Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
021054,000002: ## Copyright: Public domain.
021055,000003: ## Filename: P20-P25.agc
021056,000004: ## Purpose: A section of Luminary 1C, revision 131.
021057,000005: ## It is part of the source code for the Lunar Module's (LM)
021058,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
021059,000007: ## This file is intended to be a faithful transcription, except
021060,000008: ## that the code format has been changed to conform to the
021061,000009: ## requirements of the yaYUL assembler rather than the
021062,000010: ## original YUL assembler.
021063,000011: ## Reference: pp. 496-618
021064,000012: ## Contact: Ron Burkey <info@sandroid.org>.
021065,000013: ## Website: www.ibiblio.org/apollo/index.html
021066,000014: ## Mod history: 05/15/03 RSB. Began transcribing.
021067,000015: ## 12/01/03 RSB. Entered/corrected the previously-missing code from
021068,000016: ## the bottom of p. 595 using a replacement scan
021069,000017: ## provided by Gary Neff.
021070,000018: ## 05/14/05 RSB Corrected website reference above.
021071,000019: ## 2010-10-25 JL Fixed p583 page number.
021072,000020: ## 2011-05-07 JL Removed workarounds.
021073,000021: ## 2017-01-06 RSB Page numbers now agree with those on the
021074,000022: ## original harcopy, as opposed to the PDF page
021075,000023: ## numbers in 1701.pdf.
021076,000024: ## 2017-01-28 RSB WTIH -> WITH.
021077,000025: ## 2017-02-24 RSB Proofed comment text using octopus/ProoferComments.
021078,000026: ## 2017-02-28 RSB Fixed lingering typos.
021079,000027: ## 2017-03-07 RSB Comment-text error-fixes noted in proofing Luminary 116.
021080,000028: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
021081,000029: ## side-by-side diff of Luminary 69/99/116/131/210.
021082,000030:
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021084,000032: # RENDEZVOUS NAVIGATION PROGRAM 20
021085,000033:
021086,000034: # PROGRAM DESCRIPTION
021087,000035:
021088,000036: # MOD NO - 2
021089,000037: # BY P. VOLANTE
021090,000038:
021091,000039: # FUNCTIONAL DESCRIPTION
021092,000040:
021093,000041: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021094,000042: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021095,000043: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021096,000044: # ON THE BASIS OF THE RR TRACKING DATA.
021097,000045:
021098,000046: # CALLING SEQUENCE -
021099,000047:
021100,000048: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021101,000049:
021102,000050: # SUBROUTINES CALLED
021103,000051:
021104,000052: # R02BOTH (IMU STATUS CHECK) FLAGUP
021105,000053: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021106,000054: # R23LEM (MANUAL ACQUISITION) BANKCALL
021107,000055: # LS201 (LOS DETERMINATION) TASKOVER
021108,000056: # LS202 (RANGE LIMIT TEST)
021109,000057: # R61LEM (PREFERRED TRACKING ATTITUDE)
021110,000058: # R21LEM (RR DESIGNATE) ENDOFJOB
021111,000059: # R22LEM (DATA READ) GOPERF1
021112,000060: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021113,000061: # PRIOLARM (PRIORITY DISPLAY)
021114,000062:
021115,000063: # NORMAL EXIT MODES -
021116,000064:
021117,000065: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021118,000066: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021119,000067:
021120,000068: # ALARM OR ABORT EXIT MODES -
021121,000069:
021122,000070: # RANGE GREATER THAN 400 NM DISPLAY
021123,000071:
021124,000072: # OUTPUT
021125,000073:
021126,000074: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021127,000075:
021128,000076: # ERASABLE INITIALIZATION REQUIRED
021129,000077:
021130,000078: # FLAGS SET + RESET
021131,000079:
021132,000080: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021133,000081:
021134,000082: # DEBRIS
021135,000083:
021136,000084: # CENTRALS - A,Q,L
021137,000085:
021138,000086: 25,2073 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021139,000087:
021140,000088: 33,2045 BANK 33
021141,000089: 24,2000 SETLOC P20S
021142,000090: 24,2000 BANK
021143,000091:
021144,000092: 24,2000 E7,1456 EBANK= LOSCOUNT
021145,000093: 24,2000 COUNT* $$/P20
021146,000094: 24,2000 24,2000 PROG22 = PROG20
021147,000095: 24,2000 05327 PROG20 TC 2PHSCHNG
021148,000096: 24,2001 00004 OCT 4
021149,000097: 24,2002 05022 OCT 05022
021150,000098: 24,2003 26000 OCT 26000 # PRIORITY 26
021151,000099: 24,2004 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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021153,000101: 24,2005 02007 TC ORBCHGO # YES
021154,000102: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021155,000103: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021156,000104: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021157,000105: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021158,000106: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
021159,000107: 24,2013 34363 CAF OCT00012
021160,000108: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021161,000109: 24,2015 20634 CADR GOPERF4
021162,000110: 24,2016 06001 TC GOTOPOOH # TERMINATE
021163,000111: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021164,000112: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021165,000113: 24,2021 44753 ORBCHG1 CS ONE
021166,000114: 24,2022 61144 AD OPTION2
021167,000115: 24,2023 00006 EXTEND
021168,000116: 24,2024 12040 BZF PROG20A
021169,000117: 24,2025 32311 CAF V06N33*
021170,000118: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021171,000119: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
021172,000120: 24,2030 06001 TC GOTOPOOH # TERMINATE
021173,000121: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021174,000122: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021175,000123: 24,2033 06042 ORBCHG2 TC INTPRET
021176,000124: 24,2034 77650 GOTO
021177,000125: 24,2035 64217 ORBCHG3
021178,000126:
021179,000127: 32,2217 BANK 32
021180,000128: 32,2000 SETLOC P20S4
021181,000129: 32,2000 BANK
021182,000130: 32,2217 COUNT* $$/P20
021183,000131:
021184,000132: 32,2217 77624 ORBCHG3 CALL
021185,000133: 32,2220 27410 INTSTALL
021186,000134: 32,2221 77745 DLOAD
021187,000135: 32,2222 03442 TIG
021188,000136: 32,2223 03661 STORE LNCHTM
021189,000137: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021190,000138: 32,2225 43014 CLEAR CLEAR
021191,000139: 32,2226 01674 VINTFLAG # LM INTEGRATION
021192,000140: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021193,000141: 32,2230 43014 CLEAR CLEAR
021194,000142: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021195,000143: 32,2232 01675 D6OR9FLG
021196,000144: 32,2233 77624 CALL
021197,000145: 32,2234 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION
021198,000146: 32,2235 77624 CALL
021199,000147: 32,2236 11210 GRP2PC
021200,000148: 32,2237 77775 VLOAD
021201,000149: 32,2240 00017 RATT1
021202,000150: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021203,000151: 32,2242 00015 TAT
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021205,000153: 32,2243 34041 STCALL TDEC1
021206,000154: 32,2244 27410 INTSTALL
021207,000155: 32,2245 43014 SET CLEAR
021208,000156: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021209,000157: 32,2247 01673 INTYPFLG
021210,000158: 32,2250 43014 CLEAR BOFF
021211,000159: 32,2251 01676 DIM0FLAG
021212,000160: 32,2252 02756 RENDWFLG # W MATRIX VALID
021213,000161: 32,2253 64257 NOWMATX # NO
021214,000162: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021215,000163: 32,2255 01476 DIM0FLAG
021216,000164: 32,2256 01475 D6OR9FLG
021217,000165: 32,2257 77624 NOWMATX CALL
021218,000166: 32,2260 27133 INTEGRV # CSM INTEGRATION
021219,000167: 32,2261 77624 CALL
021220,000168: 32,2262 11210 GRP2PC
021221,000169: 32,2263 77775 VLOAD
021222,000170: 32,2264 00025 VATT1
021223,000171: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
021224,000172: 32,2266 00017 RATT1
021225,000173: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
021226,000174: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021227,000175: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021228,000176: 32,2272 24025 STOVL 20D # SAVE NSUB1
021229,000177: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021230,000178: 32,2274 53435 VXV UNIT # PLANE CHANGE
021231,000179: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021232,000180: 32,2276 27637 STOVL UCSM
021233,000181: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021234,000182: 32,2300 50256 UNIT DOT # AND RSUBC
021235,000183: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021236,000184: 32,2302 77752 SL1
021237,000185: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021238,000186: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021239,000187: 32,2305 06514 ONEB-2
021240,000188: 32,2306 77766 SQRT
021241,000189: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021242,000190: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
021243,000191: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021244,000192: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021245,000193: 32,2313 77676 VCOMP
021246,000194: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021247,000195: 32,2315 45014 CLEAR CALL
021248,000196: 32,2316 03666 RVSW
021249,000197: 32,2317 24732 TIMETHET
021250,000198: 32,2320 77676 VCOMP
021251,000199: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021252,000200: 32,2322 77745 DLOAD
021253,000201: 32,2323 00037 T
021254,000202: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021256,000204: 32,2325 03645 NEWVEL
021257,000205: 32,2326 77646 ABVAL
021258,000206: 32,2327 24025 STOVL 20D
021259,000207: 32,2330 00001 0D
021260,000208: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021261,000209: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021262,000210: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021263,000211: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021264,000212: 32,2335 03653 NEWPOS # ORBITAL PLANE
021265,000213: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021266,000214: 32,2337 00025 20D
021267,000215: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021268,000216: 32,2341 11210 GRP2PC
021269,000217: 32,2342 77624 CALL
021270,000218: 32,2343 27410 INTSTALL
021271,000219: 32,2344 44345 DLOAD BDSU
021272,000220: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021273,000221: 32,2346 03661 LNCHTM
021274,000222: 32,2347 25517 STOVL TET
021275,000223: 32,2350 03653 NEWPOS
021276,000224: 32,2351 01535 STORE RCV
021277,000225: 32,2352 25503 STOVL RRECT
021278,000226: 32,2353 03665 NCSMVEL
021279,000227: 32,2354 35511 STCALL VRECT
021280,000228: 32,2355 27705 MINIRECT
021281,000229: 32,2356 45174 AXT,2 CALL
021282,000230: 32,2357 00002 2
021283,000231: 32,2360 26660 ATOPCSM
021284,000232: 32,2361 77624 CALL
021285,000233: 32,2362 27417 INTWAKE0
021286,000234: 32,2363 77776 EXIT
021287,000235: 32,2364 04616 TC BANKCALL
021288,000236: 32,2365 50040 CADR PROG20A
021289,000237:
021290,000238: 24,2036 BANK 24
021291,000239: 24,2000 SETLOC P20S
021292,000240: 24,2000 BANK
021293,000241: 24,2036 COUNT* $$/P20
021294,000242:
021295,000243: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
021296,000244: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021297,000245: 24,2040 04616 PROG20A TC BANKCALL
021298,000246: 24,2041 11233 CADR R02BOTH
021299,000247: 24,2042 05504 TC UPFLAG
021300,000248: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021301,000249: 24,2044 05504 TC UPFLAG
021302,000250: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021303,000251: 24,2046 05504 TC UPFLAG
021304,000252: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021305,000253: 24,2050 05516 TC DOWNFLAG
021306,000254: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021308,000256: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021309,000257: 24,2053 00040 ADRES ACMODFLG
021310,000258: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021311,000259: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021312,000260: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021313,000261: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021314,000262: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021315,000263: 24,2061 00041 ADRES LOSCMFLG
021316,000264: 24,2062 06011 TC CLRADMOD
021317,000265: 24,2063 05353 P20LEM1 TC PHASCHNG
021318,000266: 24,2064 04022 OCT 04022
021319,000267: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021320,000268: 24,2066 55462 TS MARKCTR
021321,000269: 24,2067 06042 TC INTPRET # LOS DETERMINATION ROUTINE
021322,000270: 24,2070 77634 RTB
021323,000271: 24,2071 21574 LOADTIME
021324,000272: 24,2072 34041 STCALL TDEC1
021325,000273: 24,2073 51256 LPS20.1
021326,000274: 24,2074 77624 CALL
021327,000275: 24,2075 53570 LPS20.2 # TEST RANGE R/UTINE
021328,000276: 24,2076 77776 EXIT
021329,000277: 24,2077 50154 INDEX MPAC
021330,000278: 24,2100 02101 TC +1
021331,000279: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021332,000280: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021333,000281: 24,2103 04616 TC BANKCALL
021334,000282: 24,2104 21563 CADR PRIOLARM
021335,000283: 24,2105 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021336,000284: 24,2106 02102 TC -4 # PROC (ILLEGAL
021337,000285: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021338,000286: 24,2110 05155 TC ENDOFJOB
021339,000287:
021340,000288: 24,2111 05353 P20LEMA TC PHASCHNG
021341,000289: 24,2112 04022 OCT 04022
021342,000290: 24,2113 02670 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021343,000291: 24,2114 02117 TC P20LEMB
021344,000292: 24,2115 04616 TC BANKCALL
021345,000293: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021346,000294: 24,2117 05353 P20LEMB TC PHASCHNG
021347,000295: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021348,000296: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021349,000297: 24,2122 37717 CAF PRIO26 # RESTORE PRIORITY 26
021350,000298: 24,2123 05146 TC PRIOCHNG
021351,000299: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021352,000300: 24,2125 74747 MASK TRACKBIT
021353,000301: 24,2126 00006 EXTEND
021354,000302: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021355,000303: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021356,000304: 24,2131 00006 EXTEND
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021358,000306: 24,2132 02033 RAND CHAN33
021359,000307: 24,2133 00006 EXTEND
021360,000308: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021361,000309:
021362,000310: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021363,000311: 24,2136 61010 AD MODREG # MAJOR MODE IS 20
021364,000312: 24,2137 00006 EXTEND
021365,000313: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
021366,000314:
021367,000315: 24,2141 67751 AD NEG2 # ALSO CHECK FOR P22
021368,000316: 24,2142 00006 EXTEND
021369,000317: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021370,000318: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021371,000319: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021372,000320: 24,2146 21563 CADR PRIOLARM
021373,000321: 24,2147 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
021374,000322: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021375,000323: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021376,000324: 24,2152 05155 TC ENDOFJOB
021377,000325: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021378,000326: 24,2154 04616 TC BANKCALL
021379,000327: 24,2155 20624 CADR GOPERF1
021380,000328: 24,2156 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021381,000329: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021382,000330: 24,2160 02670 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021383,000331: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021384,000332: 24,2162 03137 TC R23LEM # NO - DO MANUAL ACQUISITION
021385,000333:
021386,000334: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021387,000335: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021388,000336: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021389,000337:
021390,000338: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021391,000339: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021392,000340:
021393,000341: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021394,000342: 24,2171 74737 MASK RCDU0BIT
021395,000343: 24,2172 00006 EXTEND
021396,000344: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021397,000345: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021398,000346: 24,2175 70076 MASK FLAGWRD2
021399,000347: 24,2176 00006 EXTEND
021400,000348: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021401,000349: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021402,000350: 24,2201 00037 ADRES SRCHOPTN
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021404,000352: 24,2202 05516 TC DOWNFLAG
021405,000353: 24,2203 00040 ADRES ACMODFLG
021406,000354: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021407,000355:
021408,000356: 24,2205 32304 P20LEMB4 CAF 250DEC
021409,000357: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021410,000358: 24,2207 01736 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
021411,000359: 24,2210 02170 TC P20LEMB3
021412,000360:
021413,000361: 24,2211 06042 P20LEMC3 TC INTPRET
021414,000362: 24,2212 77634 RTB
021415,000363: 24,2213 21574 LOADTIME
021416,000364: 24,2214 34041 STCALL TDEC1
021417,000365: 24,2215 50312 UPPSV
021418,000366: 24,2216 77776 P20LEMC4 EXIT
021419,000367: 24,2217 05353 P20LEMC TC PHASCHNG
021420,000368: 24,2220 04022 OCT 04022
021421,000369: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021422,000370: 24,2222 74745 MASK RNDVZBIT
021423,000371: 24,2223 00006 EXTEND
021424,000372: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021425,000373: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021426,000374: 24,2226 74747 MASK TRACKBIT
021427,000375: 24,2227 00006 EXTEND
021428,000376: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021429,000377: 24,2231 02675 P20LEMF TC R21LEM
021430,000378:
021431,000379: 24,2232 32304 P20LEMWT CAF 250DEC
021432,000380: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021433,000381: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021434,000382: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021435,000383: 24,2236 74747 MASK TRACKBIT
021436,000384: 24,2237 00006 EXTEND
021437,000385: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021438,000386: 24,2241 05353 P20LMWT1 TC PHASCHNG
021439,000387: 24,2242 40072 OCT 40072
021440,000388: 24,2243 05155 TC ENDOFJOB
021441,000389:
021442,000390: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021443,000391: 24,2245 74745 MASK RNDVZBIT
021444,000392: 24,2246 00006 EXTEND
021445,000393: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021446,000394: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021447,000395: 24,2251 74747 MASK TRACKBIT
021448,000396: 24,2252 00006 EXTEND
021449,000397: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
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Page 503 |
021451,000399: 24,2254 37717 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021452,000400: 24,2255 05105 TC FINDVAC
021453,000401: 24,2256 E7,1456 EBANK= LOSCOUNT
021454,000402: 24,2256 02631 50067 2CADR R22LEM42
021455,000403:
021456,000404: 24,2260 05261 TC TASKOVER
021457,000405:
021458,000406: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021459,000407: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021460,000408:
021461,000409: 24,2263 02244 TC P20LEMC1
021462,000410:
021463,000411: 24,2264 32667 P20LEMD CAF 1500DEC
021464,000412: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021465,000413: 24,2266 02270 ADRES P20LEMD1
021466,000414: 24,2267 05155 TC ENDOFJOB
021467,000415:
021468,000416: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021469,000417: 24,2271 74747 MASK TRACKBIT
021470,000418: 24,2272 10000 CCS A
021471,000419: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021472,000420: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021473,000421: 24,2275 02734 DEC 1500 B-14
021474,000422: 24,2276 02270 TC P20LEMD1
021475,000423:
021476,000424: 24,2277 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021477,000425: 24,2300 05105 TC FINDVAC
021478,000426: 24,2301 E7,1456 EBANK= LOSCOUNT
021479,000427: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021480,000428:
021481,000429: 24,2303 05261 TC TASKOVER
021482,000430:
021483,000431: 24,2304 00372 250DEC DEC 250 B-14
021484,000432: 24,2305 00526 ALRM526 OCT 00526
021485,000433: 24,2306 00201 OCT201 OCT 00201
021486,000434: 24,2307 00514 ALRM514 OCT 514
021487,000435: 24,2310 00074 MAXTRIES DEC 60 B-14
021488,000436: 24,2311 4363 OCT00012 EQUALS BINCON
021489,000437: 24,2311 23,2513 ONEB-2 EQUALS DP1/4TH
021490,000438: 24,2311 01441 V06N33* VN 0633
021491,000439: 24,2312 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021492,000440: 24,2313 01757 LS21X # TO PRESENT TIME
021493,000441: 24,2314 27410 INTSTALL
021494,000442: 24,2315 77624 CALL
021495,000443: 24,2316 26643 SETIFLGS
021496,000444: 24,2317 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
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Page 504 |
021498,000446: 24,2320 02756 RENDWFLG
021499,000447: 24,2321 50332 UPPSV1
021500,000448: 24,2322 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021501,000449: 24,2323 43014 BON SET
021502,000450: 24,2324 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021503,000451: 24,2325 50327 UPPSV5
021504,000452: 24,2326 01475 D6OR9FLG # OTHERWISE 9X9
021505,000453: 24,2327 77614 UPPSV5 BOF
021506,000454: 24,2330 00747 VEHUPFLG
021507,000455: 24,2331 50364 UPPSV3
021508,000456: 24,2332 77614 UPPSV1 SET
021509,000457: 24,2333 01474 VINTFLAG
021510,000458: 24,2334 77624 CALL
021511,000459: 24,2335 27133 INTEGRV
021512,000460: 24,2336 77624 CALL # GROUP 2 PHASE CHANGE
021513,000461: 24,2337 11210 GRP2PC # TO PROTECT INTEGRATION
021514,000462: 24,2340 77624 CALL
021515,000463: 24,2341 27410 INTSTALL
021516,000464: 24,2342 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021517,000465: 24,2343 01571 TETCSM
021518,000466: 24,2344 01674 VINTFLAG
021519,000467: 24,2345 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021520,000468: 24,2346 26643 SETIFLGS # WITHOUT W-MATRIX
021521,000469: 24,2347 34041 STCALL TDEC1
021522,000470: 24,2350 27133 INTEGRV
021523,000471: 24,2351 77214 BOFF VLOAD
021524,000472: 24,2352 04347 SURFFLAG
021525,000473: 24,2353 50216 P20LEMC4
021526,000474: 24,2354 01661 RCVLEM
021527,000475: 24,2355 77742 VSR2
021528,000476: 24,2356 26352 STOVL LMPOS
021529,000477: 24,2357 01667 VCVLEM
021530,000478: 24,2360 77742 VSR2
021531,000479: 24,2361 02360 STORE LMVEL
021532,000480: 24,2362 77650 GOTO
021533,000481: 24,2363 01757 LS21X
021534,000482:
021535,000483: 24,2364 45014 UPPSV3 CLEAR CALL
021536,000484: 24,2365 01674 VINTFLAG
021537,000485: 24,2366 27133 INTEGRV
021538,000486: 24,2367 77624 CALL
021539,000487: 24,2370 11210 GRP2PC
021540,000488: 24,2371 77624 CALL
021541,000489: 24,2372 27410 INTSTALL
021542,000490: 24,2373 71214 SET DLOAD
021543,000491: 24,2374 01474 VINTFLAG
021544,000492: 24,2375 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
021545,000493: 24,2376 77650 GOTO
021546,000494: 24,2377 50345 UPPSV4
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Page 505 |
021548,000496: 24,2400 E7,1456 EBANK= LOSCOUNT
021549,000497: 24,2400 COUNT* $$/P22
021550,000498:
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Page 506 |
021552,000500: # PROGRAM DESCRIPTION
021553,000501:
021554,000502: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021555,000503: # MOD NO - 3
021556,000504: # BY P. VOLANTE
021557,000505:
021558,000506: # FUNCTIONAL DESCRIPTION
021559,000507:
021560,000508: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021561,000509: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021562,000510: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021563,000511: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021564,000512:
021565,000513: # CALLING SEQUENCE -
021566,000514:
021567,000515: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021568,000516:
021569,000517: # SUBROUTINES CALLED -
021570,000518:
021571,000519: # BANKCALL FLAGUP
021572,000520: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021573,000521: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021574,000522: # TASKOVER FINDVAC
021575,000523:
021576,000524: # NORMAL EXIT MODES -
021577,000525:
021578,000526: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021579,000527: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021580,000528:
021581,000529: # ALARM OR ABORT EXIT MODES -
021582,000530:
021583,000531: # NONE
021584,000532:
021585,000533: # OUTPUT
021586,000534:
021587,000535: # ERASABLE INITIALIZATION REQUIRED
021588,000536:
021589,000537: # FLAGS SET + RESET
021590,000538:
021591,000539: # TRACKFLG, P25FLAG
021592,000540:
021593,000541: # DEBRIS
021594,000542:
021595,000543: # NONE
021596,000544:
021597,000545: 24,2400 E7,1456 EBANK= LOSCOUNT
021598,000546: 24,2400 COUNT* $$/P25
021599,000547: 24,2400 05327 PROG25 TC 2PHSCHNG
021600,000548: 24,2401 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021601,000549: 24,2402 05022 OCT 05022
021602,000550: 24,2403 26000 OCT 26000 # PRIORITY 26
021603,000551:
021604,000552: 24,2404 04616 TC BANKCALL
021605,000553: 24,2405 11233 CADR R02BOTH # IMU STATUS CHECK
021606,000554: 24,2406 05504 TC UPFLAG
021607,000555: 24,2407 00031 ADRES TRACKFLG # SET TRACK FLAG
021608,000556: 24,2410 05504 TC UPFLAG
021609,000557: 24,2411 00006 ADRES P25FLAG # SET P25FLAG
021610,000558: 24,2412 05516 TC DOWNFLAG
021611,000559: 24,2413 00010 ADRES RNDVZFLG
021612,000560: 24,2414 05353 P25LEM1 TC PHASCHNG
021613,000561: 24,2415 04022 OCT 04022
021614,000562: 24,2416 34743 CAF P25FLBIT
021615,000563: 24,2417 70074 MASK STATE # IS P25FLAG SET
021616,000564: 24,2420 00006 EXTEND
021617,000565: 24,2421 15155 BZF ENDOFJOB
021618,000566: 24,2422 34747 CAF TRACKBIT # IS TRACKFLAG SET?
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Page 507 |
021620,000568: 24,2423 70075 MASK STATE +1
021621,000569: 24,2424 00006 EXTEND
021622,000570: 24,2425 12433 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021623,000571: 24,2426 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021624,000572: 24,2427 55745 TS R65CNTR
021625,000573: 24,2430 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021626,000574: 24,2431 46123 CADR R65LEM
021627,000575: 24,2432 02414 TC P25LEM1 # THEN GO CHECK FLAGS
021628,000576: 24,2433 32444 P25LMWT1 CAF 60SCNDS
021629,000577: 24,2434 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021630,000578: 24,2435 02437 ADRES P25LEM2
021631,000579: 24,2436 05155 TC ENDOFJOB
021632,000580: 24,2437 35024 P25LEM2 CAF PRIO14
021633,000581: 24,2440 05105 TC FINDVAC
021634,000582: 24,2441 E7,1456 EBANK= LOSCOUNT
021635,000583: 24,2441 02414 50067 2CADR P25LEM1
021636,000584:
021637,000585: 24,2443 05261 TC TASKOVER
021638,000586: 24,2444 13560 60SCNDS DEC 6000 B-14
021639,000587:
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Page 508 |
021641,000589: # DATA READ ROUTINE 22 (LEM)
021642,000590: # PROGRAM DESCRIPTION
021643,000591:
021644,000592: # MOD NO - 2
021645,000593: # BY P VOLANTE
021646,000594:
021647,000595: # FUNCTIONAL DESCRIPTION
021648,000596:
021649,000597: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021650,000598: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021651,000599:
021652,000600: # CALLING SEQUENCE -
021653,000601:
021654,000602: # TC BANKCALL
021655,000603: # CADR R22LEM
021656,000604:
021657,000605: # SUBROUTINES CALLED -
021658,000606:
021659,000607: # LSR22.1 GOFLASH WAITLIST
021660,000608: # LSR22.2 PRIOLARM BANKCALL
021661,000609: # LSR22.3 R61LEM
021662,000610:
021663,000611: # NORMAL EXIT MODES -
021664,000612:
021665,000613: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021666,000614: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021667,000615: # R22 WILL TERMINATE SELF.
021668,000616:
021669,000617: # ALARM OR ABORT EXIT MODES -
021670,000618:
021671,000619: # PRIORITY ALARM
021672,000620: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021673,000621:
021674,000622: # OUTPUT
021675,000623:
021676,000624: # SEE OUTPUT FROM LSR22.3
021677,000625:
021678,000626: # ERASABLE INITIALIZATION REQUIRED
021679,000627:
021680,000628: # SEE LSR22.1, LSR22.2, LSR22.3
021681,000629:
021682,000630: # FLAGS SET + RESET
021683,000631:
021684,000632: # NOANGFLG
021685,000633:
021686,000634: # DEBRIS
021687,000635:
021688,000636: # SEE LSR22.1, LSR22.2, LSR22.3
021689,000637:
021690,000638: 24,2445 E7,1737 EBANK= LRS22.1X
021691,000639: 24,2445 COUNT* $$/R22
021692,000640: 24,2445 05353 R22LEM TC PHASCHNG
021693,000641: 24,2446 04022 OCT 04022
021694,000642: 24,2447 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021695,000643: 24,2450 70074 MASK STATE
021696,000644: 24,2451 00006 EXTEND
021697,000645: 24,2452 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021698,000646: 24,2453 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021699,000647: 24,2454 70075 MASK STATE +1
021700,000648: 24,2455 00006 EXTEND
021701,000649: 24,2456 12640 BZF R22WAIT # NO WAIT
021702,000650: 24,2457 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021703,000651: 24,2460 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARS IT
021704,000652: 24,2461 02012 RAND CHAN12
021705,000653: 24,2462 00006 EXTEND
021706,000654: 24,2463 12111 BZF P20LEMA # NO - RETURN TO P20
021707,000655: 24,2464 34752 CAF BIT2 # YES
021708,000656: 24,2465 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021709,000657: 24,2466 02033 RAND CHAN33
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Page 509 |
021711,000659: 24,2467 00006 EXTEND
021712,000660: 24,2470 12472 BZF +2 # YES CONTINUE
021713,000661: 24,2471 02135 TC P20LEMB5 # NO - SET IT
021714,000662: 24,2472 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021715,000663: 24,2473 74737 MASK RCDU0BIT
021716,000664: 24,2474 00006 EXTEND
021717,000665: 24,2475 12631 BZF R22LEM42 # CDUS BEING ZEROED
021718,000666: 24,2476 05353 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
021719,000667: 24,2477 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021720,000668: 24,2500 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021721,000669: 24,2501 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021722,000670: 24,2502 50154 INDEX MPAC
021723,000671: 24,2503 02504 TC +1
021724,000672: 24,2504 02525 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021725,000673: 24,2505 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021726,000674: 24,2506 32664 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021727,000675: 24,2507 04616 TC BANKCALL
021728,000676: 24,2510 21563 CADR PRIOLARM
021729,000677: 24,2511 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021730,000678: 24,2512 02515 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021731,000679: 24,2513 02506 TC -5 # ENTER (ILLEGAL OPTION)
021732,000680: 24,2514 05155 TC ENDOFJOB
021733,000681:
021734,000682: 24,2515 05353 R22LEM1 TC PHASCHNG
021735,000683: 24,2516 04022 OCT 04022
021736,000684: 24,2517 32665 CAF V06N05 # DISPLAY DELTA THETA
021737,000685: 24,2520 04616 TC BANKCALL
021738,000686: 24,2521 20510 CADR PRIODSP
021739,000687: 24,2522 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021740,000688: 24,2523 02525 TC R22LEM2 # PROC (OK CONTINUE)
021741,000689: 24,2524 02217 TC P20LEMC # ENTER (RECYCLE)
021742,000690: 24,2525 05353 R22LEM2 TC PHASCHNG
021743,000691: 24,2526 04022 OCT 04022
021744,000692: 24,2527 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021745,000693: 24,2530 02545 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021746,000694: 24,2531 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021747,000695: 24,2532 74747 MASK TRACKBIT
021748,000696: 24,2533 00006 EXTEND
021749,000697: 24,2534 12640 BZF R22WAIT # NO - WAIT
021750,000698: 24,2535 04616 TC BANKCALL # YES
021751,000699: 24,2536 51334 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021752,000700: 24,2537 50154 INDEX MPAC
021753,000701: 24,2540 02541 TC +1
021754,000702: 24,2541 02545 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021755,000703: 24,2542 04616 TC BANKCALL
021756,000704: 24,2543 46116 CADR R61LEM
021757,000705: 24,2544 02640 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021758,000706: 24,2545 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021759,000707: 24,2546 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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Page 510 |
021761,000709: 24,2547 00006 EXTEND
021762,000710: 24,2550 12631 BZF R22LEM42 # BRANCH - YES
021763,000711: 24,2551 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021764,000712: 24,2552 74745 MASK UPDATBIT
021765,000713: 24,2553 00006 EXTEND
021766,000714: 24,2554 12631 BZF R22LEM42 # UPDATE FLAG NOT SET
021767,000715: 24,2555 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021768,000716: 24,2556 55055 TS PHSPRDT2
021769,000717:
021770,000718: 24,2557 06042 TC INTPRET
021771,000719: 24,2560 77650 GOTO
021772,000720: 24,2561 54416 LSR22.3
021773,000721: 24,2562 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021774,000722: 24,2563 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021775,000723: 24,2564 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021776,000724: 24,2565 12624 TCF R22LEM44
021777,000725: 24,2566 77776 R22LEM96 EXIT
021778,000726: 24,2567 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021779,000727: 24,2570 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021780,000728: 24,2571 05353 TC PHASCHNG
021781,000729: 24,2572 04022 OCT 04022 # TO PROTECT DISPLAY
021782,000730: 24,2573 37720 CAF PRIO27 # PROTECT DISPLAY
021783,000731: 24,2574 05072 TC NOVAC
021784,000732: 24,2575 E7,1746 EBANK= N49FLAG
021785,000733: 24,2575 02645 50067 2CADR N49DSP
021786,000734:
021787,000735: 24,2577 06042 TC INTPRET
021788,000736: 24,2600 77735 SLOAD
021789,000737: 24,2601 03747 N49FLAG
021790,000738: 24,2602 50054 BZE BMN # LOOP TO CHECK IF FLAG
021791,000739: 24,2603 50600 -3 # SETTING CHANGED - BRANCH - NO
021792,000740: 24,2604 50612 R22LEM7 # PROCEED
021793,000741: 24,2605 77650 GOTO # DISPLAY ANSWERED BY RECYCLE - INCORPORATE
021794,000742: 24,2606 03675 LGRET # NEXT MEASUREMENT
021795,000743: 24,2607 44752 V34TON49 CS TWO
021796,000744: 24,2610 55746 TS N49FLAG
021797,000745: 24,2611 05155 TC ENDOFJOB
021798,000746: 24,2612 77776 R22LEM7 EXIT
021799,000747: 24,2613 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
021800,000748: 24,2614 64752 AD TWO
021801,000749: 24,2615 00006 EXTEND
021802,000750: 24,2616 12445 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
021803,000751: 24,2617 06042 TC INTPRET
021804,000752: 24,2620 77624 CALL
021805,000753: 24,2621 11210 GRP2PC # PHASE CHANGE AND
021806,000754: 24,2622 77650 GOTO # GO TO INCORPORATE DATA.
021807,000755: 24,2623 55431 ASTOK
021808,000756: 24,2624 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021809,000757: 24,2625 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021810,000758: 24,2626 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
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Page 511 |
021812,000760: 24,2627 34756 CA FIVE # NOT ON LUNAR SURFACE
021813,000761: 24,2630 02634 TC R22LEM45 # R65COUNTER = 5
021814,000762: 24,2631 02670 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021815,000763: 24,2632 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
021816,000764: 24,2633 34752 CA TWO # NO - SET R65COUNTER = 2
021817,000765: 24,2634 55745 R22LEM45 TS R65CNTR
021818,000766: 24,2635 04616 TC BANKCALL
021819,000767: 24,2636 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021820,000768: 24,2637 02445 TC R22LEM
021821,000769: 24,2640 32667 R22WAIT CAF 1500DEC
021822,000770: 24,2641 02233 TC P20LEMWT +1
021823,000771:
021824,000772: 24,2642 04616 R22LEM46 TC BANKCALL
021825,000773: 24,2643 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021826,000774: 24,2644 02445 TC R22LEM
021827,000775:
021828,000776: 24,2645 32666 N49DSP CAF V06N49NB
021829,000777: 24,2646 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021830,000778: 24,2647 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021831,000779: 24,2650 02607 TC V34TON49 # TERMINATE - SET N49FLAG = -2
021832,000780: 24,2651 44753 CS ONE # PROCEED - N49FLAG = -1
021833,000781: 24,2652 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021834,000782: 24,2653 05155 TC ENDOFJOB
021835,000783: 24,2654 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021836,000784: 24,2655 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021837,000785: 24,2656 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021838,000786: 24,2657 53112 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021839,000787: 24,2660 04616 TC BANKCALL # BAD DATA
021840,000788: 24,2661 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
021841,000789: 24,2662 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021842,000790: 24,2663 02445 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
021843,000791:
021844,000792: 24,2664 00525 ALRM525 OCT 00525
021845,000793: 24,2665 01405 V06N05 VN 00605
021846,000794: 24,2666 01461 V06N49NB VN 00649
021847,000795: 24,2667 02734 1500DEC DEC 1500 B-14
021848,000796:
021849,000797: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021850,000798: # RETURNS TO CALLER +1 IF P22FLAG SET
021851,000799: # TO CALLER +2 IF P22FLAG NOT SET
021852,000800:
021853,000801: 24,2670 COUNT* $$/P22
021854,000802: 24,2670 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021855,000803: 24,2671 74744 MASK SURFFBIT # IS SURFFLAG SET?
021856,000804: 24,2672 10000 CCS A # BRANCH - P22FLAG SET
021857,000805: 24,2673 24002 INCR Q # NOT SET
021858,000806: 24,2674 00002 TC Q # RETURN
021859,000807:
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Page 512 |
021861,000809: # RR DESIGNATE ROUTINE (R21LEM)
021862,000810: # PROGRAM DESCRIPTION
021863,000811:
021864,000812: # MOD NO - 2
021865,000813: # BY P VOLANTE
021866,000814:
021867,000815: # FUNCTIONAL DESCRIPTION
021868,000816:
021869,000817: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021870,000818: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021871,000819:
021872,000820: # CALLING SEQUENCE -
021873,000821:
021874,000822: # TC BANKCALL
021875,000823: # CADR R21LEM
021876,000824:
021877,000825: # SUBROUTINES CALLED -
021878,000826:
021879,000827: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021880,000828: # NOVAC INTPRET LPS20.1 PHASCHNG
021881,000829: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021882,000830: # TASKOVER BANKCALL RADSTALL RRDESSM
021883,000831:
021884,000832: # NORMAL EXIT MODES
021885,000833: #
021886,000834: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021887,000835: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021888,000836:
021889,000837: # ALARM OR ABORT EXIT MODES -
021890,000838:
021891,000839: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021892,000840: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021893,000841: # ACQUISITION
021894,000842:
021895,000843: # OUTPUT
021896,000844:
021897,000845: # SEE LPS20.1, RRDESSM
021898,000846:
021899,000847: # ERASABLE INITIALIZATION REQUIRED
021900,000848:
021901,000849: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021902,000850:
021903,000851: # FLAGS SET + RESET
021904,000852:
021905,000853: # LOSCMFLG LOKONSW
021906,000854:
021907,000855: # DEBRIS
021908,000856:
021909,000857: # SEE LPS20.1, RRDESSM
021910,000858:
021911,000859: 24,2675 E7,1456 EBANK= LOSCOUNT
021912,000860: 24,2675 COUNT* $$/R21
021913,000861: 24,2675 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021914,000862: 24,2676 00006 EXTEND
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In the printout, there is a red, handwritten hyphen to the right of CHAN12 below. |
021916,000864: 24,2677 03012 WAND CHAN12
021917,000865: 24,2700 02670 TC LUNSFCHK
021918,000866: 24,2701 02706 TC R21LEM5
021919,000867: 24,2702 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021920,000868: 24,2703 55106 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021921,000869: 24,2704 55107 TS TANG +1
021922,000870: 24,2705 02716 TC R21LEM6
021923,000871: 24,2706 34740 R21LEM5 CAF BIT12
021924,000872: 24,2707 70110 MASK RADMODES
021925,000873: 24,2710 10000 CCS A
021926,000874: 24,2711 02726 TC R21LEM10
021927,000875: 24,2712 34735 CAF BIT15
021928,000876: 24,2713 55106 TS TANG
021929,000877: 24,2714 44736 CS HALF
021930,000878: 24,2715 55107 TS TANG +1
021931,000879:
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Page 513 |
021933,000881: 24,2716 05516 R21LEM6 TC DOWNFLAG
021934,000882: 24,2717 00012 ADRES LOKONSW
021935,000883: 24,2720 04616 TC BANKCALL
021936,000884: 24,2721 52506 CADR RRDESNB
021937,000885: 24,2722 02723 TC +1
021938,000886: 24,2723 04616 TC BANKCALL
021939,000887: 24,2724 17705 CADR RADSTALL
021940,000888: 24,2725 02761 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
021941,000889: 24,2726 05504 R21LEM10 TC UPFLAG
021942,000890: 24,2727 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021943,000891: 24,2730 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021944,000892: 24,2731 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021945,000893: 24,2732 36250 R21LEM2 CAF THREE
021946,000894: 24,2733 55456 TS LOSCOUNT
021947,000895: 24,2734 06042 R21LEM1 TC INTPRET
021948,000896: 24,2735 43234 RTB DAD
021949,000897: 24,2736 21574 LOADTIME
021950,000898: 24,2737 11122 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021951,000899: 24,2740 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021952,000900: 24,2741 51256 LPS20.1
021953,000901: 24,2742 77776 EXIT
021954,000902: 24,2743 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
021955,000903: 24,2744 00012 ADRES LOKONSW
021956,000904: 24,2745 05516 TC DOWNFLAG
021957,000905: 24,2746 00126 ADRES NORRMON
021958,000906: 24,2747 06042 TC INTPRET
021959,000907: 24,2750 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021960,000908: 24,2751 52404 RRDESSM # DESIGNATE ROUTINE
021961,000909: 24,2752 77776 EXIT
021962,000910: 24,2753 03002 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021963,000911: # ON LUNAR SURFACE
021964,000912: 24,2754 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021965,000913: 24,2755 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021966,000914: 24,2756 17705 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021967,000915: 24,2757 02761 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021968,000916: 24,2760 02770 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021969,000917: 24,2761 33000 R21-503 CAF ALRM503 # ISSUE ALARM 503
021970,000918: 24,2762 04616 TC BANKCALL
021971,000919: 24,2763 21563 CADR PRIOLARM
021972,000920: 24,2764 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021973,000921: 24,2765 02775 TC R21SRCH # PROC
021974,000922: 24,2766 02211 TC P20LEMC3
021975,000923: 24,2767 05155 TC ENDOFJOB
021976,000924: 24,2770 05516 R21END TC DOWNFLAG
021977,000925: 24,2771 00041 ADRES LOSCMFLG # RESET LOSCMFLG
021978,000926: 24,2772 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021979,000927: 24,2773 02232 TC P20LEMWT # YES - BYPASS V50 N 72 DISPLAY
021980,000928: 24,2774 03123 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021981,000929: 24,2775 05353 R21SRCH TC PHASCHNG
021982,000930: 24,2776 04022 OCT 04022
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Page 514 |
021984,000932: 24,2777 03210 TC R24LEM # SEARCH ROUTINE
021985,000933: 24,3000 00503 ALRM503 OCT 00503
021986,000934: 24,3001 00527 ALRM527 OCT 527
021987,000935:
021988,000936: 24,3002 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
021989,000937: 24,3003 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
021990,000938: 24,3004 05504 TC UPFLAG
021991,000939: 24,3005 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
021992,000940: 24,3006 05516 TC DOWNFLAG # RESET LOS BEING
021993,000941: 24,3007 00041 ADRES LOSCMFLG # COMPUTED FLAG
021994,000942: 24,3010 06042 TC INTPRET
021995,000943: 24,3011 77634 R21LEM12 RTB
021996,000944: 24,3012 21574 LOADTIME
021997,000945: 24,3013 77615 R21LEM00 DAD
021998,000946: 24,3014 11120 TENSEC # TIME T = T + 10 SECS.
021999,000947: 24,3015 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022000,000948: 24,3016 34041 STCALL TDEC1
022001,000949: 24,3017 51256 LPS20.1 # COMPUTE LOS AT TIME T
022002,000950: 24,3020 77624 CALL
022003,000951: 24,3021 52404 RRDESSM
022004,000952: 24,3022 77776 EXIT
022005,000953: 24,3023 03035 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022006,000954: 24,3024 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022007,000955: 24,3025 06032 TC KILLTASK
022008,000956: 24,3026 52604 CADR BEGDES
022009,000957: 24,3027 06042 TC INTPRET
022010,000958: 24,3030 43014 BOF CLRGO
022011,000959: 24,3031 00345 FSPASFLG # FIRST PASS THRU REPOSITION
022012,000960: 24,3032 51045 R21LEMB # NO - GO TO CONTINUOUS DESIGNATE
022013,000961: 24,3033 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
022014,000962: 24,3034 51042 R21LEM50
022015,000963: 24,3035 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022016,000964: 24,3036 03040 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
022017,000965: 24,3037 03107 TC R21LEM11 # YES - PUT OUT ALARM 530
022018,000966: 24,3040 55423 R21LEM7 TS REPOSCNT
022019,000967: 24,3041 06042 TC INTPRET
022020,000968: 24,3042 52145 R21LEM50 DLOAD GOTO
022021,000969: 24,3043 03425 REPOSTM
022022,000970: 24,3044 51013 R21LEM00
022023,000971: 24,3045 77745 R21LEMB DLOAD
022024,000972: 24,3046 03425 REPOSTM
022025,000973: 24,3047 34041 STCALL TDEC1
022026,000974: 24,3050 50312 UPPSV
022027,000975: 24,3051 77776 EXIT
022028,000976: 24,3052 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
022029,000977: 24,3053 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022030,000978: 24,3054 05516 TC DOWNFLAG
022031,000979: 24,3055 00012 ADRES LOKONSW
022032,000980: 24,3056 05504 TC UPFLAG
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Page 515 |
022034,000982: 24,3057 00126 ADRES NORRMON
022035,000983: 24,3060 04616 TC BANKCALL
022036,000984: 24,3061 52506 CADR RRDESNB
022037,000985: 24,3062 03063 TC +1
022038,000986: 24,3063 06042 TC INTPRET
022039,000987: 24,3064 44234 RTB BDSU
022040,000988: 24,3065 21574 LOADTIME # COMPUTE DELTA TIME
022041,000989: 24,3066 03425 REPOSTM # FOR LONGCALL
022042,000990: 24,3067 03427 STORE DELTATM
022043,000991: 24,3070 77776 EXIT
022044,000992: 24,3071 00006 EXTEND
022045,000993: 24,3072 31427 DCA DELTATM
022046,000994: 24,3073 05277 TC LONGCALL
022047,000995: 24,3074 E7,1456 EBANK= LOSCOUNT
022048,000996: 24,3074 03077 50067 2CADR R21LEM9
022049,000997:
022050,000998: 24,3076 05155 TC ENDOFJOB
022051,000999: 24,3077 06032 R21LEM9 TC KILLTASK
022052,001000: 24,3100 52613 CADR STDESIG
022053,001001: 24,3101 06011 TC CLRADMOD
022054,001002: 24,3102 37717 CAF PRIO26
022055,001003: 24,3103 05105 TC FINDVAC
022056,001004: 24,3104 E7,1456 EBANK= LOSCOUNT
022057,001005: 24,3104 02726 50067 2CADR R21LEM10
022058,001006:
022059,001007: 24,3106 05261 TC TASKOVER
022060,001008: 24,3107 33116 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
022061,001009: 24,3110 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022062,001010: 24,3111 21563 CADR PRIOLARM # 600 SECS.
022063,001011: 24,3112 06025 TC GOTOV56
022064,001012: 24,3113 06025 TC GOTOV56
022065,001013: 24,3114 06025 TC GOTOV56
022066,001014: 24,3115 05155 TC ENDOFJOB
022067,001015: 24,3116 00530 ALRM530 OCT 00530
022068,001016: 24,3117 00000 01750 TENSEC 2DEC 1000 B-28
022069,001017:
022070,001018: 24,3121 00000 00062 HALFSEC 2DEC 50 B-28
022071,001019:
022072,001020: 24,3123 05353 R21DISP TC PHASCHNG
022073,001021: 24,3124 04022 OCT 04022
022074,001022: 24,3125 33136 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022075,001023: 24,3126 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022076,001024: 24,3127 20711 CADR GOPERF2R
022077,001025: 24,3130 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
022078,001026: 24,3131 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
022079,001027: 24,3132 03125 TC -5 # ENTER ILLEGAL
022080,001028: 24,3133 34745 CAF BIT7
022081,001029: 24,3134 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022082,001030: 24,3135 05155 TC ENDOFJOB
022083,001031:
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Page 516 |
022085,001033: 24,3136 01510 V06N72PV VN 00672
022086,001034:
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Page 517 |
022088,001036: # MANUAL ACQUISITION ROUTINE R23LEM
022089,001037: # PROGRAM DESCRIPTION
022090,001038:
022091,001039: # MOD NO - 2
022092,001040: # BY P VOLANTE
022093,001041:
022094,001042: # FUNCTIONAL DESCRIPTION
022095,001043:
022096,001044: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022097,001045:
022098,001046: # CALLING SEQUENCE -
022099,001047:
022100,001048: # TC R23LEM
022101,001049:
022102,001050: # SUBROUTINES CALLED
022103,001051:
022104,001052: # BANKCALL R61LEM
022105,001053: # SETMINDB GOPERF1
022106,001054:
022107,001055: # NORMAL EXIT MODES -
022108,001056:
022109,001057: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022110,001058: # ,SELECTION OF PROC WILL CONTINUE R23
022111,001059: # ,SELECTION OF TERM WILL TERMINATE R23 + P20
022112,001060:
022113,001061: # ALARM OR ABORT EXIT MODES -
022114,001062:
022115,001063: # SEE NORMAL EXIT MODES ABOVE
022116,001064:
022117,001065: # OUTPUT
022118,001066:
022119,001067: # N.A.
022120,001068:
022121,001069: # ERASABLE INITIALIZATION REQUIRED -
022122,001070:
022123,001071: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022124,001072:
022125,001073: 24,3137 1142 EBANK= GENRET
022126,001074: 24,3137 COUNT* $$/R23
022127,001075: 24,3137 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022128,001076: 24,3140 00126 ADRES NORRMON
022129,001077: 24,3141 00004 INHINT
022130,001078: 24,3142 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022131,001079: 24,3143 40141 CADR SETMINDB
022132,001080: 24,3144 00003 RELINT
022133,001081: 24,3145 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022134,001082: 24,3146 00006 EXTEND
022135,001083: 24,3147 05012 WOR CHAN12
022136,001084: 24,3150 33207 CAF OCT205
022137,001085: 24,3151 04616 TC BANKCALL
022138,001086: 24,3152 20624 CADR GOPERF1
022139,001087: 24,3153 03200 TC R23LEM2 # TERMINATE
022140,001088: 24,3154 03156 TC R23LEM11 # PROCEDE
022141,001089: 24,3155 03203 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
022142,001090: 24,3156 00004 R23LEM11 INHINT
022143,001091: 24,3157 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022144,001092: 24,3160 00035 ADRES CDUT
022145,001093: 24,3161 03170 TC OUTOFLIM # NOT WITHIN LIMITS
022146,001094: 24,3162 04674 TC IBNKCALL # RESTORE DEADBAND TO
022147,001095: 24,3163 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022148,001096: 24,3164 00003 RELINT
022149,001097: 24,3165 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022150,001098: 24,3166 00126 ADRES NORRMON
022151,001099: 24,3167 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022152,001100: 24,3170 00003 OUTOFLIM RELINT
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Page 518 |
022154,001102: 24,3171 33206 CAF OCT501PV
022155,001103: 24,3172 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022156,001104: 24,3173 21563 CADR PRIOLARM # LIMITS
022157,001105: 24,3174 03200 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022158,001106: 24,3175 03171 TC OUTOFLIM +1 # PROCEED ILLEGAL
022159,001107: 24,3176 03203 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
022160,001108: 24,3177 05155 TC ENDOFJOB
022161,001109: 24,3200 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022162,001110: 24,3201 00126 ADRES NORRMON
022163,001111: 24,3202 06025 TC GOTOV56 # AND EXIT VIA V56
022164,001112: 24,3203 04616 R23LEM3 TC BANKCALL
022165,001113: 24,3204 46116 CADR R61LEM
022166,001114: 24,3205 03145 TC R23LEM1
022167,001115:
022168,001116: 24,3206 00501 OCT501PV OCT 501
022169,001117: 24,3207 00205 OCT205 OCT 205
022170,001118:
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Page 519 |
022172,001120: # SEARCH ROUTINE R24LEM
022173,001121: # PROGRAM DESCRIPTION
022174,001122:
022175,001123: # MOD NO - 2
022176,001124: # BY P. VOLANTE
022177,001125:
022178,001126: # FUNCTIONAL DESCRIPTION
022179,001127:
022180,001128: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022181,001129: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022182,001130: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022183,001131:
022184,001132: # CALLING SEQUENCE
022185,001133:
022186,001134: # CAF PRIONN
022187,001135: # TC FINDVAC
022188,001136: # EBANK= DATAGOOD
022189,001137: # 2CADR R24LEM
022190,001138:
022191,001139: # SUBROUTINES CALLED
022192,001140:
022193,001141: # FLAGUP FLAGDOWN BANKCALL
022194,001142: # R61LEM GOFLASHR FINDVAC
022195,001143: # ENDOFJOB NOVAC LSR24.1
022196,001144:
022197,001145: # NORMAL EXIT MODES -
022198,001146:
022199,001147: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
022200,001148: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022201,001149: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022202,001150:
022203,001151: # ALARM OR ABORT EXIT MODES -
022204,001152:
022205,001153: # SEE NORMAL EXIT MODES ABOVE
022206,001154:
022207,001155: # OUTPUT -
022208,001156:
022209,001157: # SEE OUTPUT FROM LSR24.1 + R61LEM
022210,001158:
022211,001159: # ERASABLE INITIALIZATION REQUIRED
022212,001160:
022213,001161: # SEE INPUT FOR LSR24.1
022214,001162:
022215,001163: # FLAGS SET + RESET
022216,001164:
022217,001165: # SRCHOPT, ACMODFLG
022218,001166:
022219,001167: 24,3210 E7,1733 EBANK= DATAGOOD
022220,001168: 24,3210 COUNT* $$/R24
022221,001169: 24,3210 05504 R24LEM TC UPFLAG
022222,001170: 24,3211 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022223,001171: 24,3212 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022224,001172: 24,3213 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022225,001173: 24,3214 34755 R24LEM1 CAF ZERO
022226,001174: 24,3215 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022227,001175: 24,3216 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022228,001176: 24,3217 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022229,001177: 24,3220 05353 R24LEM2 TC PHASCHNG
022230,001178: 24,3221 04022 OCT 04022
022231,001179: 24,3222 33255 CAF V16N80
022232,001180: 24,3223 04616 TC BANKCALL
022233,001181: 24,3224 20505 CADR PRIODSPR
022234,001182: 24,3225 06025 TC GOTOV56
022235,001183: 24,3226 03232 TC R24END # PROCEED EXIT R24 TO P20LEM1
022236,001184:
022237,001185: 24,3227 03236 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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Page 520 |
022239,001187: 24,3230 04616 TC BANKCALL
022240,001188: 24,3231 55442 CADR LRS24.1
022241,001189: 24,3232 06032 R24END TC KILLTASK
022242,001190: 24,3233 55643 CADR CALLDGCH
022243,001191: 24,3234 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022244,001192: 24,3235 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022245,001193:
022246,001194: 6011 BLOCK 3
022247,001195: 6000 SETLOC FFTAG6
022248,001196: 6000 BANK
022249,001197: 6011 COUNT* $$/R24
022250,001198:
022251,001199: 6011 46021 CLRADMOD CS BIT10+15
022252,001200: 6012 00004 INHINT
022253,001201: 6013 70110 MASK RADMODES
022254,001202: 6014 54110 TS RADMODES
022255,001203: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022256,001204: 6016 00006 EXTEND
022257,001205: 6017 03012 WAND CHAN12 # USER WILL RELINT
022258,001206:
022259,001207: 6020 00002 TC Q
022260,001208:
022261,001209: 6021 41000 BIT10+15 OCT 41000
022262,001210:
022263,001211: 24,3236 BANK 24
022264,001212: 24,2000 SETLOC P20S
022265,001213: 24,2000 BANK
022266,001214: 24,3236 COUNT* $$/R24
022267,001215:
022268,001216: 24,3236 05353 R24LEM3 TC PHASCHNG
022269,001217: 24,3237 04022 OCT 04022
022270,001218: 24,3240 06032 TC KILLTASK
022271,001219: 24,3241 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022272,001220: 24,3242 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
022273,001221: 24,3243 34774 CAF .5SEC
022274,001222: 24,3244 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022275,001223: 24,3245 01736 CADR DELAYJOB
022276,001224: 24,3246 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022277,001225: 24,3247 03252 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
022278,001226: 24,3250 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022279,001227: 24,3251 46116 CADR R61LEM # ATTITUDE MANEUVER
022280,001228: 24,3252 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022281,001229: 24,3253 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022282,001230: # RRDESSM WILL RETURN TO CALLER
022283,001231: 24,3254 03220 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022284,001232:
022285,001233: 24,3255 04120 V16N80 VN 01680
022286,001234:
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Page 521 |
022288,001236: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022289,001237: # PROGRAM DESCRIPTION
022290,001238:
022291,001239: # MOD NO: 3 DATE: 4-11-67
022292,001240: # MOD BY: P VOLANTE SDC
022293,001241:
022294,001242: # FUNCTIONAL DESCRIPTION -
022295,001243:
022296,001244: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022297,001245: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022298,001246: # ATTITUDE.
022299,001247:
022300,001248: # CALLING SEQUENCE -
022301,001249:
022302,001250: # TC BANKCALL
022303,001251: # CADR R61LEM
022304,001252:
022305,001253: # SUBROUTINES CALLED
022306,001254:
022307,001255: # LPS20.1 VECPOINT
022308,001256: # KALCMAN3
022309,001257:
022310,001258: # NORMAL EXIT MODES -
022311,001259:
022312,001260: # NORMAL RETURN IS TO CALLER + 1
022313,001261:
022314,001262: # ALARM OR ABORT EXIT MODES -
022315,001263:
022316,001264: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022317,001265: # RENDEZVOUS FLAG ARE NOT SET.
022318,001266:
022319,001267: # OUTPUT -
022320,001268:
022321,001269: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022322,001270:
022323,001271: # ERASABLE INITIALIZATION REQUIRED
022324,001272:
022325,001273: # GENRET USED TO SAVE Q FOR RETURN
022326,001274:
022327,001275: # FLAGS SET + RESET
022328,001276:
022329,001277: # 3AXISFLG
022330,001278:
022331,001279: # DEBRIS
022332,001280:
022333,001281: # SEE SUBROUTINES
022334,001282:
022335,001283: 23,2000 SETLOC R61
022336,001284: 23,2000 BANK
022337,001285: 23,2116 E7,1456 EBANK= LOSCOUNT
022338,001286: 23,2116 COUNT* $$/R61
022339,001287: 23,2116 04645 R61LEM TC MAKECADR
022340,001288: 23,2117 55142 TS GENRET
022341,001289: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022342,001290: 23,2121 00024 ADRES R61FLAG
022343,001291: 23,2122 02152 TC R61C+L02
022344,001292: 23,2123 04645 R65LEM TC MAKECADR
022345,001293: 23,2124 55142 TS GENRET
022346,001294: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022347,001295: 23,2126 00024 ADRES R61FLAG
022348,001296: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
022349,001297: 23,2130 00006 EXTEND # GOOD NOT PRESENT
022350,001298: 23,2131 02033 RAND CHAN33
022351,001299: 23,2132 10000 CCS A
022352,001300: 23,2133 12152 TCF R61C+L02 # NO DATA GOOD
022353,001301: 23,2134 05504 TC UPFLAG
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Page 522 |
022355,001303: 23,2135 00063 ADRES R04FLAG # PREVENT 521 ALM
022356,001304: 23,2136 04616 TC BANKCALL # READ RR RANGE AND RDOT
022357,001305: 23,2137 53112 CADR RRRDOT # EVERY R65 PASS (3 TIMES
022358,001306: 23,2140 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
022359,001307: 23,2141 17705 CADR RADSTALL # DURING ANY MARK PROCESSING,
022360,001308: 23,2142 12143 NOOP
022361,001309: 23,2143 04616 TC BANKCALL
022362,001310: 23,2144 53114 CADR RRRANGE
022363,001311: 23,2145 04616 TC BANKCALL
022364,001312: 23,2146 17705 CADR RADSTALL
022365,001313: 23,2147 12150 NOOP
022366,001314: 23,2150 05516 TC DOWNFLAG
022367,001315: 23,2151 00063 ADRES R04FLAG
022368,001316: 23,2152 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
022369,001317: 23,2153 70075 MASK STATE +1
022370,001318: 23,2154 00006 EXTEND
022371,001319: 23,2155 12314 BZF R65WAIT # NOT SET
022372,001320: 23,2156 06042 R61C+L03 TC INTPRET
022373,001321: 23,2157 77775 VLOAD
022374,001322: 23,2160 06516 HIUNITZ
022375,001323: 23,2161 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022376,001324: 23,2162 43234 R61LEM1 RTB DAD
022377,001325: 23,2163 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022378,001326: 23,2164 15712 3SECONDS # SIX SECOND PERIOD.
022379,001327: 23,2165 34041 STCALL TDEC1
022380,001328: 23,2166 51256 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022381,001329: 23,2167 77775 VLOAD
022382,001330: 23,2170 01101 RRTARGET
022383,001331: 23,2171 03773 STORE POINTVSM
022384,001332: 23,2172 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022385,001333: 23,2173 46322 READCDUD
022386,001334: 23,2174 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022387,001335: 23,2175 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022388,001336: 23,2176 77776 EXIT
022389,001337: 23,2177 05353 TC PHASCHNG
022390,001338: 23,2200 04022 OCT 04022
022391,001339: 23,2201 34747 CAF TRACKBIT # IS TRACK FLAG SET
022392,001340: 23,2202 70075 MASK FLAGWRD1
022393,001341: 23,2203 00006 EXTEND
022394,001342: 23,2204 12314 BZF R65WAIT
022395,001343: 23,2205 04616 TC BANKCALL
022396,001344: 23,2206 54261 CADR G+N,AUTO # CHECK FOR AUTO MODE
022397,001345: 23,2207 10000 CCS A
022398,001346: 23,2210 02302 TC R61C+L04 # NOT IN AUTO
022399,001347: 23,2211 06042 TC INTPRET
022400,001348: 23,2212 45175 VLOAD CALL
022401,001349: 23,2213 01101 RRTARGET
022402,001350: 23,2214 47650 CDU*SMNB
022403,001351: 23,2215 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022404,001352: 23,2216 00162 MPAC +5
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Page 523 |
022406,001354: 23,2217 06320 COS15DEG
022407,001355: 23,2220 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022408,001356: 23,2221 46236 R61C+L05 # PHI GRE 10DEG
022409,001357: 23,2222 E6,1634 EBANK= CDUXD
022410,001358: 23,2222 35015 CAF EBANK6
022411,001359: 23,2223 54003 TS EBANK
022412,001360: 23,2224 00004 INHINT
022413,001361: 23,2225 00006 EXTEND
022414,001362: 23,2226 30322 DCA CPHI
022415,001363: 23,2227 53635 DXCH CDUXD
022416,001364: 23,2230 30323 CA CPSI
022417,001365: 23,2231 55636 TS CDUZD
022418,001366: 23,2232 00003 RELINT
022419,001367: 23,2233 E7,1456 EBANK= LOSCOUNT
022420,001368: 23,2233 35016 CAF EBANK7
022421,001369: 23,2234 54003 TS EBANK
022422,001370: 23,2235 02261 TC R61C+L06
022423,001371: 23,2236 77776 R61C+L05 EXIT
022424,001372: 23,2237 00004 INHINT
022425,001373: 23,2240 04674 TC IBNKCALL
022426,001374: 23,2241 40154 FCADR ZATTEROR
022427,001375: 23,2242 04674 TC IBNKCALL
022428,001376: 23,2243 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022429,001377: 23,2244 05516 TC DOWNFLAG
022430,001378: 23,2245 00124 ADRES 3AXISFLG
022431,001379: 23,2246 05504 TC UPFLAG
022432,001380: 23,2247 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022433,001381: 23,2250 04616 TC BANKCALL
022434,001382: 23,2251 54123 CADR R60LEM
022435,001383: 23,2252 00004 INHINT
022436,001384: 23,2253 04674 TC IBNKCALL
022437,001385: 23,2254 40115 FCADR RESTORDB
022438,001386: 23,2255 05353 TC PHASCHNG
022439,001387: 23,2256 04022 OCT 04022
022440,001388: 23,2257 05516 TC DOWNFLAG
022441,001389: 23,2260 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022442,001390: 23,2261 30075 R61C+L06 CA FLAGWRD1
022443,001391: 23,2262 74742 MASK R61FLBIT
022444,001392: 23,2263 10000 CCS A
022445,001393: 23,2264 02305 TC R61C+L4
022446,001394: 23,2265 11745 CCS R65CNTR
022447,001395: 23,2266 02270 TC +2
022448,001396: 23,2267 02305 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022449,001397: 23,2270 55745 TS R65CNTR
022450,001398: 23,2271 32321 CAF 06SEC
022451,001399: 23,2272 05173 TC TWIDDLE
022452,001400: 23,2273 02275 ADRES R61C+L2
022453,001401: 23,2274 05155 TC ENDOFJOB
022454,001402: 23,2275 37717 R61C+L2 CAF PRIO26
022455,001403: 23,2276 05105 TC FINDVAC
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Page 524 |
022457,001405: 23,2277 E7,1456 EBANK= LOSCOUNT
022458,001406: 23,2277 02127 46067 2CADR R61C+L01
022459,001407:
022460,001408: 23,2301 05261 TC TASKOVER
022461,001409: 23,2302 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022462,001410: 23,2303 54272 CADR BALLANGS
022463,001411: 23,2304 02261 TC R61C+L06
022464,001412: 23,2305 31142 R61C+L4 CAE GENRET
022465,001413: 23,2306 14640 TCF BANKJUMP # EXIT R61
022466,001414: 23,2307 32316 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022467,001415: 23,2310 70074 MASK STATE
022468,001416: 23,2311 00006 EXTEND
022469,001417: 23,2312 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022470,001418: 23,2313 02261 TC R61C+L06 # YES EXIT ROUTINE
022471,001419: 23,2314 04635 R65WAIT TC POSTJUMP
022472,001420: 23,2315 50232 CADR P20LEMWT
022473,001421:
022474,001422: 23,2316 00500 BIT7+9PV OCT 00500
022475,001423: 23,2317 17350 34602 COS15DEG 2DEC 0.96593 B-1
022476,001424:
022477,001425: 23,2321 01130 06SEC DEC 600 B-14
022478,001426: 23,2322 PHI EQUALS 20D
022479,001427: 23,2322 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022480,001428: 23,2323 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022481,001429: 23,2324 56003 XCH EBANK
022482,001430: 23,2325 54070 TS RUPTREG1
022483,001431: 23,2326 E6,1634 EBANK= CDUXD
022484,001432: 23,2326 31634 CA CDUXD
022485,001433: 23,2327 54154 TS MPAC
022486,001434: 23,2330 00006 EXTEND
022487,001435: 23,2331 31636 DCA CDUYD
022488,001436: 23,2332 52156 DXCH MPAC +1
022489,001437: 23,2333 30070 CA RUPTREG1
022490,001438: 23,2334 54003 TS EBANK
022491,001439: 23,2335 00003 RELINT
022492,001440: 23,2336 16502 TCF TMODE
022493,001441:
022494,001442: 4512 BLOCK 02
022495,001443: 4000 SETLOC RADARFF
022496,001444: 4000 BANK
022497,001445:
022498,001446: 4512 E7,1456 EBANK= LOSCOUNT
022499,001447: 4512 COUNT* $$/RRSUB
022500,001448:
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Page 525 |
022502,001450: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022503,001451: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022504,001452:
022505,001453: 4512 00006 MAGSUB EXTEND
022506,001454: 4513 64515 BZMF +2
022507,001455: 4514 14516 TCF +2
022508,001456: 4515 40000 COM
022509,001457:
022510,001458: 4516 50002 INDEX Q
022511,001459: 4517 60000 AD 0
022512,001460: 4520 00006 EXTEND
022513,001461: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022514,001462: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
022515,001463:
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Page 526 |
022517,001465: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022518,001466:
022519,001467: # FUNCTIONAL DESCRIPTION_
022520,001468:
022521,001469: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022522,001470: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022523,001471: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022524,001472: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022525,001473: # MODE 1 AND =1 FOR MODE 2.
022526,001474:
022527,001475: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022528,001476: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022529,001477: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022530,001478: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022531,001479:
022532,001480: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022533,001481: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022534,001482: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022535,001483: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022536,001484: # TO L +3.
022537,001485:
022538,001486: # CALLING SEQUENCE:
022539,001487:
022540,001488: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022541,001489: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022542,001490:
022543,001491: # ERASABLE INITIALIZATION REQUIRED:
022544,001492:
022545,001493: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022546,001494: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022547,001495: # CURRENT EBANK).
022548,001496:
022549,001497: # SUBROUTINES CALLED_ MAGSUB
022550,001498:
022551,001499: # JOBS OR TASKS INITIATED_ NONE
022552,001500:
022553,001501: # ALARMS_ NONE
022554,001502:
022555,001503: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022556,001504: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022557,001505:
022558,001506: 4523 00006 RRLIMCHK EXTEND
022559,001507: 4524 50002 INDEX Q
022560,001508: 4525 50000 INDEX 0
022561,001509: 4526 30001 DCA 0
022562,001510: 4527 24002 INCR Q
022563,001511: 4530 52062 DXCH ITEMP1
022564,001512: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022565,001513:
022566,001514: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022567,001515: 4533 70110 MASK RADMODES
022568,001516: 4534 10000 CCS A
022569,001517: 4535 14550 TCF MODE2CHK
022570,001518:
022571,001519: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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Page 527 |
022573,001521: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022574,001522: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022575,001523: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022576,001524:
022577,001525: 4542 34562 CAF 5.5DEGS
022578,001526: 4543 60062 AD ITEMP2 # S
022579,001527: 4544 04512 TC MAGSUB
022580,001528: 4545 64420 DEC -.35833 # 64.5 DEGS
022581,001529: 4546 00001 TC L
022582,001530: 4547 04560 TC RRLIMOK # IN LIMITS.
022583,001531:
022584,001532: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022585,001533: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022586,001534: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022587,001535: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022588,001536: 4554 00001 TC L
022589,001537:
022590,001538: 4555 30061 CA ITEMP1
022591,001539: 4556 04512 TC MAGSUB
022592,001540: 4557 51615 DEC -.69444 # 125 DEGS
022593,001541:
022594,001542: 4560 50001 RRLIMOK INDEX L
022595,001543: 4561 00001 TC L # ( = TC 1 )
022596,001544:
022597,001545: 4562 00765 5.5DEGS DEC .03056
022598,001546: 4563 16450 82DEGS DEC .45556
022599,001547:
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Page 528 |
022601,001549: # PROGRAM NAME_ SETTRKF . IF EITHER:
022602,001550:
022603,001551: # FUNCTIONAL DESCRIPTION_
022604,001552: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022605,001553: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022606,001554: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022607,001555: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022608,001556: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022609,001557: # AUTO MODE (RADMODES BITS 13, 7, 2).
022610,001558: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022611,001559: # 8,5)
022612,001560: # 3) NO RR DATA (RADMODES BIT 4)
022613,001561: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022614,001562: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022615,001563: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022616,001564: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022617,001565: # TRACKER FAIL LAMP IS TURNED ON IF_
022618,001566: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022619,001567: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022620,001568: # EITHER THE ALT OR VEL INFORMATION
022621,001569: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022622,001570: # WITH EITHER THE AL
022623,001571:
022624,001572: # CALLING SEQUENCE:
022625,001573:
022626,001574: # L TC SETTRKF
022627,001575:
022628,001576: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022629,001577:
022630,001578: # SUBROUTINES CALLED_ NONE
022631,001579:
022632,001580: # JOBS OR TASKS INITIATED_ NONE
022633,001581:
022634,001582: # ALARMS_ TRACKER FAIL LAMP
022635,001583:
022636,001584: # EXIT_ L +1 (ALWAYS) ED.
022637,001585:
022638,001586: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022639,001587: 4565 71300 MASK IMODES33
022640,001588: 4566 10000 CCS A
022641,001589: 4567 00002 TC Q
022642,001590:
022643,001591: 4570 34744 RRTRKF CA BIT8
022644,001592: 4571 54001 TS L
022645,001593:
022646,001594: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022647,001595: 4573 70110 MASK RADMODES
022648,001596: 4574 00006 EXTEND
022649,001597: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022650,001598:
022651,001599: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022652,001600: 4577 70110 MASK RADMODES
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Page 529 |
022654,001602: 4600 10000 CCS A
022655,001603: 4601 30001 TRKFLON CA L
022656,001604: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022657,001605: 4603 70001 MASK L
022658,001606: 4604 00006 EXTEND
022659,001607: 4605 16745 BZF TCQ # NO CHANGE.
022660,001608:
022661,001609: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022662,001610: 4607 00006 EXTEND
022663,001611: 4610 06001 RXOR LCHAN
022664,001612: 4611 74733 MASK POSMAX
022665,001613: 4612 64735 AD BIT15
022666,001614: 4613 55035 TS DSPTAB +11D
022667,001615: 4614 00002 TC Q
022668,001616:
022669,001617: 4615 10102 13,7,2 OCT 10102
022670,001618: 4616 ENDRMODF EQUALS
022671,001619:
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Page 530 |
022673,001621: # PROGRAM NAME_ RRTURNON
022674,001622:
022675,001623: # FUNCTIONAL DESCRIPTION_
022676,001624:
022677,001625: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022678,001626: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022679,001627: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022680,001628: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022681,001629: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022682,001630: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022683,001631: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022684,001632: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022685,001633: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022686,001634: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022687,001635: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022688,001636: # TO TASKOVER.
022689,001637:
022690,001638: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022691,001639: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022692,001640: # THE RR (STATE BIT 7).
022693,001641:
022694,001642: # ERASABLE INITIALIZATION REQUIRED:
022695,001643:
022696,001644: # RADMODES, STATE
022697,001645:
022698,001646: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022699,001647:
022700,001648: # JOBS OR TASKS INITIATED_
022701,001649: #
022702,001650: # NONE
022703,001651:
022704,001652: # ALARMS_ NONE (SEE RRZEROSB)
022705,001653:
022706,001654: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022707,001655:
022708,001656: 24,3256 BANK 24
022709,001657: 25,2000 SETLOC P20S1
022710,001658: 25,2000 BANK
022711,001659:
022712,001660: 25,2073 E7,1456 EBANK= LOSCOUNT
022713,001661: 25,2073 COUNT* $$/RSUB
022714,001662: 25,2073 02102 RRTURNON TC RRZEROSB
022715,001663: 25,2074 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022716,001664: 25,2075 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022717,001665: 25,2076 44753 CS TURNONBT
022718,001666: 25,2077 70110 MASK RADMODES
022719,001667: 25,2100 54110 TS RADMODES
022720,001668: 25,2101 15261 TCF TASKOVER
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Page 531 |
022722,001670: # PROGRAM NAME_ RRZEROSB
022723,001671:
022724,001672: # FUNCTIONAL DESCRIPTION_
022725,001673:
022726,001674: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022727,001675: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022728,001676: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022729,001677: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022730,001678: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022731,001679: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022732,001680: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022733,001681: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022734,001682: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022735,001683: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022736,001684: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022737,001685: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022738,001686: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022739,001687: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022740,001688: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022741,001689:
022742,001690: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022743,001691:
022744,001692: # ERASABLE INITIALIZATION REQUIRED:
022745,001693:
022746,001694: # RADMODES (BIT 13 SET), DSPTAB +11D
022747,001695:
022748,001696: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022749,001697:
022750,001698: # JOBS OR TASKS INITIATED_
022751,001699:
022752,001700: # NONE
022753,001701:
022754,001702: # ALARMS_ TRACKER FAIL
022755,001703:
022756,001704: # EXIT_ L +1 (ALWAYS)
022757,001705:
022758,001706: 25,2102 00006 RRZEROSB EXTEND
022759,001707: 25,2103 23312 QXCH RRRET
022760,001708: 25,2104 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022761,001709: 25,2105 00006 EXTEND # COMING HERE.
022762,001710: 25,2106 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022763,001711: 25,2107 05221 TC FIXDELAY
022764,001712: 25,2110 00002 DEC 2 B-14
022765,001713:
022766,001714: 25,2111 34755 CAF ZERO
022767,001715: 25,2112 54035 TS CDUT
022768,001716: 25,2113 54036 TS CDUS
022769,001717: 25,2114 44753 CS ONE # REMOVE ZEROING BIT.
022770,001718: 25,2115 00006 EXTEND
022771,001719: 25,2116 03012 WAND CHAN12
022772,001720: 25,2117 05221 TC FIXDELAY
022773,001721: 25,2120 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022774,001722:
022775,001723: 25,2121 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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Page 532 |
022777,001725: 25,2122 70110 MASK RADMODES
022778,001726: 25,2123 54110 TS RADMODES
022779,001727:
022780,001728: 25,2124 30035 CA CDUT
022781,001729: 25,2125 04512 TC MAGSUB
022782,001730: 25,2126 57777 DEC -.5
022783,001731: 25,2127 12132 TCF +3 # IF MODE 2.
022784,001732:
022785,001733: 25,2130 34755 CAF ZERO
022786,001734: 25,2131 12133 TCF +2
022787,001735: 25,2132 34740 CAF ANTENBIT
022788,001736: 25,2133 56110 XCH RADMODES
022789,001737: 25,2134 77744 MASK -BIT12
022790,001738: 25,2135 26110 ADS RADMODES
022791,001739:
022792,001740: 25,2136 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022793,001741:
022794,001742: 25,2137 01312 TC RRRET # DONE.
022795,001743:
022796,001744: 25,2140 7744 -BIT12 EQUALS -1/8 # IN SPROOT
022797,001745:
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Page 533 |
022799,001747: # PROGRAM NAME_ DORREPOS
022800,001748:
022801,001749: # FUNCTIONAL DESCRIPTION_
022802,001750:
022803,001751: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022804,001752: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022805,001753: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022806,001754: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022807,001755: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022808,001756: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022809,001757: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022810,001758: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022811,001759: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022812,001760: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022813,001761: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022814,001762: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022815,001763: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022816,001764: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022817,001765: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022818,001766: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022819,001767: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022820,001768: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022821,001769: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022822,001770: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022823,001771: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022824,001772: # TASKOVER.
022825,001773:
022826,001774: # CALLING SEQUENCE:
022827,001775:
022828,001776: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022829,001777: # NOT WITHIN LIMITS OF CURRENT MODE.
022830,001778:
022831,001779: # ERASABLE INITIALIZATION REQUIRED:
022832,001780:
022833,001781: # RADMODES
022834,001782:
022835,001783: # SUBROUTINES CALLED_
022836,001784:
022837,001785: # RRTONLY, RRSONLY, BEGDES (EXIT)
022838,001786:
022839,001787: # JOBS OR TASKS INITIATED_
022840,001788:
022841,001789: # NONE
022842,001790:
022843,001791: # ALARMS- NONE
022844,001792:
022845,001793: # EXIT_ TASKOVER, BEGDES
022846,001794:
022847,001795: 25,2140 02167 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022848,001796:
022849,001797: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022850,001798:
022851,001799: 25,2141 05221 TC FIXDELAY
022852,001800: 25,2142 00002 DEC 2 B-14
022853,001801:
022854,001802: 25,2143 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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Page 534 |
022856,001804: 25,2144 70110 MASK RADMODES
022857,001805: 25,2145 10000 CCS A
022858,001806: 25,2146 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022859,001807: 25,2147 02252 TC RRTONLY
022860,001808:
022861,001809: 25,2150 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
022862,001810: 25,2151 70110 MASK RADMODES
022863,001811: 25,2152 10000 CCS A
022864,001812: 25,2153 44736 CS HALF # -90 FOR MODE 2.
022865,001813: 25,2154 02255 TC RRSONLY
022866,001814:
022867,001815: 25,2155 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
022868,001816: # REQUESTED DURING REPOSITION.
022869,001817: 25,2156 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022870,001818: 25,2157 54110 TS RADMODES
022871,001819: 25,2160 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022872,001820: 25,2161 10000 CCS A
022873,001821: 25,2162 12604 TCF BEGDES
022874,001822: 25,2163 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022875,001823: 25,2164 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022876,001824: 25,2165 03012 WAND CHAN12
022877,001825: 25,2166 15261 TCF TASKOVER
022878,001826:
022879,001827: 25,2167 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
022880,001828: 25,2170 00006 EXTEND
022881,001829: 25,2171 02012 RAND CHAN12
022882,001830: 25,2172 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022883,001831: 25,2173 00002 TC Q # ERROR COUNTERS ARE ENABLED.
022884,001832:
022885,001833: 25,2174 54112 TS LASTYCMD
022886,001834: 25,2175 54113 TS LASTXCMD
022887,001835: 25,2176 34752 CAF BIT2
022888,001836: 25,2177 00006 EXTEND
022889,001837: 25,2200 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022890,001838: 25,2201 00002 TC Q
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Page 535 |
022892,001840: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
022893,001841:
022894,001842: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
022895,001843: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022896,001844: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022897,001845: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022898,001846: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022899,001847: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022900,001848: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022901,001849: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022902,001850: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022903,001851: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022904,001852: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022905,001853: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022906,001854: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022907,001855: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022908,001856: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022909,001857: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022910,001858: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022911,001859: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022912,001860: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022913,001861: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022914,001862:
022915,001863: # CALLING SEQUENCE:
022916,001864:
022917,001865: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022918,001866: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022919,001867: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022920,001868: # OTHER MODE.
022921,001869:
022922,001870: # ERASABLE INITIALIZATION REQUIRED:
022923,001871:
022924,001872: # RADMODES
022925,001873:
022926,001874: # SUBROUTINES CALLED_
022927,001875:
022928,001876: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022929,001877:
022930,001878: # JOBS OR TASKS INITIATED_
022931,001879:
022932,001880: # NONE
022933,001881:
022934,001882: # ALARMS_ NONE
022935,001883:
022936,001884: # EXIT_ STDESIG
022937,001885:
022938,001886: 25,2202 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022939,001887: 25,2203 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022940,001888: 25,2204 10000 CCS A
022941,001889: 25,2205 34735 CAF BIT15
022942,001890: 25,2206 02252 TC RRTONLY
022943,001891:
022944,001892: 25,2207 37743 CAF -45DEGSR
022945,001893: 25,2210 02255 TC RRSONLY
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Page 536 |
022947,001895: 25,2211 40110 CS RADMODES
022948,001896: 25,2212 74740 MASK ANTENBIT
022949,001897: 25,2213 10000 CCS A
022950,001898: 25,2214 32243 CAF -80DEGSR # GO TO T = -130 (-50).
022951,001899: 25,2215 62242 AD -50DEGSR
022952,001900: 25,2216 02252 TC RRTONLY
022953,001901:
022954,001902: 25,2217 40110 CS RADMODES
022955,001903: 25,2220 74740 MASK ANTENBIT
022956,001904: 25,2221 10000 CCS A
022957,001905: 25,2222 34735 CAF BIT15 # GO TO T = -180 (+0).
022958,001906: 25,2223 02252 TC RRTONLY
022959,001907:
022960,001908: 25,2224 40110 CS RADMODES # GO TO S = -90 (+0).
022961,001909: 25,2225 74740 MASK ANTENBIT
022962,001910: 25,2226 10000 CCS A
022963,001911: 25,2227 44736 CS HALF
022964,001912: 25,2230 02255 TC RRSONLY
022965,001913:
022966,001914: 25,2231 02244 TC RMODINV
022967,001915: 25,2232 44736 CS REMODBIT # END OF REMODE.
022968,001916: 25,2233 70110 MASK RADMODES
022969,001917: 25,2234 54110 TS RADMODES
022970,001918:
022971,001919: 25,2235 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022972,001920: 25,2236 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022973,001921: 25,2237 00006 EXTEND
022974,001922: 25,2240 13560 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
022975,001923: 25,2241 02613 TC STDESIG # YES - RETURN TO DESIGNATE
022976,001924: 25,2242 7743 -45DEGSR = 13,14,15
022977,001925: 25,2242 67070 -50DEGSR DEC -.27778
022978,001926: 25,2243 61615 -80DEGSR DEC -.44444
022979,001927:
022980,001928: 25,2244 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
022981,001929: 25,2245 34740 CAF ANTENBIT
022982,001930: 25,2246 00006 EXTEND
022983,001931: 25,2247 06001 RXOR LCHAN
022984,001932: 25,2250 54110 TS RADMODES
022985,001933: 25,2251 00002 TC Q
022986,001934:
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Page 537 |
022988,001936: # PROGRAM NAMES_ RRTONLY, RRSONLY
022989,001937:
022990,001938: # FUNCTIONAL DESCRIPTION_
022991,001939:
022992,001940: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022993,001941: # RRMANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022994,001942: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022995,001943: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022996,001944: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022997,001945: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022998,001946: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022999,001947: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023000,001948: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023001,001949: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023002,001950: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023003,001951: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023004,001952: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023005,001953: # REPEATED.
023006,001954:
023007,001955: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023008,001956: # L TC RRTONLY (TRUNNION ONLY)
023009,001957: # RRSONLY (SHAFT ONLY)
023010,001958: # RRTONLY IS CALLED BY PREPOS29;
023011,001959: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023012,001960:
023013,001961: # ERASABLE INITIALIZATION REQUIRED:
023014,001962:
023015,001963: # C(A) = DESIRED ANGLE, RADMODES
023016,001964:
023017,001965: # SUBROUTINES CALLED_
023018,001966:
023019,001967: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023020,001968:
023021,001969: # JOBS OR TASKS INITIATED_
023022,001970:
023023,001971: # NONE
023024,001972:
023025,001973: # ALARMS_ NONE
023026,001974:
023027,001975: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023028,001976: # BITS 14, 11)
023029,001977: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023030,001978:
023031,001979: 25,2252 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023032,001980: 25,2253 34755 CAF ZERO
023033,001981: 25,2254 12257 TCF RR1AXIS
023034,001982:
023035,001983: 25,2255 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023036,001984: 25,2256 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023037,001985:
023038,001986: 25,2257 55314 RR1AXIS TS RRINDEX
023039,001987: 25,2260 00006 EXTEND
023040,001988: 25,2261 23312 QXCH RRRET
023041,001989: 25,2262 12265 TCF RR1AX2
023042,001990:
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Page 538 |
023044,001992: 25,2263 05221 NXTRR1AX TC FIXDELAY
023045,001993: 25,2264 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023046,001994:
023047,001995: 25,2265 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023048,001996: 25,2266 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023049,001997: 25,2267 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023050,001998: 25,2270 12155 BZF REPOSRPT # REMODE IMMEDIATELY.
023051,001999:
023052,002000: 25,2271 31313 CA RDES
023053,002001: 25,2272 00006 EXTEND
023054,002002: 25,2273 51314 INDEX RRINDEX
023055,002003: 25,2274 20035 MSU CDUT
023056,002004: 25,2275 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023057,002005: 25,2276 00006 EXTEND
023058,002006: 25,2277 72316 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023059,002007: 25,2300 54001 TS L
023060,002008: 25,2301 30110 CA RADMODES
023061,002009: 25,2302 74752 MASK AUTOMBIT
023062,002010: 25,2303 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023063,002011: 25,2304 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023064,002012: 25,2305 77644 DEC -.00555 # SCALED IN HALF-REVS.
023065,002013:
023066,002014: 25,2306 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023067,002015: 25,2307 01312 TC RRRET # RETURN TO CALLER.
023068,002016:
023069,002017: 25,2310 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023070,002018: 25,2311 12313 TCF +2 # SETTING A TO 0.
023071,002019: 25,2312 56001 XCH L
023072,002020: 25,2313 53355 DXCH TRUNNCMD
023073,002021: 25,2314 02317 TC RROUT
023074,002022:
023075,002023: 25,2315 12263 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023076,002024:
023077,002025: 25,2316 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023078,002026:
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Page 539 |
023080,002028: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023081,002029:
023082,002030: # FUNCTIONAL DESCRIPTION_
023083,002031:
023084,002032: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023085,002033: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023086,002034: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023087,002035: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023088,002036: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023089,002037: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023090,002038: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023091,002039: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023092,002040: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023093,002041: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023094,002042: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023095,002043: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023096,002044: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023097,002045:
023098,002046: # CALLING SEQUENCE:
023099,002047: #
023100,002048: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023101,002049: # RRTONLY, RRSONLY, AND DODES
023102,002050:
023103,002051: # ERASABLE INITIALIZATION REQUIRED:
023104,002052:
023105,002053: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023106,002054: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023107,002055:
023108,002056: # SUBROUTINES CALLED_
023109,002057:
023110,002058: # MAGSUB
023111,002059:
023112,002060: # JOBS OR TASKS INITIATED_
023113,002061:
023114,002062: # NONE
023115,002063:
023116,002064: # ALARMS_ NONE
023117,002065:
023118,002066: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023119,002067:
023120,002068: 25,2317 22002 RROUT LXCH Q # SAVE RETURN.
023121,002069: 25,2320 34753 CAF ONE # LOOP TWICE.
023122,002070: 25,2321 54062 RROUT2 TS ITEMP2
023123,002071: 25,2322 50000 INDEX A
023124,002072: 25,2323 31354 CA TRUNNCMD
023125,002073: 25,2324 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023126,002074:
023127,002075: 25,2325 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023128,002076: 25,2326 77177 -RRLIMIT DEC -384 B-14
023129,002077: 25,2327 12346 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023130,002078:
023131,002079: 25,2330 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023132,002080: 25,2331 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023133,002081: 25,2332 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023134,002082: 25,2333 40000 COM
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Page 540 |
023136,002084: 25,2334 60061 AD ITEMP1
023137,002085: 25,2335 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023138,002086: 25,2336 50062 INDEX ITEMP2
023139,002087: 25,2337 54053 TS CDUTCMD
023140,002088:
023141,002089: 25,2340 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023142,002090: 25,2341 12321 TCF RROUT2
023143,002091:
023144,002092: 25,2342 35020 CAF PRIO6 # ENABLE COUNTERS.
023145,002093: 25,2343 00006 EXTEND
023146,002094: 25,2344 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023147,002095: 25,2345 00001 TC L # RETURN.
023148,002096:
023149,002097: 25,2346 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023150,002098: 25,2347 42326 CS -RRLIMIT
023151,002099: 25,2350 12352 TCF +2
023152,002100: 25,2351 32326 CA -RRLIMIT
023153,002101: 25,2352 54061 TS ITEMP1
023154,002102: 25,2353 12331 TCF SETRRCTR +1
023155,002103:
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Page 541 |
023157,002105: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023158,002106:
023159,002107: 25,2354 32403 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023160,002108: 25,2355 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023161,002109: 25,2356 10000 CCS A
023162,002110: 25,2357 13513 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023163,002111:
023164,002112: 25,2360 00004 INHINT
023165,002113: 25,2361 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023166,002114: 25,2362 70110 MASK RADMODES
023167,002115: 25,2363 64737 AD RCDU0BIT
023168,002116: 25,2364 54110 TS RADMODES
023169,002117:
023170,002118: 25,2365 34753 CAF ONE
023171,002119: 25,2366 05203 TC WAITLIST
023172,002120: 25,2367 E7,1456 EBANK= LOSCOUNT
023173,002121: 25,2367 02401 52067 2CADR RRZ2
023174,002122:
023175,002123: 25,2371 40110 CS RADMODES # SEE IF IN AUTO MODE.
023176,002124: 25,2372 74752 MASK AUTOMBIT
023177,002125: 25,2373 10000 CCS A
023178,002126: 25,2374 12377 TCF ROADBACK
023179,002127: 25,2375 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023180,002128: 25,2376 00510 OCT 510
023181,002129: 25,2377 00003 ROADBACK RELINT
023182,002130: 25,2400 14631 TCF SWRETURN
023183,002131:
023184,002132: 25,2401 02102 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023185,002133: 25,2402 13551 TCF ENDRADAR
023186,002134:
023187,002135: 25,2403 02001 BIT11+1 OCT 02001
023188,002136:
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Page 542 |
023190,002138: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023191,002139:
023192,002140: # FUNCTIONAL DESCRIPTION_
023193,002141:
023194,002142: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023195,002143: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023196,002144: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023197,002145: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023198,002146: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023199,002147: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023200,002148: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023201,002149: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023202,002150: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023203,002151: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023204,002152: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023205,002153: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023206,002154: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023207,002155: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023208,002156: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023209,002157: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023210,002158: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023211,002159: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023212,002160: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023213,002161: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023214,002162: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023215,002163: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023216,002164:
023217,002165: # CALLING SEQUENCE:
023218,002166:
023219,002167: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023220,002168: # L+1 RRDESSM
023221,002169: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023222,002170: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023223,002171:
023224,002172: # ERASABLE INITIALIZATION REQUIRED:
023225,002173:
023226,002174: # RRTARGET, RADMODES
023227,002175:
023228,002176: # SUBROUTINES CALLED_
023229,002177:
023230,002178: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023231,002179: # PART OF), RMODINV
023232,002180:
023233,002181: # JOBS OR TASKS INITIATED_
023234,002182:
023235,002183: # NONE
023236,002184:
023237,002185: # ALARMS_ NONE
023238,002186:
023239,002187: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023240,002188: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023241,002189: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023242,002190:
023243,002191: 25,2404 43020 RRDESSM STQ CLEAR
023244,002192: 25,2405 01112 DESRET
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Page 543 |
023246,002194: 25,2406 00271 RRNBSW
023247,002195: 25,2407 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023248,002196: 25,2410 47541 CDUTRIG
023249,002197: 25,2411 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023250,002198: 25,2412 01101 RRTARGET
023251,002199: 25,2413 47673 *SMNB*
023252,002200:
023253,002201: 25,2414 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023254,002202: 25,2415 26133 RRANGLES # ALTERNATE MODE.
023255,002203: 25,2416 77776 EXIT
023256,002204:
023257,002205: 25,2417 00004 INHINT
023258,002206: 25,2420 04523 TC RRLIMCHK
023259,002207: 25,2421 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023260,002208: 25,2422 02425 TC +3 # NOT IN CURRENT MODE
023261,002209: 25,2423 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023262,002210: 25,2424 02443 TC STARTDES # SHOW DESIGNATE REQUIRED
023263,002211: 25,2425 40104 CS FLAGWRD8
023264,002212: 25,2426 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023265,002213: 25,2427 00006 EXTEND
023266,002214: 25,2430 12467 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023267,002215: 25,2431 02472 TC TRYSWS
023268,002216:
023269,002217: 25,2432 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023270,002218: 25,2433 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023271,002219: 25,2434 00006 EXTEND
023272,002220: 25,2435 12467 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
023273,002221: 25,2436 30074 CA STATE
023274,002222: 25,2437 74745 MASK RNDVZBIT
023275,002223: 25,2440 10000 CCS A # TEST RNDVZFLG.
023276,002224: 25,2441 02502 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023277,002225: 25,2442 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
023278,002226:
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Page 544 |
023280,002228: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023281,002229:
023282,002230: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023283,002231: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023284,002232: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023285,002233: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023286,002234: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023287,002235: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023288,002236: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023289,002237: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023290,002238: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023291,002239: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023292,002240: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023293,002241: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023294,002242: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023295,002243: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023296,002244: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023297,002245: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023298,002246: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023299,002247: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023300,002248: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023301,002249: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023302,002250: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023303,002251:
023304,002252: # CALLING SEQUENCE:
023305,002253:
023306,002254: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023307,002255:
023308,002256: # ERASABLE INITIALIZATION REQUIRED:
023309,002257:
023310,002258: # RADMODES, (SEE DODES)
023311,002259:
023312,002260: # SUBROUTINES CALLED_
023313,002261:
023314,002262: # SETRRECR, WAITLIST
023315,002263:
023316,002264: # JOBS OR TASKS INITIATED_
023317,002265:
023318,002266: # BEGDES
023319,002267:
023320,002268: # ALARMS_ NONE
023321,002269:
023322,002270: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023323,002271: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023324,002272:
023325,002273: 25,2443 25112 STARTDES INCR DESRET
023326,002274: 25,2444 40110 CS RADMODES
023327,002275: 25,2445 74742 MASK DESIGBIT
023328,002276: 25,2446 26110 ADS RADMODES
023329,002277: 25,2447 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023330,002278: 25,2450 10000 CCS A
023331,002279: 25,2451 12457 TCF DESRETRN # ECTR ALREADY SET UP.
023332,002280:
023333,002281: 25,2452 02167 TC SETRRECR # SET UP ERROR COUNTERS.
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Page 545 |
023335,002283: 25,2453 34752 CAF TWO
023336,002284: 25,2454 05203 TC WAITLIST
023337,002285: 25,2455 E7,1456 EBANK= LOSCOUNT
023338,002286: 25,2455 02604 52067 2CADR BEGDES
023339,002287:
023340,002288: 25,2457 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023341,002289: 25,2460 00006 EXTEND
023342,002290: 25,2461 12463 BZF DESRTRN # YES SET EXIT
023343,002291: 25,2462 05155 TC ENDOFJOB # NO
023344,002292: 25,2463 00003 DESRTRN RELINT
023345,002293: 25,2464 25112 INCR DESRET
023346,002294: 25,2465 31112 CA DESRET
023347,002295: 25,2466 14640 TCF BANKJUMP
023348,002296:
023349,002297: 25,2467 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023350,002298: 25,2470 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023351,002299: 25,2471 12463 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023352,002300:
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Page 546 |
023354,002302: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023355,002303:
023356,002304: 25,2472 02244 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023357,002305: 25,2473 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023358,002306: 25,2474 01110 ADRES MODEB
023359,002307: 25,2475 12502 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023360,002308:
023361,002309: 25,2476 02244 TC RMODINV # RESET BIT12
023362,002310: 25,2477 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023363,002311: 25,2500 26110 ADS RADMODES
023364,002312:
023365,002313: 25,2501 12423 TCF OKDESSM
023366,002314:
023367,002315: 25,2502 02244 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023368,002316: 25,2503 25112 INCR DESRET # TO CALLER +2
023369,002317: 25,2504 12467 TCF NORDSTAL
023370,002318:
023371,002319: 25,2505 00074 MAXTRYS DEC 60 B-14
023372,002320:
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Page 547 |
023374,002322: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023375,002323: # TANG AND TANG +1.
023376,002324:
023377,002325: 25,2506 04645 RRDESNB TC MAKECADR
023378,002326: 25,2507 55112 TS DESRET
023379,002327:
023380,002328: 25,2510 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023381,002329: 25,2511 00041 ADRES LOSCMFLG # BACK TO R21
023382,002330: 25,2512 32505 CA MAXTRYS # SET TIME LIMIT COUNTER
023383,002331: 25,2513 55113 TS DESCOUNT # FOR DESIGNATE
023384,002332: 25,2514 00004 INHINT # SEE IF CURRENT MODE OK.
023385,002333: 25,2515 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023386,002334: 25,2516 01106 ADRES TANG
023387,002335: 25,2517 12534 TCF TRYSWN # SEE IF IN OTHER MODE.
023388,002336:
023389,002337: 25,2520 00003 OKDESNB RELINT
023390,002338: 25,2521 00006 EXTEND
023391,002339: 25,2522 31107 DCA TANG
023392,002340: 25,2523 53753 DXCH TANGNB
023393,002341: 25,2524 06042 TC INTPRET
023394,002342:
023395,002343: 25,2525 77624 CALL # GET LOS IN NB COORDS.
023396,002344: 25,2526 46041 RRNB
023397,002345: 25,2527 01101 STORE RRTARGET
023398,002346:
023399,002347: 25,2530 77414 SET EXIT
023400,002348: 25,2531 00071 RRNBSW
023401,002349:
023402,002350: 25,2532 00004 INHINT
023403,002351: 25,2533 12444 TCF STARTDES +1
023404,002352: 25,2534 02244 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023405,002353: 25,2535 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023406,002354: 25,2536 01106 ADRES TANG
023407,002355: 25,2537 12544 TCF NODESNB # NOT POSSIBLE.
023408,002356:
023409,002357: 25,2540 02244 TC RMODINV
023410,002358: 25,2541 34736 CAF REMODBIT # CALL FOR REMODE.
023411,002359: 25,2542 26110 ADS RADMODES
023412,002360: 25,2543 12520 TCF OKDESNB
023413,002361:
023414,002362: 25,2544 02244 NODESNB TC RMODINV # REINVERT MODE BIT.
023415,002363: 25,2545 05567 TC ALARM # BAD INPUT ANGLES.
023416,002364: 25,2546 00502 OCT 502
023417,002365: 25,2547 06011 TC CLRADMOD
023418,002366: 25,2550 05155 TC ENDOFJOB # AVOID 503 ALARM.
023419,002367:
023420,002368: 25,2551 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023421,002369: 25,2552 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023422,002370: 25,2553 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023423,002371: 25,2554 00006 EXTEND
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Page 548 |
023425,002373: 25,2555 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023426,002374: 25,2556 30001 DCA 0
023427,002375: 25,2557 52062 DXCH ITEMP1
023428,002376: 25,2560 22002 LXCH Q # L(CALLER +2) TO L
023429,002377:
023430,002378: 25,2561 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023431,002379: 25,2562 70110 MASK RADMODES
023432,002380: 25,2563 10000 CCS A
023433,002381: 25,2564 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023434,002382: 25,2565 30061 CA ITEMP1
023435,002383: 25,2566 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023436,002384: 25,2567 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023437,002385: 25,2570 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023438,002386:
023439,002387: 25,2571 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023440,002388: 25,2572 00006 EXTEND
023441,002389: 25,2573 62601 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023442,002390: 25,2574 64562 AD 5.5DEGS
023443,002391: 25,2575 04512 SHAFTLIM TC MAGSUB
023444,002392: 25,2576 64420 DEC -.35833 # 64.5 DEGREES
023445,002393: 25,2577 00001 TC L # NOT IN LIMITS
023446,002394: 25,2600 04560 TC RRLIMOK # IN LIMITS
023447,002395: 25,2601 62603 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023448,002396: 25,2602 12575 TCF SHAFTLIM
023449,002397:
023450,002398: 25,2603 03512 20.5DEGS DEC .11389
023451,002399:
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Page 549 |
023453,002401: # PROGRAM NAME_ BEGDES
023454,002402:
023455,002403: # FUNCTIONAL DESCRIPTION_
023456,002404: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023457,002405: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023458,002406: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023459,002407: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023460,002408: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023461,002409: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023462,002410: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023463,002411: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023464,002412: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023465,002413: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023466,002414: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023467,002415: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023468,002416: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023469,002417: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023470,002418: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023471,002419: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023472,002420: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023473,002421: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023474,002422: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023475,002423: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023476,002424: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023477,002425: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023478,002426: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023479,002427: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023480,002428: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023481,002429:
023482,002430: # CALLING SEQUENCE:
023483,002431:
023484,002432: # WAITLIST CALL FROM STARTDES
023485,002433: # TCF BEGDES FROM DORREPOS
023486,002434: # TC STDESIG RETURNING, FROM REMODE
023487,002435:
023488,002436: # ERASABLE INITIALIZATION REQUIRED:
023489,002437: # DESCOUNT, RADMODES
023490,002438:
023491,002439: # SUBROUTINES CALLED_
023492,002440: # ENDRADAR, FINDVAC
023493,002441:
023494,002442: # JOBS OR TASKS INITIATED_ DODES
023495,002443:
023496,002444: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023497,002445: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023498,002446:
023499,002447: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023500,002448: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023501,002449: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023502,002450:
023503,002451: 25,2604 40110 BEGDES CS RADMODES
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Page 550 |
023505,002453: 25,2605 74736 MASK REMODBIT
023506,002454: 25,2606 10000 CCS A
023507,002455: 25,2607 02613 TC STDESIG
023508,002456: 25,2610 02202 TC REMODE
023509,002457: 25,2611 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023510,002458: 25,2612 00062 DEC 50 B-14
023511,002459:
023512,002460: 25,2613 34741 STDESIG CAF REPOSBIT
023513,002461: 25,2614 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023514,002462: 25,2615 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023515,002463: 25,2616 12634 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023516,002464:
023517,002465: 25,2617 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023518,002466: 25,2620 12623 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023519,002467: 25,2621 12623 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023520,002468: 25,2622 12640 TCF MOREDES +1
023521,002469:
023522,002470: 25,2623 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023523,002471: 25,2624 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023524,002472: 25,2625 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023525,002473: 25,2626 13551 TCF ENDRADAR # CHECKING RR CDU FAIL.
023526,002474:
023527,002475: 25,2627 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023528,002476: 25,2630 12637 TCF MOREDES
023529,002477:
023530,002478: 25,2631 42645 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023531,002479: 25,2632 00006 EXTEND
023532,002480: 25,2633 03012 WAND CHAN12
023533,002481: 25,2634 05516 BADDES TC DOWNFLAG
023534,002482: 25,2635 00271 ADRES DESIGFLG
023535,002483: 25,2636 13565 TCF RDBADEND
023536,002484:
023537,002485: 25,2637 55113 MOREDES TS DESCOUNT
023538,002486: 25,2640 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023539,002487: 25,2641 05105 TC FINDVAC
023540,002488: 25,2642 E7,1456 EBANK= LOSCOUNT
023541,002489: 25,2642 02646 52067 2CADR DODES
023542,002490:
023543,002491: 25,2644 12611 TCF DESLOOP
023544,002492:
023545,002493: 25,2645 20002 B14+B2 OCT 20002
023546,002494:
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Page 551 |
023548,002496: # PROGRAM NAME_ DODES
023549,002497:
023550,002498: # FUNCTIONAL DESCRIPTION_
023551,002499:
023552,002500: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023553,002501: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023554,002502: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023555,002503: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023556,002504: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023557,002505: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023558,002506: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023559,002507: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023560,002508: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023561,002509: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023562,002510: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023563,002511: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023564,002512: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023565,002513: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023566,002514: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023567,002515: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023568,002516: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023569,002517: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023570,002518: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023571,002519: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023572,002520: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023573,002521: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023574,002522: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023575,002523: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023576,002524: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023577,002525: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023578,002526: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023579,002527: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023580,002528: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023581,002529: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023582,002530: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023583,002531: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023584,002532: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023585,002533: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023586,002534: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023587,002535: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023588,002536: # VIA ENDOFJOB.
023589,002537:
023590,002538: # CALLING SEQUENCE:
023591,002539:
023592,002540: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023593,002541:
023594,002542: # ERASABLE INITIALIZATION REQUIRED:
023595,002543:
023596,002544: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023597,002545: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023598,002546:
023599,002547: # SUBROUTINES CALLED_
023600,002548:
023601,002549: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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Page 552 |
023603,002551:
023604,002552: # JOBS OR TASKS INITIATED_
023605,002553:
023606,002554: # NONE
023607,002555:
023608,002556: # ALARMS_ NONE
023609,002557:
023610,002558: # EXIT_ ENDOFJOB (ALWAYS)
023611,002559:
023612,002560: 25,2646 00006 DODES EXTEND
023613,002561: 25,2647 30036 DCA CDUT
023614,002562: 25,2650 53107 DXCH TANG
023615,002563:
023616,002564: 25,2651 06042 TC INTPRET
023617,002565:
023618,002566: 25,2652 77201 SETPD VLOAD
023619,002567: 25,2653 00001 0
023620,002568: 25,2654 01101 RRTARGET
023621,002569: 25,2655 74214 BON VXSC
023622,002570: 25,2656 00311 RRNBSW
023623,002571: 25,2657 52671 DONBRD # TARGET IN NAV-BASE COORDINATES
023624,002572: 25,2660 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023625,002573: 25,2661 63372 VSL1 PDVL
023626,002574: 25,2662 01761 LOSVEL
023627,002575: 25,2663 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023628,002576: 25,2664 13101 MCTOMS
023629,002577: 25,2665 45056 UNIT CALL
023630,002578: 25,2666 47541 CDUTRIG
023631,002579: 25,2667 77624 CALL
023632,002580: 25,2670 47673 *SMNB*
023633,002581:
023634,002582: 25,2671 14041 DONBRD STODL 32D
023635,002583: 25,2672 01110 TANG +1
023636,002584: 25,2673 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023637,002585: 25,2674 21577 CDULOGIC # (-SIN(S)).
023638,002586: 25,2675 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023639,002587: 25,2676 41546 COS PUSH
023640,002588: 25,2677 65205 DMP PDDL
023641,002589: 25,2700 00041 32D
023642,002590: 25,2701 00045 36D
023643,002591: 25,2702 44205 DMP BDSU
023644,002592: 25,2703 00001 0
023645,002593: 25,2704 77626 STADR
023646,002594: 25,2705 76667 STORE TANG +1 # SHAFT COMMAND
023647,002595:
023648,002596: 25,2706 47135 SLOAD RTB
023649,002597: 25,2707 01107 TANG
023650,002598: 25,2710 21577 CDULOGIC
023651,002599: 25,2711 71406 PUSH COS # COS(T) TO 4.
023652,002600: 25,2712 73525 PDDL SIN
023653,002601: 25,2713 41206 PUSH DMP # SIN(T) TO 6.
023654,002602: 25,2714 00003 2
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Page 553 |
023656,002604: 25,2715 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023657,002605: 25,2716 00005 4 # ( COS(T) )
023658,002606: 25,2717 41325 PDDL DMP # (SIN(T)COS(S))
023659,002607: 25,2720 00007 6
023660,002608: 25,2721 00001 0
023661,002609: 25,2722 55552 SL1 VDEF
023662,002610: 25,2723 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023663,002611: 25,2724 00041 32D
023664,002612:
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Page 554 |
023666,002614: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023667,002615: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023668,002616:
023669,002617: 25,2725 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023670,002618: 25,2726 00006 EXTEND
023671,002619: 25,2727 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023672,002620: 25,2730 55354 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
023673,002621: 25,2731 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023674,002622: 25,2732 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023675,002623: 25,2733 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023676,002624: 25,2734 12737 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023677,002625: 25,2735 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023678,002626: 25,2736 12740 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023679,002627: 25,2737 41107 +3 CS TANG +1
023680,002628: 25,2740 00006 EXTEND
023681,002629: 25,2741 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023682,002630: 25,2742 55355 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
023683,002631: 25,2743 06042 TC INTPRET
023684,002632:
023685,002633: 25,2744 41345 DLOAD DMP
023686,002634: 25,2745 00003 2 # COS(S).
023687,002635: 25,2746 00005 4 # COS(T).
023688,002636: 25,2747 65352 SL1 PDDL # Z COMPONENT OF URR.
023689,002637: 25,2750 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023690,002638: 25,2751 00001 0 # SIN(S).
023691,002639: 25,2752 72405 DMP SL1
023692,002640: 25,2753 00005 4 # COS(T).
023693,002641: 25,2754 43066 VDEF BON # FORM URR IN NB AXES.
023694,002642: 25,2755 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023695,002643: 25,2756 52761 +3
023696,002644: 25,2757 77624 CALL
023697,002645: 25,2760 47675 *NBSM* # GET URR IN SM AXES.
023698,002646: 25,2761 77441 DOT EXIT
023699,002647: 25,2762 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023700,002648:
023701,002649: 25,2763 00006 EXTEND
023702,002650: 25,2764 43077 DCS COS1/2DG
023703,002651: 25,2765 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023704,002652: 25,2766 10154 CCS MPAC
023705,002653: 25,2767 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023706,002654: 25,2770 12772 TCF +2
023707,002655: 25,2771 34753 CA ONE
023708,002656: 25,2772 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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Page 555 |
023710,002658: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023711,002659:
023712,002660: 25,2773 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023713,002661: 25,2774 12777 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023714,002662: 25,2775 12777 TCF SIGNLCHK # ERROR SIGNALS
023715,002663: 25,2776 13027 TCF DORROUT
023716,002664: 25,2777 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023717,002665: 25,3000 13010 TCF DGOODCHK
023718,002666: 25,3001 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023719,002667: 25,3002 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023720,002668: 25,3003 10000 CCS A
023721,002669: 25,3004 13015 TCF RRDESDUN
023722,002670:
023723,002671: 25,3005 34736 CAF BIT14 # ENABLE THE TRACKER.
023724,002672: 25,3006 00006 EXTEND
023725,002673: 25,3007 05012 WOR CHAN12
023726,002674:
023727,002675: 25,3010 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023728,002676: 25,3011 00006 EXTEND
023729,002677: 25,3012 02033 RAND CHAN33
023730,002678: 25,3013 10000 CCS A
023731,002679: 25,3014 13027 TCF DORROUT
023732,002680:
023733,002681: 25,3015 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023734,002682: 25,3016 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023735,002683: 25,3017 00004 INHINT
023736,002684: 25,3020 54110 TS RADMODES
023737,002685:
023738,002686: 25,3021 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023739,002687: 25,3022 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023740,002688: 25,3023 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023741,002689: 25,3024 00006 EXTEND
023742,002690: 25,3025 03012 WAND CHAN12
023743,002691: 25,3026 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023744,002692:
023745,002693: 25,3027 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023746,002694: 25,3030 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023747,002695: 25,3031 00006 EXTEND
023748,002696: 25,3032 13051 BZF NOTP20
023749,002697: 25,3033 06042 TC INTPRET
023750,002698: 25,3034 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023751,002699: 25,3035 01101 RRTARGET
023752,002700: 25,3036 01767 MLOSV
023753,002701: 25,3037 41572 VSL1 PUSH
023754,002702: 25,3040 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023755,002703: 25,3041 01761 LOSVEL # TO LOS VECTOR
023756,002704: 25,3042 13101 MCTOMS
023757,002705: 25,3043 53362 VSR1 VAD
023758,002706: 25,3044 77656 UNIT
023759,002707: 25,3045 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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Page 556 |
023761,002709: 25,3046 00045 36D
023762,002710: 25,3047 01767 STORE MLOSV # AND STORE MAGNITUDE
023763,002711: 25,3050 77776 EXIT
023764,002712: 25,3051 00004 NOTP20 INHINT
023765,002713: 25,3052 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023766,002714: 25,3053 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023767,002715: 25,3054 10000 CCS A
023768,002716: 25,3055 02317 TC RROUT
023769,002717:
023770,002718: 25,3056 30076 CA FLAGWRD2
023771,002719: 25,3057 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023772,002720: 25,3060 00006 EXTEND # LOS COUNTER
023773,002721: 25,3061 15155 BZF ENDOFJOB
023774,002722: 25,3062 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023775,002723: 25,3063 03073 TC DODESEND # A NEW LOS
023776,002724: 25,3064 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023777,002725: 25,3065 52613 CADR DESLOOP +2
023778,002726: 25,3066 00003 RELINT
023779,002727: 25,3067 10067 CCS NEWJOB
023780,002728: 25,3070 05122 TC CHANG1
023781,002729: 25,3071 04616 TC BANKCALL
023782,002730: 25,3072 50732 CADR R21LEM2
023783,002731:
023784,002732: 25,3073 55456 DODESEND TS LOSCOUNT
023785,002733: 25,3074 05155 TC ENDOFJOB
023786,002734:
023787,002735: 25,3075 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023788,002736: 25,3076 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
023789,002737: 25,3076 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023790,002738: 25,3100 00310 00000 MCTOMS 2DEC 100 B-13
023791,002739:
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Page 557 |
023793,002741: # RADAR READ INITIALIZATION
023794,002742:
023795,002743: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023796,002744:
023797,002745: 25,3102 03122 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023798,002746: 25,3103 00017 ALLREAD OCT 17
023799,002747:
023800,002748: 25,3104 03123 LRVELZ TC INITREAD
023801,002749: 25,3105 00016 OCT 16
023802,002750:
023803,002751: 25,3106 03123 LRVELY TC INITREAD
023804,002752: 25,3107 00015 OCT 15
023805,002753:
023806,002754: 25,3110 03123 LRVELX TC INITREAD
023807,002755: 25,3111 00014 OCT 14
023808,002756:
023809,002757: 25,3112 03122 RRRDOT TC INITREAD -1
023810,002758: 25,3113 00012 OCT 12
023811,002759:
023812,002760: 25,3114 03122 RRRANGE TC INITREAD -1
023813,002761: 25,3115 00011 OCT 11
023814,002762:
023815,002763: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023816,002764: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023817,002765:
023818,002766: 25,3116 55104 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023819,002767: 25,3117 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023820,002768: 25,3120 51104 INDEX TIMEHOLD
023821,002769: 25,3121 13104 TCF LRVELZ
023822,002770:
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Page 558 |
023824,002772: 25,3122 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023825,002773: 25,3123 00004 INITREAD INHINT
023826,002774:
023827,002775: 25,3124 55104 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023828,002776: 25,3125 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023829,002777: 25,3126 74751 MP BIT3 # ENCOUNTERED).
023830,002778: 25,3127 53105 DXCH TIMEHOLD
023831,002779:
023832,002780: 25,3130 10000 CCS A
023833,002781: 25,3131 55110 TS NSAMP
023834,002782: 25,3132 64753 AD ONE
023835,002783: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023836,002784: # DOUBLE
023837,002785: 25,3133 55077 TS SAMPLIM
023838,002786:
023839,002787: 25,3134 33156 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023840,002788: 25,3135 00006 EXTEND
023841,002789: 25,3136 02033 RAND CHAN33
023842,002790: 25,3137 55112 TS OLDATAGD
023843,002791:
023844,002792: 25,3140 43103 CS ALLREAD
023845,002793: 25,3141 00006 EXTEND
023846,002794: 25,3142 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023847,002795:
023848,002796: 25,3143 50002 INDEX Q
023849,002797: 25,3144 30000 CAF 0
023850,002798: 25,3145 04674 TC IBNKCALL
023851,002799: 25,3146 36000 CADR RADSTART
023852,002800:
023853,002801: 25,3147 00006 EXTEND
023854,002802: 25,3150 30025 DCA TIME2
023855,002803: 25,3151 21105 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
023856,002804:
023857,002805: 25,3152 34755 CAF ZERO
023858,002806: 25,3153 54001 TS L
023859,002807: 25,3154 53101 DXCH SAMPLSUM
023860,002808: 25,3155 12377 TCF ROADBACK
023861,002809:
023862,002810: 25,3156 00230 DGBITS OCT 230
023863,002811:
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Page 559 |
023865,002813: # RADAR RUPT READER
023866,002814:
023867,002815: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023868,002816:
023869,002817: 25,2000 SETLOC RADARUPT
023870,002818: 25,2000 BANK
023871,002819:
023872,002820: 25,3157 COUNT* $$/RRUPT
023873,002821: 25,3157 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023874,002822: 25,3160 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
023875,002823: 25,3161 54016 TS BANKRUPT
023876,002824: 25,3162 00006 EXTEND
023877,002825: 25,3163 22012 QXCH QRUPT
023878,002826:
023879,002827: 25,3164 00006 EXTEND
023880,002828: 25,3165 31454 DCA TTOGO # LOAD TIME TO TIG
023881,002829: 25,3166 53272 DXCH TTOTIG # FOR R65 RADAR READING.
023882,002830:
023883,002831: 25,3167 34757 CAF SEVEN
023884,002832: 25,3170 00006 EXTEND
023885,002833: 25,3171 02013 RAND CHAN13
023886,002834: 25,3172 55332 TS DNINDEX
023887,002835: 25,3173 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
023888,002836: 25,3174 13200 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023889,002837: 25,3175 30046 CA RNRAD
023890,002838: 25,3176 51332 INDEX DNINDEX
023891,002839: 25,3177 55327 TS DNRRANGE -1
023892,002840: 25,3200 11077 TRYCOUNT CCS SAMPLIM
023893,002841: 25,3201 13223 TCF PLENTY
023894,002842: 25,3202 13206 TCF NOMORE
023895,002843: 25,3203 05567 TC ALARM
023896,002844: 25,3204 00520 OCT 520
023897,002845: 25,3205 05270 TC RESUME
023898,002846:
023899,002847: 25,3206 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023900,002848: 25,3207 74735 MASK LRBYBIT
023901,002849: 25,3210 00006 EXTEND
023902,002850: 25,3211 13220 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023903,002851:
023904,002852: 25,3212 40077 CS FLAGWRD3 # CHECK R04FLAG.
023905,002853: 25,3213 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
023906,002854: 25,3214 00006 EXTEND
023907,002855: 25,3215 13220 BZF BADRAD
023908,002856:
023909,002857: 25,3216 05567 TC ALARM # P20 WANTS THE ALARM.
023910,002858: 25,3217 00521 OCT 521
023911,002859: 25,3220 44753 BADRAD CS ONE
023912,002860: 25,3221 55077 TS SAMPLIM
023913,002861: 25,3222 03563 TC RDBADEND -2
023914,002862: 25,3223 55077 PLENTY TS SAMPLIM
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Page 560 |
023916,002864: 25,3224 34751 CAF BIT3
023917,002865: 25,3225 00006 EXTEND
023918,002866: 25,3226 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023919,002867: 25,3227 00006 EXTEND
023920,002868: 25,3230 13277 BZF RENDRAD
023921,002869:
023922,002870: 25,3231 03365 TC R77CHECK # R77 QUITS HERE.
023923,002871: 25,3232 36250 VELCHK CAF BIN3 # = 00003 OCT
023924,002872: 25,3233 00006 EXTEND
023925,002873: 25,3234 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023926,002874: 25,3235 76250 MASK BIN3
023927,002875: 25,3236 00006 EXTEND
023928,002876: 25,3237 13273 BZF LRHEIGHT # TAKE A LR RANGE READING
023929,002877:
023930,002878: 25,3240 34733 CAF POSMAX
023931,002879: 25,3241 70046 MASK RNRAD
023932,002880: 25,3242 62000 AD LVELBIAS
023933,002881: 25,3243 54001 TS L
023934,002882: 25,3244 30046 CAE RNRAD
023935,002883: 25,3245 60000 DOUBLE
023936,002884: 25,3246 74753 MASK BIT1
023937,002885: 25,3247 52064 DXCH ITEMP3
023938,002886:
023939,002887: 25,3250 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023940,002888: 25,3251 03425 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023941,002889: # INDEPENDENT OF DATA GOOD.
023942,002890:
023943,002891: 25,3252 11110 CCS NSAMP
023944,002892: 25,3253 03263 TC NOEND
023945,002893: 25,3254 44753 GOODRAD CS ONE
023946,002894: 25,3255 55077 TS SAMPLIM
023947,002895: 25,3256 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023948,002896: 25,3257 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023949,002897: 25,3260 54110 TS RADMODES
023950,002898: 25,3261 03612 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023951,002899: 25,3262 03556 TC RGOODEND -2
023952,002900:
023953,002901: 25,3263 55110 NOEND TS NSAMP
023954,002902: 25,3264 11077 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023955,002903: 25,3265 13267 TCF +2
023956,002904: 25,3266 13444 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023957,002905: 25,3267 34750 CAF BIT4 # RESET ACTIVITY BIT.
023958,002906: 25,3270 04674 TC IBNKCALL
023959,002907: 25,3271 36000 CADR RADSTART
023960,002908:
023961,002909: 25,3272 05270 TC RESUME
023962,002910:
023963,002911: 25,3273 34747 LRHEIGHT CAF BIT5
023964,002912: 25,3274 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
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Page 561 |
023966,002914: 25,3275 34743 CAF BIT9
023967,002915: 25,3276 03321 TC SCALECHK -1
023968,002916:
023969,002917: 25,3277 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023970,002918: 25,3300 70110 MASK RADMODES # LIMITS.
023971,002919: 25,3301 10000 CCS A
023972,002920: 25,3302 13220 TCF BADRAD
023973,002921:
023974,002922: 25,3303 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
023975,002923: 25,3304 74745 MASK RCDUFBIT
023976,002924: 25,3305 10000 CCS A
023977,002925: 25,3306 13220 TCF BADRAD
023978,002926:
023979,002927: 25,3307 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
023980,002928: 25,3310 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023981,002929:
023982,002930: 25,3311 34753 CAF BIT1 # SEE IF RR RDOT.
023983,002931: 25,3312 00006 EXTEND
023984,002932: 25,3313 02013 RAND CHAN13
023985,002933: 25,3314 54002 TS Q # FOR LATER TESTING.
023986,002934: 25,3315 10000 CCS A
023987,002935: 25,3316 13320 TCF +2
023988,002936: 25,3317 13332 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
023989,002937: 25,3320 34751 CAF BIT3
023990,002938: 25,3321 54001 TS L
023991,002939:
023992,002940: 25,3322 00006 SCALECHK EXTEND
023993,002941: 25,3323 02033 RAND CHAN33 # SCALE STATUS NOW
023994,002942: 25,3324 56001 XCH L
023995,002943: 25,3325 70110 MASK RADMODES # SCALE STATUS BEFORE
023996,002944: 25,3326 00006 EXTEND
023997,002945: 25,3327 06001 RXOR LCHAN # SEE IF THEY DIFFER
023998,002946: 25,3330 10000 CCS A
023999,002947: 25,3331 03351 TC SCALCHNG # THEY DIFFER
024000,002948:
024001,002949: 25,3332 34733 RADIN CAF POSMAX
024002,002950: 25,3333 70046 MASK RNRAD
024003,002951: 25,3334 54064 TS ITEMP4
024004,002952:
024005,002953: 25,3335 30046 CAE RNRAD
024006,002954: 25,3336 60000 DOUBLE
024007,002955: 25,3337 74753 MASK BIT1
024008,002956: 25,3340 54063 TS ITEMP3
024009,002957:
024010,002958: 25,3341 10002 CCS Q # SEE IF RR RDOT.
024011,002959: 25,3342 13403 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
024012,002960:
024013,002961: 25,3343 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
024014,002962: 25,3344 42002 DCS RDOTBIAS
024015,002963: 25,3345 20064 DASAMPL DAS ITEMP3
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Page 562 |
024017,002965: 25,3346 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
024018,002966: 25,3347 03426 TC DGCHECK +1 # AFTER TAKING SAMPLE.
024019,002967: 25,3350 03254 TC GOODRAD
024020,002968:
024021,002969: 25,3351 22110 SCALCHNG LXCH RADMODES
024022,002970: 25,3352 64753 AD BIT1
024023,002971: 25,3353 00006 EXTEND
024024,002972: 25,3354 06001 RXOR LCHAN
024025,002973: 25,3355 54110 TS RADMODES
024026,002974: 25,3356 33156 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
024027,002975: 25,3357 00006 EXTEND
024028,002976: 25,3360 02033 RAND CHAN33
024029,002977: 25,3361 55112 TS OLDATAGD
024030,002978: 25,3362 05504 TC UPFLAG # SET RNGSCFLG
024031,002979: 25,3363 00120 ADRES RNGSCFLG # FOR LRS24.1
024032,002980: 25,3364 13220 TCF BADRAD
024033,002981:
024034,002982: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024035,002983:
024036,002984: 25,3365 40101 R77CHECK CS FLAGWRD5
024037,002985: 25,3366 74741 MASK R77FLBIT
024038,002986: 25,3367 10000 CCS A
024039,002987: 25,3370 00002 TC Q # NOT R77
024040,002988: 25,3371 43402 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
024041,002989: 25,3372 70110 MASK RADMODES
024042,002990: 25,3373 54001 TS L
024043,002991: 25,3374 33402 CA BITS5,8
024044,002992: 25,3375 00006 EXTEND
024045,002993: 25,3376 02033 RAND CHAN33
024046,002994: 25,3377 60001 AD L
024047,002995: 25,3400 54110 TS RADMODES
024048,002996: 25,3401 03556 TC RGOODEND -2
024049,002997: 25,3402 00220 BITS5,8 OCT 220
024050,002998:
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Page 563 |
024052,003000: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024053,003001:
024054,003002: 25,3403 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
024055,003003: 25,3404 13406 TCF +2 # ON HIGH SCALE.
024056,003004: 25,3405 13346 TCF DGCHECK2
024057,003005:
024058,003006: 25,3406 31332 CA DNINDEX
024059,003007: 25,3407 74751 MASK BIT3
024060,003008: 25,3410 10000 CCS A
024061,003009: 25,3411 13420 TCF LRSCK
024062,003010:
024063,003011: 25,3412 52064 DXCH ITEMP3
024064,003012: 25,3413 20001 DDOUBL
024065,003013: 25,3414 20001 DDOUBL
024066,003014: 25,3415 20001 DDOUBL
024067,003015: 25,3416 52064 DXCH ITEMP3
024068,003016:
024069,003017: 25,3417 13346 TCF DGCHECK2
024070,003018:
024071,003019: 25,3420 00006 LRSCK EXTEND
024072,003020: 25,3421 30064 DCA ITEMP3
024073,003021: 25,3422 20001 DDOUBL
024074,003022: 25,3423 20001 DDOUBL
024075,003023: 25,3424 13345 TCF DASAMPL
024076,003024:
024077,003025: 25,3425 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024078,003026: 25,3426 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024079,003027: 25,3427 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024080,003028: 25,3430 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024081,003029: 25,3431 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024082,003030: 25,3432 71112 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024083,003031: 25,3433 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024084,003032: 25,3434 57112 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024085,003033: 25,3435 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024086,003034: 25,3436 60001 AD L
024087,003035: 25,3437 10000 CCS A # SHOULD BOTH BE ZERO.
024088,003036: 25,3440 03264 TC RESAMPLE
024089,003037: 25,3441 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
024090,003038: 25,3442 21101 DAS SAMPLSUM # ACCUMULATION.
024091,003039: 25,3443 00002 TC Q
024092,003040:
024093,003041: 25,3444 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
024094,003042: 25,3445 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
024095,003043: 25,3446 60061 AD ITEMP1
024096,003044: 25,3447 54110 TS RADMODES
024097,003045:
024098,003046: 25,3450 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
024099,003047: 25,3451 53101 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
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Page 564 |
024101,003049: 25,3452 03612 TC RADLITES
024102,003050: 25,3453 13206 TCF NOMORE
024103,003051:
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Page 565 |
024105,003053: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024106,003054:
024107,003055: 17,2000 SETLOC C13BANK
024108,003056: 17,2000 BANK
024109,003057:
024110,003058: 17,2000 54002 RADSTART TS Q
024111,003059: 17,2001 00006 +1 EXTEND
024112,003060: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
024113,003061: 17,2003 54001 TS L
024114,003062:
024115,003063: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
024116,003064: 17,2005 40000 COM
024117,003065: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
024118,003066: 17,2007 74346 MASK LOW5
024119,003067: 17,2010 55270 TS RADDEL
024120,003068:
024121,003069: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024122,003070: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
024123,003071: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
024124,003072:
024125,003073: 17,2014 30002 CA Q
024126,003074: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
024127,003075: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
024128,003076:
024129,003077: 17,2017 40001 CS L
024130,003078: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
024131,003079: 17,2021 04707 TC ISWRETRN
024132,003080:
024133,003081: 17,2022 55266 C13STAL1 TS C13FSAV
024134,003082:
024135,003083: 17,2023 34750 CA BIT4
024136,003084: 17,2024 00006 EXTEND
024137,003085: 17,2025 02013 RAND CHAN13
024138,003086: 17,2026 00006 EXTEND
024139,003087: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
024140,003088:
024141,003089: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
024142,003090: 17,2031 00006 EXTEND
024143,003091: 17,2032 00004 READ LOSCALAR
024144,003092: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
024145,003093: 17,2034 64736 AD HALF
024146,003094: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
024147,003095: 17,2036 56001 XCH L
024148,003096:
024149,003097: 17,2037 32053 CA 90MSCALR
024150,003098: 17,2040 61270 AD RADDEL
024151,003099: 17,2041 00006 EXTEND
024152,003100: 17,2042 60001 SU L
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Page 566 |
024154,003102: 17,2043 00006 EXTEND
024155,003103: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
024156,003104:
024157,003105: 17,2045 62054 AD -DTSCALR
024158,003106: 17,2046 00006 EXTEND
024159,003107: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024160,003108:
024161,003109: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
024162,003110: 17,2051 31266 CA C13FSAV
024163,003111: 17,2052 52005 DTCF
024164,003112:
024165,003113: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
024166,003114: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
024167,003115:
024168,003116: 6000 SETLOC FFTAG6
024169,003117: 6000 BANK
024170,003118:
024171,003119: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
024172,003120: 6023 56004 XCH FBANK
024173,003121: 6024 12022 TCF C13STAL1
024174,003122:
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Page 567 |
024176,003124: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024177,003125:
024178,003126: 25,2000 SETLOC P20S1
024179,003127: 25,2000 BANK
024180,003128:
024181,003129: 25,3454 COUNT* $$/RSUB
024182,003130: 25,3454 00004 LRPOS2 INHINT
024183,003131:
024184,003132: 25,3455 40110 CS RADMODES
024185,003133: 25,3456 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024186,003134: 25,3457 26110 ADS RADMODES
024187,003135:
024188,003136: 25,3460 34745 CAF BIT7
024189,003137: 25,3461 00006 EXTEND
024190,003138: 25,3462 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024191,003139: 25,3463 00006 EXTEND
024192,003140: 25,3464 13513 BZF RADNOOP
024193,003141:
024194,003142: 25,3465 34737 CAF BIT13
024195,003143: 25,3466 00006 EXTEND
024196,003144: 25,3467 05012 WOR CHAN12 # COMMAND TO POSITION 2
024197,003145: 25,3470 33530 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024198,003146: 25,3471 05203 TC WAITLIST
024199,003147: 25,3472 E7,1456 EBANK= LOSCOUNT
024200,003148: 25,3472 03526 52067 2CADR LRPOSCAN
024201,003149:
024202,003150: 25,3474 02377 TC ROADBACK
024203,003151:
024204,003152: 25,3475 55077 LRPOSNXT TS SAMPLIM
024205,003153: 25,3476 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024206,003154: 25,3477 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024207,003155:
024208,003156: 25,3500 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024209,003157: 25,3501 00006 EXTEND
024210,003158: 25,3502 02033 RAND CHAN33
024211,003159: 25,3503 00006 EXTEND
024212,003160: 25,3504 13520 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024213,003161:
024214,003162: 25,3505 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
024215,003163: 25,3506 13475 TCF LRPOSNXT
024216,003164:
024217,003165: 25,3507 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024218,003166: 25,3510 00006 EXTEND
024219,003167: 25,3511 03012 WAND CHAN12
024220,003168: 25,3512 13565 TCF RDBADEND
024221,003169:
024222,003170: 25,3513 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024223,003171: 25,3514 05203 TC WAITLIST
024224,003172: 25,3515 E7,1456 EBANK= LOSCOUNT
024225,003173: 25,3515 03560 52067 2CADR RGOODEND
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Page 568 |
024227,003175: 25,3517 02377 TC ROADBACK
024228,003176:
024229,003177: 25,3520 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024230,003178: 25,3521 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024231,003179:
024232,003180: 25,3522 44737 CS BIT13 # REMOVE COMMAND
024233,003181: 25,3523 00006 EXTEND
024234,003182: 25,3524 03012 WAND CHAN12
024235,003183: 25,3525 13560 TCF RGOODEND
024236,003184:
024237,003185: 25,3526 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
024238,003186: 25,3527 13475 TCF LRPOSNXT
024239,003187: 25,3530 01130 6SECS DEC 600 B-14
024240,003188:
024241,003189: 25,3531 03454 LRP2COMM TC LRPOS2
024242,003190: 25,3532 04616 TC BANKCALL
024243,003191: 25,3533 17705 CADR RADSTALL
024244,003192: 25,3534 03536 TC LP2ALM
024245,003193: 25,3535 13547 TCF GOPINNER
024246,003194:
024247,003195: 25,3536 05567 LP2ALM TC ALARM
024248,003196: 25,3537 00523 OCT 523
024249,003197: 25,3540 13547 TCF GOPINNER
024250,003198:
024251,003199: 25,3541 35016 V59GP63 CA EBANK7
024252,003200: 25,3542 54003 TS EBANK
024253,003201: 25,3543 E7,1427 EBANK= RPCRTIME
024254,003202: 25,3543 34733 CA POSMAX
024255,003203: 25,3544 55427 TS RPCRTIME
024256,003204: 25,3545 44736 CS BIT14
024257,003205: 25,3546 55430 TS RPCRTQSW
024258,003206: 25,3547 04635 GOPINNER TC POSTJUMP
024259,003207: 25,3550 21051 CADR PINBRNCH
024260,003208:
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Page 569 |
024262,003210: # SEQUENCES TO TERMINATE RR OPERATIONS.
024263,003211:
024264,003212: 25,3551 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024265,003213: 25,3552 70110 MASK RADMODES
024266,003214: 25,3553 10000 CCS A
024267,003215: 25,3554 13560 TCF RGOODEND
024268,003216: 25,3555 13565 TCF RDBADEND
024269,003217: 25,3556 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024270,003218: 25,3557 54332 TS RUPTAGN
024271,003219:
024272,003220: 25,3560 34752 RGOODEND CAF TWO
024273,003221: 25,3561 04635 TC POSTJUMP
024274,003222: 25,3562 17656 CADR GOODEND
024275,003223:
024276,003224: 25,3563 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024277,003225: 25,3564 54332 TS RUPTAGN
024278,003226: 25,3565 34752 RDBADEND CAF TWO
024279,003227: 25,3566 04635 TC POSTJUMP
024280,003228: 25,3567 17653 CADR BADEND
024281,003229:
024282,003230: 25,3570 6250 BIN3 EQUALS THREE
024283,003231:
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Page 570 |
024285,003233: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024286,003234: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024287,003235:
024288,003236: # FUNCTIONAL DESCRIPTION_
024289,003237: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024290,003238: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024291,003239: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024292,003240:
024293,003241: # CALLING SEQUENCE CALL
024294,003242: # LPS20.1
024295,003243:
024296,003244: # SUBROUTINES CALLED_
024297,003245: # LEMPREC, CSMPREC
024298,003246:
024299,003247: # NORMAL EXIT_ RETURN TO CALLER + 2
024300,003248:
024301,003249: # ERROR EXITS_ NONE
024302,003250:
024303,003251: # ALARMS_ NONE
024304,003252:
024305,003253: # OUTPUT_
024306,003254: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024307,003255: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024308,003256: # RRNBSW CLEARED
024309,003257:
024310,003258: # INITIALIZED ERASEABLE
024311,003259: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024312,003260: # SEE ORBITAL INTEGRATION ROUTINE
024313,003261:
024314,003262: # DEBRIS_
024315,003263: # MPAC DESTROYED BY THIS ROUTINE
024316,003264:
024317,003265: 23,2337 BANK 23
024318,003266: 24,2000 SETLOC P20S
024319,003267: 24,2000 BANK
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Page 571 |
024321,003269: 24,3256 COUNT* $$/LPS20
024322,003270:
024323,003271: 24,3256 43020 LPS20.1 STQ BOFF
024324,003272: 24,3257 01757 LS21X
024325,003273: 24,3260 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024326,003274: 24,3261 51265 LMINT # SO CALL LEMCONIC TO GET LM STATE
024327,003275: 24,3262 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024328,003276: 24,3263 04307 SURFFLAG # DON'T CALL LEMCONIC
024329,003277: 24,3264 51275 CSMINT
024330,003278: 24,3265 77624 LMINT CALL
024331,003279: 24,3266 27077 LEMCONIC # EXTRAPOLATE LEM
024332,003280: 24,3267 77775 VLOAD
024333,003281: 24,3270 00001 RATT
024334,003282: 24,3271 26352 STOVL LMPOS # SAVE LM POSITION B-29
024335,003283: 24,3272 00007 VATT
024336,003284: 24,3273 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024337,003285: 24,3274 00015 TAT
024338,003286: 24,3275 34041 CSMINT STCALL TDEC1
024339,003287: 24,3276 27065 CSMCONIC # EXTRAPOLATE CSM
024340,003288: 24,3277 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024341,003289: 24,3300 00007 VATT
024342,003290: 24,3301 02360 LMVEL
024343,003291: 24,3302 76521 MXV VSL1
024344,003292: 24,3303 01734 REFSMMAT
024345,003293: 24,3304 77776 EXIT
024346,003294: 24,3305 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024347,003295: 24,3306 52613 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024348,003296: 24,3307 06042 TC INTPRET
024349,003297: 24,3310 25761 STOVL LOSVEL
024350,003298: 24,3311 00001 RATT
024351,003299: 24,3312 43051 VSU BOFF
024352,003300: 24,3313 02352 LMPOS
024353,003301: 24,3314 00350 RNDVZFLG
024354,003302: 24,3315 51322 NOTSHIFT
024355,003303: 24,3316 77604 BOVB
024356,003304: 24,3317 57754 TCDANZIG
024357,003305: 24,3320 77661 VSL
024358,003306: 24,3321 20212 9D
024359,003307: 24,3322 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024360,003308: 24,3323 50102 526ALARM # THAN 400 N. M.
024361,003309: 24,3324 76521 MXV VSL1
024362,003310: 24,3325 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024363,003311: 24,3326 15101 STODL RRTARGET
024364,003312: 24,3327 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024365,003313: 24,3330 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024366,003314: 24,3331 77614 CLRGO
024367,003315: 24,3332 00231 RRNBSW
024368,003316: 24,3333 01757 LS21X
024369,003317:
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Page 572 |
024371,003319: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024372,003320: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024373,003321:
024374,003322: # FUNCTIONAL DESCRIPTION_
024375,003323: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024376,003324:
024377,003325: # CALLING SEQUENCE CALL
024378,003326: # LPS20.2
024379,003327:
024380,003328: # SUBROUTINES CALLED_ NONE
024381,003329:
024382,003330: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024383,003331:
024384,003332: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024385,003333:
024386,003334: # ALARMS_ NONE
024387,003335:
024388,003336: # OUTPUT_ NONE
024389,003337:
024390,003338: # INITIALIZED ERASEABLE_
024391,003339: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024392,003340:
024393,003341: # DEBRIS
024394,003342: # MPAC DESTROYED BY THIS ROUTINE
024395,003343:
024396,003344: 25,2000 SETLOC P20S1
024397,003345: 25,2000 BANK
024398,003346: 25,3570 COUNT* $$/LPS20
024399,003347:
024400,003348: 25,3570 45345 LPS20.2 DLOAD DSU
024401,003349: 25,3571 01767 MLOSV # MAGNITUDE OF LOS
024402,003350: 25,3572 13603 FHNM # OVER 400NM _
024403,003351: 25,3573 77644 BPL
024404,003352: 25,3574 53577 TOFAR
024405,003353: 25,3575 43535 SLOAD RVQ
024406,003354: 25,3576 06524 ZERO/SP
024407,003355: 25,3577 43535 TOFAR SLOAD RVQ
024408,003356: 25,3600 13602 ONE/SP
024409,003357: 25,3601 00001 ONE/SP DEC 1 B-14
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Page 573 |
024411,003359: 25,3602 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024412,003360:
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Page 574 |
024414,003362: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024415,003363: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024416,003364:
024417,003365: # FUNCTIONAL DESCRIPTION
024418,003366: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024419,003367: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024420,003368: # RR REPOSITION AND RR CDU FAIL
024421,003369: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024422,003370:
024423,003371: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024424,003372:
024425,003373: # SUBROUTINES CALLED:
024426,003374: # RRRDOT LPS20.1
024427,003375: # RRRANGE BANKCALL
024428,003376: # RADSTALL CDULOGIC
024429,003377: # RRNB SMNB
024430,003378:
024431,003379: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024432,003380:
024433,003381: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024434,003382: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024435,003383: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024436,003384:
024437,003385: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024438,003386: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024439,003387:
024440,003388: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024441,003389: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024442,003390:
024443,003391: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024444,003392: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024445,003393: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024446,003394: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024447,003395: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024448,003396: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024449,003397:
024450,003398: # ERASABLE INITIALIZATION REQUIRED:
024451,003399: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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Page 575 |
024453,003401: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024454,003402: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024455,003403: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024456,003404:
024457,003405: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024458,003406:
024459,003407: 32,2366 BANK 32
024460,003408: 32,2000 SETLOC LRS22
024461,003409: 32,2000 BANK
024462,003410: 32,2366 COUNT* $$/LRS22
024463,003411:
024464,003412: 32,2366 04645 LRS22.1 TC MAKECADR
024465,003413: 32,2367 55737 TS LRS22.1X
024466,003414: 32,2370 05516 TC DOWNFLAG
024467,003415: 32,2371 00120 ADRES RNGSCFLG
024468,003416: 32,2372 00004 INHINT
024469,003417: 32,2373 34751 CAF BIT3
024470,003418: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024471,003419: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024472,003420: 32,2376 54001 TS L
024473,003421: 32,2377 44751 CS RRRSBIT
024474,003422: 32,2400 70110 MASK RADMODES
024475,003423: 32,2401 60001 AD L
024476,003424: 32,2402 54110 TS RADMODES
024477,003425: 32,2403 00003 RELINT
024478,003426: 32,2404 04616 READRDOT TC BANKCALL
024479,003427: 32,2405 53112 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024480,003428: 32,2406 04616 TC BANKCALL
024481,003429: 32,2407 17705 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024482,003430: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024483,003431:
024484,003432: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024485,003433: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024486,003434: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024487,003435: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024488,003436: 32,2415 53747 DXCH RDOTMSAV
024489,003437: 32,2416 00006 EXTEND
024490,003438: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024491,003439: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024492,003440: 32,2421 30032 CA CDUX
024493,003441: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024494,003442: 32,2423 00006 EXTEND
024495,003443: 32,2424 30025 DCA TIME2 # SAVE TIME
024496,003444: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024497,003445: 32,2426 00006 EXTEND
024498,003446: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024499,003447: 32,2430 53107 DXCH TANG
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Page 576 |
024501,003449: 32,2431 00003 RELINT
024502,003450: 32,2432 04616 TC BANKCALL
024503,003451: 32,2433 53114 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024504,003452: 32,2434 04616 TC BANKCALL
024505,003453: 32,2435 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
024506,003454: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
024507,003455: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024508,003456: 32,2440 00006 EXTEND
024509,003457: 32,2441 31331 DCA DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024510,003458: 32,2442 53761 DXCH RANGRDOT
024511,003459: 32,2443 52162 DXCH MPAC +5
024512,003460: 32,2444 53755 DXCH MKTIME # MARK TIME
024513,003461: 32,2445 52160 DXCH MPAC +3
024514,003462: 32,2446 53460 DXCH AIG # CDUY, CDUZ
024515,003463: 32,2447 00006 EXTEND
024516,003464: 32,2450 31107 DCA TANG # PRESERVE TANG
024517,003465: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024518,003466: 32,2452 30156 CA MPAC +2
024519,003467: 32,2453 55461 TS AOG # CDUX
024520,003468: 32,2454 06042 TC INTPRET
024521,003469: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024522,003470: 32,2456 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024523,003471: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024524,003472: 32,2460 20217 14D # FT./SECOND PER BIT
024525,003473: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024526,003474: 32,2462 03751 STORE RDOTM
024527,003475: 32,2463 47135 SLOAD RTB
024528,003476: 32,2464 01107 TANG # GET TRUNION ANGLE
024529,003477: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024530,003478: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024531,003479: 32,2467 47135 SLOAD RTB
024532,003480: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
024533,003481: 32,2471 21577 CDULOGIC
024534,003482: 32,2472 17736 STODL RRSHAFT
024535,003483: 32,2473 01101 SAMPLSUM
024536,003484: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024537,003485: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024538,003486: 32,2476 37757 STCALL RM
024539,003487: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024540,003488: 32,2500 17741 STODL RRBORSIT # AND SAVE
024541,003489: 32,2501 00025 20D
024542,003490: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024543,003491: 32,2503 51256 LPS20.1
024544,003492: 32,2504 77776 EXIT
024545,003493: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024546,003494: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024547,003495: 32,2507 31460 CA AMG
024548,003496: 32,2510 54767 TS CDUSPOT +2
024549,003497: 32,2511 31461 CA AOG
024550,003498: 32,2512 54771 TS CDUSPOT +4
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Page 577 |
024552,003500: 32,2513 06042 TC INTPRET
024553,003501: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024554,003502: 32,2515 01101 RRTARGET
024555,003503: 32,2516 47653 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024556,003504: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024557,003505: 32,2520 03741 RRBORSIT
024558,003506: 32,2521 65552 SL1 ACOS # BETWEEN THEM
024559,003507: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024560,003508: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024561,003509: 32,2524 24547 THREEDEG
024562,003510: 32,2525 64532 NORMEXIT # YES - NORMAL EXIT
024563,003511:
024564,003512: 32,2526 77776 EXIT # ERROR EXIT 2
024565,003513: 32,2527 34752 CAF BIT2 # SET ERROR CODE
024566,003514: 32,2530 54154 TS MPAC
024567,003515: 32,2531 12535 TCF OUT22.1
024568,003516:
024569,003517: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024570,003518: 32,2533 34755 CAF ZERO
024571,003519: 32,2534 54154 TS MPAC
024572,003520: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024573,003521: 32,2536 04640 TC BANKJUMP
024574,003522: 32,2537 30101 CHEXERR CAE FLAGWRD5
024575,003523: 32,2540 74742 MASK RNGSCBIT
024576,003524: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024577,003525: 32,2542 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024578,003526:
024579,003527: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024580,003528: 32,2544 54154 TS MPAC
024581,003529: 32,2545 02535 TC OUT22.1
024582,003530: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024583,003531:
024584,003532: 32,2550 1100 RRLOSVEC EQUALS RRTARGET
024585,003533:
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Page 578 |
024587,003535: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024588,003536: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024589,003537:
024590,003538: # FUNCTIONAL DESCRIPTION-
024591,003539: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024592,003540:
024593,003541: # CALLING SEQUENCE - BANKCALL FOR LRS22.2
024594,003542:
024595,003543: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024596,003544:
024597,003545: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024598,003546:
024599,003547: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024600,003548:
024601,003549: # ALARMS - NONE IN THE AUTO MODE
024602,003550:
024603,003551: # ERASABLE INITIALIZATION REQUIRED -
024604,003552: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024605,003553: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024606,003554: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024607,003555:
024608,003556: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024609,003557:
024610,003558: 24,2000 SETLOC P20S
024611,003559: 24,2000 BANK
024612,003560: 24,3334 04645 LRS22.2 TC MAKECADR
024613,003561: 24,3335 55737 TS LRS22.1X
024614,003562: 24,3336 06042 TC INTPRET
024615,003563: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024616,003564: 24,3337 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024617,003565: 24,3340 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024618,003566: # LOS VECTOR, A HALF UNIT VECTOR
024619,003567: # IN NAV BASE AXES)
024620,003568: 24,3341 50025 DSU BMN
024621,003569: 24,3342 11356 30DEG
024622,003570: 24,3343 51350 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024623,003571: 24,3344 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024624,003572: 24,3345 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024625,003573: 24,3346 54154 TS MPAC
024626,003574: 24,3347 13353 TCF OUT22.2
024627,003575: 24,3350 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024628,003576:
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Page 579 |
024630,003578: 24,3351 34755 CAF ZERO
024631,003579: 24,3352 54154 TS MPAC
024632,003580: 24,3353 31737 OUT22.2 CAE LRS22.1X
024633,003581: 24,3354 04640 TC BANKJUMP
024634,003582:
024635,003583: 24,3355 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024636,003584:
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Page 580 |
024638,003586: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024639,003587: # MOD. NO 3 LOG SECTION - P20-25
024640,003588: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024641,003589:
024642,003590: # FUNCTIONAL DESCRIPTION
024643,003591: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024644,003592: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024645,003593: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024646,003594:
024647,003595: # CALLING SEQUENCE
024648,003596: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024649,003597: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024650,003598: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024651,003599: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024652,003600: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024653,003601: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024654,003602:
024655,003603: # SUBROUTINES CALLED
024656,003604: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024657,003605: # GETULC RARARANG INCORP2 NBSM INTSTALL
024658,003606:
024659,003607: # OUTPUT
024660,003608: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024661,003609: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024662,003610: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024663,003611: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024664,003612: # UPDATED W-MATRIX
024665,003613:
024666,003614: # ERASABLE INITIALIZATION REQUIRED
024667,003615: # LM AND CSM STATE VECTORS
024668,003616: # W-MATRIX
024669,003617: # MARK TIME IN MKTIME
024670,003618: # RADAR RANGE IN RM METERS B-29
024671,003619: # RANGE RATE IN RDOTM METERS/CSES B-7
024672,003620: # SHAFT ANGLE IN RRSHAFT REVS. B0
024673,003621: # TRUNNION ANGLE IN RRTRUN REVS. B0
024674,003622: # GIMBAL ANGLES INNER IN AIG
024675,003623: # MIDDLE IN AMG
024676,003624: # OUTER IN AOG
024677,003625: # REFSMMAT
024678,003626: # RENDWFLG
024679,003627: # NOANGFLG
024680,003628: # VEHUPFLG
024681,003629:
024682,003630: # DEBRIS
024683,003631: # PUSHLIST -- ALL
024684,003632: # MX, MY, MZ (VECTORS)
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Page 581 |
024686,003634: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024687,003635:
024688,003636: 13,2207 BANK 13
024689,003637: 26,2000 SETLOC P20S3
024690,003638: 26,2000 BANK
024691,003639:
024692,003640: 26,2416 E7,1456 EBANK= LOSCOUNT
024693,003641: 26,2416 COUNT* $$/LSR22
024694,003642: 26,2416 77624 LSR22.3 CALL
024695,003643: 26,2417 11210 GRP2PC
024696,003644: 26,2420 43014 BON SET
024697,003645: 26,2421 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024698,003646: 26,2422 55200 LSR22.4 # YES
024699,003647: 26,2423 02466 DMENFLG
024700,003648: 26,2424 45014 BOFF CALL
024701,003649: 26,2425 00747 VEHUPFLG
024702,003650: 26,2426 54460 DOLEM
024703,003651: 26,2427 27410 INTSTALL
024704,003652: 26,2430 45014 CLEAR CALL # LM PRECISION INTEGRATION
024705,003653: 26,2431 01674 VINTFLAG
024706,003654: 26,2432 26643 SETIFLGS
024707,003655: 26,2433 77624 CALL
024708,003656: 26,2434 55242 INTGRCAL
024709,003657: 26,2435 77624 CALL
024710,003658: 26,2436 11210 GRP2PC
024711,003659: 26,2437 77624 CALL
024712,003660: 26,2440 27410 INTSTALL
024713,003661: 26,2441 43014 CLEAR BOFF
024714,003662: 26,2442 01676 DIM0FLAG
024715,003663: 26,2443 02756 RENDWFLG
024716,003664: 26,2444 54450 NOTWCSM
024717,003665: 26,2445 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024718,003666: 26,2446 01476 DIM0FLAG
024719,003667: 26,2447 01475 D6OR9FLG
024720,003668: 26,2450 43014 NOTWCSM SET CLEAR
024721,003669: 26,2451 01474 VINTFLAG
024722,003670: 26,2452 01673 INTYPFLG
024723,003671: 26,2453 45014 SET CALL
024724,003672: 26,2454 01472 STATEFLG
024725,003673: 26,2455 55242 INTGRCAL
024726,003674: 26,2456 77650 GOTO
024727,003675: 26,2457 54510 MARKTEST
024728,003676: 26,2460 77624 DOLEM CALL
024729,003677: 26,2461 27410 INTSTALL
024730,003678: 26,2462 45014 SET CALL
024731,003679: 26,2463 01474 VINTFLAG
024732,003680: 26,2464 26643 SETIFLGS
024733,003681: 26,2465 77624 CALL
024734,003682: 26,2466 55242 INTGRCAL
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Page 582 |
024736,003684: 26,2467 77624 CALL
024737,003685: 26,2470 11210 GRP2PC
024738,003686: 26,2471 77624 CALL
024739,003687: 26,2472 27410 INTSTALL
024740,003688: 26,2473 43014 CLEAR BOFF
024741,003689: 26,2474 01676 DIM0FLAG
024742,003690: 26,2475 02756 RENDWFLG
024743,003691: 26,2476 54502 NOTWLEM
024744,003692: 26,2477 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024745,003693: 26,2500 01476 DIM0FLAG
024746,003694: 26,2501 01475 D6OR9FLG
024747,003695: 26,2502 43014 NOTWLEM CLEAR CLEAR
024748,003696: 26,2503 01673 INTYPFLG
024749,003697: 26,2504 01674 VINTFLAG
024750,003698: 26,2505 45014 SET CALL
024751,003699: 26,2506 01472 STATEFLG
024752,003700: 26,2507 55242 INTGRCAL
024753,003701: 26,2510 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024754,003702: 26,2511 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024755,003703: 26,2512 54514 RANGEBQ
024756,003704: 26,2513 55251 WLINIT # YES - REINITIALIZE
024757,003705: 26,2514 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024758,003706: 26,2515 04307 SURFFLAG
024759,003707: 26,2516 54524 RANGEBQ1
024760,003708: 26,2517 34755 CA ZERO
024761,003709: 26,2520 55745 TS R65CNTR
024762,003710: 26,2521 04616 TC BANKCALL
024763,003711: 26,2522 46123 CADR R65LEM
024764,003712: 26,2523 06042 TC INTPRET
024765,003713: 26,2524 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024766,003714: 26,2525 00000 0
024767,003715: 26,2526 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024768,003716: 26,2527 54532 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024769,003717: 26,2530 77714 INCR,2
024770,003718: 26,2531 00002 2
024771,003719: 26,2532 45134 SETX2 SXA,2 CALL
024772,003720: 26,2533 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024773,003721: 26,2534 11210 GRP2PC
024774,003722: 26,2535 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024775,003723: 26,2536 00001 1
024776,003724: 26,2537 01356 WHCHREAD
024777,003725: 26,2540 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024778,003726: 26,2541 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024779,003727: 26,2542 20635 28D
024780,003728: 26,2543 77634 RTB
024781,003729: 26,2544 21634 TPMODE # AND SAVE IN 20D
024782,003730: 26,2545 00025 STORE 20D
024783,003731: 26,2546 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024784,003732: 26,2547 55333 GETULC # B-VECTORS FOR RANGE
024785,003733: 26,2550 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
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Page 583 |
024787,003735: 26,2551 00707 VEHUPFLG
024788,003736: 26,2552 54553 +1
024789,003737: 26,2553 27525 STOVL BVECTOR
024790,003738: 26,2554 06524 ZEROVECS
024791,003739: 26,2555 03533 STORE BVECTOR +6 # B1
024792,003740: 26,2556 17541 STODL BVECTOR +12D # B2
024793,003741: 26,2557 00045 36D
024794,003742: 26,2560 44257 SRR* BDSU
024795,003743: 26,2561 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024796,003744: 26,2562 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024797,003745: 26,2563 77657 SLR*
024798,003746: 26,2564 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024799,003747: 26,2565 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024800,003748: 26,2566 00045 36D # RLC B-29/B-27
024801,003749: 26,2567 63501 NORM DSQ # NORMALIZE AND SQUARE
024802,003750: 26,2570 00047 X1
024803,003751: 26,2571 53605 DMP SR*
024804,003752: 26,2572 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024805,003753: 26,2573 20577 0 -2,1 # UNNORMALIZE
024806,003754: 26,2574 53657 SR* SR*
024807,003755: 26,2575 20601 0,1
024808,003756: 26,2576 57176 0,2
024809,003757: 26,2577 47057 SR* RTB
024810,003758: 26,2600 57176 0,2
024811,003759: 26,2601 21634 TPMODE
024812,003760: 26,2602 02707 STORE VARIANCE # B-40
024813,003761: 26,2603 76276 DCOMP TAD
024814,003762: 26,2604 00025 20D # B-40
024815,003763: 26,2605 72240 BMN TLOAD
024816,003764: 26,2606 54611 QOK
024817,003765: 26,2607 00025 20D # B-40
024818,003766: 26,2610 02707 STORE VARIANCE
024819,003767: 26,2611 77624 QOK CALL
024820,003768: 26,2612 55401 LGCUPDTE
024821,003769:
024822,003770: 26,2613 45131 SSP CALL
024823,003771: 26,2614 01357 WHCHREAD
024824,003772: 26,2615 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024825,003773: 26,2616 11210 GRP2PC
024826,003774: 26,2617 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024827,003775: 26,2620 55333 GETULC
024828,003776: 26,2621 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024829,003777: 26,2622 00045 36D # AND SHIFT TO B-23
024830,003778: 26,2623 57202 0 -4,2
024831,003779: 26,2624 24045 STOVL 36D # THEN STORE BACK IN 36D
024832,003780: 26,2625 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024833,003781: 26,2626 00707 VEHUPFLG
024834,003782: 26,2627 54630 +1
024835,003783: 26,2630 77761 VXSC
024836,003784: 26,2631 00045 36D # B1 = RLC (B-24/B-22)
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Page 584 |
024838,003786: 26,2632 27533 STOVL BVECTOR +6
024839,003787: 26,2633 01653 NUVLEM
024840,003788: 26,2634 53257 VSR* VAD
024841,003789: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024842,003790: 26,2636 01667 VCVLEM # EARTH B-7. MOON B-5
024843,003791: 26,2637 53715 PDVL VSR* # VL TO PD6
024844,003792: 26,2640 01601 NUVCSM
024845,003793: 26,2641 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024846,003794: 26,2642 52255 VAD VSU
024847,003795: 26,2643 01615 VCVCSM
024848,003796: 26,2644 50315 PDVL DOT # VC - VL = VLC TO PD6
024849,003797: 26,2645 00001 0
024850,003798: 26,2646 00007 6
024851,003799: 26,2647 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024852,003800: 26,2650 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024853,003801: 26,2651 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024854,003802: 26,2652 01773 RATEVAR
024855,003803: 26,2653 02707 STORE VARIANCE
024856,003804: 26,2654 54335 SLOAD SR
024857,003805: 26,2655 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024858,003806: 26,2656 20621 16D # SHIFT TO DP (B-4)
024859,003807: 26,2657 00031 STORE 24D # AND SAVE IN 24D
024860,003808: 26,2660 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024861,003809: 26,2661 02707 VARIANCE
024862,003810: 26,2662 54666 VOK # BRANCH - NO
024863,003811: 26,2663 77745 DLOAD # YES - USE MINIMUM VARIANCE
024864,003812: 26,2664 00031 24D
024865,003813: 26,2665 02707 STORE VARIANCE
024866,003814: 26,2666 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024867,003815: 26,2667 53725 PDDL SLR* # TO B-10/B-8
024868,003816: 26,2670 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024869,003817: 26,2671 56577 0 -1,2 # B-7 TO B-10/B-8
024870,003818: 26,2672 77625 DSU
024871,003819: 26,2673 77675 DMPR
024872,003820: 26,2674 00045 36D
024873,003821: 26,2675 27547 STOVL DELTAQ # B-33
024874,003822: 26,2676 00001 0 # NOW GET B0
024875,003823: 26,2677 47235 VXV VXV # (ULC X VLC) X ULC
024876,003824: 26,2700 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024877,003825: 26,2701 00707 VEHUPFLG
024878,003826: 26,2702 54703 +1
024879,003827: 26,2703 77657 VSR*
024880,003828: 26,2704 57200 0 -2,2 # SCALED B-5
024881,003829: 26,2705 27525 STOVL BVECTOR
024882,003830: 26,2706 06524 ZEROVECS
024883,003831: 26,2707 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024884,003832: 26,2710 27541 STOVL BVECTOR +12D
024885,003833: 26,2711 03525 BVECTOR
024886,003834: 26,2712 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024887,003835: 26,2713 00025 20D # SHIFT COUNT IN 20D
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Page 585 |
024889,003837: 26,2714 51575 VLOAD ABVAL
024890,003838: 26,2715 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024891,003839: 26,2716 71301 NORM DLOAD
024892,003840: 26,2717 00027 22D # SHIFT COUNT IN 22D
024893,003841: 26,2720 00027 22D # FIND WHICH SHIFT IS SMALLER
024894,003842: 26,2721 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
024895,003843: 26,2722 00025 20D
024896,003844: 26,2723 54727 VOK1
024897,003845: 26,2724 52150 LXA,1 GOTO
024898,003846: 26,2725 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024899,003847: 26,2726 54731 VOK2
024900,003848: 26,2727 77750 VOK1 LXA,1
024901,003849: 26,2730 00024 20D
024902,003850: 26,2731 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024903,003851: 26,2732 03525 BVECTOR # WITH THI SSHIFT COUNT
024904,003852: 26,2733 20201 0,1
024905,003853: 26,2734 27525 STOVL BVECTOR
024906,003854: 26,2735 03533 BVECTOR +6
024907,003855: 26,2736 77657 VSL*
024908,003856: 26,2737 20201 0,1
024909,003857: 26,2740 17533 STODL BVECTOR +6
024910,003858: 26,2741 03547 DELTAQ
024911,003859: 26,2742 77657 SL*
024912,003860: 26,2743 20201 0,1
024913,003861: 26,2744 03547 STORE DELTAQ
024914,003862: 26,2745 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024915,003863: 26,2746 00045 36D
024916,003864: 26,2747 20200 0 -1,1
024917,003865: 26,2750 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024918,003866: 26,2751 02707 VARIANCE
024919,003867: 26,2752 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024920,003868: 26,2753 21634 TPMODE
024921,003869: 26,2754 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024922,003870: 26,2755 55401 LGCUPDTE
024923,003871:
024924,003872: 26,2756 77624 CALL
024925,003873: 26,2757 11210 GRP2PC
024926,003874: 26,2760 77414 BON EXIT # ARE ANGLES TO BE DONE
024927,003875: 26,2761 04307 SURFFLAG
024928,003876: 26,2762 55176 RENDEND # NO
024929,003877: 26,2763 E7,1457 EBANK= AIG
024930,003878: 26,2763 33332 MXMYMZ CAF AIGBANK
024931,003879: 26,2764 54006 TS BBANK
024932,003880: 26,2765 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024933,003881: 26,2766 54765 TS CDUSPOT
024934,003882: 26,2767 31460 CA AMG
024935,003883: 26,2770 54767 TS CDUSPOT +2
024936,003884: 26,2771 31461 CA AOG
024937,003885: 26,2772 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024938,003886: 26,2773 06042 TC INTPRET
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Page 586 |
024940,003888: 26,2774 45175 VLOAD CALL
024941,003889: 26,2775 06522 UNITX
024942,003890: 26,2776 47666 TRG*NBSM
024943,003891: 26,2777 76505 VXM VSL1
024944,003892: 26,3000 01734 REFSMMAT
024945,003893: 26,3001 27677 STOVL MX
024946,003894: 26,3002 06520 UNITY
024947,003895: 26,3003 77624 CALL
024948,003896: 26,3004 47675 *NBSM*
024949,003897: 26,3005 76505 VXM VSL1
024950,003898: 26,3006 01734 REFSMMAT
024951,003899: 26,3007 27705 STOVL MY
024952,003900: 26,3010 06516 UNITZ
024953,003901: 26,3011 77624 CALL
024954,003902: 26,3012 47675 *NBSM*
024955,003903: 26,3013 76505 VXM VSL1
024956,003904: 26,3014 01734 REFSMMAT
024957,003905: 26,3015 37713 SHAFTBQ STCALL MZ
024958,003906: 26,3016 55361 RADARANG
024959,003907: 26,3017 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024960,003908: 26,3020 01357 WHCHREAD
024961,003909: 26,3021 00003 DEC 3 B-14
024962,003910: 26,3022 03724 ULC
024963,003911: 26,3023 72441 DOT SL1
024964,003912: 26,3024 03677 MX
024965,003913: 26,3025 24023 STOVL SINTH # 18D
024966,003914: 26,3026 03724 ULC
024967,003915: 26,3027 72441 DOT SL1
024968,003916: 26,3030 03713 MZ
024969,003917: 26,3031 34021 STCALL COSTH # 16D
024970,003918: 26,3032 26506 ARCTAN
024971,003919: 26,3033 41221 BDSU DMP
024972,003920: 26,3034 03736 RRSHAFT
024973,003921: 26,3035 15441 2PI/8
024974,003922: 26,3036 41472 SL3R PUSH
024975,003923: 26,3037 52545 DLOAD SL3
024976,003924: 26,3040 01701 X789
024977,003925: 26,3041 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024978,003926: 26,3042 56176 0,2
024979,003927: 26,3043 53605 DMP SRR*
024980,003928: 26,3044 03722 RXZ
024981,003929: 26,3045 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024982,003930: 26,3046 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
024983,003931: 26,3047 03724 ULC
024984,003932: 26,3050 76435 VXV VSL1
024985,003933: 26,3051 03705 MY
024986,003934: 26,3052 77656 UNIT
024987,003935: 26,3053 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024988,003936: 26,3054 00747 VEHUPFLG
024989,003937: 26,3055 55056 +1
![]() |
Page 587 |
024991,003939: 26,3056 27525 STOVL BVECTOR
024992,003940: 26,3057 06524 ZEROVECS
024993,003941: 26,3060 03533 STORE BVECTOR +6
024994,003942: 26,3061 17541 STODL BVECTOR +12D
024995,003943: 26,3062 03722 RXZ
024996,003944: 26,3063 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024997,003945: 26,3064 20577 0 -2,1
024998,003946: 26,3065 56176 0,2
024999,003947: 26,3066 03541 STORE BVECTOR +12D
025000,003948: 26,3067 77735 SLOAD
025001,003949: 26,3070 02011 SHAFTVAR
025002,003950: 26,3071 41215 DAD DMP
025003,003951: 26,3072 15436 IMUVAR # RAD**2 B12
025004,003952: 26,3073 03722 RXZ
025005,003953: 26,3074 41257 SRR* DMP
025006,003954: 26,3075 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025007,003955: 26,3076 03722 RXZ
025008,003956: 26,3077 53657 SR* SR*
025009,003957: 26,3100 20577 0 -2,1
025010,003958: 26,3101 57176 0,2
025011,003959: 26,3102 47057 SR* RTB
025012,003960: 26,3103 57176 0,2
025013,003961: 26,3104 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025014,003962: 26,3105 36707 STCALL VARIANCE # B-40
025015,003963: 26,3106 55401 LGCUPDTE
025016,003964:
025017,003965: 26,3107 77624 CALL
025018,003966: 26,3110 11210 GRP2PC
025019,003967: 26,3111 77624 TRUNBQ CALL
025020,003968: 26,3112 55361 RADARANG
025021,003969: 26,3113 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
025022,003970: 26,3114 01357 WHCHREAD
025023,003971: 26,3115 00004 DEC 4 B-14
025024,003972: 26,3116 03724 ULC
025025,003973: 26,3117 76435 VXV VSL1
025026,003974: 26,3120 03705 MY
025027,003975: 26,3121 76435 VXV VSL1 # (ULC X MY) X ULC
025028,003976: 26,3122 03724 ULC
025029,003977: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025030,003978: 26,3124 00747 VEHUPFLG
025031,003979: 26,3125 55126 +1
025032,003980: 26,3126 27525 STOVL BVECTOR
025033,003981: 26,3127 06524 ZEROVECS
025034,003982: 26,3130 03533 STORE BVECTOR +6
025035,003983: 26,3131 17541 STODL BVECTOR +12D
025036,003984: 26,3132 03722 RXZ
025037,003985: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025038,003986: 26,3134 20577 0 -2,1
025039,003987: 26,3135 56176 0,2
025040,003988: 26,3136 03543 STORE BVECTOR +14D
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Page 588 |
025042,003990: 26,3137 77735 SLOAD
025043,003991: 26,3140 02012 TRUNVAR
025044,003992: 26,3141 41215 DAD DMP
025045,003993: 26,3142 15436 IMUVAR
025046,003994: 26,3143 03722 RXZ
025047,003995: 26,3144 41257 SRR* DMP
025048,003996: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025049,003997: 26,3146 03722 RXZ
025050,003998: 26,3147 53657 SR* SR*
025051,003999: 26,3150 20577 0 -2,1
025052,004000: 26,3151 57176 0,2
025053,004001: 26,3152 47057 SR* RTB
025054,004002: 26,3153 57176 0,2
025055,004003: 26,3154 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025056,004004: 26,3155 16707 STODL VARIANCE
025057,004005: 26,3156 03732 SINTHETA
025058,004006: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
025059,004007: 26,3160 03734 RRTRUN
025060,004008: 26,3161 56405 DMP SL3R
025061,004009: 26,3162 15441 2PI/8
025062,004010: 26,3163 52525 PDDL SL3
025063,004011: 26,3164 01703 X789 +2
025064,004012: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025065,004013: 26,3166 56176 0,2
025066,004014: 26,3167 53605 DMP SRR*
025067,004015: 26,3170 03722 RXZ
025068,004016: 26,3171 21601 0,1
025069,004017: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025070,004018: 26,3173 55401 LGCUPDTE
025071,004019: 26,3174 77624 CALL
025072,004020: 26,3175 11210 GRP2PC
025073,004021: 26,3176 77650 RENDEND GOTO
025074,004022: 26,3177 50562 R22LEM93
025075,004023:
025076,004024: # FUNCTIONAL DESCRIPTION
025077,004025: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025078,004026: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025079,004027: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025080,004028:
025081,004029: # SUBROUTINES CALLED
025082,004030: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025083,004031: # INTEGRV GETULC INCORP2
025084,004032:
025085,004033: # OUTPUT
025086,004034: # CORRECTED CSM STATE VECTOR (PERMANENT)
025087,004035: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025088,004036: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025089,004037: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025090,004038: # UPDATED W-MATRIX
![]() |
Page 589 |
025092,004040:
025093,004041: # ERASABLE INITIALIZATION REQUIRED
025094,004042: # LM AND CSM STATE VECTORS
025095,004043: # W-MATRIX
025096,004044: # MARK TIME IN MKTIME
025097,004045: # RADAR RANGE IN RM METERS B-29
025098,004046: # RANGE RATE IN RDOTM METERS/CSEC B-7
025099,004047: # VEHUPFLG
025100,004048:
025101,004049: 26,3200 77624 LSR22.4 CALL
025102,004050: 26,3201 27410 INTSTALL
025103,004051: 26,3202 43014 SET CLEAR
025104,004052: 26,3203 01472 STATEFLG
025105,004053: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025106,004054: 26,3205 77624 CALL
025107,004055: 26,3206 55242 INTGRCAL
025108,004056: 26,3207 77624 CALL
025109,004057: 26,3210 11210 GRP2PC
025110,004058: 26,3211 45014 CLEAR CALL
025111,004059: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025112,004060: 26,3213 27410 INTSTALL
025113,004061: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025114,004062: 26,3215 03463 MARKCTR
025115,004063: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025116,004064: 26,3217 43014 CLEAR SET
025117,004065: 26,3220 01675 D6OR9FLG
025118,004066: 26,3221 01476 DIM0FLAG
025119,004067: 26,3222 43014 SET CLEAR
025120,004068: 26,3223 01474 VINTFLAG
025121,004069: 26,3224 01673 INTYPFLG
025122,004070: 26,3225 77624 CALL
025123,004071: 26,3226 55242 INTGRCAL
025124,004072: 26,3227 77650 GOTO
025125,004073: 26,3230 54514 RANGEBQ
025126,004074:
025127,004075: 26,3231 77624 INITWMX6 CALL
025128,004076: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
025129,004077: 26,3233 45014 SET CALL
025130,004078: 26,3234 01474 VINTFLAG
025131,004079: 26,3235 26643 SETIFLGS
025132,004080: 26,3236 77624 CALL
025133,004081: 26,3237 55242 INTGRCAL
025134,004082: 26,3240 77650 GOTO
025135,004083: 26,3241 54514 RANGEBQ
025136,004084:
025137,004085: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025138,004086:
025139,004087: 26,3242 71220 INTGRCAL STQ DLOAD
025140,004088: 26,3243 03675 IGRET
025141,004089: 26,3244 03755 MKTIME
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Page 590 |
025143,004091: 26,3245 34041 STCALL TDEC1
025144,004092: 26,3246 27133 INTEGRV
025145,004093: 26,3247 77650 GOTO
025146,004094: 26,3250 03675 IGRET
025147,004095:
025148,004096: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025149,004097: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025150,004098:
025151,004099: 26,3251 E5,1400 EBANK= W
025152,004100: 26,3251 77776 WLINIT EXIT
025153,004101: 26,3252 33331 CAF WBANK
025154,004102: 26,3253 54006 TS BBANK
025155,004103: 26,3254 33437 CAF WSIZE
025156,004104: 26,3255 55256 TS W.IND
025157,004105: 26,3256 34755 CAF ZERO
025158,004106:
025159,004107: 26,3257 51256 INDEX W.IND
025160,004108: 26,3260 55400 TS W
025161,004109: 26,3261 11256 CCS W.IND
025162,004110: 26,3262 03255 TC -5
025163,004111: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
025164,004112: 26,3264 54006 TS BBANK
025165,004113: 26,3265 06042 TC INTPRET
025166,004114: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
025167,004115: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025168,004116: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
025169,004117: 26,3271 02001 WRENDPOS
025170,004118: 26,3272 77650 GOTO
025171,004119: 26,3273 55276 WPOSTORE
025172,004120: 26,3274 77735 WLSRFPOS SLOAD
025173,004121: 26,3275 02007 WSURFPOS
025174,004122: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025175,004123: 26,3277 20606 5
025176,004124: 26,3300 02401 STORE W
025177,004125: 26,3301 02411 STORE W +8D
025178,004126: 26,3302 02421 STORE W +16D
025179,004127: 26,3303 67214 BON SLOAD
025180,004128: 26,3304 04307 SURFFLAG
025181,004129: 26,3305 55311 WLSRFVEL
025182,004130: 26,3306 02002 WRENDVEL
025183,004131: 26,3307 77650 GOTO
025184,004132: 26,3310 55313 WVELSTOR
025185,004133: 26,3311 77735 WLSRFVEL SLOAD
025186,004134: 26,3312 02010 WSURFVEL
025187,004135: 26,3313 02511 WVELSTOR STORE W +72D
025188,004136: 26,3314 02521 STORE W +80D
025189,004137: 26,3315 02531 STORE W +88D
025190,004138: 26,3316 77735 SLOAD
025191,004139: 26,3317 02003 WSHAFT
025192,004140: 26,3320 02621 STORE W +144D
025193,004141: 26,3321 77735 SLOAD
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Page 591 |
025195,004143: 26,3322 02004 WTRUN
025196,004144: 26,3323 02631 STORE W +152D
025197,004145: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025198,004146: 26,3325 02476 RENDWFLG
025199,004147: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025200,004148: 26,3327 00000 0
025201,004149: 26,3330 77616 RVQ
025202,004150:
025203,004151: 26,3331 E5,1400 EBANK= W
025204,004152: 26,3331 54065 WBANK BBCON WLINIT
025205,004153: 26,3332 E7,1457 EBANK= AIG
025206,004154: 26,3332 54067 AIGBANK BBCON LSR22.3
025207,004155:
025208,004156: # GETULC
025209,004157:
025210,004158: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025211,004159: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025212,004160: # MAGNITUDE IN 36D.
025213,004161:
025214,004162: 26,3333 77201 GETULC SETPD VLOAD
025215,004163: 26,3334 00001 0
025216,004164: 26,3335 01645 DELTALEM
025217,004165: 26,3336 77754 LXA,2
025218,004166: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025219,004167: 26,3340 53257 VSR* VAD
025220,004168: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025221,004169: 26,3342 01661 RCVLEM
025222,004170: 26,3343 53715 PDVL VSR*
025223,004171: 26,3344 01573 DELTACSM
025224,004172: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025225,004173: 26,3346 52255 VAD VSU
025226,004174: 26,3347 01607 RCVCSM
025227,004175: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025228,004176: 26,3351 21725 NORMUNX1
025229,004177: 26,3352 17724 STODL ULC
025230,004178: 26,3353 00045 36D
025231,004179: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025232,004180: 26,3355 20201 0,1
025233,004181: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025234,004182: 26,3357 03724 ULC
025235,004183: 26,3360 77616 RVQ
025236,004184:
025237,004185: # RADARANG
025238,004186:
025239,004187: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025240,004188: # RXZ = (SQRT (1-SINTHETA**2))RLC
025241,004189: # OUTPUT
025242,004190: # ULC IN ULC, PD0
025243,004191: # RLC IN PD36D
025244,004192: # SIN THETA IN SINTHETA AND PD6
025245,004193: # RXZ NORM IN RXZ (N IN X1)
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Page 592 |
025247,004195:
025248,004196: 26,3361 45020 RADARANG STQ CALL
025249,004197: 26,3362 03675 RDRET
025250,004198: 26,3363 55333 GETULC
025251,004199: 26,3364 50276 VCOMP DOT
025252,004200: 26,3365 03705 MY
025253,004201: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
025254,004202: 26,3367 03732 STORE SINTHETA
025255,004203: 26,3370 44316 DSQ BDSU
025256,004204: 26,3371 06514 DP1/4TH # 1-(SIN THETA)**2
025257,004205: 26,3372 41366 SQRT DMP
025258,004206: 26,3373 00045 36D
025259,004207: 26,3374 60352 SL1 NORM
025260,004208: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
025261,004209: 26,3376 03722 STORE RXZ
025262,004210: 26,3377 77650 GOTO # EXIT
025263,004211: 26,3400 03675 RDRET
025264,004212: 26,3401 45020 LGCUPDTE STQ CALL
025265,004213: 26,3402 03675 LGRET
025266,004214: 26,3403 46533 INCORP1
025267,004215: 26,3404 51575 VLOAD ABVAL
025268,004216: 26,3405 02673 DELTAX +6
025269,004217: 26,3406 53754 LXA,2 SRR*
025270,004218: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
025271,004219: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
025272,004220: 26,3411 24317 STOVL R22DISP +2
025273,004221: 26,3412 02665 DELTAX
025274,004222: 26,3413 53646 ABVAL SRR*
025275,004223: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025276,004224: 26,3415 00315 STORE R22DISP
025277,004225: 26,3416 54335 SLOAD SR
025278,004226: 26,3417 02005 RMAX
025279,004227: 26,3420 20613 10D
025280,004228: 26,3421 50025 DSU BMN
025281,004229: 26,3422 00315 R22DISP
025282,004230: 26,3423 50566 R22LEM96 # GO DISPLAY
025283,004231: 26,3424 45335 SLOAD DSU
025284,004232: 26,3425 02006 VMAX
025285,004233: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025286,004234: 26,3427 77640 BMN
025287,004235: 26,3430 50566 R22LEM96 # GO DISPLAY
025288,004236: 26,3431 77624 ASTOK CALL
025289,004237: 26,3432 46745 INCORP2
025290,004238: 26,3433 77650 GOTO
025291,004239: 26,3434 03675 LGRET
025292,004240: 26,3435 00103 03370 IMUVAR 2DEC 1 E-6 B12 # RAD**2
025293,004241:
025294,004242: 26,3437 00241 WSIZE DEC 161 B-14
025295,004243: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025296,004244:
025297,004245: 26,3442 E7,1456 EBANK= LOSCOUNT
025298,004246:
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Page 593 |
025300,004248: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025301,004249: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025302,004250:
025303,004251: # FUNCTIONAL DESCRIPTION
025304,004252:
025305,004253: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025306,004254: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025307,004255: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025308,004256: # ATTITUDE MANEUVER.
025309,004257:
025310,004258: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
025311,004259:
025312,004260: # SUBROUTINES CALLED
025313,004261:
025314,004262: # LEMCONIC R61LEM
025315,004263: # CSMCONIC RRDESSM
025316,004264: # JOBDELAY FLAGDOWN
025317,004265: # WAITLIST FLAGUP
025318,004266: # RRNB BANKCALL
025319,004267:
025320,004268: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025321,004269:
025322,004270: # OUTPUT
025323,004271:
025324,004272: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
025325,004273: # 11111 INDICATES LOCKON ACHIEVED
025326,004274: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025327,004275:
025328,004276: # ERASABLE INITIALIZATION REQUIRED
025329,004277:
025330,004278: # SEARCH FLAG MUST BE SET
025331,004279: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025332,004280:
025333,004281: # DEBRIS
025334,004282:
025335,004283: # RLMSRCH UXVECT
025336,004284: # VXRLM UYVECT
025337,004285: # LOSDESRD NSRCHPNT
025338,004286: # DATAGOOD OMEGAD
025339,004287: # MPAC PUSHLIST
025340,004288:
025341,004289: 26,3442 COUNT* $$/LRS24
025342,004290: 26,3442 34755 LRS24.1 CAF ZERO
025343,004291: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025344,004292: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025345,004293: 26,3445 00006 EXTEND
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Page 594 |
025347,004295: 26,3446 05012 WOR CHAN12
025348,004296: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025349,004297: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025350,004298: 26,3451 00006 EXTEND
025351,004299: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025352,004300:
025353,004301: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025354,004302: 26,3454 00004 INHINT
025355,004303: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025356,004304: 26,3456 E7,1456 EBANK= LOSCOUNT
025357,004305: 26,3456 03643 54067 2CADR CALLDGCH
025358,004306:
025359,004307: 26,3460 00003 RELINT
025360,004308: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025361,004309: 26,3462 74736 MASK REMODBIT
025362,004310: 26,3463 00006 EXTEND
025363,004311: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
025364,004312: 26,3465 06042 TC INTPRET
025365,004313:
025366,004314: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025367,004315: 26,3467 21574 LOADTIME
025368,004316: 26,3470 15715 1.5SECS
025369,004317: 26,3471 34041 LRS24.11 STCALL TDEC1
025370,004318: 26,3472 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025371,004319: 26,3473 77775 VLOAD
025372,004320: 26,3474 00001 RATT
025373,004321: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025374,004322: 26,3476 00007 VATT
025375,004323: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025376,004324: 26,3500 00015 TAT
025377,004325: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025378,004326: 26,3502 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025379,004327: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
025380,004328: 26,3504 00001 RATT
025381,004329: 26,3505 03676 RLMSRCH
025382,004330: 26,3506 77656 UNIT
025383,004331: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025384,004332: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025385,004333: 26,3511 47256 UNIT VXV
025386,004334: 26,3512 00001 RATT
025387,004335: 26,3513 77656 UNIT
025388,004336: 26,3514 03704 STORE VXRCM
025389,004337: 26,3515 52375 VLOAD VSU
025390,004338: 26,3516 00007 VATT
025391,004339: 26,3517 03740 SAVLEMV
025392,004340: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025393,004341: 26,3521 01734 REFSMMAT
025394,004342: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025395,004343: 26,3523 53135 SLOAD BZE # CHECK IF N=0
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Page 595 |
025397,004345: 26,3524 03737 NSRCHPNT
025398,004346: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
025399,004347: 26,3526 53025 DSU BZE # IS N=1
025400,004348: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
025401,004349: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025402,004350: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025403,004351: 26,3532 03720 UXVECT
025404,004352: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025405,004353: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025406,004354: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025407,004355: 26,3536 77761 VXSC
025408,004356: 26,3537 15705 SIN60DEG # UX = (COS 60) UXPR + (SIN 60) UYPR
025409,004357: 26,3540 27720 STOVL UXVECT
025410,004358: 26,3541 00015 UXVECTPR
025411,004359: 26,3542 53361 VXSC VAD
025412,004360: 26,3543 06522 COS60DEG
025413,004361: 26,3544 03720 UXVECT
025414,004362: 26,3545 77656 UNIT
025415,004363: 26,3546 27720 STOVL UXVECT
025416,004364: 26,3547 00015 UXVECTPR # UY = (-SIN 60) UXPR + (COS 60) UYPR
025417,004365: 26,3550 77761 VXSC
025418,004366: 26,3551 15705 SIN60DEG
025419,004367: 26,3552 27726 STOVL UYVECT
025420,004368: 26,3553 00023 UYVECTPR
025421,004369: 26,3554 52361 VXSC VSU
025422,004370: 26,3555 06522 COS60DEG
025423,004371: 26,3556 03726 UYVECT
025424,004372: 26,3557 77656 UNIT
025425,004373: 26,3560 03726 STORE UYVECT
025426,004374: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025427,004375: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025428,004376: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025429,004377: 26,3564 64256 UNIT MXV
025430,004378: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025431,004379: 26,3566 77772 VSL1
025432,004380: 26,3567 25101 CONTDESG STOVL RRTARGET
025433,004381: 26,3570 03740 SAVLEMV
025434,004382: 26,3571 01761 STORE LOSVEL
025435,004383: 26,3572 77776 EXIT
025436,004384: 26,3573 00004 INHINT
025437,004385: 26,3574 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025438,004386: 26,3575 52613 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025439,004387: # POINT IN THE PATTERN
025440,004388: 26,3576 44735 CONTDES2 CS CDESBIT
025441,004389: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025442,004390: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025443,004391: 26,3601 54110 TS RADMODES
025444,004392: 26,3602 06042 TC INTPRET
025445,004393:
025446,004394: 26,3603 77624 CALL
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Page 596 |
025448,004396: 26,3604 52404 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025449,004397:
025450,004398: 26,3605 77776 EXIT
025451,004399: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025452,004400: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025453,004401:
025454,004402: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025455,004403: # SPACECRAFT +Z AXIS
025456,004404: 26,3610 00006 OMEGCALC EXTEND
025457,004405: 26,3611 30036 DCA CDUT
025458,004406: 26,3612 53753 DXCH TANGNB
025459,004407: 26,3613 06042 TC INTPRET
025460,004408: 26,3614 77624 CALL
025461,004409: 26,3615 46041 RRNB
025462,004410: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025463,004411: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025464,004412: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025465,004413: 26,3621 77776 EXIT
025466,004414: 26,3622 05155 TC ENDOFJOB
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Page 597 |
025468,004416: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025469,004417:
025470,004418: 26,3623 47375 CALCXY VLOAD VXV
025471,004419: 26,3624 03704 VXRCM
025472,004420: 26,3625 03712 LOSDESRD
025473,004421: 26,3626 77656 UNIT
025474,004422: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025475,004423: 26,3630 03712 LOSDESRD
025476,004424: 26,3631 53435 VXV UNIT
025477,004425: 26,3632 03720 UXVECT
025478,004426: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025479,004427: 26,3634 77650 GOTO
025480,004428: 26,3635 55561 OFFCALC
025481,004429:
025482,004430: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025483,004431: 26,3637 03712 LOSDESRD
025484,004432: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025485,004433: 26,3641 52172 VSL1 GOTO
025486,004434: 26,3642 55567 CONTDESG
025487,004435:
025488,004436: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025489,004437: 26,3644 74745 MASK RNDVZBIT
025490,004438: 26,3645 00006 EXTEND
025491,004439: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
025492,004440: 26,3647 37716 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025493,004441: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025494,004442: 26,3651 E7,1675 EBANK= RLMSRCH
025495,004443: 26,3651 03654 54067 2CADR DATGDCHK
025496,004444:
025497,004445: 26,3653 05261 TC TASKOVER
025498,004446:
025499,004447: 26,3654 34750 DATGDCHK CAF BIT4
025500,004448: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025501,004449: 26,3656 02033 RAND CHAN33
025502,004450: 26,3657 00006 EXTEND
025503,004451: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
025504,004452: 26,3661 46245 CS SIX
025505,004453: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025506,004454: 26,3663 00006 EXTEND
025507,004455: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025508,004456: 26,3665 25736 INCR NSRCHPNT # NO - SET N = N+1 AN GO TO
025509,004457: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025510,004458:
025511,004459: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025512,004460: 26,3670 55733 TS DATAGOOD
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Page 598 |
025514,004462: 26,3671 00004 INHINT
025515,004463: 26,3672 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
025516,004464: 26,3673 52613 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025517,004465: 26,3674 05155 TC ENDOFJOB
025518,004466:
025519,004467: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025520,004468: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025521,004469: 26,3677 00004 INHINT # REQUIRED IN P20
025522,004470: 26,3700 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025523,004471: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025524,004472: 26,3702 05155 TC ENDOFJOB
025525,004473:
025526,004474: 26,3703 25547 ALL1S DEC 11111 B-14
025527,004475: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025528,004476: 26,3706 23,2521 COS60DEG = DPHALF # (2DEC .50)
025529,004477: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025530,004478: 26,3706 UYVECTPR EQUALS 18D
025531,004479: 26,3706 RLMUNIT EQUALS 12D
025532,004480: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025533,004481: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025534,004482: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025535,004483: # **** ONEOCT NEEDS A LOWER ORDER ****
025536,004484: # **** WORD OF ZEROES ****
025537,004485: 26,3713 01130 6SECONDS DEC 600 B-14
025538,004486: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025539,004487:
025540,004488: 26,3716 23,2523 ZERO/SP EQUALS HI6ZEROS
025541,004489:
025542,004490: 4616 BLOCK 02
025543,004491: 6000 SETLOC FFTAG5
025544,004492: 6000 BANK
025545,004493: 6025 COUNT* $$/P20
025546,004494: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025547,004495: 6026 36031 DCA VB56CADR # GOTOPOOH
025548,004496: 6027 15165 TCF SUPDXCHZ
025549,004497: 6030 E7,1471 EBANK= WHOCARES
025550,004498: 6030 03045 66107 VB56CADR 2CADR TRMTRACK
025551,004499:
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Page 599 |
025553,004501: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025554,004502: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025555,004503:
025556,004504: # FUNCTIONAL DESCRIPTION:
025557,004505:
025558,004506: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025559,004507: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025560,004508: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025561,004509: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025562,004510: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025563,004511: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025564,004512:
025565,004513: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025566,004514:
025567,004515: # SUBROUTINES CALLED:
025568,004516:
025569,004517: # REMODE RRTONLY
025570,004518: # UNIT MPACVBUF
025571,004519: # QUICTRIG AX*SR*T
025572,004520: # SPSIN SPCOS
025573,004521: # SETRRECR RROUT
025574,004522: # RRRDOT RRRANGE
025575,004523:
025576,004524: # EXIT: TO NOR29NOW, IN SERVICER.
025577,004525:
025578,004526: # OUTPUT: (ALL FOR DOWNLINK)
025579,004527:
025580,004528: # RM RDOTM (RAW)
025581,004529: # AIG AMG
025582,004530: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025583,004531: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025584,004532: # MKTIME
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Page 600 |
025586,004534:
025587,004535: # ERASABLE INITIALIZATION REQUIRED:
025588,004536:
025589,004537: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025590,004538: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025591,004539: # R(CSM) V(CSM)
025592,004540: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025593,004541:
025594,004542: # DEBRIS:
025595,004543:
025596,004544: # RADMODES (BIT 10)
025597,004545: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025598,004546: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025599,004547: # LOSCMFLG READRFLG
025600,004548:
025601,004549: # ALARMS: NONE.
025602,004550:
025603,004551: # COMPONENT JOBS AND TASKS:
025604,004552:
025605,004553: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025606,004554: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025607,004555: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025608,004556:
025609,004557: 33,2045 BANK 33
025610,004558: 33,2000 SETLOC R29/SERV
025611,004559: 33,2000 BANK
025612,004560:
025613,004561: 33,2045 COUNT* $$/r29
025614,004562:
025615,004563: 33,2045 5014 NR29&RDR EQUALS EBANK5
025616,004564:
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Page 601 |
025618,004566: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025619,004567: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025620,004568:
025621,004569: 33,2045 40110 R29 CS RADMODES
025622,004570: 33,2046 74742 MASK DESIGBIT
025623,004571: 33,2047 00006 EXTEND
025624,004572: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025625,004573:
025626,004574: 33,2051 00004 INHINT
025627,004575: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025628,004576: 33,2053 44736 CS BIT14
025629,004577: 33,2054 00006 EXTEND
025630,004578: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025631,004579: 33,2056 44740 CS LOSCMBIT
025632,004580: 33,2057 70076 MASK FLAGWRD2
025633,004581: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025634,004582: 33,2061 44753 CS OLDESBIT
025635,004583: 33,2062 70074 MASK STATE
025636,004584: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025637,004585: 33,2064 04616 TC BANKCALL
025638,004586: 33,2065 52167 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025639,004587: 33,2066 34740 CA ANTENBIT
025640,004588: 33,2067 70110 MASK RADMODES
025641,004589: 33,2070 10000 CCS A # TEST RR MODE BIT.
025642,004590: 33,2071 12104 TCF SETPRPOS # MODE 2.
025643,004591:
025644,004592: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025645,004593: 33,2073 05072 TC NOVAC
025646,004594: 33,2074 E7,1456 EBANK= LOSCOUNT
025647,004595: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN.
025648,004596:
025649,004597: 33,2076 44742 CS DESIGBIT
025650,004598: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025651,004599: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025652,004600: 33,2101 34736 CA REMODBIT
025653,004601: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025654,004602: 33,2103 12573 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025655,004603:
025656,004604: 33,2104 34753 SETPRPOS CA ONE
025657,004605: 33,2105 05203 TC WAITLIST
025658,004606: 33,2106 E7,1456 EBANK= LOSCOUNT
025659,004607: 33,2106 03604 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025660,004608:
025661,004609: 33,2110 34741 CA REPOSBIT
025662,004610: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025663,004611: 33,2112 12573 TCF NOR29NOW
025664,004612:
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Page 602 |
025666,004614: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025667,004615:
025668,004616: 33,2113 34753 R29REM0J CA ONE
025669,004617: 33,2114 05203 TC WAITLIST
025670,004618: 33,2115 E7,1456 EBANK= LOSCOUNT
025671,004619: 33,2115 02202 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025672,004620:
025673,004621: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025674,004622: 33,2120 17705 CADR RADSTALL
025675,004623:
025676,004624: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025677,004625: 33,2122 15155 TCF ENDOFJOB
025678,004626:
025679,004627: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025680,004628:
025681,004629: 25,2000 SETLOC R29S1
025682,004630: 25,2000 BANK
025683,004631:
025684,004632: 25,3604 34735 PREPOS29 CA NEGMAX # -180 DEG.
025685,004633: 25,3605 02252 TC RRTONLY # DRIVE TRUNNION CDU.
025686,004634: 25,3606 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025687,004635: 25,3607 70110 MASK RADMODES
025688,004636: 25,3610 54110 TS RADMODES
025689,004637: 25,3611 15261 TCF TASKOVER
025690,004638:
025691,004639: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025692,004640:
025693,004641: 33,2045 SETLOC R29
025694,004642: 33,2045 BANK
025695,004643:
025696,004644: 33,2123 00006 R29.LOS EXTEND
025697,004645: 33,2124 41234 DCS PIPTIME
025698,004646: 33,2125 52155 DXCH MPAC
025699,004647: 33,2126 00006 EXTEND
025700,004648: 33,2127 30025 DCA TIME2
025701,004649: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025702,004650: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025703,004651: 33,2132 30155 CA MPAC +1
025704,004652: 33,2133 00006 EXTEND
025705,004653: 33,2134 74740 MP BIT12
025706,004654: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025707,004655: 33,2136 06042 TC INTPRET
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Page 603 |
025709,004657: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025710,004658: # START IT UP WHEN THE DATA IS IN PLACE.
025711,004659: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025712,004660: 33,2140 01726 V(CSM)
025713,004661: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025714,004662: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025715,004663: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025716,004664: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025717,004665: 33,2145 03521 R
025718,004666: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025719,004667: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025720,004668: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025721,004669: 33,2151 12573 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025722,004670:
025723,004671: 33,2152 25101 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025724,004672: 33,2153 00001 0
025725,004673: 33,2154 77761 VXSC
025726,004674: 33,2155 26177 .5SECB17
025727,004675: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025728,004676: 33,2157 77414 CLEAR EXIT
025729,004677: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025730,004678:
025731,004679: 33,2161 40074 CS STATE
025732,004680: 33,2162 74753 MASK OLDESBIT
025733,004681: 33,2163 00006 EXTEND
025734,004682: 33,2164 12573 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025735,004683: 33,2165 00004 INHINT
025736,004684: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025737,004685:
025738,004686: 33,2167 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025739,004687: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025740,004688: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025741,004689: 33,2172 05203 TC WAITLIST
025742,004690: 33,2173 E7,1456 EBANK= LOSCOUNT
025743,004691: 33,2173 03357 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025744,004692:
025745,004693: 33,2175 12573 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025746,004694:
025747,004695: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025748,004696:
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Page 604 |
025750,004698: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025751,004699: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025752,004700:
025753,004701: 24,3357 BANK 24
025754,004702: 24,2000 SETLOC P20S
025755,004703: 24,2000 BANK
025756,004704:
025757,004705: 24,3357 COUNT* $$/R29
025758,004706:
025759,004707: 24,3357 35031 BEGDES29 CAF PRIO21
025760,004708: 24,3360 05072 TC NOVAC
025761,004709: 24,3361 E3,1760 EBANK= LOSVDT/4
025762,004710: 24,3361 02550 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025763,004711:
025764,004712: 24,3363 34774 R29DLOOP CAF .5SEC
025765,004713: 24,3364 05224 TC VARDELAY
025766,004714:
025767,004715: 24,3365 40110 CS RADMODES
025768,004716: 24,3366 74742 MASK DESIGBIT
025769,004717: 24,3367 10000 CCS A
025770,004718: 24,3370 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025771,004719:
025772,004720: 24,3371 40076 CS FLAGWRD2
025773,004721: 24,3372 74740 MASK LOSCMBIT
025774,004722: 24,3373 00006 EXTEND
025775,004723: 24,3374 13377 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025776,004724: 24,3375 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025777,004725: 24,3376 13357 TCF BEGDES29
025778,004726:
025779,004727: 24,3377 34753 CA ONE
025780,004728: 24,3400 13364 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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Page 605 |
025782,004730: # R29DODES: RR DESIGNATION LOOP FOR R29
025783,004731:
025784,004732: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025785,004733: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025786,004734: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025787,004735: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025788,004736: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025789,004737:
025790,004738: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025791,004739: # TASK WHEN LOCK-ON IS ACHIEVED.
025792,004740:
025793,004741: 32,2550 BANK 32
025794,004742: 32,2000 SETLOC F2DPS*32
025795,004743: 32,2000 BANK
025796,004744:
025797,004745: 32,2550 COUNT* $$/R29
025798,004746: 32,2550 E3,1760 EBANK= LOSVDT/4
025799,004747:
025800,004748: 32,2550 34753 R29DODES CA ONE
025801,004749: 32,2551 55106 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025802,004750: 32,2552 34756 CA FIVE
025803,004751:
025804,004752: 32,2553 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025805,004753: 32,2554 54002 TS Q
025806,004754: 32,2555 11106 CCS TANG
025807,004755: 32,2556 12564 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025808,004756:
025809,004757: 32,2557 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025810,004758: 32,2560 50002 INDEX Q
025811,004759: 32,2561 31761 DCA LOSVDT/4
025812,004760: 32,2562 50002 INDEX Q
025813,004761: 32,2563 21101 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025814,004762:
025815,004763: 32,2564 00006 R29DPAS1 EXTEND
025816,004764: 32,2565 50002 INDEX Q
025817,004765: 32,2566 31101 DCA LOSSM
025818,004766: 32,2567 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025819,004767: 32,2570 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025820,004768: 32,2571 11106 CCS TANG
025821,004769: 32,2572 12600 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025822,004770:
025823,004771: 32,2573 00006 EXTEND
025824,004772: 32,2574 50002 INDEX Q
025825,004773: 32,2575 31761 DCA LOSVDT/4
025826,004774: 32,2576 50002 INDEX Q
025827,004775: 32,2577 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025828,004776:
025829,004777: 32,2600 10002 R29DVEND CCS Q
025830,004778: 32,2601 12553 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025831,004779:
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Page 606 |
025833,004781: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025834,004782:
025835,004783: 32,2602 52156 DXCH MPAC +1
025836,004784: 32,2603 52155 DXCH MPAC
025837,004785: 32,2604 32776 CA R29FXLOC # = ADRES INTB15 + -34D
025838,004786: 32,2605 54120 TS FIXLOC
025839,004787: 32,2606 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025840,004788: 32,2607 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025841,004789: 32,2610 07535 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025842,004790:
025843,004791: 32,2611 11106 CCS TANG
025844,004792: 32,2612 12614 TCF +2
025845,004793: 32,2613 12630 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025846,004794: 32,2614 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025847,004795: 32,2615 00006 EXTEND
025848,004796: 32,2616 30036 DCA CDUT
025849,004797: 32,2617 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025850,004798: 32,2620 30033 CA CDUY
025851,004799: 32,2621 54765 TS CDUSPOT
025852,004800: 32,2622 30034 CA CDUZ
025853,004801: 32,2623 54767 TS CDUSPOT +2
025854,004802: 32,2624 30032 CA CDUX
025855,004803: 32,2625 54771 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025856,004804: 32,2626 04616 TC BANKCALL
025857,004805: 32,2627 47617 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025858,004806:
025859,004807: 32,2630 46250 GOTANGLS CS THREE
025860,004808: 32,2631 04616 TC BANKCALL
025861,004809: 32,2632 47677 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025862,004810:
025863,004811: 32,2633 11106 CCS TANG
025864,004812: 32,2634 12636 TCF +2
025865,004813: 32,2635 12703 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025866,004814:
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Page 607 |
025868,004816: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025869,004817: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025870,004818:
025871,004819: 32,2636 00004 INHINT
025872,004820: 32,2637 55106 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025873,004821: 32,2640 31766 CA SAVECDUT
025874,004822: 32,2641 05032 TC SPCOS
025875,004823: 32,2642 54166 TS PUSHLOC # PUSHLOC = COS T.
025876,004824: 32,2643 41766 CS SAVECDUT
025877,004825: 32,2644 05033 TC SPSIN
025878,004826: 32,2645 54163 TS MODE # MODE = -SIN T.
025879,004827: 32,2646 00006 EXTEND
025880,004828: 32,2647 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025881,004829: 32,2650 52155 DXCH MPAC
025882,004830: 32,2651 31767 CA SAVECDUT +1
025883,004831: 32,2652 05033 TC SPSIN
025884,004832: 32,2653 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025885,004833: 32,2654 00006 EXTEND
025886,004834: 32,2655 70166 MP PUSHLOC
025887,004835: 32,2656 00006 EXTEND
025888,004836: 32,2657 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025889,004837: 32,2660 20155 DAS MPAC
025890,004838: 32,2661 31767 CA SAVECDUT +1
025891,004839: 32,2662 05032 TC SPCOS
025892,004840: 32,2663 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025893,004841: 32,2664 00006 EXTEND
025894,004842: 32,2665 70166 MP PUSHLOC
025895,004843: 32,2666 00006 EXTEND
025896,004844: 32,2667 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025897,004845: 32,2670 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025898,004846: 32,2671 00006 EXTEND # -SIN T, COS S COS T).
025899,004847: 32,2672 30155 DCA MPAC
025900,004848: 32,2673 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025901,004849: 32,2674 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025902,004850: 32,2675 34736 CA BIT14
025903,004851: 32,2676 12677 NOOP
025904,004852: 32,2677 00006 EXTEND
025905,004853: 32,2700 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025906,004854: 32,2701 00003 RELINT
025907,004855: 32,2702 12552 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025908,004856:
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Page 608 |
025910,004858: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025911,004859:
025912,004860: 32,2703 31767 R29DPAS2 CA SAVECDUT +1
025913,004861: 32,2704 00006 EXTEND
025914,004862: 32,2705 70122 MP VBUF # FORM COS S ULOSNB'X.
025915,004863: 32,2706 53107 DXCH TANG
025916,004864: 32,2707 41766 CS SAVECDUT
025917,004865: 32,2710 00006 EXTEND
025918,004866: 32,2711 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025919,004867: 32,2712 21107 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025920,004868: 32,2713 40163 CS MODE # - SIN S)
025921,004869: 32,2714 00006 EXTEND
025922,004870: 32,2715 71766 MP SAVECDUT
025923,004871: 32,2716 00006 EXTEND
025924,004872: 32,2717 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025925,004873: 32,2720 52155 DXCH MPAC
025926,004874: 32,2721 30166 CA PUSHLOC
025927,004875: 32,2722 00006 EXTEND
025928,004876: 32,2723 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025929,004877: 32,2724 20155 DAS MPAC
025930,004878: 32,2725 40163 CS MODE
025931,004879: 32,2726 00006 EXTEND
025932,004880: 32,2727 71767 MP SAVECDUT +1
025933,004881: 32,2730 00006 EXTEND
025934,004882: 32,2731 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025935,004883: 32,2732 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025936,004884: 32,2733 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025937,004885: 32,2734 00006 EXTEND
025938,004886: 32,2735 72777 MP RR29GAIN
025939,004887: 32,2736 55354 TS TRUNNCMD
025940,004888: 32,2737 31106 CA TANG
025941,004889: 32,2740 00006 EXTEND
025942,004890: 32,2741 72777 MP RR29GAIN
025943,004891: 32,2742 55355 TS SHAFTCMD # STORE REFINED SHAFT COMMAND FOR RROUT
025944,004892:
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Page 609 |
025946,004894: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025947,004895: # READING DATA FROM THE RENDEZVOUS RADAR.
025948,004896:
025949,004897: 32,2743 34750 DGOOD? CAF BIT4
025950,004898: 32,2744 00006 EXTEND
025951,004899: 32,2745 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025952,004900: 32,2746 00004 INHINT # (MAINLY FOR RROUT).
025953,004901: 32,2747 00006 EXTEND
025954,004902: 32,2750 12754 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025955,004903:
025956,004904: 32,2751 04616 TC BANKCALL
025957,004905: 32,2752 52317 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025958,004906: 32,2753 12772 TCF END29DOD
025959,004907:
025960,004908: 32,2754 44742 R29LOKON CS DESIGBIT
025961,004909: 32,2755 70110 MASK RADMODES
025962,004910: 32,2756 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025963,004911: 32,2757 44752 CS BIT2
025964,004912: 32,2760 00006 EXTEND
025965,004913: 32,2761 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025966,004914: 32,2762 34743 CA READRBIT
025967,004915: 32,2763 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025968,004916: 32,2764 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025969,004917: 32,2765 44776 CS SUPER110 # -96D + 100D = 4.
025970,004918: 32,2766 64777 AD 1SEC # 0 + 100D = 100D.
025971,004919: 32,2767 05203 TC WAITLIST
025972,004920: 32,2770 E7,1456 EBANK= LOSCOUNT
025973,004921: 32,2770 03401 50067 2CADR R29READ # START READING TASK AND JOB.
025974,004922:
025975,004923: 32,2772 44740 END29DOD CS LOSCMBIT
025976,004924: 32,2773 70076 MASK FLAGWRD2
025977,004925: 32,2774 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
025978,004926: 32,2775 15155 TCF ENDOFJOB
025979,004927:
025980,004928: 32,2776 00052 R29FXLOC ADRES INTB15+ -34D
025981,004929: 32,2777 56655 RR29GAIN DEC -.53624
025982,004930: 32,3000 E3,1760 LOSVDT/4 EQUALS LOSVEL
025983,004931: 32,3000 1100 LOSSM EQUALS RRTARGET
025984,004932: 32,3000 E3,1766 SAVECDUT EQUALS MLOSV
025985,004933:
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Page 610 |
025987,004935: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
025988,004936:
025989,004937: 24,3401 BANK 24
025990,004938: 24,2000 SETLOC P20S
025991,004939: 24,2000 BANK
025992,004940:
025993,004941: 24,3401 COUNT* $$/R29
025994,004942:
025995,004943: 24,3401 E7,1456 EBANK= LOSCOUNT
025996,004944:
025997,004945: 24,3401 37717 R29READ CAF PRIO26 # CALLED BY WAITLIST.
025998,004946: 24,3402 05072 TC NOVAC
025999,004947: 24,3403 E7,1456 EBANK= LOSCOUNT
026000,004948: 24,3403 03414 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026001,004949:
026002,004950: 24,3405 35000 CA 2SECS
026003,004951: 24,3406 05224 TC VARDELAY
026004,004952:
026005,004953: 24,3407 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026006,004954: 24,3410 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026007,004955: 24,3411 10000 CCS A
026008,004956: 24,3412 13401 TCF R29READ # IT'S OK; CALL IT AGAIN.
026009,004957: 24,3413 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026010,004958:
026011,004959: 24,3414 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026012,004960: 24,3415 74741 MASK NR29FBIT
026013,004961: 24,3416 10000 CCS A # TEST "NOR29FLG".
026014,004962: 24,3417 13501 TCF ENDR29RD # R29 OVER, EXIT WITH RR STILL LOCKED ON
026015,004963: 24,3420 30110 CA RADMODES
026016,004964: 24,3421 74752 MASK AUTOMBIT
026017,004965: 24,3422 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026018,004966: 24,3423 13476 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026019,004967:
026020,004968: 24,3424 04616 TC BANKCALL
026021,004969: 24,3425 53112 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026022,004970: 24,3426 04616 TC BANKCALL
026023,004971: 24,3427 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026024,004972: 24,3430 13476 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026025,004973:
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Page 611 |
026027,004975: # R29 RADAR READING CONTINUED.
026028,004976:
026029,004977: 24,3431 53105 DXCH TIMEHOLD
026030,004978: 24,3432 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026031,004979: 24,3433 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026032,004980: 24,3434 00006 EXTEND
026033,004981: 24,3435 30036 DCA CDUT
026034,004982: 24,3436 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026035,004983: 24,3437 00006 EXTEND
026036,004984: 24,3440 30034 DCA CDUY
026037,004985: 24,3441 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026038,004986: 24,3442 30032 CA CDUX
026039,004987: 24,3443 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026040,004988:
026041,004989: 24,3444 04616 R29RANGE TC BANKCALL
026042,004990: 24,3445 53114 CADR RRRANGE # INITIATE READING OF RR RANGE.
026043,004991: 24,3446 04616 TC BANKCALL
026044,004992: 24,3447 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026045,004993: 24,3450 13467 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026046,004994:
026047,004995: 24,3451 00004 INHINT
026048,004996: 24,3452 53331 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026049,004997: 24,3453 53757 DXCH RM
026050,004998: 24,3454 52155 DXCH MPAC
026051,004999: 24,3455 53755 DXCH MKTIME
026052,005000: 24,3456 52157 DXCH MPAC +2
026053,005001: 24,3457 53753 DXCH TANGNB
026054,005002: 24,3460 52161 DXCH MPAC +4
026055,005003: 24,3461 53460 DXCH AIG
026056,005004: 24,3462 30162 CA MPAC +6
026057,005005: 24,3463 55461 TS AOG
026058,005006: 24,3464 34753 CA ONE
026059,005007: 24,3465 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
026060,005008: 24,3466 15155 TCF ENDOFJOB
026061,005009:
026062,005010: 24,3467 40101 R29RRR? CS FLAGWRD5
026063,005011: 24,3470 74742 MASK BIT10
026064,005012: 24,3471 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
026065,005013: 24,3472 13476 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
026066,005014: 24,3473 05516 TC DOWNFLAG
026067,005015: 24,3474 00120 ADRES RNGSCFLG
026068,005016: 24,3475 13444 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
026069,005017:
026070,005018: 24,3476 44736 ENDRRD29 CS BIT14 # TROUBLE MADE US COME HERE TO LEAVE THE
026071,005019: 24,3477 00006 EXTEND # RR-READING MODE. DISCREDIT DOWNTEL
026072,005020: 24,3500 03012 WAND CHAN12
026073,005021: 24,3501 34755 ENDR29RD CA ZERO
026074,005022: 24,3502 55462 TS TRKMKCNT
026075,005023: 24,3503 05516 TC DOWNFLAG
026076,005024:
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Page 612 |
026078,005026: 24,3504 00063 ADRES READRFLG
026079,005027: 24,3505 15155 TCF ENDOFJOB
026080,005028:
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Page 613 |
026082,005030: # W-MATRIX MONITOR
026083,005031:
026084,005032: 31,2007 BANK 31
026085,005033: 31,2000 SETLOC VB67
026086,005034: 31,2000 BANK
026087,005035: 31,2007 COUNT* $$/EXTVB
026088,005036:
026089,005037: 31,2007 E4,1600 EBANK= WWPOS
026090,005038:
026091,005039: 31,2007 06042 V67CALL TC INTPRET
026092,005040: 31,2010 77624 CALL
026093,005041: 31,2011 62120 V67WW
026094,005042: 31,2012 77776 EXIT
026095,005043: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026096,005044: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026097,005045: 31,2015 53607 DXCH WWBIAS +2
026098,005046: 31,2016 00006 EXTEND
026099,005047: 31,2017 31603 DCA WWVEL
026100,005048: 31,2020 53611 DXCH WWBIAS +4
026101,005049: 31,2021 00006 EXTEND
026102,005050: 31,2022 31605 DCA WWBIAS
026103,005051: 31,2023 53613 DXCH WWBIAS +6
026104,005052: 31,2024 32143 V06N99DS CAF V06N99
026105,005053: 31,2025 04616 TC BANKCALL
026106,005054: 31,2026 20334 CADR GOXDSPF
026107,005055: 31,2027 15472 TCF ENDEXT
026108,005056: 31,2030 12032 TCF V6N99PRO
026109,005057: 31,2031 12024 TCF V06N99DS
026110,005058: 31,2032 22007 V6N99PRO ZL
026111,005059: 31,2033 34756 CA FIVE
026112,005060: 31,2034 54002 N99LOOP TS Q
026113,005061: 31,2035 50002 INDEX Q
026114,005062: 31,2036 41600 CS WWPOS
026115,005063: 31,2037 50002 INDEX Q
026116,005064: 31,2040 61606 AD WWPOS +6
026117,005065: 31,2041 26001 ADS L
026118,005066: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026119,005067: 31,2043 12034 TCF N99LOOP
026120,005068: 31,2044 22000 LXCH A
026121,005069: 31,2045 00006 EXTEND
026122,005070: 31,2046 12051 BZF V06N9933
026123,005071: 31,2047 05504 TC UPFLAG
026124,005072: 31,2050 00160 ADRES V67FLAG
026125,005073:
026126,005074: 31,2051 06042 V06N9933 TC INTPRET
026127,005075: 31,2052 77414 BON EXIT
026128,005076: 31,2053 03707 V67FLAG
026129,005077: 31,2054 62056 +2
026130,005078: 31,2055 15472 TCF ENDEXT
026131,005079: 31,2056 77745 DLOAD
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Page 614 |
026133,005081: 31,2057 02201 WWPOS
026134,005082: 31,2060 72412 SL4 SL1
026135,005083: 31,2061 14001 STODL 0D
026136,005084: 31,2062 02203 WWVEL
026137,005085: 31,2063 14003 STODL 2D
026138,005086: 31,2064 02205 WWBIAS
026139,005087: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026140,005088: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026141,005089: 31,2067 00005 STORE 4D
026142,005090: 31,2070 72014 BON LXA,1
026143,005091: 31,2071 04307 SURFFLAG
026144,005092: 31,2072 62102 V67SURF
026145,005093: 31,2073 00000 0D
026146,005094: 31,2074 72130 SXA,1 LXA,1
026147,005095: 31,2075 02000 WRENDPOS
026148,005096: 31,2076 00002 2D
026149,005097: 31,2077 52130 SXA,1 GOTO
026150,005098: 31,2100 02001 WRENDVEL
026151,005099: 31,2101 62110 V67CLRF
026152,005100: 31,2102 66150 V67SURF LXA,1 SXA,1
026153,005101: 31,2103 00000 0D
026154,005102: 31,2104 02006 WSURFPOS
026155,005103: 31,2105 66150 LXA,1 SXA,1
026156,005104: 31,2106 00002 2D
026157,005105: 31,2107 02007 WSURFVEL
026158,005106: 31,2110 66150 V67CLRF LXA,1 SXA,1
026159,005107: 31,2111 00004 4D
026160,005108: 31,2112 02003 WTRUN
026161,005109: 31,2113 77730 SXA,1
026162,005110: 31,2114 02002 WSHAFT
026163,005111: 31,2115 77414 CLEAR EXIT
026164,005112: 31,2116 02676 RENDWFLG
026165,005113: 31,2117 15472 TCF ENDEXT
026166,005114: 31,2120 40020 V67WW STQ BOV
026167,005115: 31,2121 00051 S2
026168,005116: 31,2122 62123 +1
026169,005117: 31,2123 45014 CLEAR CALL
026170,005118: 31,2124 03667 V67FLAG
026171,005119: 31,2125 27410 INTSTALL
026172,005120: 31,2126 71331 SSP DLOAD
026173,005121: 31,2127 00051 S1
026174,005122: 31,2130 00006 DEC 6 B-14
026175,005123: 31,2131 06524 ZEROVECS
026176,005124: 31,2132 02201 STORE WWPOS
026177,005125: 31,2133 02203 STORE WWVEL
026178,005126: 31,2134 02205 STORE WWBIAS
026179,005127: 31,2135 77770 AXT,1
026180,005128: 31,2136 00066 DEC 54 B-14
026181,005129: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026182,005130: 31,2140 02467 W +54D,1
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Page 615 |
026184,005132: 31,2141 77650 GOTO
026185,005133: 31,2142 60002 ADDPOS
026186,005134: 31,2143 01543 V06N99 VN 0699
026187,005135:
026188,005136: 30,2000 SETLOC VB67A
026189,005137: 30,2000 BANK
026190,005138: 30,2002 COUNT* $$/EXTVB
026191,005139:
026192,005140: 30,2002 77615 ADDPOS DAD
026193,005141: 30,2003 02201 WWPOS
026194,005142: 30,2004 02201 STORE WWPOS
026195,005143: 30,2005 47573 VLOAD* VSQ
026196,005144: 30,2006 02555 W +108D,1
026197,005145: 30,2007 77615 DAD
026198,005146: 30,2010 02203 WWVEL
026199,005147: 30,2011 02203 STORE WWVEL
026200,005148: 30,2012 47573 VLOAD* VSQ
026201,005149: 30,2013 02643 W +162D,1
026202,005150: 30,2014 77615 DAD
026203,005151: 30,2015 02205 WWBIAS
026204,005152: 30,2016 02205 STORE WWBIAS
026205,005153: 30,2017 75500 TIX,1 SQRT
026206,005154: 30,2020 62137 NXPOSVEL
026207,005155: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026208,005156: 30,2022 20613 10D # NOUN SCALING (B-5)
026209,005157: 30,2023 16205 STODL WWBIAS
026210,005158: 30,2024 02203 WWVEL
026211,005159: 30,2025 77766 SQRT
026212,005160: 30,2026 16203 STODL WWVEL
026213,005161: 30,2027 02201 WWPOS
026214,005162: 30,2030 77766 SQRT
026215,005163: 30,2031 02201 STORE WWPOS
026216,005164: 30,2032 52000 BOV GOTO
026217,005165: 30,2033 60035 +2
026218,005166: 30,2034 60042 V67XXX
026219,005167: 30,2035 77745 DLOAD
026220,005168: 30,2036 06532 DPPOSMAX
026221,005169: 30,2037 02201 STORE WWPOS
026222,005170: 30,2040 02203 STORE WWVEL
026223,005171: 30,2041 02205 STORE WWBIAS
026224,005172: 30,2042 45345 V67XXX DLOAD DSU
026225,005173: 30,2043 02201 WWPOS
026226,005174: 30,2044 20060 FT99999
026227,005175: 30,2045 71240 BMN DLOAD
026228,005176: 30,2046 60051 +3
026229,005177: 30,2047 20060 FT99999
026230,005178: 30,2050 02201 STORE WWPOS
026231,005179: 30,2051 66150 LXA,1 SXA,1
026232,005180: 30,2052 00051 S2
026233,005181: 30,2053 00052 QPRET
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Page 616 |
026235,005183: 30,2054 77776 EXIT
026236,005184: 30,2055 04635 TC POSTJUMP
026237,005185: 30,2056 27421 CADR INTWAKE
026238,005186:
026239,005187: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026240,005188:
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Page 617 |
026242,005190: 25,3612 BANK 25
026243,005191: 25,2000 SETLOC RADARUPT
026244,005192: 25,2000 BANK
026245,005193: 25,3612 COUNT* $$/RRUPT
026246,005194:
026247,005195: 25,3612 E7,1456 EBANK= LOSCOUNT
026248,005196:
026249,005197: 25,3612 44747 RADLITES CS BIT5
026250,005198: 25,3613 60061 AD ITEMP1
026251,005199: 25,3614 10000 CCS A
026252,005200: 25,3615 44753 CS ONE
026253,005201: 25,3616 13646 TCF VLIGHT
026254,005202:
026255,005203: 25,3617 14570 TCF RRTRKF
026256,005204:
026257,005205: 25,3620 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026258,005206:
026259,005207: 25,3621 34747 CA HLITE
026260,005208: 25,3622 54001 TS L
026261,005209:
026262,005210: 25,3623 34747 CA LRALTBIT
026263,005211: 25,3624 70110 BOTHLITS MASK RADMODES
026264,005212: 25,3625 10000 CCS A
026265,005213: 25,3626 13640 TCF ONLITES
026266,005214:
026267,005215: 25,3627 30107 CA FLGWRD11
026268,005216: 25,3630 50065 INDEX ITEMP5
026269,005217: 25,3631 74753 MASK HFLSHBIT
026270,005218: 25,3632 10000 CCS A
026271,005219: 25,3633 14570 TCF RRTRKF
026272,005220:
026273,005221: 25,3634 00006 LITIT EXTEND
026274,005222: 25,3635 22066 QXCH ITEMP6
026275,005223: 25,3636 04602 TC TRKFLON +1
026276,005224:
026277,005225: 25,3637 00066 TC ITEMP6
026278,005226:
026279,005227: 25,3640 50065 ONLITES INDEX ITEMP5
026280,005228: 25,3641 44753 CS HFLSHBIT
026281,005229: 25,3642 70107 MASK FLGWRD11
026282,005230: 25,3643 54107 TS FLGWRD11
026283,005231:
026284,005232: 25,3644 30001 CA L
026285,005233: 25,3645 13634 TCF LITIT
026286,005234: 25,3646 54065 VLIGHT TS ITEMP5
026287,005235: 25,3647 34751 CA VLITE
026288,005236: 25,3650 54001 TS L
026289,005237: 25,3651 34744 CA BIT8
026290,005238: 25,3652 13624 TCF BOTHLITS
026291,005239:
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Page 618 |
026293,005241: 25,3653 4747 HLITE EQUALS BIT5
026294,005242: 25,3653 4751 VLITE EQUALS BIT3
026295,005243:
End of include-file P20-P25.agc. Parent file is MAIN.agc