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