 DCA WWBIAS 025848,005039: 31,2023 53613 DXCH WWBIAS +6 025849,005040: 31,2024 32143 V06N99DS CAF V06N99 025850,005041: 31,2025 04616 TC BANKCALL 025851,005042: 31,2026 20334 CADR GOXDSPF 025852,005043: 31,2027 15472 TCF ENDEXT 025853,005044: 31,2030 12032 TCF V6N99PRO 025854,005045: 31,2031 12024 TCF V06N99DS 025855,005046: 31,2032 22007 V6N99PRO ZL 025856,005047: 31,2033 34756 CA FIVE 025857,005048: 31,2034 54002 N99LOOP TS Q 025858,005049: 31,2035 50002 INDEX Q 025859,005050: 31,2036 41600 CS WWPOS 025860,005051: 31,2037 50002 INDEX Q 025861,005052: 31,2040 61606 AD WWPOS +6 025862,005053: 31,2041 26001 ADS L 025863,005054: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO. 025864,005055: 31,2043 12034 TCF N99LOOP 025865,005056: 31,2044 22000 LXCH A 025866,005057: 31,2045 00006 EXTEND 025867,005058: 31,2046 12051 BZF V06N9933 025868,005059: 31,2047 05504 TC UPFLAG 025869,005060: 31,2050 00160 ADRES V67FLAG 025870,005061: 025871,005062: 31,2051 06042 V06N9933 TC INTPRET 025872,005063: 31,2052 77414 BON EXIT 025873,005064: 31,2053 03707 V67FLAG 025874,005065: 31,2054 62056 +2 025875,005066: 31,2055 15472 TCF ENDEXT 025876,005067: 31,2056 77745 DLOAD 025877,005068: # Page 619 025878,005069: 31,2057 02201 WWPOS 025879,005070: 31,2060 72412 SL4 SL1 025880,005071: 31,2061 14001 STODL 0D 025881,005072: 31,2062 02203 WWVEL 025882,005073: 31,2063 14003 STODL 2D 025883,005074: 31,2064 02205 WWBIAS 025884,005075: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO 025885,005076: 31,2066 20213 10D # INTERNAL SCALING (B+5) 025886,005077: 31,2067 00005 STORE 4D 025887,005078: 31,2070 72014 BON LXA,1 025888,005079: 31,2071 04307 SURFFLAG 025889,005080: 31,2072 62102 V67SURF 025890,005081: 31,2073 00000 0D 025891,005082: 31,2074 72130 SXA,1 LXA,1 025892,005083: 31,2075 02000 WRENDPOS 025893,005084: 31,2076 00002 2D 025894,005085: 31,2077 52130 SXA,1 GOTO 025895,005086: 31,2100 02001 WRENDVEL 025896,005087: 31,2101 62110 V67CLRF 025897,005088: 31,2102 66150 V67SURF LXA,1 SXA,1 025898,005089: 31,2103 00000 0D 025899,005090: 31,2104 02006 WSURFPOS 025900,005091: 31,2105 66150 LXA,1 SXA,1 025901,005092: 31,2106 00002 2D 025902,005093: 31,2107 02007 WSURFVEL 025903,005094: 31,2110 66150 V67CLRF LXA,1 SXA,1 025904,005095: 31,2111 00004 4D 025905,005096: 31,2112 02003 WTRUN 025906,005097: 31,2113 77730 SXA,1 025907,005098: 31,2114 02002 WSHAFT 025908,005099: 31,2115 77414 CLEAR EXIT 025909,005100: 31,2116 02676 RENDWFLG 025910,005101: 31,2117 15472 TCF ENDEXT 025911,005102: 31,2120 40020 V67WW STQ BOV 025912,005103: 31,2121 00051 S2 025913,005104: 31,2122 62123 +1 025914,005105: 31,2123 45014 CLEAR CALL 025915,005106: 31,2124 03667 V67FLAG 025916,005107: 31,2125 27410 INTSTALL 025917,005108: 31,2126 71331 SSP DLOAD 025918,005109: 31,2127 00051 S1 025919,005110: 31,2130 00006 DEC 6 B-14 025920,005111: 31,2131 06524 ZEROVECS 025921,005112: 31,2132 02201 STORE WWPOS 025922,005113: 31,2133 02203 STORE WWVEL 025923,005114: 31,2134 02205 STORE WWBIAS 025924,005115: 31,2135 77770 AXT,1 025925,005116: 31,2136 00066 DEC 54 B-14 025926,005117: 31,2137 47573 NXPOSVEL VLOAD* VSQ 025927,005118: 31,2140 02467 W +54D,1 025928,005119: # Page 620 025929,005120: 31,2141 77650 GOTO 025930,005121: 31,2142 60002 ADDPOS 025931,005122: 31,2143 01543 V06N99 VN 0699 025932,005123: 025933,005124: 30,2000 SETLOC VB67A 025934,005125: 30,2000 BANK 025935,005126: 30,2002 COUNT* $$/EXTVB 025936,005127: 025937,005128: 30,2002 77615 ADDPOS DAD 025938,005129: 30,2003 02201 WWPOS 025939,005130: 30,2004 02201 STORE WWPOS 025940,005131: 30,2005 47573 VLOAD* VSQ 025941,005132: 30,2006 02555 W +108D,1 025942,005133: 30,2007 77615 DAD 025943,005134: 30,2010 02203 WWVEL 025944,005135: 30,2011 02203 STORE WWVEL 025945,005136: 30,2012 47573 VLOAD* VSQ 025946,005137: 30,2013 02643 W +162D,1 025947,005138: 30,2014 77615 DAD 025948,005139: 30,2015 02205 WWBIAS 025949,005140: 30,2016 02205 STORE WWBIAS 025950,005141: 30,2017 75500 TIX,1 SQRT 025951,005142: 30,2020 62137 NXPOSVEL 025952,005143: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO 025953,005144: 30,2022 20613 10D # NOUN SCALING (B-5) 025954,005145: 30,2023 16205 STODL WWBIAS 025955,005146: 30,2024 02203 WWVEL 025956,005147: 30,2025 77766 SQRT 025957,005148: 30,2026 16203 STODL WWVEL 025958,005149: 30,2027 02201 WWPOS 025959,005150: 30,2030 77766 SQRT 025960,005151: 30,2031 02201 STORE WWPOS 025961,005152: 30,2032 52000 BOV GOTO 025962,005153: 30,2033 60035 +2 025963,005154: 30,2034 60042 V67XXX 025964,005155: 30,2035 77745 DLOAD 025965,005156: 30,2036 06532 DPPOSMAX 025966,005157: 30,2037 02201 STORE WWPOS 025967,005158: 30,2040 02203 STORE WWVEL 025968,005159: 30,2041 02205 STORE WWBIAS 025969,005160: 30,2042 45345 V67XXX DLOAD DSU 025970,005161: 30,2043 02201 WWPOS 025971,005162: 30,2044 20060 FT99999 025972,005163: 30,2045 71240 BMN DLOAD 025973,005164: 30,2046 60051 +3 025974,005165: 30,2047 20060 FT99999 025975,005166: 30,2050 02201 STORE WWPOS 025976,005167: 30,2051 66150 LXA,1 SXA,1 025977,005168: 30,2052 00051 S2 025978,005169: 30,2053 00052 QPRET 025979,005170: # Page 621 025980,005171: 30,2054 77776 EXIT 025981,005172: 30,2055 04635 TC POSTJUMP 025982,005173: 30,2056 27421 CADR INTWAKE 025983,005174: 025984,005175: 30,2057 01670 17000 FT99999 2DEC 30479 B-19 025985,005176: 025986,005177: # Page 622 025987,005178: 25,3612 BANK 25 025988,005179: 25,2000 SETLOC RADARUPT 025989,005180: 25,2000 BANK 025990,005181: 25,3612 COUNT* $$/RRUPT 025991,005182: 025992,005183: 25,3612 E7,1456 EBANK= LOSCOUNT 025993,005184: 025994,005185: 25,3612 44747 RADLITES CS BIT5 025995,005186: 25,3613 60061 AD ITEMP1 025996,005187: 25,3614 10000 CCS A 025997,005188: 25,3615 44753 CS ONE 025998,005189: 25,3616 13646 TCF VLIGHT 025999,005190: 026000,005191: 25,3617 14570 TCF RRTRKF 026001,005192: 026002,005193: 25,3620 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX 026003,005194: 026004,005195: 25,3621 34747 CA HLITE 026005,005196: 25,3622 54001 TS L 026006,005197: 026007,005198: 25,3623 34747 CA LRALTBIT 026008,005199: 25,3624 70110 BOTHLITS MASK RADMODES 026009,005200: 25,3625 10000 CCS A 026010,005201: 25,3626 13640 TCF ONLITES 026011,005202: 026012,005203: 25,3627 30107 CA FLGWRD11 026013,005204: 25,3630 50065 INDEX ITEMP5 026014,005205: 25,3631 74753 MASK HFLSHBIT 026015,005206: 25,3632 10000 CCS A 026016,005207: 25,3633 14570 TCF RRTRKF 026017,005208: 026018,005209: 25,3634 00006 LITIT EXTEND 026019,005210: 25,3635 22066 QXCH ITEMP6 026020,005211: 25,3636 04602 TC TRKFLON +1 026021,005212: 026022,005213: 25,3637 00066 TC ITEMP6 026023,005214: 026024,005215: 25,3640 50065 ONLITES INDEX ITEMP5 026025,005216: 25,3641 44753 CS HFLSHBIT 026026,005217: 25,3642 70107 MASK FLGWRD11 026027,005218: 25,3643 54107 TS FLGWRD11 026028,005219: 026029,005220: 25,3644 30001 CA L 026030,005221: 25,3645 13634 TCF LITIT 026031,005222: 25,3646 54065 VLIGHT TS ITEMP5 026032,005223: 25,3647 34751 CA VLITE 026033,005224: 25,3650 54001 TS L 026034,005225: 25,3651 34744 CA BIT8 026035,005226: 25,3652 13624 TCF BOTHLITS 026036,005227: 026037,005228: # Page 623 026038,005229: 25,3653 4747 HLITE EQUALS BIT5 026039,005230: 25,3653 4751 VLITE EQUALS BIT3 026040,005231: 026041,005232: # *** END OF LEMP20S .145 *** 026042,005233: End of include-file P20-P25.agc. Parent file is MAIN.agc