Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
021112,000002: ## Copyright: Public domain.
021113,000003: ## Filename: P20-P25.agc
021114,000004: ## Purpose: A section of Luminary revision 116.
021115,000005: ## It is part of the source code for the Lunar Module's (LM)
021116,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
021117,000007: ## This file is intended to be a faithful transcription, except
021118,000008: ## that the code format has been changed to conform to the
021119,000009: ## requirements of the yaYUL assembler rather than the
021120,000010: ## original YUL assembler.
021121,000011: ## Reference: pp. 494-616
021122,000012: ## Assembler: yaYUL
021123,000013: ## Contact: Ron Burkey <info@sandroid.org>.
021124,000014: ## Website: www.ibiblio.org/apollo/index.html
021125,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
021126,000016: ## 2017-01-28 RSB WTIH -> WITH.
021127,000017: ## 2017-03-09 HG Transcribed
021128,000018: ## 2017-03-13 RSB Proofed comment text via 3-way diff vs
021129,000019: ## Luminary 99 and 131.
021130,000020: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
021131,000021: ## side-by-side diff of Luminary 69/99/116/131/210.
021132,000022: ## 2017-03-19 HG Fix operator CALL --> VLOAD
021133,000023: ## Fix statement CA BIT1 --> CS BIT5
021134,000024: ## Fix operand ENDRRD29 --> ENDR29RD
021135,000025:
021136,000026:
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021138,000028: # RENDEZVOUS NAVIGATION PROGRAM 20
021139,000029: # PROGRAM DESCRIPTION
021140,000030: # MOD NO - 2
021141,000031: # BY P. VOLANTE
021142,000032: # FUNCTIONAL DESCRIPTION
021143,000033:
021144,000034: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021145,000035: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021146,000036: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021147,000037: # ON THE BASIS OF THE RR TRACKING DATA.
021148,000038: # CALLING SEQUENCE -
021149,000039:
021150,000040: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021151,000041: # SUBROUTINES CALLED
021152,000042: # R02BOTH (IMU STATUS CHECK) FLAGUP
021153,000043: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021154,000044: # R23LEM (MANUAL ACQUISITION) BANKCALL
021155,000045: # LS201 (LOS DETERMINATION) TASKOVER
021156,000046: # LS202 (RANGE LIMIT TEST)
021157,000047: # R61LEM (PREFERRED TRACKING ATTITUDE)
021158,000048: # R21LEM (RR DESIGNATE) ENDOFJOB
021159,000049: # R22LEM (DATA READ) GOPERF1
021160,000050: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021161,000051: # PRIOLARM (PRIORITY DISPLAY)
021162,000052: # NORMAL EXIT MODES-
021163,000053: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
021164,000054: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021165,000055: # ALARM OR ABORT EXIT MODES-
021166,000056: # RANGE GREATER THAN 400 NM DISPLAY
021167,000057: # OUTPUT
021168,000058: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021169,000059: # ERASABLE INITIALIZATION REQUIRED
021170,000060: # FLAGS SET + RESET
021171,000061: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
021172,000062: # DEBRIS
021173,000063: # CENTRALS-A,Q,L
021174,000064: 25,2073 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021175,000065:
021176,000066: 33,2045 BANK 33
021177,000067: 24,2000 SETLOC P20S
021178,000068: 24,2000 BANK
021179,000069:
021180,000070: 24,2000 E7,1456 EBANK= LOSCOUNT
021181,000071: 24,2000 COUNT* $$/P20
021182,000072: 24,2000 24,2000 PROG22 = PROG20
021183,000073: 24,2000 05327 PROG20 TC 2PHSCHNG
021184,000074: 24,2001 00004 OCT 4
021185,000075: 24,2002 05022 OCT 05022
021186,000076: 24,2003 26000 OCT 26000 # PRIORITY 26
021187,000077: 24,2004 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
021188,000078:
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021190,000080: 24,2005 02007 TC ORBCHGO # YES
021191,000081: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021192,000082: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021193,000083: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021194,000084: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021195,000085: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
021196,000086: 24,2013 34363 CAF OCT00012
021197,000087: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021198,000088: 24,2015 20634 CADR GOPERF4
021199,000089: 24,2016 06001 TC GOTOPOOH # TERMINATE
021200,000090: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021201,000091: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021202,000092: 24,2021 44753 ORBCHG1 CS ONE
021203,000093: 24,2022 61144 AD OPTION2
021204,000094: 24,2023 00006 EXTEND
021205,000095: 24,2024 12040 BZF PROG20A
021206,000096: 24,2025 32311 CAF V06N33*
021207,000097: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021208,000098: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
021209,000099: 24,2030 06001 TC GOTOPOOH # TERMINATE
021210,000100: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021211,000101: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021212,000102: 24,2033 06042 ORBCHG2 TC INTPRET
021213,000103: 24,2034 77650 GOTO
021214,000104: 24,2035 64217 ORBCHG3
021215,000105: 32,2217 BANK 32
021216,000106: 32,2000 SETLOC P20S4
021217,000107: 32,2000 BANK
021218,000108: 32,2217 COUNT* $$/P20
021219,000109:
021220,000110: 32,2217 77624 ORBCHG3 CALL
021221,000111: 32,2220 27412 INTSTALL
021222,000112: 32,2221 77745 DLOAD
021223,000113: 32,2222 03442 TIG
021224,000114: 32,2223 03661 STORE LNCHTM
021225,000115: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021226,000116: 32,2225 43014 CLEAR CLEAR
021227,000117: 32,2226 01674 VINTFLAG # LM INTEGRATION
021228,000118: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021229,000119: 32,2230 43014 CLEAR CLEAR
021230,000120: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021231,000121: 32,2232 01675 D6OR9FLG
021232,000122: 32,2233 77624 CALL
021233,000123: 32,2234 27135 INTEGRV # PLANETARY INERTIAL ORIENTATION
021234,000124: 32,2235 77624 CALL
021235,000125: 32,2236 11226 GRP2PC
021236,000126: 32,2237 77775 VLOAD
021237,000127: 32,2240 00017 RATT1
021238,000128: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021239,000129: 32,2242 00015 TAT
021240,000130:
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021242,000132: 32,2243 34041 STCALL TDEC1
021243,000133: 32,2244 27412 INTSTALL
021244,000134: 32,2245 43014 SET CLEAR
021245,000135: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021246,000136: 32,2247 01673 INTYPFLG
021247,000137: 32,2250 43014 CLEAR BOFF
021248,000138: 32,2251 01676 DIM0FLAG
021249,000139: 32,2252 02756 RENDWFLG # W MATRIX VALID
021250,000140: 32,2253 64257 NOWMATX # NO
021251,000141: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021252,000142: 32,2255 01476 DIM0FLAG
021253,000143: 32,2256 01475 D6OR9FLG
021254,000144: 32,2257 77624 NOWMATX CALL
021255,000145: 32,2260 27135 INTEGRV # CSM INTEGRATION
021256,000146: 32,2261 77624 CALL
021257,000147: 32,2262 11226 GRP2PC
021258,000148: 32,2263 77775 VLOAD
021259,000149: 32,2264 00025 VATT1
021260,000150: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
021261,000151: 32,2266 00017 RATT1
021262,000152: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
021263,000153: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021264,000154: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021265,000155: 32,2272 24025 STOVL 20D # SAVE NSUB1
021266,000156: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021267,000157: 32,2274 53435 VXV UNIT # PLANE CHANGE
021268,000158: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021269,000159: 32,2276 27637 STOVL UCSM
021270,000160: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021271,000161: 32,2300 50256 UNIT DOT # AND RSUBC
021272,000162: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021273,000163: 32,2302 77752 SL1
021274,000164: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021275,000165: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021276,000166: 32,2305 06514 ONEB-2
021277,000167: 32,2306 77766 SQRT
021278,000168: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021279,000169: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
021280,000170: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021281,000171: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021282,000172: 32,2313 77676 VCOMP
021283,000173: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021284,000174: 32,2315 45014 CLEAR CALL
021285,000175: 32,2316 03666 RVSW
021286,000176: 32,2317 24732 TIMETHET
021287,000177: 32,2320 77676 VCOMP
021288,000178: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021289,000179: 32,2322 77745 DLOAD
021290,000180: 32,2323 00037 T
021291,000181: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
021292,000182:
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021294,000184: 32,2325 03645 NEWVEL
021295,000185: 32,2326 77646 ABVAL
021296,000186: 32,2327 24025 STOVL 20D
021297,000187: 32,2330 00001 0D
021298,000188: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021299,000189: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021300,000190: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021301,000191: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021302,000192: 32,2335 03653 NEWPOS # ORBITAL PLANE
021303,000193: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021304,000194: 32,2337 00025 20D
021305,000195: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021306,000196: 32,2341 11226 GRP2PC
021307,000197: 32,2342 77624 CALL
021308,000198: 32,2343 27412 INTSTALL
021309,000199: 32,2344 44345 DLOAD BDSU
021310,000200: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021311,000201: 32,2346 03661 LNCHTM
021312,000202: 32,2347 25517 STOVL TET
021313,000203: 32,2350 03653 NEWPOS
021314,000204: 32,2351 01535 STORE RCV
021315,000205: 32,2352 25503 STOVL RRECT
021316,000206: 32,2353 03665 NCSMVEL
021317,000207: 32,2354 35511 STCALL VRECT
021318,000208: 32,2355 27707 MINIRECT
021319,000209: 32,2356 45174 AXT,2 CALL
021320,000210: 32,2357 00002 2
021321,000211: 32,2360 26662 ATOPCSM
021322,000212: 32,2361 77624 CALL
021323,000213: 32,2362 27421 INTWAKE0
021324,000214: 32,2363 77776 EXIT
021325,000215: 32,2364 04616 TC BANKCALL
021326,000216: 32,2365 50040 CADR PROG20A
021327,000217: 24,2036 BANK 24
021328,000218: 24,2000 SETLOC P20S
021329,000219: 24,2000 BANK
021330,000220: 24,2036 COUNT* $$/P20
021331,000221:
021332,000222: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
021333,000223: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021334,000224: 24,2040 04616 PROG20A TC BANKCALL
021335,000225: 24,2041 11236 CADR R02BOTH
021336,000226: 24,2042 05504 TC UPFLAG
021337,000227: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021338,000228: 24,2044 05504 TC UPFLAG
021339,000229: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021340,000230: 24,2046 05504 TC UPFLAG
021341,000231: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021342,000232: 24,2050 05516 TC DOWNFLAG
021343,000233: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
021344,000234:
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021346,000236: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021347,000237: 24,2053 00040 ADRES ACMODFLG
021348,000238: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021349,000239: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021350,000240: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021351,000241: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021352,000242: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021353,000243: 24,2061 00041 ADRES LOSCMFLG
021354,000244: 24,2062 06011 TC CLRADMOD
021355,000245: 24,2063 05353 P20LEM1 TC PHASCHNG
021356,000246: 24,2064 04022 OCT 04022
021357,000247: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021358,000248: 24,2066 55462 TS MARKCTR
021359,000249: 24,2067 06042 TC INTPRET # LOS DETERMINATION ROUTINE
021360,000250: 24,2070 77634 RTB
021361,000251: 24,2071 21574 LOADTIME
021362,000252: 24,2072 34041 STCALL TDEC1
021363,000253: 24,2073 51255 LPS20.1
021364,000254: 24,2074 77624 CALL
021365,000255: 24,2075 53550 LPS20.2 # TEST RANGE R/UTINE
021366,000256: 24,2076 77776 EXIT
021367,000257: 24,2077 50154 INDEX MPAC
021368,000258: 24,2100 02101 TC +1
021369,000259: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021370,000260: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021371,000261: 24,2103 04616 TC BANKCALL
021372,000262: 24,2104 21563 CADR PRIOLARM
021373,000263: 24,2105 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021374,000264: 24,2106 02102 TC -4 # PROC (ILLEGAL
021375,000265: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021376,000266: 24,2110 05155 TC ENDOFJOB
021377,000267:
021378,000268:
021379,000269: 24,2111 05353 P20LEMA TC PHASCHNG
021380,000270: 24,2112 04022 OCT 04022
021381,000271: 24,2113 02670 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021382,000272: 24,2114 02117 TC P20LEMB
021383,000273: 24,2115 04616 TC BANKCALL
021384,000274: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021385,000275: 24,2117 05353 P20LEMB TC PHASCHNG
021386,000276: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021387,000277: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021388,000278: 24,2122 37717 CAF PRIO26 # RESTORE PRIORITY 26
021389,000279: 24,2123 05146 TC PRIOCHNG
021390,000280: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021391,000281: 24,2125 74747 MASK TRACKBIT
021392,000282: 24,2126 00006 EXTEND
021393,000283: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021394,000284: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021395,000285: 24,2131 00006 EXTEND
021396,000286:
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021398,000288: 24,2132 02033 RAND CHAN33
021399,000289: 24,2133 00006 EXTEND
021400,000290: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021401,000291:
021402,000292:
021403,000293: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021404,000294: 24,2136 61010 AD MODREG # MAJOR MODE IS 20
021405,000295: 24,2137 00006 EXTEND
021406,000296: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
021407,000297:
021408,000298:
021409,000299: 24,2141 67751 AD NEG2 # ALSO CHECK FOR P22
021410,000300: 24,2142 00006 EXTEND
021411,000301: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021412,000302: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
021413,000303: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021414,000304: 24,2146 21563 CADR PRIOLARM
021415,000305: 24,2147 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
021416,000306: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021417,000307: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021418,000308: 24,2152 05155 TC ENDOFJOB
021419,000309: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021420,000310: 24,2154 04616 TC BANKCALL
021421,000311: 24,2155 20624 CADR GOPERF1
021422,000312: 24,2156 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021423,000313: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021424,000314: 24,2160 02670 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021425,000315: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
021426,000316: 24,2162 03136 TC R23LEM # NO - DO MANUAL ACQUISITION
021427,000317:
021428,000318:
021429,000319: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021430,000320: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021431,000321: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021432,000322:
021433,000323:
021434,000324: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021435,000325: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021436,000326:
021437,000327:
021438,000328: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021439,000329: 24,2171 74737 MASK RCDU0BIT
021440,000330: 24,2172 00006 EXTEND
021441,000331: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021442,000332: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021443,000333: 24,2175 70076 MASK FLAGWRD2
021444,000334: 24,2176 00006 EXTEND
021445,000335: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021446,000336: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021447,000337: 24,2201 00037 ADRES SRCHOPTN
021448,000338:
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021450,000340: 24,2202 05516 TC DOWNFLAG
021451,000341: 24,2203 00040 ADRES ACMODFLG
021452,000342: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021453,000343:
021454,000344:
021455,000345: 24,2205 32304 P20LEMB4 CAF 250DEC
021456,000346: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021457,000347: 24,2207 01736 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
021458,000348: 24,2210 02170 TC P20LEMB3
021459,000349:
021460,000350:
021461,000351: 24,2211 06042 P20LEMC3 TC INTPRET
021462,000352: 24,2212 77634 RTB
021463,000353: 24,2213 21574 LOADTIME
021464,000354: 24,2214 34041 STCALL TDEC1
021465,000355: 24,2215 50312 UPPSV
021466,000356: 24,2216 77776 P20LEMC4 EXIT
021467,000357: 24,2217 05353 P20LEMC TC PHASCHNG
021468,000358: 24,2220 04022 OCT 04022
021469,000359: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021470,000360: 24,2222 74745 MASK RNDVZBIT
021471,000361: 24,2223 00006 EXTEND
021472,000362: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021473,000363: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021474,000364: 24,2226 74747 MASK TRACKBIT
021475,000365: 24,2227 00006 EXTEND
021476,000366: 24,2230 12264 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
021477,000367: 24,2231 02675 P20LEMF TC R21LEM
021478,000368:
021479,000369:
021480,000370: 24,2232 32304 P20LEMWT CAF 250DEC
021481,000371: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021482,000372: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021483,000373: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021484,000374: 24,2236 74747 MASK TRACKBIT
021485,000375: 24,2237 00006 EXTEND
021486,000376: 24,2240 15155 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
021487,000377: 24,2241 05353 P20LMWT1 TC PHASCHNG
021488,000378: 24,2242 40072 OCT 40072
021489,000379: 24,2243 05155 TC ENDOFJOB
021490,000380:
021491,000381:
021492,000382: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021493,000383: 24,2245 74745 MASK RNDVZBIT
021494,000384: 24,2246 00006 EXTEND
021495,000385: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021496,000386: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021497,000387: 24,2251 74747 MASK TRACKBIT
021498,000388: 24,2252 00006 EXTEND
021499,000389: 24,2253 12261 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
021500,000390:
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Page 501 |
021502,000392: 24,2254 37717 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
021503,000393: 24,2255 05105 TC FINDVAC
021504,000394: 24,2256 E7,1456 EBANK= LOSCOUNT
021505,000395: 24,2256 02631 50067 2CADR R22LEM42
021506,000396:
021507,000397: 24,2260 05261 TC TASKOVER
021508,000398:
021509,000399:
021510,000400: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
021511,000401: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021512,000402:
021513,000403: 24,2263 02244 TC P20LEMC1
021514,000404:
021515,000405: 24,2264 32667 P20LEMD CAF 1500DEC
021516,000406: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021517,000407: 24,2266 02270 ADRES P20LEMD1
021518,000408: 24,2267 05155 TC ENDOFJOB
021519,000409:
021520,000410:
021521,000411: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021522,000412: 24,2271 74747 MASK TRACKBIT
021523,000413: 24,2272 10000 CCS A
021524,000414: 24,2273 12277 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
021525,000415: 24,2274 05221 TC FIXDELAY # NO-WAIT 15 SECONDS
021526,000416: 24,2275 02734 DEC 1500 B-14
021527,000417: 24,2276 02270 TC P20LEMD1
021528,000418:
021529,000419:
021530,000420: 24,2277 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021531,000421: 24,2300 05105 TC FINDVAC
021532,000422: 24,2301 E7,1456 EBANK= LOSCOUNT
021533,000423: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021534,000424:
021535,000425: 24,2303 05261 TC TASKOVER
021536,000426:
021537,000427:
021538,000428: 24,2304 00372 250DEC DEC 250 B-14
021539,000429: 24,2305 00526 ALRM526 OCT 00526
021540,000430: 24,2306 00201 OCT201 OCT 00201
021541,000431: 24,2307 00514 ALRM514 OCT 514
021542,000432: 24,2310 00074 MAXTRIES DEC 60 B-14
021543,000433: 24,2311 4363 OCT00012 EQUALS BINCON
021544,000434: 24,2311 23,2513 ONEB-2 EQUALS DP1/4TH
021545,000435: 24,2311 01441 V06N33* VN 0633
021546,000436: 24,2312 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021547,000437: 24,2313 01757 LS21X # TO PRESENT TIME
021548,000438: 24,2314 27412 INTSTALL
021549,000439: 24,2315 77624 CALL
021550,000440: 24,2316 26645 SETIFLGS
021551,000441: 24,2317 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
021552,000442:
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Page 502 |
021554,000444: 24,2320 02756 RENDWFLG
021555,000445: 24,2321 50332 UPPSV1
021556,000446: 24,2322 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021557,000447: 24,2323 43014 BON SET
021558,000448: 24,2324 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021559,000449: 24,2325 50327 UPPSV5
021560,000450: 24,2326 01475 D6OR9FLG # OTHERWISE 9X9
021561,000451: 24,2327 77614 UPPSV5 BOF
021562,000452: 24,2330 00747 VEHUPFLG
021563,000453: 24,2331 50364 UPPSV3
021564,000454: 24,2332 77614 UPPSV1 SET
021565,000455: 24,2333 01474 VINTFLAG
021566,000456: 24,2334 77624 CALL
021567,000457: 24,2335 27135 INTEGRV
021568,000458: 24,2336 77624 CALL # GROUP 2 PHASE CHANGE
021569,000459: 24,2337 11226 GRP2PC # TO PROTECT INTEGRATION
021570,000460: 24,2340 77624 CALL
021571,000461: 24,2341 27412 INTSTALL
021572,000462: 24,2342 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021573,000463: 24,2343 01571 TETCSM
021574,000464: 24,2344 01674 VINTFLAG
021575,000465: 24,2345 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021576,000466: 24,2346 26645 SETIFLGS # WITHOUT W-MATRIX
021577,000467: 24,2347 34041 STCALL TDEC1
021578,000468: 24,2350 27135 INTEGRV
021579,000469: 24,2351 77214 BOFF VLOAD
021580,000470: 24,2352 04347 SURFFLAG
021581,000471: 24,2353 50216 P20LEMC4
021582,000472: 24,2354 01661 RCVLEM
021583,000473: 24,2355 77742 VSR2
021584,000474: 24,2356 26352 STOVL LMPOS
021585,000475: 24,2357 01667 VCVLEM
021586,000476: 24,2360 77742 VSR2
021587,000477: 24,2361 02360 STORE LMVEL
021588,000478: 24,2362 77650 GOTO
021589,000479: 24,2363 01757 LS21X
021590,000480:
021591,000481:
021592,000482: 24,2364 45014 UPPSV3 CLEAR CALL
021593,000483: 24,2365 01674 VINTFLAG
021594,000484: 24,2366 27135 INTEGRV
021595,000485: 24,2367 77624 CALL
021596,000486: 24,2370 11226 GRP2PC
021597,000487: 24,2371 77624 CALL
021598,000488: 24,2372 27412 INTSTALL
021599,000489: 24,2373 71214 SET DLOAD
021600,000490: 24,2374 01474 VINTFLAG
021601,000491: 24,2375 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
021602,000492: 24,2376 77650 GOTO
021603,000493: 24,2377 50345 UPPSV4
021604,000494:
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Page 503 |
021606,000496: 24,2400 E7,1456 EBANK= LOSCOUNT
021607,000497: 24,2400 COUNT* $$/P22
021608,000498:
![]() |
Page 504 |
021610,000500: # PROGRAM DESCRIPTION
021611,000501: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021612,000502: # MOD NO - 3
021613,000503: # BY P. VOLANTE
021614,000504: # FUNCTIONAL DESCRIPTION
021615,000505:
021616,000506: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021617,000507: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021618,000508: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021619,000509: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021620,000510: # CALLING SEQUENCE -
021621,000511: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021622,000512: # SUBROUTINES CALLED -
021623,000513: # BANKCALL FLAGUP
021624,000514: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021625,000515: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021626,000516: # TASKOVER FINDVAC
021627,000517: # NORMAL EXIT MODES -
021628,000518: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
021629,000519: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
021630,000520: # ALARM OR ABORT EXIT MODES -
021631,000521: # NONE
021632,000522: # OUTPUT
021633,000523: # ERASABLE INITIALIZATION REQUIRED
021634,000524: # FLAGS SET + RESET
021635,000525: # TRACKFLG,P25FLAG
021636,000526: # DEBRIS
021637,000527: # NONE
021638,000528: 24,2400 E7,1456 EBANK= LOSCOUNT
021639,000529: 24,2400 COUNT* $$/P25
021640,000530: 24,2400 05327 PROG25 TC 2PHSCHNG
021641,000531: 24,2401 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021642,000532: 24,2402 05022 OCT 05022
021643,000533: 24,2403 26000 OCT 26000 # PRIORITY 26
021644,000534:
021645,000535: 24,2404 04616 TC BANKCALL
021646,000536: 24,2405 11236 CADR R02BOTH # IMU STATUS CHECK
021647,000537: 24,2406 05504 TC UPFLAG
021648,000538: 24,2407 00031 ADRES TRACKFLG # SET TRACK FLAG
021649,000539: 24,2410 05504 TC UPFLAG
021650,000540: 24,2411 00006 ADRES P25FLAG # SET P25FLAG
021651,000541: 24,2412 05516 TC DOWNFLAG
021652,000542: 24,2413 00010 ADRES RNDVZFLG
021653,000543: 24,2414 05353 P25LEM1 TC PHASCHNG
021654,000544: 24,2415 04022 OCT 04022
021655,000545: 24,2416 34743 CAF P25FLBIT
021656,000546: 24,2417 70074 MASK STATE # IS P25FLAG SET
021657,000547: 24,2420 00006 EXTEND
021658,000548: 24,2421 15155 BZF ENDOFJOB
021659,000549: 24,2422 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021660,000550:
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Page 505 |
021662,000552: 24,2423 70075 MASK STATE +1
021663,000553: 24,2424 00006 EXTEND
021664,000554: 24,2425 12433 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
021665,000555: 24,2426 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021666,000556: 24,2427 55745 TS R65CNTR
021667,000557: 24,2430 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021668,000558: 24,2431 46123 CADR R65LEM
021669,000559: 24,2432 02414 TC P25LEM1 # THEN GO CHECK FLAGS
021670,000560: 24,2433 32444 P25LMWT1 CAF 60SCNDS
021671,000561: 24,2434 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021672,000562: 24,2435 02437 ADRES P25LEM2
021673,000563: 24,2436 05155 TC ENDOFJOB
021674,000564: 24,2437 35024 P25LEM2 CAF PRIO14
021675,000565: 24,2440 05105 TC FINDVAC
021676,000566: 24,2441 E7,1456 EBANK= LOSCOUNT
021677,000567: 24,2441 02414 50067 2CADR P25LEM1
021678,000568: 24,2443 05261 TC TASKOVER
021679,000569: 24,2444 13560 60SCNDS DEC 6000 B-14
021680,000570:
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Page 506 |
021682,000572: # DATA READ ROUTINE 22 (LEM)
021683,000573: # PROGRAM DESCRIPTION
021684,000574: # MOD NO - 2
021685,000575: # BY P VOLANTE
021686,000576: # FUNCTIONAL DESCRIPTION
021687,000577:
021688,000578: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021689,000579: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021690,000580: # CALLING SEQUENCE -
021691,000581: # TC BANKCALL
021692,000582: # CADR R22LEM
021693,000583: # SUBROUTINES CALLED -
021694,000584: # LSR22.1 GOFLASH WAITLIST
021695,000585: # LSR22.2 PRIOLARM BANKCALL
021696,000586: # LSR22.3 R61LEM
021697,000587: # NORMAL EXIT MODES-
021698,000588: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
021699,000589: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021700,000590: # R22 WILL TERMINATE SELF.
021701,000591: # ALARM OR ABORT EXIT MODES-
021702,000592: # PRIORITY ALARM
021703,000593: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021704,000594: # OUTPUT
021705,000595: # SEE OUTPUT FROM LSR22.3
021706,000596: # ERASABLE INITIALIZATION REQUIRED
021707,000597: # SEE LSR22.1,LSR22.2,LSR22.3
021708,000598: # FLAGS SET + RESET
021709,000599: # NOANGFLG
021710,000600: # DEBRIS
021711,000601: # SEE LSR22.1,LSR22.2,LSR22.3
021712,000602: 24,2445 E7,1737 EBANK= LRS22.1X
021713,000603: 24,2445 COUNT* $$/R22
021714,000604: 24,2445 05353 R22LEM TC PHASCHNG
021715,000605: 24,2446 04022 OCT 04022
021716,000606: 24,2447 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021717,000607: 24,2450 70074 MASK STATE
021718,000608: 24,2451 00006 EXTEND
021719,000609: 24,2452 15155 BZF ENDOFJOB # NO-EXIT R22 AND P20
021720,000610: 24,2453 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021721,000611: 24,2454 70075 MASK STATE +1
021722,000612: 24,2455 00006 EXTEND
021723,000613: 24,2456 12640 BZF R22WAIT # NO WAIT
021724,000614: 24,2457 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021725,000615: 24,2460 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
021726,000616: 24,2461 02012 RAND CHAN12
021727,000617: 24,2462 00006 EXTEND
021728,000618: 24,2463 12111 BZF P20LEMA # NO - RETURN TO P20
021729,000619: 24,2464 34752 CAF BIT2 # YES
021730,000620: 24,2465 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021731,000621: 24,2466 02033 RAND CHAN33
021732,000622:
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Page 507 |
021734,000624: 24,2467 00006 EXTEND
021735,000625: 24,2470 12472 BZF +2 # YES CONTINUE
021736,000626: 24,2471 02135 TC P20LEMB5 # NO - SET IT
021737,000627: 24,2472 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021738,000628: 24,2473 74737 MASK RCDU0BIT
021739,000629: 24,2474 00006 EXTEND
021740,000630: 24,2475 12631 BZF R22LEM42 # CDUS BEING ZEROED
021741,000631: 24,2476 05353 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
021742,000632: 24,2477 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
021743,000633: 24,2500 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021744,000634: 24,2501 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021745,000635: 24,2502 50154 INDEX MPAC
021746,000636: 24,2503 02504 TC +1
021747,000637: 24,2504 02525 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021748,000638: 24,2505 02217 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
021749,000639: 24,2506 32664 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021750,000640: 24,2507 04616 TC BANKCALL
021751,000641: 24,2510 21563 CADR PRIOLARM
021752,000642: 24,2511 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021753,000643: 24,2512 02515 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021754,000644: 24,2513 02506 TC -5 # ENTER(ILLEGAL OPTION)
021755,000645: 24,2514 05155 TC ENDOFJOB
021756,000646:
021757,000647:
021758,000648: 24,2515 05353 R22LEM1 TC PHASCHNG
021759,000649: 24,2516 04022 OCT 04022
021760,000650: 24,2517 32665 CAF V06N05 # DISPLAY DELTA THETA
021761,000651: 24,2520 04616 TC BANKCALL
021762,000652: 24,2521 20510 CADR PRIODSP
021763,000653: 24,2522 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021764,000654: 24,2523 02525 TC R22LEM2 # PROC (OK CONTINUE)
021765,000655: 24,2524 02217 TC P20LEMC # ENTER(RECYCLE)
021766,000656: 24,2525 05353 R22LEM2 TC PHASCHNG
021767,000657: 24,2526 04022 OCT 04022
021768,000658: 24,2527 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021769,000659: 24,2530 02545 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
021770,000660: 24,2531 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021771,000661: 24,2532 74747 MASK TRACKBIT
021772,000662: 24,2533 00006 EXTEND
021773,000663: 24,2534 12640 BZF R22WAIT # NO - WAIT
021774,000664: 24,2535 04616 TC BANKCALL # YES
021775,000665: 24,2536 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021776,000666: 24,2537 50154 INDEX MPAC
021777,000667: 24,2540 02541 TC +1
021778,000668: 24,2541 02545 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021779,000669: 24,2542 04616 TC BANKCALL
021780,000670: 24,2543 46116 CADR R61LEM
021781,000671: 24,2544 02640 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021782,000672: 24,2545 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021783,000673: 24,2546 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
021784,000674:
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Page 508 |
021786,000676: 24,2547 00006 EXTEND
021787,000677: 24,2550 12631 BZF R22LEM42 # BRANCH-YES
021788,000678: 24,2551 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021789,000679: 24,2552 74745 MASK UPDATBIT
021790,000680: 24,2553 00006 EXTEND
021791,000681: 24,2554 12631 BZF R22LEM42 # UPDATE FLAG NOT SET
021792,000682: 24,2555 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021793,000683: 24,2556 55055 TS PHSPRDT2
021794,000684:
021795,000685: 24,2557 06042 TC INTPRET
021796,000686: 24,2560 77650 GOTO
021797,000687: 24,2561 54416 LSR22.3
021798,000688: 24,2562 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021799,000689: 24,2563 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021800,000690: 24,2564 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021801,000691: 24,2565 12624 TCF R22LEM44
021802,000692: 24,2566 77776 R22LEM96 EXIT
021803,000693: 24,2567 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021804,000694: 24,2570 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021805,000695: 24,2571 05353 TC PHASCHNG
021806,000696: 24,2572 04022 OCT 04022 # TO PROTECT DISPLAY
021807,000697: 24,2573 37720 CAF PRIO27 # PROTECT DISPLAY
021808,000698: 24,2574 05072 TC NOVAC
021809,000699: 24,2575 E7,1746 EBANK= N49FLAG
021810,000700: 24,2575 02645 50067 2CADR N49DSP
021811,000701: 24,2577 06042 TC INTPRET
021812,000702: 24,2600 77735 SLOAD
021813,000703: 24,2601 03747 N49FLAG
021814,000704: 24,2602 50054 BZE BMN # LOOP TO CHECK IF FLAG
021815,000705: 24,2603 50600 -3 # SETTING CHANGED-BRANCH - NO
021816,000706: 24,2604 50612 R22LEM7 # PROCEED
021817,000707: 24,2605 77650 GOTO # DISPLAY ANSWERED BY RECYCLE-INCORPORATE
021818,000708: 24,2606 03675 LGRET # NEXT MEASUREMENT
021819,000709: 24,2607 44752 V34TON49 CS TWO
021820,000710: 24,2610 55746 TS N49FLAG
021821,000711: 24,2611 05155 TC ENDOFJOB
021822,000712: 24,2612 77776 R22LEM7 EXIT
021823,000713: 24,2613 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
021824,000714: 24,2614 64752 AD TWO
021825,000715: 24,2615 00006 EXTEND
021826,000716: 24,2616 12445 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
021827,000717: 24,2617 06042 TC INTPRET
021828,000718: 24,2620 77624 CALL
021829,000719: 24,2621 11226 GRP2PC # PHASE CHANGE AND
021830,000720: 24,2622 77650 GOTO # GO TO INCORPORATE DATA.
021831,000721: 24,2623 55431 ASTOK
021832,000722: 24,2624 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021833,000723: 24,2625 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021834,000724: 24,2626 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
021835,000725:
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021837,000727: 24,2627 34756 CA FIVE # NOT ON LUNAR SURFACE
021838,000728: 24,2630 02634 TC R22LEM45 # R65COUNTER = 5
021839,000729: 24,2631 02670 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021840,000730: 24,2632 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
021841,000731: 24,2633 34752 CA TWO # NO-SET R65COUNTER = 2
021842,000732: 24,2634 55745 R22LEM45 TS R65CNTR
021843,000733: 24,2635 04616 TC BANKCALL
021844,000734: 24,2636 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021845,000735: 24,2637 02445 TC R22LEM
021846,000736: 24,2640 32667 R22WAIT CAF 1500DEC
021847,000737: 24,2641 02233 TC P20LEMWT +1
021848,000738:
021849,000739:
021850,000740: 24,2642 04616 R22LEM46 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021851,000741: 24,2643 01735 CADR 2SECDELY
021852,000742: 24,2644 02445 TC R22LEM
021853,000743:
021854,000744: 24,2645 32666 N49DSP CAF V06N49NB
021855,000745: 24,2646 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021856,000746: 24,2647 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021857,000747: 24,2650 02607 TC V34TON49 # TERMINATE - SET N49FLAG = -2
021858,000748: 24,2651 44753 CS ONE # PROCEED - N49FLAG = -1
021859,000749: 24,2652 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021860,000750: 24,2653 05155 TC ENDOFJOB
021861,000751: 24,2654 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021862,000752: 24,2655 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021863,000753: 24,2656 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021864,000754: 24,2657 53112 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021865,000755: 24,2660 04616 TC BANKCALL # BAD DATA
021866,000756: 24,2661 17706 CADR RADSTALL # WAIT FOR READ COMPLETE
021867,000757: 24,2662 02217 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
021868,000758: 24,2663 02445 TC R22LEM # READ SUCCESSFUL-CONTINUE AT R22
021869,000759:
021870,000760:
021871,000761: 24,2664 00525 ALRM525 OCT 00525
021872,000762: 24,2665 01405 V06N05 VN 00605
021873,000763: 24,2666 01461 V06N49NB VN 00649
021874,000764: 24,2667 02734 1500DEC DEC 1500 B-14
021875,000765: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021876,000766: # RETURNS TO CALLER +1 IF P22FLAG SET
021877,000767: # TO CALLER +2 IF P22FLAG NOT SET
021878,000768:
021879,000769:
021880,000770: 24,2670 COUNT* $$/P22
021881,000771: 24,2670 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021882,000772: 24,2671 74744 MASK SURFFBIT # IS SURFFLAG SET?
021883,000773: 24,2672 10000 CCS A # BRANCH - P22FLAG SET
021884,000774: 24,2673 24002 INCR Q # NOT SET
021885,000775: 24,2674 00002 TC Q # RETURN
021886,000776:
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021888,000778: # RR DESIGNATE ROUTINE (R21LEM)
021889,000779: # PROGRAM DESCRIPTION
021890,000780: # MOD NO - 2
021891,000781: # BY P VOLANTE
021892,000782: # FUNCTIONAL DESCRIPTION
021893,000783:
021894,000784: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021895,000785: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021896,000786: # CALLING SEQUENCE -
021897,000787: # TC BANKCALL
021898,000788: # CADR R21LEM
021899,000789: # SUBROUTINES CALLED -
021900,000790: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021901,000791: # NOVAC INTPRET LPS20.1 PHASCHNG
021902,000792: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021903,000793: # TASKOVER BANKCALL RADSTALL RRDESSM
021904,000794: # NORMAL EXIT MODES
021905,000795: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021906,000796: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
021907,000797: # ALARM OR ABORT EXIT MODES-
021908,000798: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021909,000799: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021910,000800: # ACQUISITION
021911,000801: # OUTPUT
021912,000802: # SEE LPS20.1,RRDESSM
021913,000803: # ERASABLE INITIALIZATION REQUIRED
021914,000804: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
021915,000805: # FLAGS SET + RESET
021916,000806: # LOSCMFLG LOKONSW
021917,000807: # DEBRIS
021918,000808: # SEE LPS20.1,RRDESSM
021919,000809: 24,2675 E7,1456 EBANK= LOSCOUNT
021920,000810: 24,2675 COUNT* $$/R21
021921,000811: 24,2675 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021922,000812: 24,2676 00006 EXTEND
021923,000813: 24,2677 03012 WAND CHAN12
021924,000814: 24,2700 02670 TC LUNSFCHK
021925,000815: 24,2701 02706 TC R21LEM5
021926,000816: 24,2702 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021927,000817: 24,2703 55106 TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
021928,000818: 24,2704 55107 TS TANG +1
021929,000819: 24,2705 02716 TC R21LEM6
021930,000820: 24,2706 34740 R21LEM5 CAF BIT12
021931,000821: 24,2707 70110 MASK RADMODES
021932,000822: 24,2710 10000 CCS A
021933,000823: 24,2711 02726 TC R21LEM10
021934,000824: 24,2712 34735 CAF BIT15
021935,000825: 24,2713 55106 TS TANG
021936,000826: 24,2714 44736 CS HALF
021937,000827: 24,2715 55107 TS TANG +1
021938,000828:
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021940,000830: 24,2716 05516 R21LEM6 TC DOWNFLAG
021941,000831: 24,2717 00012 ADRES LOKONSW
021942,000832: 24,2720 04616 TC BANKCALL
021943,000833: 24,2721 52506 CADR RRDESNB
021944,000834: 24,2722 02723 TC +1
021945,000835: 24,2723 04616 TC BANKCALL
021946,000836: 24,2724 17706 CADR RADSTALL
021947,000837: 24,2725 02761 TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
021948,000838: 24,2726 05504 R21LEM10 TC UPFLAG
021949,000839: 24,2727 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021950,000840: 24,2730 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021951,000841: 24,2731 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021952,000842: 24,2732 36250 R21LEM2 CAF THREE
021953,000843: 24,2733 55456 TS LOSCOUNT
021954,000844: 24,2734 06042 R21LEM1 TC INTPRET
021955,000845: 24,2735 43234 RTB DAD
021956,000846: 24,2736 21574 LOADTIME
021957,000847: 24,2737 11121 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021958,000848: 24,2740 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021959,000849: 24,2741 51255 LPS20.1
021960,000850: 24,2742 77776 EXIT
021961,000851: 24,2743 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
021962,000852: 24,2744 00012 ADRES LOKONSW
021963,000853: 24,2745 05516 TC DOWNFLAG
021964,000854: 24,2746 00126 ADRES NORRMON
021965,000855: 24,2747 06042 TC INTPRET
021966,000856: 24,2750 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021967,000857: 24,2751 52404 RRDESSM # DESIGNATE ROUTINE
021968,000858: 24,2752 77776 EXIT
021969,000859: 24,2753 03002 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021970,000860: # ON LUNAR SURFACE
021971,000861: 24,2754 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021972,000862: 24,2755 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021973,000863: 24,2756 17706 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021974,000864: 24,2757 02761 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
021975,000865: 24,2760 02770 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021976,000866: 24,2761 33000 R21-503 CAF ALRM503 # ISSUE ALARM 503
021977,000867: 24,2762 04616 TC BANKCALL
021978,000868: 24,2763 21563 CADR PRIOLARM
021979,000869: 24,2764 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021980,000870: 24,2765 02775 TC R21SRCH # PROC
021981,000871: 24,2766 02211 TC P20LEMC3
021982,000872: 24,2767 05155 TC ENDOFJOB
021983,000873: 24,2770 05516 R21END TC DOWNFLAG
021984,000874: 24,2771 00041 ADRES LOSCMFLG # RESET LOSCMFLG
021985,000875: 24,2772 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021986,000876: 24,2773 02232 TC P20LEMWT # YES - BYPASS V 50 N 72 DISPLAY
021987,000877: 24,2774 03122 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021988,000878: 24,2775 05353 R21SRCH TC PHASCHNG
021989,000879: 24,2776 04022 OCT 04022
021990,000880:
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021992,000882: 24,2777 03207 TC R24LEM # SEARCH ROUTINE
021993,000883: 24,3000 00503 ALRM503 OCT 00503
021994,000884: 24,3001 00527 ALRM527 OCT 527
021995,000885:
021996,000886:
021997,000887: 24,3002 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
021998,000888: 24,3003 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
021999,000889: 24,3004 05504 TC UPFLAG
022000,000890: 24,3005 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
022001,000891: 24,3006 05516 TC DOWNFLAG # RESET LOS BEING
022002,000892: 24,3007 00041 ADRES LOSCMFLG # COMPUTED FLAG
022003,000893: 24,3010 06042 TC INTPRET
022004,000894: 24,3011 43234 R21LEM12 RTB DAD
022005,000895: 24,3012 21574 LOADTIME
022006,000896: 24,3013 11117 TENSEC # TIME T = T + 10 SECS.
022007,000897: 24,3014 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022008,000898: 24,3015 34041 STCALL TDEC1
022009,000899: 24,3016 51255 LPS20.1 # COMPUTE LOS AT TIME T
022010,000900: 24,3017 77624 CALL
022011,000901: 24,3020 52404 RRDESSM
022012,000902: 24,3021 77776 EXIT
022013,000903: 24,3022 03034 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022014,000904: 24,3023 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022015,000905: 24,3024 06032 TC KILLTASK
022016,000906: 24,3025 52604 CADR BEGDES
022017,000907: 24,3026 06042 TC INTPRET
022018,000908: 24,3027 43014 BOF CLRGO
022019,000909: 24,3030 00345 FSPASFLG # FIRST PASS THRU REPOSITION
022020,000910: 24,3031 51044 R21LEMB # NO-GO TO CONTINUOUS DESIGNATE
022021,000911: 24,3032 00225 FSPASFLG # YES-RESET FIRST PASS FLAG
022022,000912: 24,3033 51041 R21LEM50
022023,000913: 24,3034 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022024,000914: 24,3035 03037 TC R21LEM7 # NO-ADD 10 SECS. RECOMPUTE LOS
022025,000915: 24,3036 03106 TC R21LEM11 # YES-PUT OUT ALARM 530
022026,000916: 24,3037 55423 R21LEM7 TS REPOSCNT
022027,000917: 24,3040 06042 TC INTPRET
022028,000918: 24,3041 52145 R21LEM50 DLOAD GOTO
022029,000919: 24,3042 03425 REPOSTM
022030,000920: 24,3043 51013 R21LEM12 +2
022031,000921: 24,3044 77745 R21LEMB DLOAD
022032,000922: 24,3045 03425 REPOSTM
022033,000923: 24,3046 34041 STCALL TDEC1
022034,000924: 24,3047 50312 UPPSV
022035,000925: 24,3050 77776 EXIT
022036,000926: 24,3051 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
022037,000927: 24,3052 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022038,000928: 24,3053 05516 TC DOWNFLAG
022039,000929: 24,3054 00012 ADRES LOKONSW
022040,000930: 24,3055 05504 TC UPFLAG
022041,000931: 24,3056 00126 ADRES NORRMON
022042,000932:
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022044,000934: 24,3057 04616 TC BANKCALL
022045,000935: 24,3060 52506 CADR RRDESNB
022046,000936: 24,3061 03062 TC +1
022047,000937: 24,3062 06042 TC INTPRET
022048,000938: 24,3063 44234 RTB BDSU
022049,000939: 24,3064 21574 LOADTIME # COMPUTE DELTA TIME
022050,000940: 24,3065 03425 REPOSTM # FOR LONGCALL
022051,000941: 24,3066 03427 STORE DELTATM
022052,000942: 24,3067 77776 EXIT
022053,000943: 24,3070 00006 EXTEND
022054,000944: 24,3071 31427 DCA DELTATM
022055,000945: 24,3072 05277 TC LONGCALL
022056,000946: 24,3073 E7,1456 EBANK= LOSCOUNT
022057,000947: 24,3073 03076 50067 2CADR R21LEM9
022058,000948: 24,3075 05155 TC ENDOFJOB
022059,000949: 24,3076 06032 R21LEM9 TC KILLTASK
022060,000950: 24,3077 52613 CADR STDESIG
022061,000951: 24,3100 06011 TC CLRADMOD
022062,000952: 24,3101 37717 CAF PRIO26
022063,000953: 24,3102 05105 TC FINDVAC
022064,000954: 24,3103 E7,1456 EBANK= LOSCOUNT
022065,000955: 24,3103 02726 50067 2CADR R21LEM10
022066,000956: 24,3105 05261 TC TASKOVER
022067,000957: 24,3106 33115 R21LEM11 CAF ALRM530 # ALARM 530-LOS NOT IN COVERAGE
022068,000958: 24,3107 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022069,000959: 24,3110 21563 CADR PRIOLARM # 600 SECS.
022070,000960: 24,3111 06025 TC GOTOV56
022071,000961: 24,3112 06025 TC GOTOV56
022072,000962: 24,3113 06025 TC GOTOV56
022073,000963: 24,3114 05155 TC ENDOFJOB
022074,000964: 24,3115 00530 ALRM530 OCT 00530
022075,000965: 24,3116 00000 01750 TENSEC 2DEC 1000 B-28
022076,000966: 24,3120 00000 00062 HALFSEC 2DEC 50 B-28
022077,000967: 24,3122 05353 R21DISP TC PHASCHNG
022078,000968: 24,3123 04022 OCT 04022
022079,000969: 24,3124 33135 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022080,000970: 24,3125 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022081,000971: 24,3126 20711 CADR GOPERF2R
022082,000972: 24,3127 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
022083,000973: 24,3130 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
022084,000974: 24,3131 03124 TC -5 # ENTER ILLEGAL
022085,000975: 24,3132 34745 CAF BIT7
022086,000976: 24,3133 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022087,000977: 24,3134 05155 TC ENDOFJOB
022088,000978:
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Page 514 |
022090,000980: 24,3135 01510 V06N72PV VN 00672
022091,000981:
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Page 515 |
022093,000983: # MANUAL ACQUISITION ROUTINE R23LEM
022094,000984: # PROGRAM DESCRIPTION
022095,000985: # MOD NO - 2
022096,000986: # BY P VOLANTE
022097,000987: # FUNCTIONAL DESCRIPTION
022098,000988:
022099,000989: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022100,000990: # CALLING SEQUENCE -
022101,000991: # TC R23LEM
022102,000992: # SUBROUTINES CALLED
022103,000993: # BANKCALL R61LEM
022104,000994: # SETMINDB GOPERF1
022105,000995: # NORMAL EXIT MODES -
022106,000996: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022107,000997: # ,SELECTION OF PROC WILL CONTINUE R23
022108,000998: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
022109,000999: # ALARM OR ABORT EXIT MODES -
022110,001000: # SEE NORMAL EXIT MODES ABOVE
022111,001001: # OUTPUT
022112,001002: # N.A.
022113,001003: # ERASABLE INITIALIZATION REQUIRED-
022114,001004: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022115,001005: 24,3136 1142 EBANK= GENRET
022116,001006: 24,3136 COUNT* $$/R23
022117,001007: 24,3136 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022118,001008: 24,3137 00126 ADRES NORRMON
022119,001009: 24,3140 00004 INHINT
022120,001010: 24,3141 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022121,001011: 24,3142 40141 CADR SETMINDB
022122,001012: 24,3143 00003 RELINT
022123,001013: 24,3144 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022124,001014: 24,3145 00006 EXTEND
022125,001015: 24,3146 05012 WOR CHAN12
022126,001016: 24,3147 33206 CAF OCT205
022127,001017: 24,3150 04616 TC BANKCALL
022128,001018: 24,3151 20624 CADR GOPERF1
022129,001019: 24,3152 03177 TC R23LEM2 # TERMINATE
022130,001020: 24,3153 03155 TC R23LEM11 # PROCEDE
022131,001021: 24,3154 03202 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
022132,001022: 24,3155 00004 R23LEM11 INHINT
022133,001023: 24,3156 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022134,001024: 24,3157 00035 ADRES CDUT
022135,001025: 24,3160 03167 TC OUTOFLIM # NOT WITHIN LIMITS
022136,001026: 24,3161 04674 TC IBNKCALL # RESTORE DEADBAND TO
022137,001027: 24,3162 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022138,001028: 24,3163 00003 RELINT
022139,001029: 24,3164 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022140,001030: 24,3165 00126 ADRES NORRMON
022141,001031: 24,3166 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022142,001032: 24,3167 00003 OUTOFLIM RELINT
022143,001033:
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022145,001035: 24,3170 33205 CAF OCT501PV
022146,001036: 24,3171 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022147,001037: 24,3172 21563 CADR PRIOLARM # LIMITS
022148,001038: 24,3173 03177 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022149,001039: 24,3174 03170 TC OUTOFLIM +1 # PROCEED ILLEGAL
022150,001040: 24,3175 03202 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
022151,001041: 24,3176 05155 TC ENDOFJOB
022152,001042: 24,3177 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022153,001043: 24,3200 00126 ADRES NORRMON
022154,001044: 24,3201 06025 TC GOTOV56 # AND EXIT VIA V56
022155,001045: 24,3202 04616 R23LEM3 TC BANKCALL
022156,001046: 24,3203 46116 CADR R61LEM
022157,001047: 24,3204 03144 TC R23LEM1
022158,001048:
022159,001049:
022160,001050: 24,3205 00501 OCT501PV OCT 501
022161,001051: 24,3206 00205 OCT205 OCT 205
022162,001052:
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022164,001054: # SEARCH ROUTINE R24LEM
022165,001055: # PROGRAM DESCRIPTION
022166,001056: # MOD NO - 2
022167,001057: # BY P. VOLANTE
022168,001058: # FUNCTIONAL DESCRIPTION
022169,001059:
022170,001060: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022171,001061: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022172,001062: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022173,001063: # CALLING SEQUENCE
022174,001064: # CAF PRIONN
022175,001065: # TC FINDVAC
022176,001066: # EBANK= DATAGOOD
022177,001067: # 2CADR R24LEM
022178,001068: # SUBROUTINES CALLED
022179,001069: # FLAGUP FLAGDOWN BANKCALL
022180,001070: # R61LEM GOFLASHR FINDVAC
022181,001071: # ENDOFJOB NOVAC LSR24.1
022182,001072: # NORMAL EXIT MODES-
022183,001073: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
022184,001074: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022185,001075: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022186,001076: # ALARM OR ABORT EXIT MODES-
022187,001077: # SEE NORMAL EXIT MODES ABOVE
022188,001078: # OUTPUT -
022189,001079: # SEE OUTPUT FROM LSR24.1 + R61LEM
022190,001080: # ERASABLE INITIALIZATION REQUIRED
022191,001081: # SEE INPUT FOR LSR24.1
022192,001082: # FLAGS SET + RESET
022193,001083: # SRCHOPT,ACMODFLG
022194,001084: 24,3207 E7,1733 EBANK= DATAGOOD
022195,001085: 24,3207 COUNT* $$/R24
022196,001086: 24,3207 05504 R24LEM TC UPFLAG
022197,001087: 24,3210 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022198,001088: 24,3211 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022199,001089: 24,3212 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022200,001090: 24,3213 34755 R24LEM1 CAF ZERO
022201,001091: 24,3214 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022202,001092: 24,3215 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022203,001093: 24,3216 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022204,001094: 24,3217 05353 R24LEM2 TC PHASCHNG
022205,001095: 24,3220 04022 OCT 04022
022206,001096: 24,3221 33254 CAF V16N80
022207,001097: 24,3222 04616 TC BANKCALL
022208,001098: 24,3223 20505 CADR PRIODSPR
022209,001099: 24,3224 06025 TC GOTOV56
022210,001100: 24,3225 03231 TC R24END # PROCEED EXIT R24 TO P20LEM1
022211,001101:
022212,001102:
022213,001103: 24,3226 03235 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
022214,001104:
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Page 518 |
022216,001106: 24,3227 04616 TC BANKCALL
022217,001107: 24,3230 55442 CADR LRS24.1
022218,001108: 24,3231 06032 R24END TC KILLTASK
022219,001109: 24,3232 55643 CADR CALLDGCH
022220,001110: 24,3233 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022221,001111: 24,3234 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022222,001112:
022223,001113: 6011 BLOCK 3
022224,001114: 6000 SETLOC FFTAG6
022225,001115: 6000 BANK
022226,001116: 6011 COUNT* $$/R24
022227,001117:
022228,001118: 6011 46021 CLRADMOD CS BIT10+15
022229,001119: 6012 00004 INHINT
022230,001120: 6013 70110 MASK RADMODES
022231,001121: 6014 54110 TS RADMODES
022232,001122: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022233,001123: 6016 00006 EXTEND
022234,001124: 6017 03012 WAND CHAN12 # USER WILL RELINT
022235,001125:
022236,001126: 6020 00002 TC Q
022237,001127:
022238,001128:
022239,001129: 6021 41000 BIT10+15 OCT 41000
022240,001130: 24,3235 BANK 24
022241,001131: 24,2000 SETLOC P20S
022242,001132: 24,2000 BANK
022243,001133: 24,3235 COUNT* $$/R24
022244,001134:
022245,001135: 24,3235 05353 R24LEM3 TC PHASCHNG
022246,001136: 24,3236 04022 OCT 04022
022247,001137: 24,3237 06032 TC KILLTASK
022248,001138: 24,3240 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022249,001139: 24,3241 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
022250,001140: 24,3242 34774 CAF .5SEC
022251,001141: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022252,001142: 24,3244 01736 CADR DELAYJOB
022253,001143: 24,3245 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022254,001144: 24,3246 03251 TC R24LEM4 # YES-DONT DO ATTITUDE MANEUVER
022255,001145: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022256,001146: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER
022257,001147: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022258,001148: 24,3252 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022259,001149: # RRDESSM WILL RETURN TO CALLER
022260,001150: 24,3253 03217 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022261,001151:
022262,001152:
022263,001153: 24,3254 04120 V16N80 VN 01680
022264,001154:
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Page 519 |
022266,001156: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022267,001157: # PROGRAM DESCRIPTION
022268,001158: # MOD NO : 3 DATE: 4-11-67
022269,001159: # MOD BY : P VOLANTE SDC
022270,001160:
022271,001161:
022272,001162: # FUNCTIONAL DESCRIPTION-
022273,001163: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022274,001164: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022275,001165: # ATTITUDE.
022276,001166: # CALLING SEQUENCE-
022277,001167: # TC BANKCALL
022278,001168: # CADR R61LEM
022279,001169: # SUBROUTINES CALLED
022280,001170: # LPS20.1 VECPOINT
022281,001171: # KALCMAN3
022282,001172:
022283,001173:
022284,001174: # NORMAL EXIT MODES-
022285,001175: # NORMAL RETURN IS TO CALLER + 1
022286,001176: # ALARM OR ABORT EXIT MODES-
022287,001177: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022288,001178: # RENDEZVOUS FLAG ARE NOT SET.
022289,001179: # OUTPUT -
022290,001180: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022291,001181: # ERASABLE INITIALIZATION REQUIRED
022292,001182: # GENRET USED TO SAVE Q FOR RETURN
022293,001183: # FLAGS SET + RESET
022294,001184: # 3AXISFLG
022295,001185: # DEBRIS
022296,001186: # SEE SUBROUTINES
022297,001187: 23,2000 SETLOC R61
022298,001188: 23,2000 BANK
022299,001189: 23,2116 E7,1456 EBANK= LOSCOUNT
022300,001190: 23,2116 COUNT* $$/R61
022301,001191: 23,2116 04645 R61LEM TC MAKECADR
022302,001192: 23,2117 55142 TS GENRET
022303,001193: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022304,001194: 23,2121 00024 ADRES R61FLAG
022305,001195: 23,2122 02152 TC R61C+L02
022306,001196: 23,2123 04645 R65LEM TC MAKECADR
022307,001197: 23,2124 55142 TS GENRET
022308,001198: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022309,001199: 23,2126 00024 ADRES R61FLAG
022310,001200: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
022311,001201: 23,2130 00006 EXTEND # GOOD NOT PRESENT
022312,001202: 23,2131 02033 RAND CHAN33
022313,001203: 23,2132 10000 CCS A
022314,001204: 23,2133 12152 TCF R61C+L02 # NO DATA GOOD
022315,001205: 23,2134 05504 TC UPFLAG
022316,001206:
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Page 520 |
022318,001208: 23,2135 00063 ADRES R04FLAG # PREVENT 521 ALM
022319,001209: 23,2136 04616 TC BANKCALL # READ RR RANGE AND RDOT
022320,001210: 23,2137 53112 CADR RRRDOT # EVERY R65 PASS (3 TIMES
022321,001211: 23,2140 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
022322,001212: 23,2141 17706 CADR RADSTALL # DURING ANY MARK PROCESSING,
022323,001213: 23,2142 12143 NOOP
022324,001214: 23,2143 04616 TC BANKCALL
022325,001215: 23,2144 53114 CADR RRRANGE
022326,001216: 23,2145 04616 TC BANKCALL
022327,001217: 23,2146 17706 CADR RADSTALL
022328,001218: 23,2147 12150 NOOP
022329,001219: 23,2150 05516 TC DOWNFLAG
022330,001220: 23,2151 00063 ADRES R04FLAG
022331,001221: 23,2152 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
022332,001222: 23,2153 70075 MASK STATE +1
022333,001223: 23,2154 00006 EXTEND
022334,001224: 23,2155 12314 BZF R65WAIT # NOT SET
022335,001225: 23,2156 06042 R61C+L03 TC INTPRET
022336,001226: 23,2157 77775 VLOAD
022337,001227: 23,2160 06516 HIUNITZ
022338,001228: 23,2161 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022339,001229: 23,2162 43234 R61LEM1 RTB DAD
022340,001230: 23,2163 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022341,001231: 23,2164 15712 3SECONDS # SIX SECOND PERIOD.
022342,001232: 23,2165 34041 STCALL TDEC1
022343,001233: 23,2166 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022344,001234: 23,2167 77775 VLOAD
022345,001235: 23,2170 01101 RRTARGET
022346,001236: 23,2171 03773 STORE POINTVSM
022347,001237: 23,2172 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022348,001238: 23,2173 46322 READCDUD
022349,001239: 23,2174 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022350,001240: 23,2175 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
022351,001241: 23,2176 77776 EXIT
022352,001242: 23,2177 05353 TC PHASCHNG
022353,001243: 23,2200 04022 OCT 04022
022354,001244: 23,2201 34747 CAF TRACKBIT # IS TRACK FLAG SET
022355,001245: 23,2202 70075 MASK FLAGWRD1
022356,001246: 23,2203 00006 EXTEND
022357,001247: 23,2204 12314 BZF R65WAIT
022358,001248: 23,2205 04616 TC BANKCALL
022359,001249: 23,2206 54261 CADR G+N,AUTO # CHECK FOR AUTO MODE
022360,001250: 23,2207 10000 CCS A
022361,001251: 23,2210 02302 TC R61C+L04 # NOT IN AUTO
022362,001252: 23,2211 06042 TC INTPRET
022363,001253: 23,2212 45175 VLOAD CALL
022364,001254: 23,2213 01101 RRTARGET
022365,001255: 23,2214 47650 CDU*SMNB
022366,001256: 23,2215 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022367,001257: 23,2216 00162 MPAC +5
022368,001258:
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Page 521 |
022370,001260: 23,2217 06320 COS15DEG
022371,001261: 23,2220 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022372,001262: 23,2221 46236 R61C+L05 # PHI GRE 10DEG
022373,001263: 23,2222 E6,1635 EBANK= CDUXD
022374,001264: 23,2222 35015 CAF EBANK6
022375,001265: 23,2223 54003 TS EBANK
022376,001266: 23,2224 00004 INHINT
022377,001267: 23,2225 00006 EXTEND
022378,001268: 23,2226 30322 DCA CPHI
022379,001269: 23,2227 53636 DXCH CDUXD
022380,001270: 23,2230 30323 CA CPSI
022381,001271: 23,2231 55637 TS CDUZD
022382,001272: 23,2232 00003 RELINT
022383,001273: 23,2233 E7,1456 EBANK= LOSCOUNT
022384,001274: 23,2233 35016 CAF EBANK7
022385,001275: 23,2234 54003 TS EBANK
022386,001276: 23,2235 02261 TC R61C+L06
022387,001277: 23,2236 77776 R61C+L05 EXIT
022388,001278: 23,2237 00004 INHINT
022389,001279: 23,2240 04674 TC IBNKCALL
022390,001280: 23,2241 40154 FCADR ZATTEROR
022391,001281: 23,2242 04674 TC IBNKCALL
022392,001282: 23,2243 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022393,001283: 23,2244 05516 TC DOWNFLAG
022394,001284: 23,2245 00124 ADRES 3AXISFLG
022395,001285: 23,2246 05504 TC UPFLAG
022396,001286: 23,2247 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022397,001287: 23,2250 04616 TC BANKCALL
022398,001288: 23,2251 54123 CADR R60LEM
022399,001289: 23,2252 00004 INHINT
022400,001290: 23,2253 04674 TC IBNKCALL
022401,001291: 23,2254 40115 FCADR RESTORDB
022402,001292: 23,2255 05353 TC PHASCHNG
022403,001293: 23,2256 04022 OCT 04022
022404,001294: 23,2257 05516 TC DOWNFLAG
022405,001295: 23,2260 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022406,001296: 23,2261 30075 R61C+L06 CA FLAGWRD1
022407,001297: 23,2262 74742 MASK R61FLBIT
022408,001298: 23,2263 10000 CCS A
022409,001299: 23,2264 02305 TC R61C+L4
022410,001300: 23,2265 11745 CCS R65CNTR
022411,001301: 23,2266 02270 TC +2
022412,001302: 23,2267 02305 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022413,001303: 23,2270 55745 TS R65CNTR
022414,001304: 23,2271 32321 CAF 06SEC
022415,001305: 23,2272 05173 TC TWIDDLE
022416,001306: 23,2273 02275 ADRES R61C+L2
022417,001307: 23,2274 05155 TC ENDOFJOB
022418,001308: 23,2275 37717 R61C+L2 CAF PRIO26
022419,001309: 23,2276 05105 TC FINDVAC
022420,001310:
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Page 522 |
022422,001312: 23,2277 E7,1456 EBANK= LOSCOUNT
022423,001313: 23,2277 02127 46067 2CADR R61C+L01
022424,001314: 23,2301 05261 TC TASKOVER
022425,001315: 23,2302 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022426,001316: 23,2303 54272 CADR BALLANGS
022427,001317: 23,2304 02261 TC R61C+L06
022428,001318: 23,2305 31142 R61C+L4 CAE GENRET
022429,001319: 23,2306 14640 TCF BANKJUMP # EXIT R61
022430,001320: 23,2307 32316 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022431,001321: 23,2310 70074 MASK STATE
022432,001322: 23,2311 00006 EXTEND
022433,001323: 23,2312 15155 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
022434,001324: 23,2313 02261 TC R61C+L06 # YES EXIT ROUTINE
022435,001325: 23,2314 04635 R65WAIT TC POSTJUMP
022436,001326: 23,2315 50232 CADR P20LEMWT
022437,001327:
022438,001328:
022439,001329: 23,2316 00500 BIT7+9PV OCT 00500
022440,001330: 23,2317 17350 34602 COS15DEG 2DEC 0.96593 B-1
022441,001331: 23,2321 01130 06SEC DEC 600 B-14
022442,001332: 23,2322 PHI EQUALS 20D
022443,001333: 23,2322 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022444,001334: 23,2323 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022445,001335: 23,2324 56003 XCH EBANK
022446,001336: 23,2325 54070 TS RUPTREG1
022447,001337: 23,2326 E6,1635 EBANK= CDUXD
022448,001338: 23,2326 31635 CA CDUXD
022449,001339: 23,2327 54154 TS MPAC
022450,001340: 23,2330 00006 EXTEND
022451,001341: 23,2331 31637 DCA CDUYD
022452,001342: 23,2332 52156 DXCH MPAC +1
022453,001343: 23,2333 30070 CA RUPTREG1
022454,001344: 23,2334 54003 TS EBANK
022455,001345: 23,2335 00003 RELINT
022456,001346: 23,2336 16502 TCF TMODE
022457,001347: 4512 BLOCK 02
022458,001348: 4000 SETLOC RADARFF
022459,001349: 4000 BANK
022460,001350:
022461,001351: 4512 E7,1456 EBANK= LOSCOUNT
022462,001352: 4512 COUNT* $$/RRSUB
022463,001353:
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Page 523 |
022465,001355: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022466,001356: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022467,001357:
022468,001358: 4512 00006 MAGSUB EXTEND
022469,001359: 4513 64515 BZMF +2
022470,001360: 4514 14516 TCF +2
022471,001361: 4515 40000 COM
022472,001362:
022473,001363: 4516 50002 INDEX Q
022474,001364: 4517 60000 AD 0
022475,001365: 4520 00006 EXTEND
022476,001366: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022477,001367: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
022478,001368:
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Page 524 |
022480,001370: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022481,001371:
022482,001372: # FUNCTIONAL DESCRIPTION_
022483,001373: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022484,001374: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022485,001375: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022486,001376: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022487,001377: # MODE 1 AND =1 FOR MODE 2.
022488,001378: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022489,001379: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022490,001380: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022491,001381: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022492,001382: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022493,001383: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022494,001384: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022495,001385: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022496,001386: # TO L +3.
022497,001387:
022498,001388: # CALLING SEQUENCE:
022499,001389: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022500,001390: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022501,001391:
022502,001392: # ERASABLE INITIALIZATION REQUIRED:
022503,001393: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022504,001394: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022505,001395: # CURRENT EBANK).
022506,001396:
022507,001397: # SUBROUTINES CALLED_ MAGSUB
022508,001398:
022509,001399: # JOBS OR TASKS INITIATED_ NONE
022510,001400:
022511,001401: # ALARMS_ NONE
022512,001402:
022513,001403: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022514,001404: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022515,001405:
022516,001406: 4523 00006 RRLIMCHK EXTEND
022517,001407: 4524 50002 INDEX Q
022518,001408: 4525 50000 INDEX 0
022519,001409: 4526 30001 DCA 0
022520,001410: 4527 24002 INCR Q
022521,001411: 4530 52062 DXCH ITEMP1
022522,001412: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022523,001413:
022524,001414: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022525,001415: 4533 70110 MASK RADMODES
022526,001416: 4534 10000 CCS A
022527,001417: 4535 14550 TCF MODE2CHK
022528,001418:
022529,001419: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
022530,001420:
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Page 525 |
022532,001422: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022533,001423: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022534,001424: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022535,001425:
022536,001426: 4542 34562 CAF 5.5DEGS
022537,001427: 4543 60062 AD ITEMP2 # S
022538,001428: 4544 04512 TC MAGSUB
022539,001429: 4545 64420 DEC -.35833 # 64.5 DEGS
022540,001430: 4546 00001 TC L
022541,001431: 4547 04560 TC RRLIMOK # IN LIMITS.
022542,001432:
022543,001433: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022544,001434: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022545,001435: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022546,001436: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022547,001437: 4554 00001 TC L
022548,001438:
022549,001439: 4555 30061 CA ITEMP1
022550,001440: 4556 04512 TC MAGSUB
022551,001441: 4557 51615 DEC -.69444 # 125 DEGS
022552,001442:
022553,001443: 4560 50001 RRLIMOK INDEX L
022554,001444: 4561 00001 TC L # ( = TC 1 )
022555,001445:
022556,001446: 4562 00765 5.5DEGS DEC .03056
022557,001447: 4563 16450 82DEGS DEC .45556
022558,001448:
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Page 526 |
022560,001450: # PROGRAM NAME_ SETTRKF . IF EITHER:
022561,001451:
022562,001452: # FUNCTIONAL DESCRIPTION_
022563,001453: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022564,001454: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022565,001455: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022566,001456: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022567,001457: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022568,001458: # AUTO MODE (RADMODES BITS 13, 7, 2).
022569,001459: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022570,001460: # 8,5)
022571,001461: # 3) NO RR DATA (RADMODES BIT 4)
022572,001462: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022573,001463: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022574,001464: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022575,001465: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022576,001466: # TRACKER FAIL LAMP IS TURNED ON IF_
022577,001467: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022578,001468: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022579,001469: # EITHER THE ALT OR VEL INFORMATION
022580,001470: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022581,001471: # WITH EITHER THE AL
022582,001472:
022583,001473: # CALLING SEQUENCE:
022584,001474: # L TC SETTRKF
022585,001475:
022586,001476: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022587,001477: # SUBROUTINES CALLED_ NONE
022588,001478:
022589,001479: # JOBS OR TASKS INITIATED_ NONE
022590,001480:
022591,001481: # ALARMS_ TRACKER FAIL LAMP
022592,001482:
022593,001483: # EXIT_ L +1 (ALWAYS) ED.
022594,001484:
022595,001485: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022596,001486: 4565 71300 MASK IMODES33
022597,001487: 4566 10000 CCS A
022598,001488: 4567 00002 TC Q
022599,001489:
022600,001490: 4570 34744 RRTRKF CA BIT8
022601,001491: 4571 54001 TS L
022602,001492:
022603,001493: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022604,001494: 4573 70110 MASK RADMODES
022605,001495: 4574 00006 EXTEND
022606,001496: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022607,001497:
022608,001498: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022609,001499: 4577 70110 MASK RADMODES
022610,001500:
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Page 527 |
022612,001502: 4600 10000 CCS A
022613,001503: 4601 30001 TRKFLON CA L
022614,001504: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022615,001505: 4603 70001 MASK L
022616,001506: 4604 00006 EXTEND
022617,001507: 4605 16745 BZF TCQ # NO CHANGE.
022618,001508:
022619,001509: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022620,001510: 4607 00006 EXTEND
022621,001511: 4610 06001 RXOR LCHAN
022622,001512: 4611 74733 MASK POSMAX
022623,001513: 4612 64735 AD BIT15
022624,001514: 4613 55035 TS DSPTAB +11D
022625,001515: 4614 00002 TC Q
022626,001516:
022627,001517: 4615 10102 13,7,2 OCT 10102
022628,001518: 4616 ENDRMODF EQUALS
022629,001519:
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Page 528 |
022631,001521: # PROGRAM NAME_ RRTURNON
022632,001522:
022633,001523: # FUNCTIONAL DESCRIPTION_
022634,001524:
022635,001525: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022636,001526: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022637,001527: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022638,001528: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022639,001529: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022640,001530: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022641,001531: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022642,001532: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022643,001533: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022644,001534: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022645,001535: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022646,001536: # TO TASKOVER.
022647,001537:
022648,001538: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022649,001539: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022650,001540: # THE RR (STATE BIT 7).
022651,001541:
022652,001542: # ERASABLE INITIALIZATION REQUIRED:
022653,001543: # RADMODES, STATE
022654,001544:
022655,001545: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022656,001546:
022657,001547: # JOBS OR TASKS INITIATED_
022658,001548: # NONE
022659,001549:
022660,001550: # ALARMS_ NONE (SEE RRZEROSB)
022661,001551:
022662,001552: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022663,001553:
022664,001554: 24,3255 BANK 24
022665,001555: 25,2000 SETLOC P20S1
022666,001556: 25,2000 BANK
022667,001557:
022668,001558: 25,2073 E7,1456 EBANK= LOSCOUNT
022669,001559: 25,2073 COUNT* $$/RSUB
022670,001560: 25,2073 02102 RRTURNON TC RRZEROSB
022671,001561: 25,2074 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022672,001562: 25,2075 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022673,001563: 25,2076 44753 CS TURNONBT
022674,001564: 25,2077 70110 MASK RADMODES
022675,001565: 25,2100 54110 TS RADMODES
022676,001566: 25,2101 15261 TCF TASKOVER
022677,001567:
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Page 529 |
022679,001569: # PROGRAM NAME_ RRZEROSB
022680,001570:
022681,001571: # FUNCTIONAL DESCRIPTION_
022682,001572: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022683,001573: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022684,001574: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022685,001575: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022686,001576: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022687,001577: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022688,001578: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022689,001579: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022690,001580: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022691,001581: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022692,001582: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022693,001583: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022694,001584: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022695,001585: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022696,001586: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022697,001587:
022698,001588: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022699,001589: # ERASABLE INITIALIZATION REQUIRED:
022700,001590: # RADMODES (BIT 13 SET), DSPTAB +11D
022701,001591:
022702,001592: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022703,001593:
022704,001594: # JOBS OR TASKS INITIATED_
022705,001595: # NONE
022706,001596:
022707,001597: # ALARMS_ TRACKER FAIL
022708,001598:
022709,001599: # EXIT_ L +1 (ALWAYS)
022710,001600:
022711,001601: 25,2102 00006 RRZEROSB EXTEND
022712,001602: 25,2103 23312 QXCH RRRET
022713,001603: 25,2104 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022714,001604: 25,2105 00006 EXTEND # COMING HERE.
022715,001605: 25,2106 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022716,001606: 25,2107 05221 TC FIXDELAY
022717,001607: 25,2110 00002 DEC 2 B-14
022718,001608:
022719,001609: 25,2111 34755 CAF ZERO
022720,001610: 25,2112 54035 TS CDUT
022721,001611: 25,2113 54036 TS CDUS
022722,001612: 25,2114 44753 CS ONE # REMOVE ZEROING BIT.
022723,001613: 25,2115 00006 EXTEND
022724,001614: 25,2116 03012 WAND CHAN12
022725,001615: 25,2117 05221 TC FIXDELAY
022726,001616: 25,2120 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022727,001617:
022728,001618: 25,2121 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
022729,001619:
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Page 530 |
022731,001621: 25,2122 70110 MASK RADMODES
022732,001622: 25,2123 54110 TS RADMODES
022733,001623:
022734,001624: 25,2124 30035 CA CDUT
022735,001625: 25,2125 04512 TC MAGSUB
022736,001626: 25,2126 57777 DEC -.5
022737,001627: 25,2127 12132 TCF +3 # IF MODE 2.
022738,001628:
022739,001629: 25,2130 34755 CAF ZERO
022740,001630: 25,2131 12133 TCF +2
022741,001631: 25,2132 34740 CAF ANTENBIT
022742,001632: 25,2133 56110 XCH RADMODES
022743,001633: 25,2134 77744 MASK -BIT12
022744,001634: 25,2135 26110 ADS RADMODES
022745,001635:
022746,001636: 25,2136 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022747,001637:
022748,001638: 25,2137 01312 TC RRRET # DONE.
022749,001639:
022750,001640: 25,2140 7744 -BIT12 EQUALS -1/8 # IN SPROOT
022751,001641:
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Page 531 |
022753,001643: # PROGRAM NAME_ DORREPOS
022754,001644: # FUNCTIONAL DESCRIPTION_
022755,001645: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022756,001646: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022757,001647: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022758,001648: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022759,001649: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022760,001650: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022761,001651: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022762,001652: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022763,001653: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022764,001654: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022765,001655: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022766,001656: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022767,001657: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022768,001658: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022769,001659: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022770,001660: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022771,001661: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022772,001662: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022773,001663: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022774,001664: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022775,001665: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022776,001666: # TASKOVER.
022777,001667:
022778,001668: # CALLING SEQUENCE:
022779,001669: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022780,001670: # NOT WITHIN LIMITS OF CURRENT MODE.
022781,001671:
022782,001672: # ERASABLE INITIALIZATION REQUIRED:
022783,001673: # RADMODES
022784,001674:
022785,001675: # SUBROUTINES CALLED_
022786,001676: # RRTONLY, RRSONLY, BEGDES (EXIT)
022787,001677:
022788,001678: # JOBS OR TASKS INITIATED_
022789,001679: # NONE
022790,001680:
022791,001681: # ALARMS- NONE
022792,001682:
022793,001683: # EXIT_ TASKOVER, BEGDES
022794,001684:
022795,001685: 25,2140 02167 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022796,001686:
022797,001687: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022798,001688:
022799,001689: 25,2141 05221 TC FIXDELAY
022800,001690: 25,2142 00002 DEC 2 B-14
022801,001691:
022802,001692: 25,2143 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
022803,001693:
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Page 532 |
022805,001695: 25,2144 70110 MASK RADMODES
022806,001696: 25,2145 10000 CCS A
022807,001697: 25,2146 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022808,001698: 25,2147 02252 TC RRTONLY
022809,001699:
022810,001700: 25,2150 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
022811,001701: 25,2151 70110 MASK RADMODES
022812,001702: 25,2152 10000 CCS A
022813,001703: 25,2153 44736 CS HALF # -90 FOR MODE 2.
022814,001704: 25,2154 02255 TC RRSONLY
022815,001705:
022816,001706: 25,2155 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
022817,001707: # REQUESTED DURING REPOSITION.
022818,001708: 25,2156 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022819,001709: 25,2157 54110 TS RADMODES
022820,001710: 25,2160 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022821,001711: 25,2161 10000 CCS A
022822,001712: 25,2162 12604 TCF BEGDES
022823,001713: 25,2163 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022824,001714: 25,2164 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022825,001715: 25,2165 03012 WAND CHAN12
022826,001716: 25,2166 15261 TCF TASKOVER
022827,001717:
022828,001718: 25,2167 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
022829,001719: 25,2170 00006 EXTEND
022830,001720: 25,2171 02012 RAND CHAN12
022831,001721: 25,2172 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022832,001722: 25,2173 00002 TC Q # ERROR COUNTERS ARE ENABLED.
022833,001723:
022834,001724: 25,2174 54112 TS LASTYCMD
022835,001725: 25,2175 54113 TS LASTXCMD
022836,001726: 25,2176 34752 CAF BIT2
022837,001727: 25,2177 00006 EXTEND
022838,001728: 25,2200 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022839,001729: 25,2201 00002 TC Q
022840,001730:
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Page 533 |
022842,001732: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
022843,001733:
022844,001734: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
022845,001735: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022846,001736: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022847,001737: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022848,001738: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022849,001739: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022850,001740: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022851,001741: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022852,001742: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022853,001743: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022854,001744: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022855,001745: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022856,001746: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022857,001747: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022858,001748: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022859,001749: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022860,001750: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022861,001751: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022862,001752: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022863,001753: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022864,001754:
022865,001755: # CALLING SEQUENCE:
022866,001756: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022867,001757: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022868,001758: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022869,001759: # OTHER MODE.
022870,001760:
022871,001761: # ERASABLE INITIALIZATION REQUIRED:
022872,001762: # RADMODES
022873,001763:
022874,001764: # SUBROUTINES CALLED_
022875,001765: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022876,001766:
022877,001767: # JOBS OR TASKS INITIATED_
022878,001768: # NONE
022879,001769:
022880,001770: # ALARMS_ NONE
022881,001771:
022882,001772: # EXIT_ STDESIG
022883,001773:
022884,001774: 25,2202 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022885,001775: 25,2203 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022886,001776: 25,2204 10000 CCS A
022887,001777: 25,2205 34735 CAF BIT15
022888,001778: 25,2206 02252 TC RRTONLY
022889,001779:
022890,001780: 25,2207 37743 CAF -45DEGSR
022891,001781: 25,2210 02255 TC RRSONLY
022892,001782:
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Page 534 |
022894,001784: 25,2211 40110 CS RADMODES
022895,001785: 25,2212 74740 MASK ANTENBIT
022896,001786: 25,2213 10000 CCS A
022897,001787: 25,2214 32243 CAF -80DEGSR # GO TO T = -130 (-50).
022898,001788: 25,2215 62242 AD -50DEGSR
022899,001789: 25,2216 02252 TC RRTONLY
022900,001790:
022901,001791: 25,2217 40110 CS RADMODES
022902,001792: 25,2220 74740 MASK ANTENBIT
022903,001793: 25,2221 10000 CCS A
022904,001794: 25,2222 34735 CAF BIT15 # GO TO T = -180 (+0).
022905,001795: 25,2223 02252 TC RRTONLY
022906,001796:
022907,001797: 25,2224 40110 CS RADMODES # GO TO S = -90 (+0).
022908,001798: 25,2225 74740 MASK ANTENBIT
022909,001799: 25,2226 10000 CCS A
022910,001800: 25,2227 44736 CS HALF
022911,001801: 25,2230 02255 TC RRSONLY
022912,001802:
022913,001803: 25,2231 02244 TC RMODINV
022914,001804:
022915,001805: 25,2232 44736 CS REMODBIT # END OF REMODE.
022916,001806: 25,2233 70110 MASK RADMODES
022917,001807: 25,2234 54110 TS RADMODES
022918,001808:
022919,001809: 25,2235 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022920,001810: 25,2236 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022921,001811: 25,2237 00006 EXTEND
022922,001812: 25,2240 13540 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
022923,001813: 25,2241 02613 TC STDESIG # YES - RETURN TO DESIGNATE
022924,001814: 25,2242 7743 -45DEGSR = 13,14,15
022925,001815: 25,2242 67070 -50DEGSR DEC -.27778
022926,001816: 25,2243 61615 -80DEGSR DEC -.44444
022927,001817:
022928,001818: 25,2244 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
022929,001819: 25,2245 34740 CAF ANTENBIT
022930,001820: 25,2246 00006 EXTEND
022931,001821: 25,2247 06001 RXOR LCHAN
022932,001822: 25,2250 54110 TS RADMODES
022933,001823: 25,2251 00002 TC Q
022934,001824:
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Page 535 |
022936,001826: # PROGRAM NAMES_ RRTONLY, RRSONLY
022937,001827:
022938,001828: # FUNCTIONAL DESCRIPTION_
022939,001829: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022940,001830: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022941,001831: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022942,001832: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022943,001833: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022944,001834: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022945,001835: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022946,001836: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
022947,001837: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022948,001838: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
022949,001839: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
022950,001840: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022951,001841: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022952,001842: # REPEATED.
022953,001843:
022954,001844: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
022955,001845: # L TC RRTONLY (TRUNNION ONLY)
022956,001846: # RRSONLY (SHAFT ONLY)
022957,001847: # RRTONLY IS CALLED BY PREPOS29;
022958,001848: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022959,001849:
022960,001850: # ERASABLE INITIALIZATION REQUIRED:
022961,001851: # C(A) = DESIRED ANGLE, RADMODES
022962,001852:
022963,001853: # SUBROUTINES CALLED_
022964,001854: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
022965,001855:
022966,001856: # JOBS OR TASKS INITIATED_
022967,001857: # NONE
022968,001858:
022969,001859: # ALARMS_ NONE
022970,001860:
022971,001861: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
022972,001862: # BITS 14, 11)
022973,001863: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022974,001864:
022975,001865: 25,2252 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
022976,001866: 25,2253 34755 CAF ZERO
022977,001867: 25,2254 12257 TCF RR1AXIS
022978,001868:
022979,001869: 25,2255 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
022980,001870: 25,2256 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022981,001871:
022982,001872: 25,2257 55314 RR1AXIS TS RRINDEX
022983,001873: 25,2260 00006 EXTEND
022984,001874: 25,2261 23312 QXCH RRRET
022985,001875: 25,2262 12265 TCF RR1AX2
022986,001876:
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Page 536 |
022988,001878: 25,2263 05221 NXTRR1AX TC FIXDELAY
022989,001879: 25,2264 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
022990,001880:
022991,001881: 25,2265 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
022992,001882: 25,2266 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
022993,001883: 25,2267 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
022994,001884: 25,2270 12155 BZF REPOSRPT # REMODE IMMEDIATELY.
022995,001885:
022996,001886: 25,2271 31313 CA RDES
022997,001887: 25,2272 00006 EXTEND
022998,001888: 25,2273 51314 INDEX RRINDEX
022999,001889: 25,2274 20035 MSU CDUT
023000,001890: 25,2275 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023001,001891: 25,2276 00006 EXTEND
023002,001892: 25,2277 72316 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023003,001893: 25,2300 54001 TS L
023004,001894: 25,2301 30110 CA RADMODES
023005,001895: 25,2302 74752 MASK AUTOMBIT
023006,001896: 25,2303 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023007,001897: 25,2304 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023008,001898: 25,2305 77644 DEC -.00555 # SCALED IN HALF-REVS.
023009,001899:
023010,001900: 25,2306 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023011,001901: 25,2307 01312 TC RRRET # RETURN TO CALLER.
023012,001902:
023013,001903: 25,2310 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023014,001904: 25,2311 12313 TCF +2 # SETTING A TO 0.
023015,001905: 25,2312 56001 XCH L
023016,001906: 25,2313 53355 DXCH TRUNNCMD
023017,001907: 25,2314 02317 TC RROUT
023018,001908:
023019,001909: 25,2315 12263 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023020,001910:
023021,001911: 25,2316 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023022,001912:
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Page 537 |
023024,001914: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023025,001915:
023026,001916: # FUNCTIONAL DESCRIPTION_
023027,001917: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023028,001918: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023029,001919: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023030,001920: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023031,001921: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023032,001922: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023033,001923: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023034,001924: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023035,001925: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023036,001926: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023037,001927: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023038,001928: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023039,001929: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023040,001930:
023041,001931: # CALLING SEQUENCE:
023042,001932: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023043,001933: # RRTONLY, RRSONLY, AND DODES
023044,001934:
023045,001935: # ERASABLE INITIALIZATION REQUIRED:
023046,001936: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023047,001937: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023048,001938:
023049,001939: # SUBROUTINES CALLED_
023050,001940: # MAGSUB
023051,001941:
023052,001942: # JOBS OR TASKS INITIATED_
023053,001943: # NONE
023054,001944:
023055,001945: # ALARMS_ NONE
023056,001946:
023057,001947: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023058,001948:
023059,001949: 25,2317 22002 RROUT LXCH Q # SAVE RETURN.
023060,001950: 25,2320 34753 CAF ONE # LOOP TWICE.
023061,001951: 25,2321 54062 RROUT2 TS ITEMP2
023062,001952: 25,2322 50000 INDEX A
023063,001953: 25,2323 31354 CA TRUNNCMD
023064,001954: 25,2324 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023065,001955:
023066,001956: 25,2325 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023067,001957: 25,2326 77177 -RRLIMIT DEC -384 B-14
023068,001958: 25,2327 12346 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023069,001959:
023070,001960: 25,2330 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023071,001961: 25,2331 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023072,001962: 25,2332 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023073,001963: 25,2333 40000 COM
023074,001964:
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Page 538 |
023076,001966: 25,2334 60061 AD ITEMP1
023077,001967: 25,2335 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023078,001968: 25,2336 50062 INDEX ITEMP2
023079,001969: 25,2337 54053 TS CDUTCMD
023080,001970:
023081,001971: 25,2340 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023082,001972: 25,2341 12321 TCF RROUT2
023083,001973:
023084,001974: 25,2342 35020 CAF PRIO6 # ENABLE COUNTERS.
023085,001975: 25,2343 00006 EXTEND
023086,001976: 25,2344 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023087,001977: 25,2345 00001 TC L # RETURN.
023088,001978:
023089,001979: 25,2346 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023090,001980: 25,2347 42326 CS -RRLIMIT
023091,001981: 25,2350 12352 TCF +2
023092,001982: 25,2351 32326 CA -RRLIMIT
023093,001983: 25,2352 54061 TS ITEMP1
023094,001984: 25,2353 12331 TCF SETRRCTR +1
023095,001985:
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Page 539 |
023097,001987: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023098,001988:
023099,001989: 25,2354 32403 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023100,001990: 25,2355 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023101,001991: 25,2356 10000 CCS A
023102,001992: 25,2357 13513 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023103,001993:
023104,001994: 25,2360 00004 INHINT
023105,001995: 25,2361 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023106,001996: 25,2362 70110 MASK RADMODES
023107,001997: 25,2363 64737 AD RCDU0BIT
023108,001998: 25,2364 54110 TS RADMODES
023109,001999:
023110,002000: 25,2365 34753 CAF ONE
023111,002001: 25,2366 05203 TC WAITLIST
023112,002002: 25,2367 E7,1456 EBANK= LOSCOUNT
023113,002003: 25,2367 02401 52067 2CADR RRZ2
023114,002004: 25,2371 40110 CS RADMODES # SEE IF IN AUTO MODE.
023115,002005: 25,2372 74752 MASK AUTOMBIT
023116,002006: 25,2373 10000 CCS A
023117,002007: 25,2374 12377 TCF ROADBACK
023118,002008: 25,2375 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023119,002009: 25,2376 00510 OCT 510
023120,002010: 25,2377 00003 ROADBACK RELINT
023121,002011: 25,2400 14631 TCF SWRETURN
023122,002012:
023123,002013: 25,2401 02102 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023124,002014: 25,2402 13531 TCF ENDRADAR
023125,002015:
023126,002016: 25,2403 02001 BIT11+1 OCT 02001
023127,002017:
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Page 540 |
023129,002019: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023130,002020:
023131,002021: # FUNCTIONAL DESCRIPTION_
023132,002022: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023133,002023: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023134,002024: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023135,002025: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023136,002026: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023137,002027: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023138,002028: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023139,002029: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023140,002030: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023141,002031: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023142,002032: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023143,002033: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023144,002034: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023145,002035: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023146,002036: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023147,002037: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023148,002038: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023149,002039: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023150,002040: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023151,002041: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023152,002042: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023153,002043: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023154,002044:
023155,002045: # CALLING SEQUENCE:
023156,002046: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023157,002047: # L+1 RRDESSM
023158,002048: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023159,002049: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023160,002050:
023161,002051: # ERASABLE INITIALIZATION REQUIRED:
023162,002052: # RRTARGET, RADMODES
023163,002053:
023164,002054: # SUBROUTINES CALLED_
023165,002055: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023166,002056: # PART OF), RMODINV
023167,002057:
023168,002058: # JOBS OR TASKS INITIATED_
023169,002059: # NONE
023170,002060:
023171,002061: # ALARMS_ NONE
023172,002062:
023173,002063: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023174,002064: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023175,002065: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023176,002066:
023177,002067: 25,2404 43020 RRDESSM STQ CLEAR
023178,002068: 25,2405 01112 DESRET
023179,002069:
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Page 541 |
023181,002071: 25,2406 00271 RRNBSW
023182,002072: 25,2407 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023183,002073: 25,2410 47541 CDUTRIG
023184,002074: 25,2411 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023185,002075: 25,2412 01101 RRTARGET
023186,002076: 25,2413 47673 *SMNB*
023187,002077:
023188,002078: 25,2414 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023189,002079: 25,2415 26133 RRANGLES # ALTERNATE MODE.
023190,002080: 25,2416 77776 EXIT
023191,002081:
023192,002082: 25,2417 00004 INHINT
023193,002083: 25,2420 04523 TC RRLIMCHK
023194,002084: 25,2421 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023195,002085: 25,2422 02425 TC +3 # NOT IN CURRENT MODE
023196,002086: 25,2423 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023197,002087: 25,2424 02443 TC STARTDES # SHOW DESIGNATE REQUIRED
023198,002088: 25,2425 40104 CS FLAGWRD8
023199,002089: 25,2426 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023200,002090: 25,2427 00006 EXTEND
023201,002091: 25,2430 12467 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
023202,002092: 25,2431 02472 TC TRYSWS
023203,002093:
023204,002094:
023205,002095: 25,2432 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023206,002096: 25,2433 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023207,002097: 25,2434 00006 EXTEND
023208,002098: 25,2435 12467 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
023209,002099: 25,2436 30074 CA STATE
023210,002100: 25,2437 74745 MASK RNDVZBIT
023211,002101: 25,2440 10000 CCS A # TEST RNDVZFLG.
023212,002102: 25,2441 02502 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
023213,002103: 25,2442 15155 TCF ENDOFJOB # ...BUT NOT IN R29.
023214,002104:
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Page 542 |
023216,002106: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023217,002107:
023218,002108: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023219,002109: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023220,002110: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023221,002111: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023222,002112: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023223,002113: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023224,002114: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023225,002115: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023226,002116: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023227,002117: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023228,002118: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023229,002119: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023230,002120: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023231,002121: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023232,002122: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023233,002123: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023234,002124: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023235,002125: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023236,002126: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023237,002127: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023238,002128: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023239,002129:
023240,002130: # CALLING SEQUENCE:
023241,002131: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023242,002132:
023243,002133: # ERASABLE INITIALIZATION REQUIRED:
023244,002134: # RADMODES, (SEE DODES)
023245,002135:
023246,002136: # SUBROUTINES CALLED_
023247,002137: # SETRRECR, WAITLIST
023248,002138:
023249,002139: # JOBS OR TASKS INITIATED_
023250,002140: # BEGDES
023251,002141:
023252,002142: # ALARMS_ NONE
023253,002143:
023254,002144: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023255,002145: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023256,002146:
023257,002147: 25,2443 25112 STARTDES INCR DESRET
023258,002148: 25,2444 40110 CS RADMODES
023259,002149: 25,2445 74742 MASK DESIGBIT
023260,002150: 25,2446 26110 ADS RADMODES
023261,002151: 25,2447 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023262,002152: 25,2450 10000 CCS A
023263,002153: 25,2451 12457 TCF DESRETRN # ECTR ALREADY SET UP.
023264,002154:
023265,002155: 25,2452 02167 TC SETRRECR # SET UP ERROR COUNTERS.
023266,002156:
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Page 543 |
023268,002158: 25,2453 34752 CAF TWO
023269,002159: 25,2454 05203 TC WAITLIST
023270,002160: 25,2455 E7,1456 EBANK= LOSCOUNT
023271,002161: 25,2455 02604 52067 2CADR BEGDES
023272,002162: 25,2457 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023273,002163: 25,2460 00006 EXTEND
023274,002164: 25,2461 12463 BZF DESRTRN # YES SET EXIT
023275,002165: 25,2462 05155 TC ENDOFJOB # NO
023276,002166: 25,2463 00003 DESRTRN RELINT
023277,002167: 25,2464 25112 INCR DESRET
023278,002168: 25,2465 31112 CA DESRET
023279,002169: 25,2466 14640 TCF BANKJUMP
023280,002170:
023281,002171:
023282,002172: 25,2467 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023283,002173: 25,2470 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023284,002174: 25,2471 12463 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023285,002175:
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Page 544 |
023287,002177: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023288,002178:
023289,002179: 25,2472 02244 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023290,002180: 25,2473 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023291,002181: 25,2474 01110 ADRES MODEB
023292,002182: 25,2475 12502 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023293,002183:
023294,002184: 25,2476 02244 TC RMODINV # RESET BIT12
023295,002185: 25,2477 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023296,002186: 25,2500 26110 ADS RADMODES
023297,002187:
023298,002188: 25,2501 12423 TCF OKDESSM
023299,002189:
023300,002190: 25,2502 02244 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023301,002191: 25,2503 25112 INCR DESRET # TO CALLER +2
023302,002192: 25,2504 12467 TCF NORDSTAL
023303,002193:
023304,002194: 25,2505 00074 MAXTRYS DEC 60 B-14
023305,002195:
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Page 545 |
023307,002197: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023308,002198: # TANG AND TANG +1.
023309,002199:
023310,002200: 25,2506 04645 RRDESNB TC MAKECADR
023311,002201: 25,2507 55112 TS DESRET
023312,002202:
023313,002203: 25,2510 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023314,002204: 25,2511 00041 ADRES LOSCMFLG # BACK TO R21
023315,002205: 25,2512 32505 CA MAXTRYS # SET TIME LIMIT COUNTER
023316,002206: 25,2513 55113 TS DESCOUNT # FOR DESIGNATE
023317,002207: 25,2514 00004 INHINT # SEE IF CURRENT MODE OK.
023318,002208: 25,2515 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023319,002209: 25,2516 01106 ADRES TANG
023320,002210: 25,2517 12534 TCF TRYSWN # SEE IF IN OTHER MODE.
023321,002211:
023322,002212: 25,2520 00003 OKDESNB RELINT
023323,002213: 25,2521 00006 EXTEND
023324,002214: 25,2522 31107 DCA TANG
023325,002215: 25,2523 53753 DXCH TANGNB
023326,002216: 25,2524 06042 TC INTPRET
023327,002217:
023328,002218: 25,2525 77624 CALL # GET LOS IN NB COORDS.
023329,002219: 25,2526 46041 RRNB
023330,002220: 25,2527 01101 STORE RRTARGET
023331,002221:
023332,002222: 25,2530 77414 SET EXIT
023333,002223: 25,2531 00071 RRNBSW
023334,002224:
023335,002225: 25,2532 00004 INHINT
023336,002226: 25,2533 12444 TCF STARTDES +1
023337,002227: 25,2534 02244 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023338,002228: 25,2535 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023339,002229: 25,2536 01106 ADRES TANG
023340,002230: 25,2537 12544 TCF NODESNB # NOT POSSIBLE.
023341,002231:
023342,002232: 25,2540 02244 TC RMODINV
023343,002233: 25,2541 34736 CAF REMODBIT # CALL FOR REMODE.
023344,002234: 25,2542 26110 ADS RADMODES
023345,002235: 25,2543 12520 TCF OKDESNB
023346,002236:
023347,002237: 25,2544 02244 NODESNB TC RMODINV # REINVERT MODE BIT.
023348,002238: 25,2545 05567 TC ALARM # BAD INPUT ANGLES.
023349,002239: 25,2546 00502 OCT 502
023350,002240: 25,2547 06011 TC CLRADMOD
023351,002241: 25,2550 05155 TC ENDOFJOB # AVOID 503 ALARM.
023352,002242:
023353,002243: 25,2551 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023354,002244: 25,2552 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023355,002245: 25,2553 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023356,002246: 25,2554 00006 EXTEND
023357,002247:
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Page 546 |
023359,002249: 25,2555 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023360,002250: 25,2556 30001 DCA 0
023361,002251: 25,2557 52062 DXCH ITEMP1
023362,002252: 25,2560 22002 LXCH Q # L(CALLER +2) TO L
023363,002253:
023364,002254: 25,2561 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023365,002255: 25,2562 70110 MASK RADMODES
023366,002256: 25,2563 10000 CCS A
023367,002257: 25,2564 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023368,002258: 25,2565 30061 CA ITEMP1
023369,002259: 25,2566 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023370,002260: 25,2567 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023371,002261: 25,2570 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023372,002262:
023373,002263: 25,2571 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023374,002264: 25,2572 00006 EXTEND
023375,002265: 25,2573 62601 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023376,002266: 25,2574 64562 AD 5.5DEGS
023377,002267: 25,2575 04512 SHAFTLIM TC MAGSUB
023378,002268: 25,2576 64420 DEC -.35833 # 64.5 DEGREES
023379,002269: 25,2577 00001 TC L # NOT IN LIMITS
023380,002270: 25,2600 04560 TC RRLIMOK # IN LIMITS
023381,002271: 25,2601 62603 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023382,002272: 25,2602 12575 TCF SHAFTLIM
023383,002273:
023384,002274:
023385,002275: 25,2603 03512 20.5DEGS DEC .11389
023386,002276:
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Page 547 |
023388,002278: # PROGRAM NAME_ BEGDES
023389,002279:
023390,002280: # FUNCTIONAL DESCRIPTION_
023391,002281: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023392,002282: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023393,002283: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023394,002284: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023395,002285: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023396,002286: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023397,002287: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023398,002288: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023399,002289: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023400,002290: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023401,002291: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023402,002292: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023403,002293: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023404,002294: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023405,002295: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023406,002296: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023407,002297: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023408,002298: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023409,002299: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023410,002300: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023411,002301: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023412,002302: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023413,002303: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023414,002304: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023415,002305: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023416,002306:
023417,002307: # CALLING SEQUENCE:
023418,002308: # WAITLIST CALL FROM STARTDES
023419,002309: # TCF BEGDES FROM DORREPOS
023420,002310: # TC STDESIG RETURNING, FROM REMODE
023421,002311:
023422,002312: # ERASABLE INITIALIZATION REQUIRED:
023423,002313: # DESCOUNT, RADMODES
023424,002314:
023425,002315: # SUBROUTINES CALLED_
023426,002316: # ENDRADAR, FINDVAC
023427,002317:
023428,002318: # JOBS OR TASKS INITIATED_ DODES
023429,002319:
023430,002320: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023431,002321: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023432,002322:
023433,002323: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023434,002324: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023435,002325: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023436,002326:
023437,002327: 25,2604 40110 BEGDES CS RADMODES
023438,002328:
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Page 548 |
023440,002330: 25,2605 74736 MASK REMODBIT
023441,002331: 25,2606 10000 CCS A
023442,002332: 25,2607 02613 TC STDESIG
023443,002333: 25,2610 02202 TC REMODE
023444,002334: 25,2611 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023445,002335: 25,2612 00062 DEC 50 B-14
023446,002336:
023447,002337: 25,2613 34741 STDESIG CAF REPOSBIT
023448,002338: 25,2614 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023449,002339: 25,2615 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023450,002340: 25,2616 12634 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023451,002341:
023452,002342: 25,2617 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023453,002343: 25,2620 12623 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023454,002344: 25,2621 12623 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023455,002345: 25,2622 12640 TCF MOREDES +1
023456,002346:
023457,002347: 25,2623 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023458,002348: 25,2624 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023459,002349: 25,2625 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023460,002350: 25,2626 13531 TCF ENDRADAR # CHECKING RR CDU FAIL.
023461,002351:
023462,002352: 25,2627 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023463,002353: 25,2630 12637 TCF MOREDES
023464,002354:
023465,002355: 25,2631 42645 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023466,002356: 25,2632 00006 EXTEND
023467,002357: 25,2633 03012 WAND CHAN12
023468,002358: 25,2634 05516 BADDES TC DOWNFLAG
023469,002359: 25,2635 00271 ADRES DESIGFLG
023470,002360: 25,2636 13545 TCF RDBADEND
023471,002361:
023472,002362: 25,2637 55113 MOREDES TS DESCOUNT
023473,002363: 25,2640 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023474,002364: 25,2641 05105 TC FINDVAC
023475,002365: 25,2642 E7,1456 EBANK= LOSCOUNT
023476,002366: 25,2642 02646 52067 2CADR DODES
023477,002367: 25,2644 12611 TCF DESLOOP
023478,002368:
023479,002369: 25,2645 20002 B14+B2 OCT 20002
023480,002370:
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Page 549 |
023482,002372: # PROGRAM NAME_ DODES
023483,002373:
023484,002374: # FUNCTIONAL DESCRIPTION_
023485,002375: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023486,002376: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023487,002377: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023488,002378: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023489,002379: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023490,002380: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
023491,002381: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
023492,002382: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023493,002383: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023494,002384: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023495,002385: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023496,002386: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023497,002387: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023498,002388: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023499,002389: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023500,002390: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023501,002391: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023502,002392: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023503,002393: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023504,002394: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023505,002395: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023506,002396: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023507,002397: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023508,002398: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023509,002399: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023510,002400: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023511,002401: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023512,002402: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023513,002403: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023514,002404: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023515,002405: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023516,002406: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023517,002407: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023518,002408: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023519,002409: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023520,002410: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023521,002411: # VIA ENDOFJOB.
023522,002412:
023523,002413: # CALLING SEQUENCE:
023524,002414: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023525,002415:
023526,002416: # ERASABLE INITIALIZATION REQUIRED:
023527,002417: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023528,002418: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023529,002419:
023530,002420: # SUBROUTINES CALLED_
023531,002421: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
023532,002422:
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Page 550 |
023534,002424:
023535,002425: # JOBS OR TASKS INITIATED_
023536,002426: # NONE
023537,002427:
023538,002428: # ALARMS_ NONE
023539,002429:
023540,002430: # EXIT_ ENDOFJOB (ALWAYS)
023541,002431:
023542,002432: 25,2646 00006 DODES EXTEND
023543,002433: 25,2647 30036 DCA CDUT
023544,002434: 25,2650 53107 DXCH TANG
023545,002435:
023546,002436: 25,2651 06042 TC INTPRET
023547,002437:
023548,002438: 25,2652 77201 SETPD VLOAD
023549,002439: 25,2653 00001 0
023550,002440: 25,2654 01101 RRTARGET
023551,002441: 25,2655 74214 BON VXSC
023552,002442: 25,2656 00311 RRNBSW
023553,002443: 25,2657 52671 DONBRD # TARGET IN NAV-BASE COORDINATES
023554,002444: 25,2660 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023555,002445: 25,2661 63372 VSL1 PDVL
023556,002446: 25,2662 01761 LOSVEL
023557,002447: 25,2663 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023558,002448: 25,2664 13101 MCTOMS
023559,002449: 25,2665 45056 UNIT CALL
023560,002450: 25,2666 47541 CDUTRIG
023561,002451: 25,2667 77624 CALL
023562,002452: 25,2670 47673 *SMNB*
023563,002453:
023564,002454: 25,2671 14041 DONBRD STODL 32D
023565,002455: 25,2672 01110 TANG +1
023566,002456: 25,2673 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023567,002457: 25,2674 21577 CDULOGIC # (-SIN(S)).
023568,002458: 25,2675 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023569,002459: 25,2676 41546 COS PUSH
023570,002460: 25,2677 65205 DMP PDDL
023571,002461: 25,2700 00041 32D
023572,002462: 25,2701 00045 36D
023573,002463: 25,2702 44205 DMP BDSU
023574,002464: 25,2703 00001 0
023575,002465: 25,2704 77626 STADR
023576,002466: 25,2705 76667 STORE TANG +1 # SHAFT COMMAND
023577,002467:
023578,002468: 25,2706 47135 SLOAD RTB
023579,002469: 25,2707 01107 TANG
023580,002470: 25,2710 21577 CDULOGIC
023581,002471: 25,2711 71406 PUSH COS # COS(T) TO 4.
023582,002472: 25,2712 73525 PDDL SIN
023583,002473: 25,2713 41206 PUSH DMP # SIN(T) TO 6.
023584,002474: 25,2714 00003 2
023585,002475:
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Page 551 |
023587,002477: 25,2715 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023588,002478: 25,2716 00005 4 # (COS(T) )
023589,002479: 25,2717 41325 PDDL DMP # (SIN(T)COS(S))
023590,002480: 25,2720 00007 6
023591,002481: 25,2721 00001 0
023592,002482: 25,2722 55552 SL1 VDEF
023593,002483: 25,2723 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023594,002484: 25,2724 00041 32D
023595,002485:
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Page 552 |
023597,002487: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023598,002488: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023599,002489:
023600,002490: 25,2725 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023601,002491: 25,2726 00006 EXTEND
023602,002492: 25,2727 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023603,002493: 25,2730 55354 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
023604,002494: 25,2731 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023605,002495: 25,2732 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023606,002496: 25,2733 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023607,002497: 25,2734 12737 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023608,002498: 25,2735 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023609,002499: 25,2736 12740 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023610,002500: 25,2737 41107 +3 CS TANG +1
023611,002501: 25,2740 00006 EXTEND
023612,002502: 25,2741 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023613,002503: 25,2742 55355 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
023614,002504: 25,2743 06042 TC INTPRET
023615,002505:
023616,002506: 25,2744 41345 DLOAD DMP
023617,002507: 25,2745 00003 2 # COS(S).
023618,002508: 25,2746 00005 4 # COS(T).
023619,002509: 25,2747 65352 SL1 PDDL # Z COMPONENT OF URR.
023620,002510: 25,2750 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023621,002511: 25,2751 00001 0 # SIN(S).
023622,002512: 25,2752 72405 DMP SL1
023623,002513: 25,2753 00005 4 # COS(T).
023624,002514: 25,2754 43066 VDEF BON # FORM URR IN NB AXES.
023625,002515: 25,2755 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023626,002516: 25,2756 52761 +3
023627,002517: 25,2757 77624 CALL
023628,002518: 25,2760 47675 *NBSM* # GET URR IN SM AXES.
023629,002519: 25,2761 77441 DOT EXIT
023630,002520: 25,2762 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023631,002521:
023632,002522: 25,2763 00006 EXTEND
023633,002523: 25,2764 43077 DCS COS1/2DG
023634,002524: 25,2765 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023635,002525: 25,2766 10154 CCS MPAC
023636,002526: 25,2767 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023637,002527: 25,2770 12772 TCF +2
023638,002528: 25,2771 34753 CA ONE
023639,002529: 25,2772 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
023640,002530:
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Page 553 |
023642,002532: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023643,002533:
023644,002534: 25,2773 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023645,002535: 25,2774 12777 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023646,002536: 25,2775 12777 TCF SIGNLCHK # ERROR SIGNALS
023647,002537: 25,2776 13027 TCF DORROUT
023648,002538: 25,2777 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023649,002539: 25,3000 13010 TCF DGOODCHK
023650,002540: 25,3001 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023651,002541: 25,3002 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023652,002542: 25,3003 10000 CCS A
023653,002543: 25,3004 13015 TCF RRDESDUN
023654,002544:
023655,002545: 25,3005 34736 CAF BIT14 # ENABLE THE TRACKER.
023656,002546: 25,3006 00006 EXTEND
023657,002547: 25,3007 05012 WOR CHAN12
023658,002548:
023659,002549: 25,3010 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023660,002550: 25,3011 00006 EXTEND
023661,002551: 25,3012 02033 RAND CHAN33
023662,002552: 25,3013 10000 CCS A
023663,002553: 25,3014 13027 TCF DORROUT
023664,002554:
023665,002555: 25,3015 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023666,002556: 25,3016 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023667,002557: 25,3017 00004 INHINT
023668,002558: 25,3020 54110 TS RADMODES
023669,002559:
023670,002560: 25,3021 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023671,002561: 25,3022 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023672,002562: 25,3023 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023673,002563: 25,3024 00006 EXTEND
023674,002564: 25,3025 03012 WAND CHAN12
023675,002565: 25,3026 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023676,002566:
023677,002567: 25,3027 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023678,002568: 25,3030 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023679,002569: 25,3031 00006 EXTEND
023680,002570: 25,3032 13051 BZF NOTP20
023681,002571: 25,3033 06042 TC INTPRET
023682,002572: 25,3034 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023683,002573: 25,3035 01101 RRTARGET
023684,002574: 25,3036 01767 MLOSV
023685,002575: 25,3037 41572 VSL1 PUSH
023686,002576: 25,3040 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023687,002577: 25,3041 01761 LOSVEL # TO LOS VECTOR
023688,002578: 25,3042 13101 MCTOMS
023689,002579: 25,3043 53362 VSR1 VAD
023690,002580: 25,3044 77656 UNIT
023691,002581: 25,3045 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
023692,002582:
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Page 554 |
023694,002584: 25,3046 00045 36D
023695,002585: 25,3047 01767 STORE MLOSV # AND STORE MAGNITUDE
023696,002586: 25,3050 77776 EXIT
023697,002587: 25,3051 00004 NOTP20 INHINT
023698,002588: 25,3052 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023699,002589: 25,3053 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023700,002590: 25,3054 10000 CCS A
023701,002591: 25,3055 02317 TC RROUT
023702,002592:
023703,002593: 25,3056 30076 CA FLAGWRD2
023704,002594: 25,3057 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023705,002595: 25,3060 00006 EXTEND # LOS COUNTER
023706,002596: 25,3061 15155 BZF ENDOFJOB
023707,002597: 25,3062 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023708,002598: 25,3063 03073 TC DODESEND # A NEW LOS
023709,002599: 25,3064 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023710,002600: 25,3065 52613 CADR DESLOOP +2
023711,002601: 25,3066 00003 RELINT
023712,002602: 25,3067 10067 CCS NEWJOB
023713,002603: 25,3070 05122 TC CHANG1
023714,002604: 25,3071 04616 TC BANKCALL
023715,002605: 25,3072 50732 CADR R21LEM2
023716,002606:
023717,002607:
023718,002608: 25,3073 55456 DODESEND TS LOSCOUNT
023719,002609: 25,3074 05155 TC ENDOFJOB
023720,002610:
023721,002611:
023722,002612: 25,3075 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023723,002613: 25,3076 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
023724,002614: 25,3076 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023725,002615: 25,3100 00310 00000 MCTOMS 2DEC 100 B-13
023726,002616:
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Page 555 |
023728,002618: # RADAR READ INITIALIZATION
023729,002619:
023730,002620: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023731,002621:
023732,002622: 25,3102 03122 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023733,002623: 25,3103 00017 ALLREAD OCT 17
023734,002624:
023735,002625: 25,3104 03123 LRVELZ TC INITREAD
023736,002626: 25,3105 00016 OCT 16
023737,002627:
023738,002628: 25,3106 03123 LRVELY TC INITREAD
023739,002629: 25,3107 00015 OCT 15
023740,002630:
023741,002631: 25,3110 03123 LRVELX TC INITREAD
023742,002632: 25,3111 00014 OCT 14
023743,002633:
023744,002634: 25,3112 03122 RRRDOT TC INITREAD -1
023745,002635: 25,3113 00012 OCT 12
023746,002636:
023747,002637: 25,3114 03122 RRRANGE TC INITREAD -1
023748,002638: 25,3115 00011 OCT 11
023749,002639:
023750,002640: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023751,002641: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023752,002642:
023753,002643: 25,3116 55104 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023754,002644: 25,3117 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023755,002645: 25,3120 51104 INDEX TIMEHOLD
023756,002646: 25,3121 13104 TCF LRVELZ
023757,002647:
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Page 556 |
023759,002649: 25,3122 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023760,002650: 25,3123 00004 INITREAD INHINT
023761,002651:
023762,002652: 25,3124 55104 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023763,002653: 25,3125 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023764,002654: 25,3126 74751 MP BIT3 # ENCOUNTERED).
023765,002655: 25,3127 53105 DXCH TIMEHOLD
023766,002656:
023767,002657: 25,3130 10000 CCS A
023768,002658: 25,3131 55110 TS NSAMP
023769,002659: 25,3132 64753 AD ONE
023770,002660: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023771,002661: # DOUBLE
023772,002662: 25,3133 55077 TS SAMPLIM
023773,002663:
023774,002664: 25,3134 33156 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023775,002665: 25,3135 00006 EXTEND
023776,002666: 25,3136 02033 RAND CHAN33
023777,002667: 25,3137 55112 TS OLDATAGD
023778,002668:
023779,002669: 25,3140 43103 CS ALLREAD
023780,002670: 25,3141 00006 EXTEND
023781,002671: 25,3142 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023782,002672:
023783,002673: 25,3143 50002 INDEX Q
023784,002674: 25,3144 30000 CAF 0
023785,002675: 25,3145 04674 TC IBNKCALL
023786,002676: 25,3146 36000 CADR RADSTART
023787,002677:
023788,002678: 25,3147 00006 EXTEND
023789,002679: 25,3150 30025 DCA TIME2
023790,002680: 25,3151 21105 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
023791,002681:
023792,002682: 25,3152 34755 CAF ZERO
023793,002683: 25,3153 54001 TS L
023794,002684: 25,3154 53101 DXCH SAMPLSUM
023795,002685: 25,3155 12377 TCF ROADBACK
023796,002686:
023797,002687: 25,3156 00230 DGBITS OCT 230
023798,002688:
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Page 557 |
023800,002690: # RADAR RUPT READER
023801,002691:
023802,002692: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023803,002693:
023804,002694: 25,2000 SETLOC RADARUPT
023805,002695: 25,2000 BANK
023806,002696:
023807,002697: 25,3157 COUNT* $$/RRUPT
023808,002698: 25,3157 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023809,002699: 25,3160 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
023810,002700: 25,3161 54016 TS BANKRUPT
023811,002701: 25,3162 00006 EXTEND
023812,002702: 25,3163 22012 QXCH QRUPT
023813,002703:
023814,002704: 25,3164 00006 EXTEND
023815,002705: 25,3165 31454 DCA TTOGO # LOAD TIME TO TIG
023816,002706: 25,3166 53272 DXCH TTOTIG # FOR R65 RADAR READING.
023817,002707:
023818,002708: 25,3167 34757 CAF SEVEN
023819,002709: 25,3170 00006 EXTEND
023820,002710: 25,3171 02013 RAND CHAN13
023821,002711: 25,3172 55332 TS DNINDEX
023822,002712: 25,3173 00006 EXTEND # IF RADAR SELECT BITS ZERO,DO NOT STORE
023823,002713: 25,3174 13200 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023824,002714: 25,3175 30046 CA RNRAD
023825,002715: 25,3176 51332 INDEX DNINDEX
023826,002716: 25,3177 55327 TS DNRRANGE -1
023827,002717: 25,3200 11077 TRYCOUNT CCS SAMPLIM
023828,002718: 25,3201 13223 TCF PLENTY
023829,002719: 25,3202 13206 TCF NOMORE
023830,002720: 25,3203 05567 TC ALARM
023831,002721: 25,3204 00520 OCT 520
023832,002722: 25,3205 05270 TC RESUME
023833,002723:
023834,002724: 25,3206 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023835,002725: 25,3207 74735 MASK LRBYBIT
023836,002726: 25,3210 00006 EXTEND
023837,002727: 25,3211 13220 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023838,002728:
023839,002729: 25,3212 40077 CS FLAGWRD3 # CHECK R04FLAG.
023840,002730: 25,3213 74743 MASK R04FLBIT # IF 1,R04 IS RUNNING. DO NOT ALARM-
023841,002731: 25,3214 00006 EXTEND
023842,002732: 25,3215 13220 BZF BADRAD
023843,002733:
023844,002734: 25,3216 05567 TC ALARM # P20 WANTS THE ALARM.
023845,002735: 25,3217 00521 OCT 521
023846,002736: 25,3220 44753 BADRAD CS ONE
023847,002737: 25,3221 55077 TS SAMPLIM
023848,002738: 25,3222 03543 TC RDBADEND -2
023849,002739: 25,3223 55077 PLENTY TS SAMPLIM
023850,002740:
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Page 558 |
023852,002742: 25,3224 34751 CAF BIT3
023853,002743: 25,3225 00006 EXTEND
023854,002744: 25,3226 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023855,002745: 25,3227 00006 EXTEND
023856,002746: 25,3230 13277 BZF RENDRAD
023857,002747:
023858,002748: 25,3231 03365 TC R77CHECK # R77 QUITS HERE.
023859,002749: 25,3232 36250 VELCHK CAF BIN3 # = 00003 OCT
023860,002750: 25,3233 00006 EXTEND
023861,002751: 25,3234 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023862,002752: 25,3235 76250 MASK BIN3
023863,002753: 25,3236 00006 EXTEND
023864,002754: 25,3237 13273 BZF LRHEIGHT # TAKE A LR RANGE READING
023865,002755:
023866,002756: 25,3240 34733 CAF POSMAX
023867,002757: 25,3241 70046 MASK RNRAD
023868,002758: 25,3242 62000 AD LVELBIAS
023869,002759: 25,3243 54001 TS L
023870,002760: 25,3244 30046 CAE RNRAD
023871,002761: 25,3245 60000 DOUBLE
023872,002762: 25,3246 74753 MASK BIT1
023873,002763: 25,3247 52064 DXCH ITEMP3
023874,002764:
023875,002765: 25,3250 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023876,002766: 25,3251 03425 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023877,002767: # INDEPENDENT OF DATA GOOD.
023878,002768:
023879,002769: 25,3252 11110 CCS NSAMP
023880,002770: 25,3253 03263 TC NOEND
023881,002771: 25,3254 44753 GOODRAD CS ONE
023882,002772: 25,3255 55077 TS SAMPLIM
023883,002773: 25,3256 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023884,002774: 25,3257 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023885,002775: 25,3260 54110 TS RADMODES
023886,002776: 25,3261 03572 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023887,002777: 25,3262 03536 TC RGOODEND -2
023888,002778:
023889,002779: 25,3263 55110 NOEND TS NSAMP
023890,002780: 25,3264 11077 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023891,002781: 25,3265 13267 TCF +2
023892,002782: 25,3266 13444 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023893,002783: 25,3267 34750 CAF BIT4 # RESET ACTIVITY BIT.
023894,002784: 25,3270 04674 TC IBNKCALL
023895,002785: 25,3271 36000 CADR RADSTART
023896,002786:
023897,002787: 25,3272 05270 TC RESUME
023898,002788:
023899,002789:
023900,002790: 25,3273 34747 LRHEIGHT CAF BIT5
023901,002791: 25,3274 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023902,002792:
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Page 559 |
023904,002794:
023905,002795: 25,3275 34743 CAF BIT9
023906,002796: 25,3276 03321 TC SCALECHK -1
023907,002797:
023908,002798: 25,3277 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023909,002799: 25,3300 70110 MASK RADMODES # LIMITS.
023910,002800: 25,3301 10000 CCS A
023911,002801: 25,3302 13220 TCF BADRAD
023912,002802:
023913,002803: 25,3303 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
023914,002804: 25,3304 74745 MASK RCDUFBIT
023915,002805: 25,3305 10000 CCS A
023916,002806: 25,3306 13220 TCF BADRAD
023917,002807:
023918,002808: 25,3307 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
023919,002809: 25,3310 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023920,002810:
023921,002811: 25,3311 34753 CAF BIT1 # SEE IF RR RDOT.
023922,002812: 25,3312 00006 EXTEND
023923,002813: 25,3313 02013 RAND CHAN13
023924,002814: 25,3314 54002 TS Q # FOR LATER TESTING.
023925,002815: 25,3315 10000 CCS A
023926,002816: 25,3316 13320 TCF +2
023927,002817: 25,3317 13332 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
023928,002818: 25,3320 34751 CAF BIT3
023929,002819: 25,3321 54001 TS L
023930,002820:
023931,002821: 25,3322 00006 SCALECHK EXTEND
023932,002822: 25,3323 02033 RAND CHAN33 # SCALE STATUS NOW
023933,002823: 25,3324 56001 XCH L
023934,002824: 25,3325 70110 MASK RADMODES # SCALE STATUS BEFORE
023935,002825: 25,3326 00006 EXTEND
023936,002826: 25,3327 06001 RXOR LCHAN # SEE IF THEY DIFFER
023937,002827: 25,3330 10000 CCS A
023938,002828: 25,3331 03351 TC SCALCHNG # THEY DIFFER
023939,002829:
023940,002830: 25,3332 34733 RADIN CAF POSMAX
023941,002831: 25,3333 70046 MASK RNRAD
023942,002832: 25,3334 54064 TS ITEMP4
023943,002833:
023944,002834: 25,3335 30046 CAE RNRAD
023945,002835: 25,3336 60000 DOUBLE
023946,002836: 25,3337 74753 MASK BIT1
023947,002837: 25,3340 54063 TS ITEMP3
023948,002838:
023949,002839: 25,3341 10002 CCS Q # SEE IF RR RDOT.
023950,002840: 25,3342 13403 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
023951,002841:
023952,002842: 25,3343 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
023953,002843: 25,3344 42002 DCS RDOTBIAS
023954,002844: 25,3345 20064 DASAMPL DAS ITEMP3
023955,002845:
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Page 560 |
023957,002847: 25,3346 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
023958,002848: 25,3347 03426 TC DGCHECK +1 # AFTER TAKING SAMPLE.
023959,002849: 25,3350 03254 TC GOODRAD
023960,002850:
023961,002851: 25,3351 22110 SCALCHNG LXCH RADMODES
023962,002852: 25,3352 64753 AD BIT1
023963,002853: 25,3353 00006 EXTEND
023964,002854: 25,3354 06001 RXOR LCHAN
023965,002855: 25,3355 54110 TS RADMODES
023966,002856: 25,3356 33156 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
023967,002857: 25,3357 00006 EXTEND
023968,002858: 25,3360 02033 RAND CHAN33
023969,002859: 25,3361 55112 TS OLDATAGD
023970,002860: 25,3362 05504 TC UPFLAG # SET RNGSCFLG
023971,002861: 25,3363 00120 ADRES RNGSCFLG # FOR LRS24.1
023972,002862: 25,3364 13220 TCF BADRAD
023973,002863:
023974,002864: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023975,002865:
023976,002866: 25,3365 40101 R77CHECK CS FLAGWRD5
023977,002867: 25,3366 74741 MASK R77FLBIT
023978,002868: 25,3367 10000 CCS A
023979,002869: 25,3370 00002 TC Q # NOT R77
023980,002870: 25,3371 43402 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
023981,002871: 25,3372 70110 MASK RADMODES
023982,002872: 25,3373 54001 TS L
023983,002873: 25,3374 33402 CA BITS5,8
023984,002874: 25,3375 00006 EXTEND
023985,002875: 25,3376 02033 RAND CHAN33
023986,002876: 25,3377 60001 AD L
023987,002877: 25,3400 54110 TS RADMODES
023988,002878: 25,3401 03536 TC RGOODEND -2
023989,002879: 25,3402 00220 BITS5,8 OCT 220
023990,002880:
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Page 561 |
023992,002882: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
023993,002883:
023994,002884: 25,3403 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
023995,002885: 25,3404 13406 TCF +2 # ON HIGH SCALE.
023996,002886: 25,3405 13346 TCF DGCHECK2
023997,002887:
023998,002888: 25,3406 31332 CA DNINDEX
023999,002889: 25,3407 74751 MASK BIT3
024000,002890: 25,3410 10000 CCS A
024001,002891: 25,3411 13420 TCF LRSCK
024002,002892:
024003,002893: 25,3412 52064 DXCH ITEMP3
024004,002894: 25,3413 20001 DDOUBL
024005,002895: 25,3414 20001 DDOUBL
024006,002896: 25,3415 20001 DDOUBL
024007,002897: 25,3416 52064 DXCH ITEMP3
024008,002898:
024009,002899: 25,3417 13346 TCF DGCHECK2
024010,002900:
024011,002901: 25,3420 00006 LRSCK EXTEND
024012,002902: 25,3421 30064 DCA ITEMP3
024013,002903: 25,3422 20001 DDOUBL
024014,002904: 25,3423 20001 DDOUBL
024015,002905: 25,3424 13345 TCF DASAMPL
024016,002906:
024017,002907:
024018,002908: 25,3425 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024019,002909: 25,3426 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024020,002910: 25,3427 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024021,002911: 25,3430 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024022,002912: 25,3431 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024023,002913: 25,3432 71112 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024024,002914: 25,3433 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024025,002915: 25,3434 57112 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024026,002916: 25,3435 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024027,002917: 25,3436 60001 AD L
024028,002918: 25,3437 10000 CCS A # SHOULD BOTH BE ZERO.
024029,002919: 25,3440 03264 TC RESAMPLE
024030,002920: 25,3441 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
024031,002921: 25,3442 21101 DAS SAMPLSUM # ACCUMULATION.
024032,002922: 25,3443 00002 TC Q
024033,002923:
024034,002924: 25,3444 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
024035,002925: 25,3445 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
024036,002926: 25,3446 60061 AD ITEMP1
024037,002927: 25,3447 54110 TS RADMODES
024038,002928:
024039,002929: 25,3450 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
024040,002930: 25,3451 53101 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
024041,002931:
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Page 562 |
024043,002933: 25,3452 03572 TC RADLITES
024044,002934: 25,3453 13206 TCF NOMORE
024045,002935:
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Page 563 |
024047,002937: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024048,002938:
024049,002939:
024050,002940: 17,2000 SETLOC C13BANK
024051,002941: 17,2000 BANK
024052,002942:
024053,002943: 17,2000 54002 RADSTART TS Q
024054,002944: 17,2001 00006 +1 EXTEND
024055,002945: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
024056,002946: 17,2003 54001 TS L
024057,002947:
024058,002948: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
024059,002949: 17,2005 40000 COM
024060,002950: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
024061,002951: 17,2007 74346 MASK LOW5
024062,002952: 17,2010 55270 TS RADDEL
024063,002953:
024064,002954: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024065,002955: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
024066,002956: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
024067,002957:
024068,002958: 17,2014 30002 CA Q
024069,002959: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
024070,002960: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
024071,002961:
024072,002962: 17,2017 40001 CS L
024073,002963: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
024074,002964: 17,2021 04707 TC ISWRETRN
024075,002965:
024076,002966:
024077,002967: 17,2022 55266 C13STAL1 TS C13FSAV
024078,002968:
024079,002969: 17,2023 34750 CA BIT4
024080,002970: 17,2024 00006 EXTEND
024081,002971: 17,2025 02013 RAND CHAN13
024082,002972: 17,2026 00006 EXTEND
024083,002973: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
024084,002974:
024085,002975: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
024086,002976: 17,2031 00006 EXTEND
024087,002977: 17,2032 00004 READ LOSCALAR
024088,002978: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
024089,002979: 17,2034 64736 AD HALF
024090,002980: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
024091,002981: 17,2036 56001 XCH L
024092,002982:
024093,002983: 17,2037 32053 CA 90MSCALR
024094,002984: 17,2040 61270 AD RADDEL
024095,002985: 17,2041 00006 EXTEND
024096,002986: 17,2042 60001 SU L
024097,002987:
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Page 564 |
024099,002989: 17,2043 00006 EXTEND
024100,002990: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
024101,002991:
024102,002992: 17,2045 62054 AD -DTSCALR
024103,002993: 17,2046 00006 EXTEND
024104,002994: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024105,002995:
024106,002996: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
024107,002997: 17,2051 31266 CA C13FSAV
024108,002998: 17,2052 52005 DTCF
024109,002999:
024110,003000: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
024111,003001: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
024112,003002:
024113,003003: 6000 SETLOC FFTAG6
024114,003004: 6000 BANK
024115,003005:
024116,003006: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
024117,003007: 6023 56004 XCH FBANK
024118,003008: 6024 12022 TCF C13STAL1
024119,003009:
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Page 565 |
024121,003011:
024122,003012: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024123,003013:
024124,003014: 25,2000 SETLOC P20S1
024125,003015: 25,2000 BANK
024126,003016:
024127,003017: 25,3454 COUNT* $$/RSUB
024128,003018: 25,3454 00004 LRPOS2 INHINT
024129,003019:
024130,003020: 25,3455 40110 CS RADMODES
024131,003021: 25,3456 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024132,003022: 25,3457 26110 ADS RADMODES
024133,003023:
024134,003024: 25,3460 34745 CAF BIT7
024135,003025: 25,3461 00006 EXTEND
024136,003026: 25,3462 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024137,003027: 25,3463 00006 EXTEND
024138,003028: 25,3464 13513 BZF RADNOOP
024139,003029:
024140,003030: 25,3465 34737 CAF BIT13
024141,003031: 25,3466 00006 EXTEND
024142,003032: 25,3467 05012 WOR CHAN12 # COMMAND TO POSITION 2
024143,003033: 25,3470 33530 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024144,003034: 25,3471 05203 TC WAITLIST
024145,003035: 25,3472 E7,1456 EBANK= LOSCOUNT
024146,003036: 25,3472 03526 52067 2CADR LRPOSCAN
024147,003037: 25,3474 02377 TC ROADBACK
024148,003038:
024149,003039: 25,3475 55077 LRPOSNXT TS SAMPLIM
024150,003040: 25,3476 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024151,003041: 25,3477 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024152,003042:
024153,003043: 25,3500 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024154,003044: 25,3501 00006 EXTEND
024155,003045: 25,3502 02033 RAND CHAN33
024156,003046: 25,3503 00006 EXTEND
024157,003047: 25,3504 13520 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024158,003048:
024159,003049: 25,3505 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
024160,003050: 25,3506 13475 TCF LRPOSNXT
024161,003051:
024162,003052: 25,3507 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024163,003053: 25,3510 00006 EXTEND
024164,003054: 25,3511 03012 WAND CHAN12
024165,003055: 25,3512 13545 TCF RDBADEND
024166,003056:
024167,003057: 25,3513 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024168,003058: 25,3514 05203 TC WAITLIST
024169,003059: 25,3515 E7,1456 EBANK= LOSCOUNT
024170,003060: 25,3515 03540 52067 2CADR RGOODEND
024171,003061:
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Page 566 |
024173,003063: 25,3517 02377 TC ROADBACK
024174,003064:
024175,003065: 25,3520 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024176,003066: 25,3521 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024177,003067:
024178,003068: 25,3522 44737 CS BIT13 # REMOVE COMMAND
024179,003069: 25,3523 00006 EXTEND
024180,003070: 25,3524 03012 WAND CHAN12
024181,003071: 25,3525 13540 TCF RGOODEND
024182,003072:
024183,003073: 25,3526 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
024184,003074: 25,3527 13475 TCF LRPOSNXT
024185,003075:
024186,003076: 25,3530 01130 6SECS DEC 600 B-14
024187,003077:
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Page 567 |
024189,003079: # SEQUENCES TO TERMINATE RR OPERATIONS.
024190,003080:
024191,003081: 25,3531 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024192,003082: 25,3532 70110 MASK RADMODES
024193,003083: 25,3533 10000 CCS A
024194,003084: 25,3534 13540 TCF RGOODEND
024195,003085: 25,3535 13545 TCF RDBADEND
024196,003086: 25,3536 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024197,003087: 25,3537 54332 TS RUPTAGN
024198,003088:
024199,003089: 25,3540 34752 RGOODEND CAF TWO
024200,003090: 25,3541 04635 TC POSTJUMP
024201,003091: 25,3542 17657 CADR GOODEND
024202,003092:
024203,003093: 25,3543 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024204,003094: 25,3544 54332 TS RUPTAGN
024205,003095: 25,3545 34752 RDBADEND CAF TWO
024206,003096: 25,3546 04635 TC POSTJUMP
024207,003097: 25,3547 17654 CADR BADEND
024208,003098:
024209,003099: 25,3550 6250 BIN3 EQUALS THREE
024210,003100:
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Page 568 |
024212,003102: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024213,003103: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024214,003104:
024215,003105: # FUNCTIONAL DESCRIPTION_
024216,003106: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024217,003107: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024218,003108: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024219,003109:
024220,003110:
024221,003111: # CALLING SEQUENCE CALL
024222,003112: # LPS20.1
024223,003113:
024224,003114:
024225,003115: # SUBROUTINES CALLED_
024226,003116:
024227,003117: # LEMPREC,CSMPREC
024228,003118:
024229,003119: # NORMAL EXIT_ RETURN TO CALLER + 2
024230,003120:
024231,003121:
024232,003122: # ERROR EXITS_ NONE
024233,003123:
024234,003124:
024235,003125: # ALARMS_ NONE
024236,003126:
024237,003127: # OUTPUT_
024238,003128:
024239,003129: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024240,003130: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024241,003131: # RRNBSW CLEARED
024242,003132:
024243,003133:
024244,003134: # INITIALIZED ERASEABLE
024245,003135:
024246,003136: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024247,003137: # SEE ORBITAL INTEGRATION ROUTINE
024248,003138:
024249,003139:
024250,003140: # DEBRIS_
024251,003141:
024252,003142: # MPAC DESTROYED BY THIS ROUTINE
024253,003143:
024254,003144:
024255,003145: 23,2337 BANK 23
024256,003146: 24,2000 SETLOC P20S
024257,003147: 24,2000 BANK
024258,003148:
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Page 569 |
024260,003150: 24,3255 COUNT* $$/LPS20
024261,003151:
024262,003152: 24,3255 43020 LPS20.1 STQ BOFF
024263,003153: 24,3256 01757 LS21X
024264,003154: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024265,003155: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE
024266,003156: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024267,003157: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC
024268,003158: 24,3263 51274 CSMINT
024269,003159: 24,3264 77624 LMINT CALL
024270,003160: 24,3265 27101 LEMCONIC # EXTRAPOLATE LEM
024271,003161: 24,3266 77775 VLOAD
024272,003162: 24,3267 00001 RATT
024273,003163: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29
024274,003164: 24,3271 00007 VATT
024275,003165: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024276,003166: 24,3273 00015 TAT
024277,003167: 24,3274 34041 CSMINT STCALL TDEC1
024278,003168: 24,3275 27067 CSMCONIC # EXTRAPOLATE CSM
024279,003169: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024280,003170: 24,3277 00007 VATT
024281,003171: 24,3300 02360 LMVEL
024282,003172: 24,3301 76521 MXV VSL1
024283,003173: 24,3302 01734 REFSMMAT
024284,003174: 24,3303 77776 EXIT
024285,003175: 24,3304 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024286,003176: 24,3305 52613 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024287,003177: 24,3306 06042 TC INTPRET
024288,003178: 24,3307 25761 STOVL LOSVEL
024289,003179: 24,3310 00001 RATT
024290,003180: 24,3311 43051 VSU BOFF
024291,003181: 24,3312 02352 LMPOS
024292,003182: 24,3313 00350 RNDVZFLG
024293,003183: 24,3314 51321 NOTSHIFT
024294,003184: 24,3315 77604 BOVB
024295,003185: 24,3316 57753 TCDANZIG
024296,003186: 24,3317 77661 VSL
024297,003187: 24,3320 20212 9D
024298,003188: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024299,003189: 24,3322 50102 526ALARM # THAN 400 N. M.
024300,003190: 24,3323 76521 MXV VSL1
024301,003191: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024302,003192: 24,3325 15101 STODL RRTARGET
024303,003193: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024304,003194: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024305,003195: 24,3330 77614 CLRGO
024306,003196: 24,3331 00231 RRNBSW
024307,003197: 24,3332 01757 LS21X
024308,003198:
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Page 570 |
024310,003200: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024311,003201: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024312,003202:
024313,003203:
024314,003204: # FUNCTIONAL DESCRIPTION_
024315,003205:
024316,003206: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024317,003207:
024318,003208:
024319,003209: # CALLING SEQUENCE CALL
024320,003210: # LPS20.2
024321,003211:
024322,003212:
024323,003213: # SUBROUTINES CALLED_ NONE
024324,003214:
024325,003215:
024326,003216: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024327,003217:
024328,003218:
024329,003219: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024330,003220:
024331,003221:
024332,003222: # ALARMS_ NONE
024333,003223:
024334,003224:
024335,003225: # OUTPUT_ NONE
024336,003226:
024337,003227:
024338,003228: # INITIALIZED ERASEABLE_
024339,003229:
024340,003230: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024341,003231: # DEBRIS
024342,003232:
024343,003233: # MPAC DESTROYED BY THIS ROUTINE
024344,003234:
024345,003235:
024346,003236: 25,2000 SETLOC P20S1
024347,003237: 25,2000 BANK
024348,003238: 25,3550 COUNT* $$/LPS20
024349,003239:
024350,003240: 25,3550 45345 LPS20.2 DLOAD DSU
024351,003241: 25,3551 01767 MLOSV # MAGNITUDE OF LOS
024352,003242: 25,3552 13563 FHNM # OVER 400NM _
024353,003243: 25,3553 77644 BPL
024354,003244: 25,3554 53557 TOFAR
024355,003245: 25,3555 43535 SLOAD RVQ
024356,003246: 25,3556 06524 ZERO/SP
024357,003247: 25,3557 43535 TOFAR SLOAD RVQ
024358,003248: 25,3560 13562 ONE/SP
024359,003249: 25,3561 00001 ONE/SP DEC 1 B-14
024360,003250:
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Page 571 |
024362,003252: 25,3562 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024363,003253:
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Page 572 |
024365,003255: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024366,003256: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024367,003257:
024368,003258:
024369,003259: # FUNCTIONAL DESCRIPTION
024370,003260:
024371,003261: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
024372,003262: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
024373,003263: # RR REPOSITION AND RR CDU FAIL
024374,003264:
024375,003265: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024376,003266:
024377,003267:
024378,003268: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024379,003269:
024380,003270:
024381,003271: # SUBROUTINES CALLED:
024382,003272:
024383,003273: # RRRDOT LPS20.1
024384,003274: # RRRANGE BANKCALL
024385,003275: # RADSTALL CDULOGIC
024386,003276: # RRNB SMNB
024387,003277: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024388,003278:
024389,003279:
024390,003280: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024391,003281:
024392,003282: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024393,003283: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024394,003284:
024395,003285:
024396,003286: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024397,003287: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024398,003288:
024399,003289: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2)-A HALF-UNIT VECTOR
024400,003290: # RM- THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024401,003291:
024402,003292: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024403,003293:
024404,003294: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
024405,003295: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
024406,003296: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
024407,003297: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
024408,003298: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
024409,003299:
024410,003300:
024411,003301: # ERASABLE INITIALIZATION REQUIRED:
024412,003302:
024413,003303: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
024414,003304:
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Page 573 |
024416,003306: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024417,003307: # 2) RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
024418,003308:
024419,003309: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
024420,003310:
024421,003311:
024422,003312: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
024423,003313:
024424,003314: 32,2366 BANK 32
024425,003315: 32,2000 SETLOC LRS22
024426,003316: 32,2000 BANK
024427,003317: 32,2366 COUNT* $$/LRS22
024428,003318:
024429,003319: 32,2366 04645 LRS22.1 TC MAKECADR
024430,003320: 32,2367 55737 TS LRS22.1X
024431,003321: 32,2370 05516 TC DOWNFLAG
024432,003322: 32,2371 00120 ADRES RNGSCFLG
024433,003323: 32,2372 00004 INHINT
024434,003324: 32,2373 34751 CAF BIT3
024435,003325: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024436,003326: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024437,003327: 32,2376 54001 TS L
024438,003328: 32,2377 44751 CS RRRSBIT
024439,003329: 32,2400 70110 MASK RADMODES
024440,003330: 32,2401 60001 AD L
024441,003331: 32,2402 54110 TS RADMODES
024442,003332: 32,2403 00003 RELINT
024443,003333: 32,2404 04616 READRDOT TC BANKCALL
024444,003334: 32,2405 53112 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024445,003335: 32,2406 04616 TC BANKCALL
024446,003336: 32,2407 17706 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024447,003337: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024448,003338:
024449,003339: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024450,003340: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024451,003341: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024452,003342: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024453,003343: 32,2415 53747 DXCH RDOTMSAV
024454,003344: 32,2416 00006 EXTEND
024455,003345: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024456,003346: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024457,003347: 32,2421 30032 CA CDUX
024458,003348: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024459,003349: 32,2423 00006 EXTEND
024460,003350: 32,2424 30025 DCA TIME2 # SAVE TIME
024461,003351: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024462,003352: 32,2426 00006 EXTEND
024463,003353: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024464,003354: 32,2430 53107 DXCH TANG
024465,003355:
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Page 574 |
024467,003357: 32,2431 00003 RELINT
024468,003358: 32,2432 04616 TC BANKCALL
024469,003359: 32,2433 53114 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024470,003360: 32,2434 04616 TC BANKCALL
024471,003361: 32,2435 17706 CADR RADSTALL # WAIT FOR READ COMPLETE
024472,003362: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
024473,003363: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024474,003364: 32,2440 00006 EXTEND
024475,003365: 32,2441 31331 DCA DNRRANGE # RANGE,RANGE RATE (RAW DATA)
024476,003366: 32,2442 53761 DXCH RANGRDOT
024477,003367: 32,2443 52162 DXCH MPAC +5
024478,003368: 32,2444 53755 DXCH MKTIME # MARK TIME
024479,003369: 32,2445 52160 DXCH MPAC +3
024480,003370: 32,2446 53460 DXCH AIG # CDUY, CDUZ
024481,003371: 32,2447 00006 EXTEND
024482,003372: 32,2450 31107 DCA TANG # PRESERVE TANG
024483,003373: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024484,003374: 32,2452 30156 CA MPAC +2
024485,003375: 32,2453 55461 TS AOG # CDUX
024486,003376: 32,2454 06042 TC INTPRET
024487,003377: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024488,003378: 32,2456 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024489,003379: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024490,003380: 32,2460 20217 14D # FT./SECOND PER BIT
024491,003381: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024492,003382: 32,2462 03751 STORE RDOTM
024493,003383: 32,2463 47135 SLOAD RTB
024494,003384: 32,2464 01107 TANG # GET TRUNION ANGLE
024495,003385: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024496,003386: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024497,003387: 32,2467 47135 SLOAD RTB
024498,003388: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
024499,003389: 32,2471 21577 CDULOGIC
024500,003390: 32,2472 17736 STODL RRSHAFT
024501,003391: 32,2473 01101 SAMPLSUM
024502,003392: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024503,003393: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS,SCALED -29
024504,003394: 32,2476 37757 STCALL RM
024505,003395: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024506,003396: 32,2500 17741 STODL RRBORSIT # AND SAVE
024507,003397: 32,2501 00025 20D
024508,003398: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024509,003399: 32,2503 51255 LPS20.1
024510,003400: 32,2504 77776 EXIT
024511,003401: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024512,003402: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024513,003403: 32,2507 31460 CA AMG
024514,003404: 32,2510 54767 TS CDUSPOT +2
024515,003405: 32,2511 31461 CA AOG
024516,003406: 32,2512 54771 TS CDUSPOT +4
024517,003407:
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Page 575 |
024519,003409: 32,2513 06042 TC INTPRET
024520,003410: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024521,003411: 32,2515 01101 RRTARGET
024522,003412: 32,2516 47653 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024523,003413: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024524,003414: 32,2520 03741 RRBORSIT
024525,003415: 32,2521 65552 SL1 ACOS # BETWEEN THEM
024526,003416: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024527,003417: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024528,003418: 32,2524 24547 THREEDEG
024529,003419: 32,2525 64532 NORMEXIT # YES-NORMAL EXIT
024530,003420:
024531,003421: 32,2526 77776 EXIT # ERROR EXIT 2
024532,003422: 32,2527 34752 CAF BIT2 # SET ERROR CODE
024533,003423: 32,2530 54154 TS MPAC
024534,003424: 32,2531 12535 TCF OUT22.1
024535,003425:
024536,003426: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
024537,003427: 32,2533 34755 CAF ZERO
024538,003428: 32,2534 54154 TS MPAC
024539,003429: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024540,003430: 32,2536 04640 TC BANKJUMP
024541,003431: 32,2537 30101 CHEXERR CAE FLAGWRD5
024542,003432: 32,2540 74742 MASK RNGSCBIT
024543,003433: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024544,003434: 32,2542 12404 TCF READRDOT # YES-TAKE ANOTHER READING
024545,003435:
024546,003436: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024547,003437: 32,2544 54154 TS MPAC
024548,003438: 32,2545 02535 TC OUT22.1
024549,003439: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
024550,003440: 32,2550 1100 RRLOSVEC EQUALS RRTARGET
024551,003441:
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Page 576 |
024553,003443: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024554,003444:
024555,003445:
024556,003446: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024557,003447:
024558,003448: # FUNCTIONAL DESCRIPTION-
024559,003449: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024560,003450:
024561,003451:
024562,003452: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
024563,003453:
024564,003454:
024565,003455: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
024566,003456: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024567,003457:
024568,003458:
024569,003459: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024570,003460:
024571,003461:
024572,003462: # ALARMS - NONE IN THE AUTO MODE
024573,003463:
024574,003464:
024575,003465: # ERASABLE INITIALIZATION REQUIRED -
024576,003466: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
024577,003467: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024578,003468: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
024579,003469:
024580,003470:
024581,003471: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024582,003472:
024583,003473:
024584,003474: 24,2000 SETLOC P20S
024585,003475: 24,2000 BANK
024586,003476: 24,3333 04645 LRS22.2 TC MAKECADR
024587,003477: 24,3334 55737 TS LRS22.1X
024588,003478: 24,3335 06042 TC INTPRET
024589,003479: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024590,003480: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024591,003481: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024592,003482: # LOS VECTOR,A HALF UNIT VECTOR
024593,003483: # IN NAV BASE AXES)
024594,003484: 24,3340 50025 DSU BMN
024595,003485: 24,3341 11355 30DEG
024596,003486: 24,3342 51347 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
024597,003487: 24,3343 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
024598,003488: 24,3344 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024599,003489: 24,3345 54154 TS MPAC
024600,003490: 24,3346 13352 TCF OUT22.2
024601,003491: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
024602,003492:
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Page 577 |
024604,003494: 24,3350 34755 CAF ZERO
024605,003495: 24,3351 54154 TS MPAC
024606,003496: 24,3352 31737 OUT22.2 CAE LRS22.1X
024607,003497: 24,3353 04640 TC BANKJUMP
024608,003498:
024609,003499:
024610,003500: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
024611,003501:
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Page 578 |
024613,003503: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024614,003504: # MOD. NO 3 LOG SECTION - P20-25
024615,003505: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024616,003506:
024617,003507: # FUNCTIONAL DESCRIPTION
024618,003508:
024619,003509: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024620,003510: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024621,003511: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024622,003512:
024623,003513: # CALLING SEQUENCE
024624,003514: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
024625,003515: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024626,003516: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024627,003517: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024628,003518: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024629,003519: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
024630,003520:
024631,003521:
024632,003522: # SUBROUTINES CALLED
024633,003523: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024634,003524: # GETULC RARARANG INCORP2 NBSM INTSTALL
024635,003525:
024636,003526: # OUTPUT
024637,003527: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024638,003528: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024639,003529: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024640,003530: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024641,003531: # UPDATED W-MATRIX
024642,003532:
024643,003533:
024644,003534: # ERASABLE INITIALIZATION REQUIRED
024645,003535: # LM AND CSM STATE VECTORS
024646,003536: # W-MATRIX
024647,003537: # MARK TIME IN MKTIME
024648,003538: # RADAR RANGE IN RM METERS B-29
024649,003539: # RANGE RATE IN RDOTM METERS/CSES B-7
024650,003540: # SHAFT ANGLE IN RRSHAFT REVS.B0
024651,003541: # TRUNNION ANGLE IN RRTRUN REVS. B0
024652,003542: # GIMBAL ANGLES INNER IN AIG
024653,003543: # MIDDLE IN AMG
024654,003544: # OUTER IN AOG
024655,003545: # REFSMMAT
024656,003546: # RENDWFLG
024657,003547: # NOANGFLG
024658,003548: # VEHUPFLG
024659,003549:
024660,003550: # DEBRIS
024661,003551: # PUSHLIST--ALL
024662,003552: # MX, MY, MZ (VECTORS)
024663,003553:
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Page 579 |
024665,003555: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
024666,003556:
024667,003557:
024668,003558: 13,2207 BANK 13
024669,003559: 26,2000 SETLOC P20S3
024670,003560: 26,2000 BANK
024671,003561:
024672,003562: 26,2416 E7,1456 EBANK= LOSCOUNT
024673,003563: 26,2416 COUNT* $$/LSR22
024674,003564: 26,2416 77624 LSR22.3 CALL
024675,003565: 26,2417 11226 GRP2PC
024676,003566: 26,2420 43014 BON SET
024677,003567: 26,2421 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024678,003568: 26,2422 55200 LSR22.4 # YES
024679,003569: 26,2423 02466 DMENFLG
024680,003570: 26,2424 45014 BOFF CALL
024681,003571: 26,2425 00747 VEHUPFLG
024682,003572: 26,2426 54460 DOLEM
024683,003573: 26,2427 27412 INTSTALL
024684,003574: 26,2430 45014 CLEAR CALL # LM PRECISION INTEGRATION
024685,003575: 26,2431 01674 VINTFLAG
024686,003576: 26,2432 26645 SETIFLGS
024687,003577: 26,2433 77624 CALL
024688,003578: 26,2434 55242 INTGRCAL
024689,003579: 26,2435 77624 CALL
024690,003580: 26,2436 11226 GRP2PC
024691,003581: 26,2437 77624 CALL
024692,003582: 26,2440 27412 INTSTALL
024693,003583: 26,2441 43014 CLEAR BOFF
024694,003584: 26,2442 01676 DIM0FLAG
024695,003585: 26,2443 02756 RENDWFLG
024696,003586: 26,2444 54450 NOTWCSM
024697,003587: 26,2445 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024698,003588: 26,2446 01476 DIM0FLAG
024699,003589: 26,2447 01475 D6OR9FLG
024700,003590: 26,2450 43014 NOTWCSM SET CLEAR
024701,003591: 26,2451 01474 VINTFLAG
024702,003592: 26,2452 01673 INTYPFLG
024703,003593: 26,2453 45014 SET CALL
024704,003594: 26,2454 01472 STATEFLG
024705,003595: 26,2455 55242 INTGRCAL
024706,003596: 26,2456 77650 GOTO
024707,003597: 26,2457 54510 MARKTEST
024708,003598: 26,2460 77624 DOLEM CALL
024709,003599: 26,2461 27412 INTSTALL
024710,003600: 26,2462 45014 SET CALL
024711,003601: 26,2463 01474 VINTFLAG
024712,003602: 26,2464 26645 SETIFLGS
024713,003603: 26,2465 77624 CALL
024714,003604: 26,2466 55242 INTGRCAL
024715,003605:
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Page 580 |
024717,003607: 26,2467 77624 CALL
024718,003608: 26,2470 11226 GRP2PC
024719,003609: 26,2471 77624 CALL
024720,003610: 26,2472 27412 INTSTALL
024721,003611: 26,2473 43014 CLEAR BOFF
024722,003612: 26,2474 01676 DIM0FLAG
024723,003613: 26,2475 02756 RENDWFLG
024724,003614: 26,2476 54502 NOTWLEM
024725,003615: 26,2477 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024726,003616: 26,2500 01476 DIM0FLAG
024727,003617: 26,2501 01475 D6OR9FLG
024728,003618: 26,2502 43014 NOTWLEM CLEAR CLEAR
024729,003619: 26,2503 01673 INTYPFLG
024730,003620: 26,2504 01674 VINTFLAG
024731,003621: 26,2505 45014 SET CALL
024732,003622: 26,2506 01472 STATEFLG
024733,003623: 26,2507 55242 INTGRCAL
024734,003624: 26,2510 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024735,003625: 26,2511 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024736,003626: 26,2512 54514 RANGEBQ
024737,003627: 26,2513 55251 WLINIT # YES-REINITIALIZE
024738,003628: 26,2514 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024739,003629: 26,2515 04307 SURFFLAG
024740,003630: 26,2516 54524 RANGEBQ1
024741,003631: 26,2517 34755 CA ZERO
024742,003632: 26,2520 55745 TS R65CNTR
024743,003633: 26,2521 04616 TC BANKCALL
024744,003634: 26,2522 46123 CADR R65LEM
024745,003635: 26,2523 06042 TC INTPRET
024746,003636: 26,2524 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024747,003637: 26,2525 00000 0
024748,003638: 26,2526 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024749,003639: 26,2527 54532 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024750,003640: 26,2530 77714 INCR,2
024751,003641: 26,2531 00002 2
024752,003642: 26,2532 45134 SETX2 SXA,2 CALL
024753,003643: 26,2533 03720 SCALSHFT # 0-MOON. 2-EARTH
024754,003644: 26,2534 11226 GRP2PC
024755,003645: 26,2535 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024756,003646: 26,2536 00001 1
024757,003647: 26,2537 01356 WHCHREAD
024758,003648: 26,2540 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024759,003649: 26,2541 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024760,003650: 26,2542 20635 28D
024761,003651: 26,2543 77634 RTB
024762,003652: 26,2544 21634 TPMODE # AND SAVE IN 20D
024763,003653: 26,2545 00025 STORE 20D
024764,003654: 26,2546 77624 CALL # BEGIN COMPUTING THE B-VECTORS,DELTAQ
024765,003655: 26,2547 55333 GETULC # B-VECTORS FOR RANGE
024766,003656: 26,2550 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024767,003657:
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Page 581 |
024769,003659: 26,2551 00707 VEHUPFLG
024770,003660: 26,2552 54553 +1
024771,003661: 26,2553 27525 STOVL BVECTOR
024772,003662: 26,2554 06524 ZEROVECS
024773,003663: 26,2555 03533 STORE BVECTOR +6 # B1
024774,003664: 26,2556 17541 STODL BVECTOR +12D # B2
024775,003665: 26,2557 00045 36D
024776,003666: 26,2560 44257 SRR* BDSU
024777,003667: 26,2561 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024778,003668: 26,2562 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024779,003669: 26,2563 77657 SLR*
024780,003670: 26,2564 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024781,003671: 26,2565 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024782,003672: 26,2566 00045 36D # RLC B-29/B-27
024783,003673: 26,2567 63501 NORM DSQ # NORMALIZE AND SQUARE
024784,003674: 26,2570 00047 X1
024785,003675: 26,2571 53605 DMP SR*
024786,003676: 26,2572 01771 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
024787,003677: 26,2573 20577 0 -2,1 # UNNORMALIZE
024788,003678: 26,2574 53657 SR* SR*
024789,003679: 26,2575 20601 0,1
024790,003680: 26,2576 57176 0,2
024791,003681: 26,2577 47057 SR* RTB
024792,003682: 26,2600 57176 0,2
024793,003683: 26,2601 21634 TPMODE
024794,003684: 26,2602 02707 STORE VARIANCE # B-40
024795,003685: 26,2603 76276 DCOMP TAD
024796,003686: 26,2604 00025 20D # B-40
024797,003687: 26,2605 72240 BMN TLOAD
024798,003688: 26,2606 54611 QOK
024799,003689: 26,2607 00025 20D # B-40
024800,003690: 26,2610 02707 STORE VARIANCE
024801,003691: 26,2611 77624 QOK CALL
024802,003692: 26,2612 55401 LGCUPDTE
024803,003693:
024804,003694: 26,2613 45131 SSP CALL
024805,003695: 26,2614 01357 WHCHREAD
024806,003696: 26,2615 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024807,003697: 26,2616 11226 GRP2PC
024808,003698: 26,2617 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
024809,003699: 26,2620 55333 GETULC
024810,003700: 26,2621 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024811,003701: 26,2622 00045 36D # AND SHIFT TO B-23
024812,003702: 26,2623 57202 0 -4,2
024813,003703: 26,2624 24045 STOVL 36D # THEN STORE BACK IN 36D
024814,003704: 26,2625 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024815,003705: 26,2626 00707 VEHUPFLG
024816,003706: 26,2627 54630 +1
024817,003707: 26,2630 77761 VXSC
024818,003708: 26,2631 00045 36D # B1 = RLC (B-24/B-22)
024819,003709:
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Page 582 |
024821,003711: 26,2632 27533 STOVL BVECTOR +6
024822,003712: 26,2633 01653 NUVLEM
024823,003713: 26,2634 53257 VSR* VAD
024824,003714: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024825,003715: 26,2636 01667 VCVLEM # EARTH B-7. MOON B-5
024826,003716: 26,2637 53715 PDVL VSR* # VL TO PD6
024827,003717: 26,2640 01601 NUVCSM
024828,003718: 26,2641 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024829,003719: 26,2642 52255 VAD VSU
024830,003720: 26,2643 01615 VCVCSM
024831,003721: 26,2644 50315 PDVL DOT # VC - VL = VLC TO PD6
024832,003722: 26,2645 00001 0
024833,003723: 26,2646 00007 6
024834,003724: 26,2647 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024835,003725: 26,2650 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024836,003726: 26,2651 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024837,003727: 26,2652 01773 RATEVAR
024838,003728: 26,2653 02707 STORE VARIANCE
024839,003729: 26,2654 54335 SLOAD SR
024840,003730: 26,2655 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024841,003731: 26,2656 20621 16D # SHIFT TO DP (B -4)
024842,003732: 26,2657 00031 STORE 24D # AND SAVE IN 24D
024843,003733: 26,2660 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024844,003734: 26,2661 02707 VARIANCE
024845,003735: 26,2662 54666 VOK # BRANCH - NO
024846,003736: 26,2663 77745 DLOAD # YES - USE MINIMUM VARIANCE
024847,003737: 26,2664 00031 24D
024848,003738: 26,2665 02707 STORE VARIANCE
024849,003739: 26,2666 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
024850,003740: 26,2667 53725 PDDL SLR* # TO B-10/B-8
024851,003741: 26,2670 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024852,003742: 26,2671 56577 0 -1,2 # B-7 TO B-10/B-8
024853,003743: 26,2672 77625 DSU
024854,003744: 26,2673 77675 DMPR
024855,003745: 26,2674 00045 36D
024856,003746: 26,2675 27547 STOVL DELTAQ # B-33
024857,003747: 26,2676 00001 0 # NOW GET B0
024858,003748: 26,2677 47235 VXV VXV # (ULC X VLC) X ULC
024859,003749: 26,2700 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024860,003750: 26,2701 00707 VEHUPFLG
024861,003751: 26,2702 54703 +1
024862,003752: 26,2703 77657 VSR*
024863,003753: 26,2704 57200 0 -2,2 # SCALED B-5
024864,003754: 26,2705 27525 STOVL BVECTOR
024865,003755: 26,2706 06524 ZEROVECS
024866,003756: 26,2707 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024867,003757: 26,2710 27541 STOVL BVECTOR +12D
024868,003758: 26,2711 03525 BVECTOR
024869,003759: 26,2712 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024870,003760: 26,2713 00025 20D # SHIFT COUNT IN 20D
024871,003761:
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Page 583 |
024873,003763: 26,2714 51575 VLOAD ABVAL
024874,003764: 26,2715 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024875,003765: 26,2716 71301 NORM DLOAD
024876,003766: 26,2717 00027 22D # SHIFT COUNT IN 22D
024877,003767: 26,2720 00027 22D # FIND WHICH SHIFT IS SMALLER
024878,003768: 26,2721 50025 DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
024879,003769: 26,2722 00025 20D
024880,003770: 26,2723 54727 VOK1
024881,003771: 26,2724 52150 LXA,1 GOTO
024882,003772: 26,2725 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024883,003773: 26,2726 54731 VOK2
024884,003774: 26,2727 77750 VOK1 LXA,1
024885,003775: 26,2730 00024 20D
024886,003776: 26,2731 53775 VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
024887,003777: 26,2732 03525 BVECTOR # WITH THIS SHIFT COUNT
024888,003778: 26,2733 20201 0,1
024889,003779: 26,2734 27525 STOVL BVECTOR
024890,003780: 26,2735 03533 BVECTOR +6
024891,003781: 26,2736 77657 VSL*
024892,003782: 26,2737 20201 0,1
024893,003783: 26,2740 17533 STODL BVECTOR +6
024894,003784: 26,2741 03547 DELTAQ
024895,003785: 26,2742 77657 SL*
024896,003786: 26,2743 20201 0,1
024897,003787: 26,2744 03547 STORE DELTAQ
024898,003788: 26,2745 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024899,003789: 26,2746 00045 36D
024900,003790: 26,2747 20200 0 -1,1
024901,003791: 26,2750 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024902,003792: 26,2751 02707 VARIANCE
024903,003793: 26,2752 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024904,003794: 26,2753 21634 TPMODE
024905,003795: 26,2754 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024906,003796: 26,2755 55401 LGCUPDTE
024907,003797:
024908,003798: 26,2756 77624 CALL
024909,003799: 26,2757 11226 GRP2PC
024910,003800: 26,2760 77414 BON EXIT # ARE ANGLES TO BE DONE
024911,003801: 26,2761 04307 SURFFLAG
024912,003802: 26,2762 55176 RENDEND # NO
024913,003803: 26,2763 E7,1457 EBANK= AIG
024914,003804: 26,2763 33332 MXMYMZ CAF AIGBANK
024915,003805: 26,2764 54006 TS BBANK
024916,003806: 26,2765 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024917,003807: 26,2766 54765 TS CDUSPOT
024918,003808: 26,2767 31460 CA AMG
024919,003809: 26,2770 54767 TS CDUSPOT +2
024920,003810: 26,2771 31461 CA AOG
024921,003811: 26,2772 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024922,003812: 26,2773 06042 TC INTPRET
024923,003813:
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Page 584 |
024925,003815: 26,2774 45175 VLOAD CALL
024926,003816: 26,2775 06522 UNITX
024927,003817: 26,2776 47666 TRG*NBSM
024928,003818: 26,2777 76505 VXM VSL1
024929,003819: 26,3000 01734 REFSMMAT
024930,003820: 26,3001 27677 STOVL MX
024931,003821: 26,3002 06520 UNITY
024932,003822: 26,3003 77624 CALL
024933,003823: 26,3004 47675 *NBSM*
024934,003824: 26,3005 76505 VXM VSL1
024935,003825: 26,3006 01734 REFSMMAT
024936,003826: 26,3007 27705 STOVL MY
024937,003827: 26,3010 06516 UNITZ
024938,003828: 26,3011 77624 CALL
024939,003829: 26,3012 47675 *NBSM*
024940,003830: 26,3013 76505 VXM VSL1
024941,003831: 26,3014 01734 REFSMMAT
024942,003832: 26,3015 37713 SHAFTBQ STCALL MZ
024943,003833: 26,3016 55361 RADARANG
024944,003834: 26,3017 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024945,003835: 26,3020 01357 WHCHREAD
024946,003836: 26,3021 00003 DEC 3 B-14
024947,003837: 26,3022 03724 ULC
024948,003838: 26,3023 72441 DOT SL1
024949,003839: 26,3024 03677 MX
024950,003840: 26,3025 24023 STOVL SINTH # 18D
024951,003841: 26,3026 03724 ULC
024952,003842: 26,3027 72441 DOT SL1
024953,003843: 26,3030 03713 MZ
024954,003844: 26,3031 34021 STCALL COSTH # 16D
024955,003845: 26,3032 26510 ARCTAN
024956,003846: 26,3033 41221 BDSU DMP
024957,003847: 26,3034 03736 RRSHAFT
024958,003848: 26,3035 15441 2PI/8
024959,003849: 26,3036 41472 SL3R PUSH
024960,003850: 26,3037 52545 DLOAD SL3
024961,003851: 26,3040 01701 X789
024962,003852: 26,3041 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024963,003853: 26,3042 56176 0,2
024964,003854: 26,3043 53605 DMP SRR*
024965,003855: 26,3044 03722 RXZ
024966,003856: 26,3045 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024967,003857: 26,3046 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
024968,003858: 26,3047 03724 ULC
024969,003859: 26,3050 76435 VXV VSL1
024970,003860: 26,3051 03705 MY
024971,003861: 26,3052 77656 UNIT
024972,003862: 26,3053 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024973,003863: 26,3054 00747 VEHUPFLG
024974,003864: 26,3055 55056 +1
024975,003865:
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Page 585 |
024977,003867: 26,3056 27525 STOVL BVECTOR
024978,003868: 26,3057 06524 ZEROVECS
024979,003869: 26,3060 03533 STORE BVECTOR +6
024980,003870: 26,3061 17541 STODL BVECTOR +12D
024981,003871: 26,3062 03722 RXZ
024982,003872: 26,3063 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024983,003873: 26,3064 20577 0 -2,1
024984,003874: 26,3065 56176 0,2
024985,003875: 26,3066 03541 STORE BVECTOR +12D
024986,003876: 26,3067 77735 SLOAD
024987,003877: 26,3070 02011 SHAFTVAR
024988,003878: 26,3071 41215 DAD DMP
024989,003879: 26,3072 15436 IMUVAR # RAD**2 B12
024990,003880: 26,3073 03722 RXZ
024991,003881: 26,3074 41257 SRR* DMP
024992,003882: 26,3075 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024993,003883: 26,3076 03722 RXZ
024994,003884: 26,3077 53657 SR* SR*
024995,003885: 26,3100 20577 0 -2,1
024996,003886: 26,3101 57176 0,2
024997,003887: 26,3102 47057 SR* RTB
024998,003888: 26,3103 57176 0,2
024999,003889: 26,3104 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025000,003890: 26,3105 36707 STCALL VARIANCE # B-40
025001,003891: 26,3106 55401 LGCUPDTE
025002,003892:
025003,003893: 26,3107 77624 CALL
025004,003894: 26,3110 11226 GRP2PC
025005,003895: 26,3111 77624 TRUNBQ CALL
025006,003896: 26,3112 55361 RADARANG
025007,003897: 26,3113 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
025008,003898: 26,3114 01357 WHCHREAD
025009,003899: 26,3115 00004 DEC 4 B-14
025010,003900: 26,3116 03724 ULC
025011,003901: 26,3117 76435 VXV VSL1
025012,003902: 26,3120 03705 MY
025013,003903: 26,3121 76435 VXV VSL1 # (ULC X MY) X ULC
025014,003904: 26,3122 03724 ULC
025015,003905: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025016,003906: 26,3124 00747 VEHUPFLG
025017,003907: 26,3125 55126 +1
025018,003908: 26,3126 27525 STOVL BVECTOR
025019,003909: 26,3127 06524 ZEROVECS
025020,003910: 26,3130 03533 STORE BVECTOR +6
025021,003911: 26,3131 17541 STODL BVECTOR +12D
025022,003912: 26,3132 03722 RXZ
025023,003913: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025024,003914: 26,3134 20577 0 -2,1
025025,003915: 26,3135 56176 0,2
025026,003916: 26,3136 03543 STORE BVECTOR +14D
025027,003917:
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Page 586 |
025029,003919: 26,3137 77735 SLOAD
025030,003920: 26,3140 02012 TRUNVAR
025031,003921: 26,3141 41215 DAD DMP
025032,003922: 26,3142 15436 IMUVAR
025033,003923: 26,3143 03722 RXZ
025034,003924: 26,3144 41257 SRR* DMP
025035,003925: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025036,003926: 26,3146 03722 RXZ
025037,003927: 26,3147 53657 SR* SR*
025038,003928: 26,3150 20577 0 -2,1
025039,003929: 26,3151 57176 0,2
025040,003930: 26,3152 47057 SR* RTB
025041,003931: 26,3153 57176 0,2
025042,003932: 26,3154 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025043,003933: 26,3155 16707 STODL VARIANCE
025044,003934: 26,3156 03732 SINTHETA
025045,003935: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
025046,003936: 26,3160 03734 RRTRUN
025047,003937: 26,3161 56405 DMP SL3R
025048,003938: 26,3162 15441 2PI/8
025049,003939: 26,3163 52525 PDDL SL3
025050,003940: 26,3164 01703 X789 +2
025051,003941: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025052,003942: 26,3166 56176 0,2
025053,003943: 26,3167 53605 DMP SRR*
025054,003944: 26,3170 03722 RXZ
025055,003945: 26,3171 21601 0,1
025056,003946: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025057,003947: 26,3173 55401 LGCUPDTE
025058,003948: 26,3174 77624 CALL
025059,003949: 26,3175 11226 GRP2PC
025060,003950: 26,3176 77650 RENDEND GOTO
025061,003951: 26,3177 50562 R22LEM93
025062,003952: # FUNCTIONAL DESCRIPTION
025063,003953: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025064,003954: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025065,003955: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025066,003956:
025067,003957: # SUBROUTINES CALLED
025068,003958: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025069,003959: # INTEGRV GETULC INCORP2
025070,003960:
025071,003961: # OUTPUT
025072,003962: # CORRECTED CSM STATE VECTOR (PERMANENT)
025073,003963: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025074,003964: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025075,003965: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025076,003966: # UPDATED W-MATRIX
025077,003967:
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Page 587 |
025079,003969: # ERASABLE INITIALIZATION REQUIRED
025080,003970: # LM AND CSM STATE VECTORS
025081,003971: # W-MATRIX
025082,003972: # MARK TIME IN MKTIME
025083,003973: # RADAR RANGE IN RM METERS B-29
025084,003974: # RANGE RATE IN RDOTM METERS/CSEC B-7
025085,003975: # VEHUPFLG
025086,003976:
025087,003977:
025088,003978: 26,3200 77624 LSR22.4 CALL
025089,003979: 26,3201 27412 INTSTALL
025090,003980: 26,3202 43014 SET CLEAR
025091,003981: 26,3203 01472 STATEFLG
025092,003982: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025093,003983: 26,3205 77624 CALL
025094,003984: 26,3206 55242 INTGRCAL
025095,003985: 26,3207 77624 CALL
025096,003986: 26,3210 11226 GRP2PC
025097,003987: 26,3211 45014 CLEAR CALL
025098,003988: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025099,003989: 26,3213 27412 INTSTALL
025100,003990: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025101,003991: 26,3215 03463 MARKCTR
025102,003992: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025103,003993: 26,3217 43014 CLEAR SET
025104,003994: 26,3220 01675 D6OR9FLG
025105,003995: 26,3221 01476 DIM0FLAG
025106,003996: 26,3222 43014 SET CLEAR
025107,003997: 26,3223 01474 VINTFLAG
025108,003998: 26,3224 01673 INTYPFLG
025109,003999: 26,3225 77624 CALL
025110,004000: 26,3226 55242 INTGRCAL
025111,004001: 26,3227 77650 GOTO
025112,004002: 26,3230 54514 RANGEBQ
025113,004003:
025114,004004:
025115,004005: 26,3231 77624 INITWMX6 CALL
025116,004006: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
025117,004007: 26,3233 45014 SET CALL
025118,004008: 26,3234 01474 VINTFLAG
025119,004009: 26,3235 26645 SETIFLGS
025120,004010: 26,3236 77624 CALL
025121,004011: 26,3237 55242 INTGRCAL
025122,004012: 26,3240 77650 GOTO
025123,004013: 26,3241 54514 RANGEBQ
025124,004014:
025125,004015: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025126,004016:
025127,004017: 26,3242 71220 INTGRCAL STQ DLOAD
025128,004018: 26,3243 03675 IGRET
025129,004019: 26,3244 03755 MKTIME
025130,004020:
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Page 588 |
025132,004022: 26,3245 34041 STCALL TDEC1
025133,004023: 26,3246 27135 INTEGRV
025134,004024: 26,3247 77650 GOTO
025135,004025: 26,3250 03675 IGRET
025136,004026:
025137,004027: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025138,004028: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025139,004029:
025140,004030: 26,3251 E5,1400 EBANK= W
025141,004031: 26,3251 77776 WLINIT EXIT
025142,004032: 26,3252 33331 CAF WBANK
025143,004033: 26,3253 54006 TS BBANK
025144,004034: 26,3254 33437 CAF WSIZE
025145,004035: 26,3255 55256 TS W.IND
025146,004036: 26,3256 34755 CAF ZERO
025147,004037: 26,3257 51256 INDEX W.IND
025148,004038: 26,3260 55400 TS W
025149,004039: 26,3261 11256 CCS W.IND
025150,004040: 26,3262 03255 TC -5
025151,004041: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
025152,004042: 26,3264 54006 TS BBANK
025153,004043: 26,3265 06042 TC INTPRET
025154,004044: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
025155,004045: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025156,004046: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
025157,004047: 26,3271 02001 WRENDPOS
025158,004048: 26,3272 77650 GOTO
025159,004049: 26,3273 55276 WPOSTORE
025160,004050: 26,3274 77735 WLSRFPOS SLOAD
025161,004051: 26,3275 02007 WSURFPOS
025162,004052: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025163,004053: 26,3277 20606 5
025164,004054: 26,3300 02401 STORE W
025165,004055: 26,3301 02411 STORE W +8D
025166,004056: 26,3302 02421 STORE W +16D
025167,004057: 26,3303 67214 BON SLOAD
025168,004058: 26,3304 04307 SURFFLAG
025169,004059: 26,3305 55311 WLSRFVEL
025170,004060: 26,3306 02002 WRENDVEL
025171,004061: 26,3307 77650 GOTO
025172,004062: 26,3310 55313 WVELSTOR
025173,004063: 26,3311 77735 WLSRFVEL SLOAD
025174,004064: 26,3312 02010 WSURFVEL
025175,004065: 26,3313 02511 WVELSTOR STORE W +72D
025176,004066: 26,3314 02521 STORE W +80D
025177,004067: 26,3315 02531 STORE W +88D
025178,004068: 26,3316 77735 SLOAD
025179,004069: 26,3317 02003 WSHAFT
025180,004070: 26,3320 02621 STORE W +144D
025181,004071: 26,3321 77735 SLOAD
025182,004072:
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Page 589 |
025184,004074: 26,3322 02004 WTRUN
025185,004075: 26,3323 02631 STORE W +152D
025186,004076: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025187,004077: 26,3325 02476 RENDWFLG
025188,004078: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025189,004079: 26,3327 00000 0
025190,004080: 26,3330 77616 RVQ
025191,004081:
025192,004082: 26,3331 E5,1400 EBANK= W
025193,004083: 26,3331 54065 WBANK BBCON WLINIT
025194,004084: 26,3332 E7,1457 EBANK= AIG
025195,004085: 26,3332 54067 AIGBANK BBCON LSR22.3
025196,004086:
025197,004087: # GETULC
025198,004088:
025199,004089: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025200,004090: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025201,004091: # MAGNITUDE IN 36D.
025202,004092:
025203,004093: 26,3333 77201 GETULC SETPD VLOAD
025204,004094: 26,3334 00001 0
025205,004095: 26,3335 01645 DELTALEM
025206,004096: 26,3336 77754 LXA,2
025207,004097: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025208,004098: 26,3340 53257 VSR* VAD
025209,004099: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025210,004100: 26,3342 01661 RCVLEM
025211,004101: 26,3343 53715 PDVL VSR*
025212,004102: 26,3344 01573 DELTACSM
025213,004103: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025214,004104: 26,3346 52255 VAD VSU
025215,004105: 26,3347 01607 RCVCSM
025216,004106: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025217,004107: 26,3351 21725 NORMUNX1
025218,004108: 26,3352 17724 STODL ULC
025219,004109: 26,3353 00045 36D
025220,004110: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025221,004111: 26,3355 20201 0,1
025222,004112: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025223,004113: 26,3357 03724 ULC
025224,004114: 26,3360 77616 RVQ
025225,004115: # RADARANG
025226,004116:
025227,004117: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025228,004118: # RXZ = (SQRT (1-SINTHETA**2))RLC
025229,004119: # OUTPUT
025230,004120: # ULC IN ULC, PD0
025231,004121: # RLC IN PD36D
025232,004122: # SIN THETA IN SINTHETA AND PD6
025233,004123: # RXZ NORM IN RXZ (N IN X1)
025234,004124:
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Page 590 |
025236,004126: 26,3361 45020 RADARANG STQ CALL
025237,004127: 26,3362 03675 RDRET
025238,004128: 26,3363 55333 GETULC
025239,004129: 26,3364 50276 VCOMP DOT
025240,004130: 26,3365 03705 MY
025241,004131: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
025242,004132: 26,3367 03732 STORE SINTHETA
025243,004133: 26,3370 44316 DSQ BDSU
025244,004134: 26,3371 06514 DP1/4TH # 1 - (SIN THETA)**2
025245,004135: 26,3372 41366 SQRT DMP
025246,004136: 26,3373 00045 36D
025247,004137: 26,3374 60352 SL1 NORM
025248,004138: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
025249,004139: 26,3376 03722 STORE RXZ
025250,004140: 26,3377 77650 GOTO # EXIT
025251,004141: 26,3400 03675 RDRET
025252,004142: 26,3401 45020 LGCUPDTE STQ CALL
025253,004143: 26,3402 03675 LGRET
025254,004144: 26,3403 46533 INCORP1
025255,004145: 26,3404 51575 VLOAD ABVAL
025256,004146: 26,3405 02673 DELTAX +6
025257,004147: 26,3406 53754 LXA,2 SRR*
025258,004148: 26,3407 03720 SCALSHFT # 0-MOON. 2-EARTH
025259,004149: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
025260,004150: 26,3411 24317 STOVL R22DISP +2
025261,004151: 26,3412 02665 DELTAX
025262,004152: 26,3413 53646 ABVAL SRR*
025263,004153: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025264,004154: 26,3415 00315 STORE R22DISP
025265,004155: 26,3416 54335 SLOAD SR
025266,004156: 26,3417 02005 RMAX
025267,004157: 26,3420 20613 10D
025268,004158: 26,3421 50025 DSU BMN
025269,004159: 26,3422 00315 R22DISP
025270,004160: 26,3423 50566 R22LEM96 # GO DISPLAY
025271,004161: 26,3424 45335 SLOAD DSU
025272,004162: 26,3425 02006 VMAX
025273,004163: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025274,004164: 26,3427 77640 BMN
025275,004165: 26,3430 50566 R22LEM96 # GO DISPLAY
025276,004166: 26,3431 77624 ASTOK CALL
025277,004167: 26,3432 46745 INCORP2
025278,004168: 26,3433 77650 GOTO
025279,004169: 26,3434 03675 LGRET
025280,004170: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
025281,004171: 26,3437 00241 WSIZE DEC 161 B-14
025282,004172: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025283,004173: 26,3442 E7,1456 EBANK= LOSCOUNT
025284,004174:
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Page 591 |
025286,004176:
025287,004177: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025288,004178: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025289,004179:
025290,004180:
025291,004181: # FUNCTIONAL DESCRIPTION
025292,004182:
025293,004183: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025294,004184: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025295,004185: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025296,004186: # ATTITUDE MANEUVER.
025297,004187:
025298,004188:
025299,004189: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
025300,004190:
025301,004191:
025302,004192: # SUBROUTINES CALLED
025303,004193:
025304,004194: # LEMCONIC R61LEM
025305,004195: # CSMCONIC RRDESSM
025306,004196: # JOBDELAY FLAGDOWN
025307,004197: # WAITLIST FLAGUP
025308,004198: # RRNB BANKCALL
025309,004199:
025310,004200:
025311,004201: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025312,004202:
025313,004203:
025314,004204: # OUTPUT
025315,004205:
025316,004206: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
025317,004207: # 11111 INDICATES LOCKON ACHIEVED
025318,004208: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025319,004209:
025320,004210: # ERASABLE INITIALIZATION REQUIRED
025321,004211: # SEARCH FLAG MUST BE SET
025322,004212: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025323,004213: # DEBRIS
025324,004214:
025325,004215: # RLMSRCH UXVECT
025326,004216: # VXRLM UYVECT
025327,004217: # LOSDESRD NSRCHPNT
025328,004218: # DATAGOOD OMEGAD
025329,004219: # MPAC PUSHLIST
025330,004220:
025331,004221:
025332,004222: 26,3442 COUNT* $$/LRS24
025333,004223: 26,3442 34755 LRS24.1 CAF ZERO
025334,004224: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025335,004225: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025336,004226: 26,3445 00006 EXTEND
025337,004227:
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Page 592 |
025339,004229: 26,3446 05012 WOR CHAN12
025340,004230: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025341,004231: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025342,004232: 26,3451 00006 EXTEND
025343,004233: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025344,004234:
025345,004235:
025346,004236: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025347,004237: 26,3454 00004 INHINT
025348,004238: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025349,004239: 26,3456 E7,1456 EBANK= LOSCOUNT
025350,004240: 26,3456 03643 54067 2CADR CALLDGCH
025351,004241: 26,3460 00003 RELINT
025352,004242: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025353,004243: 26,3462 74736 MASK REMODBIT
025354,004244: 26,3463 00006 EXTEND
025355,004245: 26,3464 15155 BZF ENDOFJOB # YES- WAIT SIX SECONDS
025356,004246: 26,3465 06042 TC INTPRET
025357,004247:
025358,004248: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025359,004249: 26,3467 21574 LOADTIME
025360,004250: 26,3470 15715 1.5SECS
025361,004251: 26,3471 34041 LRS24.11 STCALL TDEC1
025362,004252: 26,3472 27101 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025363,004253: 26,3473 77775 VLOAD
025364,004254: 26,3474 00001 RATT
025365,004255: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025366,004256: 26,3476 00007 VATT
025367,004257: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025368,004258: 26,3500 00015 TAT
025369,004259: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025370,004260: 26,3502 27067 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025371,004261: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
025372,004262: 26,3504 00001 RATT
025373,004263: 26,3505 03676 RLMSRCH
025374,004264: 26,3506 77656 UNIT
025375,004265: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025376,004266: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025377,004267: 26,3511 47256 UNIT VXV
025378,004268: 26,3512 00001 RATT
025379,004269: 26,3513 77656 UNIT
025380,004270: 26,3514 03704 STORE VXRCM
025381,004271: 26,3515 52375 VLOAD VSU
025382,004272: 26,3516 00007 VATT
025383,004273: 26,3517 03740 SAVLEMV
025384,004274: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025385,004275: 26,3521 01734 REFSMMAT
025386,004276: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025387,004277: 26,3523 53135 SLOAD BZE # CHECK IF N=0
025388,004278:
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Page 593 |
025390,004280: 26,3524 03737 NSRCHPNT
025391,004281: 26,3525 55636 DESGLOS # YES-DESIGNATE ALONG LOS
025392,004282: 26,3526 53025 DSU BZE # IS N=1
025393,004283: 26,3527 15711 ONEOCT # YES-CALCULATE X AND Y AXES OF
025394,004284: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025395,004285: 26,3531 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
025396,004286: 26,3532 03720 UXVECT
025397,004287: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025398,004288: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025399,004289: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025400,004290: 26,3536 77761 VXSC
025401,004291: 26,3537 15705 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
025402,004292: 26,3540 27720 STOVL UXVECT
025403,004293: 26,3541 00015 UXVECTPR
025404,004294: 26,3542 53361 VXSC VAD
025405,004295: 26,3543 06522 COS60DEG
025406,004296: 26,3544 03720 UXVECT
025407,004297: 26,3545 77656 UNIT
025408,004298: 26,3546 27720 STOVL UXVECT
025409,004299: 26,3547 00015 UXVECTPR # UY=(-SIN60)UXPR +(COS 60)UYPR
025410,004300: 26,3550 77761 VXSC
025411,004301: 26,3551 15705 SIN60DEG
025412,004302: 26,3552 27726 STOVL UYVECT
025413,004303: 26,3553 00023 UYVECTPR
025414,004304: 26,3554 52361 VXSC VSU
025415,004305: 26,3555 06522 COS60DEG
025416,004306: 26,3556 03726 UYVECT
025417,004307: 26,3557 77656 UNIT
025418,004308: 26,3560 03726 STORE UYVECT
025419,004309: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025420,004310: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025421,004311: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025422,004312: 26,3564 64256 UNIT MXV
025423,004313: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025424,004314: 26,3566 77772 VSL1
025425,004315: 26,3567 25101 CONTDESG STOVL RRTARGET
025426,004316: 26,3570 03740 SAVLEMV
025427,004317: 26,3571 01761 STORE LOSVEL
025428,004318: 26,3572 77776 EXIT
025429,004319: 26,3573 00004 INHINT
025430,004320: 26,3574 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025431,004321: 26,3575 52613 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025432,004322: # POINT IN THE PATTERN
025433,004323: 26,3576 44735 CONTDES2 CS CDESBIT
025434,004324: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025435,004325: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025436,004326: 26,3601 54110 TS RADMODES
025437,004327: 26,3602 06042 TC INTPRET
025438,004328:
025439,004329: 26,3603 77624 CALL
025440,004330:
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Page 594 |
025442,004332: 26,3604 52404 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025443,004333:
025444,004334: 26,3605 77776 EXIT
025445,004335: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025446,004336: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025447,004337:
025448,004338:
025449,004339: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025450,004340: # SPACECRAFT +Z AXIS
025451,004341: 26,3610 00006 OMEGCALC EXTEND
025452,004342: 26,3611 30036 DCA CDUT
025453,004343: 26,3612 53753 DXCH TANGNB
025454,004344: 26,3613 06042 TC INTPRET
025455,004345: 26,3614 77624 CALL
025456,004346: 26,3615 46041 RRNB
025457,004347: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025458,004348: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025459,004349: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025460,004350: 26,3621 77776 EXIT
025461,004351: 26,3622 05155 TC ENDOFJOB
025462,004352:
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Page 595 |
025464,004354: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025465,004355:
025466,004356:
025467,004357: 26,3623 47375 CALCXY VLOAD VXV
025468,004358: 26,3624 03704 VXRCM
025469,004359: 26,3625 03712 LOSDESRD
025470,004360: 26,3626 77656 UNIT
025471,004361: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025472,004362: 26,3630 03712 LOSDESRD
025473,004363: 26,3631 53435 VXV UNIT
025474,004364: 26,3632 03720 UXVECT
025475,004365: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025476,004366: 26,3634 77650 GOTO
025477,004367: 26,3635 55561 OFFCALC
025478,004368:
025479,004369:
025480,004370: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025481,004371: 26,3637 03712 LOSDESRD
025482,004372: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025483,004373: 26,3641 52172 VSL1 GOTO
025484,004374: 26,3642 55567 CONTDESG
025485,004375:
025486,004376:
025487,004377: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025488,004378: 26,3644 74745 MASK RNDVZBIT
025489,004379: 26,3645 00006 EXTEND
025490,004380: 26,3646 15261 BZF TASKOVER # NO-EXIT R24
025491,004381: 26,3647 37716 CAF PRIO25 # YES -SCHEDULE JOB TO DRIVE RADAR TO NEXT
025492,004382: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025493,004383: 26,3651 E7,1675 EBANK= RLMSRCH
025494,004384: 26,3651 03654 54067 2CADR DATGDCHK
025495,004385: 26,3653 05261 TC TASKOVER
025496,004386:
025497,004387:
025498,004388: 26,3654 34750 DATGDCHK CAF BIT4
025499,004389: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025500,004390: 26,3656 02033 RAND CHAN33
025501,004391: 26,3657 00006 EXTEND
025502,004392: 26,3660 13667 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
025503,004393: 26,3661 46245 CS SIX
025504,004394: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025505,004395: 26,3663 00006 EXTEND
025506,004396: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025507,004397: 26,3665 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
025508,004398: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025509,004399:
025510,004400:
025511,004401: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025512,004402: 26,3670 55733 TS DATAGOOD
025513,004403:
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Page 596 |
025515,004405: 26,3671 00004 INHINT
025516,004406: 26,3672 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
025517,004407: 26,3673 52613 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025518,004408: 26,3674 05155 TC ENDOFJOB
025519,004409:
025520,004410: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527-LOS NOT IN MODE2
025521,004411: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025522,004412: 26,3677 00004 INHINT # REQUIRED IN P20
025523,004413: 26,3700 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025524,004414: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025525,004415: 26,3702 05155 TC ENDOFJOB
025526,004416:
025527,004417:
025528,004418: 26,3703 25547 ALL1S DEC 11111 B-14
025529,004419: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025530,004420: 26,3706 23,2521 COS60DEG = DPHALF # (2DEC .50)
025531,004421: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025532,004422: 26,3706 UYVECTPR EQUALS 18D
025533,004423: 26,3706 RLMUNIT EQUALS 12D
025534,004424: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025535,004425: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
025536,004426: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025537,004427: # **** ONEOCT NEEDS A LOWER ORDER ****
025538,004428: # **** WORD OF ZEROES ****
025539,004429: 26,3713 01130 6SECONDS DEC 600 B-14
025540,004430: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025541,004431: 26,3716 23,2523 ZERO/SP EQUALS HI6ZEROS
025542,004432: 4616 BLOCK 02
025543,004433: 6000 SETLOC FFTAG5
025544,004434: 6000 BANK
025545,004435: 6025 COUNT* $$/P20
025546,004436: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025547,004437: 6026 36031 DCA VB56CADR # GOTOPOOH
025548,004438: 6027 15165 TCF SUPDXCHZ
025549,004439: 6030 E7,1471 EBANK= WHOCARES
025550,004440: 6030 03041 66107 VB56CADR 2CADR TRMTRACK
025551,004441:
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Page 597 |
025553,004443: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025554,004444: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025555,004445:
025556,004446:
025557,004447: # FUNCTIONAL DESCRIPTION:
025558,004448:
025559,004449: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025560,004450: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025561,004451: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025562,004452: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025563,004453: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025564,004454: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025565,004455:
025566,004456: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025567,004457:
025568,004458:
025569,004459: # SUBROUTINES CALLED:
025570,004460:
025571,004461: # REMODE RRTONLY
025572,004462: # UNIT MPACVBUF
025573,004463: # QUICTRIG AX*SR*T
025574,004464: # SPSIN SPCOS
025575,004465: # SETRRECR RROUT
025576,004466: # RRRDOT RRRANGE
025577,004467:
025578,004468:
025579,004469: # EXIT: TO NOR29NOW, IN SERVICER.
025580,004470:
025581,004471:
025582,004472: # OUTPUT: (ALL FOR DOWNLINK)
025583,004473:
025584,004474: # RM RDOTM (RAW)
025585,004475: # AIG AMG
025586,004476: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025587,004477: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025588,004478: # MKTIME
025589,004479:
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Page 598 |
025591,004481:
025592,004482: # ERASABLE INITIALIZATION REQUIRED:
025593,004483:
025594,004484: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025595,004485: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025596,004486: # R(CSM) V(CSM)
025597,004487: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025598,004488:
025599,004489:
025600,004490: # DEBRIS:
025601,004491:
025602,004492: # RADMODES (BIT 10)
025603,004493: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025604,004494: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025605,004495: # LOSCMFLG READRFLG
025606,004496:
025607,004497:
025608,004498: # ALARMS: NONE.
025609,004499:
025610,004500:
025611,004501: # COMPONENT JOBS AND TASKS:
025612,004502:
025613,004503: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025614,004504: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025615,004505: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025616,004506:
025617,004507:
025618,004508: 33,2045 BANK 33
025619,004509: 33,2000 SETLOC R29/SERV
025620,004510: 33,2000 BANK
025621,004511:
025622,004512: 33,2045 COUNT* $$/R29
025623,004513:
025624,004514: 33,2045 5014 NR29&RDR EQUALS EBANK5
025625,004515:
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Page 599 |
025627,004517: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025628,004518: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025629,004519:
025630,004520: 33,2045 40110 R29 CS RADMODES
025631,004521: 33,2046 74742 MASK DESIGBIT
025632,004522: 33,2047 00006 EXTEND
025633,004523: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025634,004524:
025635,004525: 33,2051 00004 INHINT
025636,004526: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025637,004527: 33,2053 44736 CS BIT14
025638,004528: 33,2054 00006 EXTEND
025639,004529: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025640,004530: 33,2056 44740 CS LOSCMBIT
025641,004531: 33,2057 70076 MASK FLAGWRD2
025642,004532: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025643,004533: 33,2061 44753 CS OLDESBIT
025644,004534: 33,2062 70074 MASK STATE
025645,004535: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025646,004536: 33,2064 04616 TC BANKCALL
025647,004537: 33,2065 52167 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025648,004538: 33,2066 34740 CA ANTENBIT
025649,004539: 33,2067 70110 MASK RADMODES
025650,004540: 33,2070 10000 CCS A # TEST RR MODE BIT.
025651,004541: 33,2071 12104 TCF SETPRPOS # MODE 2.
025652,004542:
025653,004543: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025654,004544: 33,2073 05072 TC NOVAC
025655,004545: 33,2074 E7,1456 EBANK= LOSCOUNT
025656,004546: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN.
025657,004547:
025658,004548: 33,2076 44742 CS DESIGBIT
025659,004549: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025660,004550: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025661,004551: 33,2101 34736 CA REMODBIT
025662,004552: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025663,004553: 33,2103 12573 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025664,004554:
025665,004555: 33,2104 34753 SETPRPOS CA ONE
025666,004556: 33,2105 05203 TC WAITLIST
025667,004557: 33,2106 E7,1456 EBANK= LOSCOUNT
025668,004558: 33,2106 03564 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025669,004559: 33,2110 34741 CA REPOSBIT
025670,004560: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025671,004561: 33,2112 12573 TCF NOR29NOW
025672,004562:
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Page 600 |
025674,004564: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025675,004565:
025676,004566:
025677,004567: 33,2113 34753 R29REM0J CA ONE
025678,004568: 33,2114 05203 TC WAITLIST
025679,004569: 33,2115 E7,1456 EBANK= LOSCOUNT
025680,004570: 33,2115 02202 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025681,004571: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025682,004572: 33,2120 17706 CADR RADSTALL
025683,004573:
025684,004574: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025685,004575: 33,2122 15155 TCF ENDOFJOB
025686,004576:
025687,004577: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025688,004578:
025689,004579: 25,2000 SETLOC R29S1
025690,004580: 25,2000 BANK
025691,004581:
025692,004582: 25,3564 34735 PREPOS29 CA NEGMAX # -180 DEG.
025693,004583: 25,3565 02252 TC RRTONLY # DRIVE TRUNNION CDU.
025694,004584: 25,3566 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025695,004585: 25,3567 70110 MASK RADMODES
025696,004586: 25,3570 54110 TS RADMODES
025697,004587: 25,3571 15261 TCF TASKOVER
025698,004588:
025699,004589:
025700,004590: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025701,004591:
025702,004592:
025703,004593: 33,2045 SETLOC R29
025704,004594: 33,2045 BANK
025705,004595:
025706,004596: 33,2123 00006 R29.LOS EXTEND
025707,004597: 33,2124 41234 DCS PIPTIME
025708,004598: 33,2125 52155 DXCH MPAC
025709,004599: 33,2126 00006 EXTEND
025710,004600: 33,2127 30025 DCA TIME2
025711,004601: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025712,004602: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025713,004603: 33,2132 30155 CA MPAC +1
025714,004604: 33,2133 00006 EXTEND
025715,004605: 33,2134 74740 MP BIT12
025716,004606: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025717,004607: 33,2136 06042 TC INTPRET
025718,004608:
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Page 601 |
025720,004610: # LOSCMFLG=0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025721,004611: # START IT UP WHEN THE DATA IS IN PLACE.
025722,004612:
025723,004613:
025724,004614: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025725,004615: 33,2140 01726 V(CSM)
025726,004616: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025727,004617: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025728,004618: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025729,004619: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025730,004620: 33,2145 03521 R
025731,004621: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025732,004622: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025733,004623: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025734,004624: 33,2151 12573 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025735,004625:
025736,004626: 33,2152 25101 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025737,004627: 33,2153 00001 0
025738,004628: 33,2154 77761 VXSC
025739,004629: 33,2155 26177 .5SECB17
025740,004630: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025741,004631: 33,2157 77414 CLEAR EXIT
025742,004632: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025743,004633:
025744,004634: 33,2161 40074 CS STATE
025745,004635: 33,2162 74753 MASK OLDESBIT
025746,004636: 33,2163 00006 EXTEND
025747,004637: 33,2164 12573 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025748,004638: 33,2165 00004 INHINT
025749,004639: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025750,004640:
025751,004641: 33,2167 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025752,004642: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025753,004643: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025754,004644: 33,2172 05203 TC WAITLIST
025755,004645: 33,2173 E7,1456 EBANK= LOSCOUNT
025756,004646: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025757,004647: 33,2175 12573 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025758,004648:
025759,004649: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025760,004650:
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Page 602 |
025762,004652: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025763,004653: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025764,004654:
025765,004655:
025766,004656: 24,3356 BANK 24
025767,004657: 24,2000 SETLOC P20S
025768,004658: 24,2000 BANK
025769,004659:
025770,004660: 24,3356 COUNT* $$/R29
025771,004661:
025772,004662: 24,3356 35031 BEGDES29 CAF PRIO21
025773,004663: 24,3357 05072 TC NOVAC
025774,004664: 24,3360 E3,1760 EBANK= LOSVDT/4
025775,004665: 24,3360 02550 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025776,004666: 24,3362 34774 R29DLOOP CAF .5SEC
025777,004667: 24,3363 05224 TC VARDELAY
025778,004668:
025779,004669: 24,3364 40110 CS RADMODES
025780,004670: 24,3365 74742 MASK DESIGBIT
025781,004671: 24,3366 10000 CCS A
025782,004672: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025783,004673:
025784,004674: 24,3370 40076 CS FLAGWRD2
025785,004675: 24,3371 74740 MASK LOSCMBIT
025786,004676: 24,3372 00006 EXTEND
025787,004677: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025788,004678: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025789,004679: 24,3375 13356 TCF BEGDES29
025790,004680:
025791,004681: 24,3376 34753 CA ONE
025792,004682: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
025793,004683:
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Page 603 |
025795,004685: # R29DODES: RR DESIGNATION LOOP FOR R29
025796,004686:
025797,004687: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025798,004688: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025799,004689: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025800,004690: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025801,004691: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025802,004692:
025803,004693: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025804,004694: # TASK WHEN LOCK-ON IS ACHIEVED.
025805,004695:
025806,004696:
025807,004697: 32,2550 BANK 32
025808,004698: 32,2000 SETLOC F2DPS*32
025809,004699: 32,2000 BANK
025810,004700:
025811,004701: 32,2550 COUNT* $$/R29
025812,004702: 32,2550 E3,1760 EBANK= LOSVDT/4
025813,004703:
025814,004704: 32,2550 34753 R29DODES CA ONE
025815,004705: 32,2551 55106 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025816,004706: 32,2552 34756 CA FIVE
025817,004707:
025818,004708: 32,2553 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025819,004709: 32,2554 54002 TS Q
025820,004710: 32,2555 11106 CCS TANG
025821,004711: 32,2556 12564 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025822,004712:
025823,004713: 32,2557 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025824,004714: 32,2560 50002 INDEX Q
025825,004715: 32,2561 31761 DCA LOSVDT/4
025826,004716: 32,2562 50002 INDEX Q
025827,004717: 32,2563 21101 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025828,004718:
025829,004719: 32,2564 00006 R29DPAS1 EXTEND
025830,004720: 32,2565 50002 INDEX Q
025831,004721: 32,2566 31101 DCA LOSSM
025832,004722: 32,2567 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025833,004723: 32,2570 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025834,004724: 32,2571 11106 CCS TANG
025835,004725: 32,2572 12600 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025836,004726:
025837,004727: 32,2573 00006 EXTEND
025838,004728: 32,2574 50002 INDEX Q
025839,004729: 32,2575 31761 DCA LOSVDT/4
025840,004730: 32,2576 50002 INDEX Q
025841,004731: 32,2577 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025842,004732:
025843,004733: 32,2600 10002 R29DVEND CCS Q
025844,004734: 32,2601 12553 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025845,004735:
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Page 604 |
025847,004737: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025848,004738:
025849,004739: 32,2602 52156 DXCH MPAC +1
025850,004740: 32,2603 52155 DXCH MPAC
025851,004741: 32,2604 32775 CA R29FXLOC # = ADRES INTB15 + -34D
025852,004742: 32,2605 54120 TS FIXLOC
025853,004743: 32,2606 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025854,004744: 32,2607 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025855,004745: 32,2610 07535 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025856,004746:
025857,004747: 32,2611 11106 CCS TANG
025858,004748: 32,2612 12614 TCF +2
025859,004749: 32,2613 12630 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025860,004750: 32,2614 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025861,004751: 32,2615 00006 EXTEND
025862,004752: 32,2616 30036 DCA CDUT
025863,004753: 32,2617 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025864,004754: 32,2620 30033 CA CDUY
025865,004755: 32,2621 54765 TS CDUSPOT
025866,004756: 32,2622 30034 CA CDUZ
025867,004757: 32,2623 54767 TS CDUSPOT +2
025868,004758: 32,2624 30032 CA CDUX
025869,004759: 32,2625 54771 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025870,004760: 32,2626 04616 TC BANKCALL
025871,004761: 32,2627 47617 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025872,004762:
025873,004763: 32,2630 46250 GOTANGLS CS THREE
025874,004764: 32,2631 04616 TC BANKCALL
025875,004765: 32,2632 47677 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025876,004766:
025877,004767: 32,2633 11106 CCS TANG
025878,004768: 32,2634 12636 TCF +2
025879,004769: 32,2635 12703 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025880,004770:
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Page 605 |
025882,004772: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025883,004773: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025884,004774:
025885,004775:
025886,004776: 32,2636 00004 INHINT
025887,004777: 32,2637 55106 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025888,004778: 32,2640 31766 CA SAVECDUT
025889,004779: 32,2641 05032 TC SPCOS
025890,004780: 32,2642 54166 TS PUSHLOC # PUSHLOC = COS T.
025891,004781: 32,2643 41766 CS SAVECDUT
025892,004782: 32,2644 05033 TC SPSIN
025893,004783: 32,2645 54163 TS MODE # MODE = -SIN T.
025894,004784: 32,2646 00006 EXTEND
025895,004785: 32,2647 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025896,004786: 32,2650 52155 DXCH MPAC
025897,004787: 32,2651 31767 CA SAVECDUT +1
025898,004788: 32,2652 05033 TC SPSIN
025899,004789: 32,2653 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025900,004790: 32,2654 00006 EXTEND
025901,004791: 32,2655 70166 MP PUSHLOC
025902,004792: 32,2656 00006 EXTEND
025903,004793: 32,2657 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025904,004794: 32,2660 20155 DAS MPAC
025905,004795: 32,2661 31767 CA SAVECDUT +1
025906,004796: 32,2662 05032 TC SPCOS
025907,004797: 32,2663 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S .
025908,004798: 32,2664 00006 EXTEND
025909,004799: 32,2665 70166 MP PUSHLOC
025910,004800: 32,2666 00006 EXTEND
025911,004801: 32,2667 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025912,004802: 32,2670 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025913,004803: 32,2671 00006 EXTEND # - SIN T, COS S COS T).
025914,004804: 32,2672 30155 DCA MPAC
025915,004805: 32,2673 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025916,004806: 32,2674 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025917,004807: 32,2675 34736 CA BIT14
025918,004808: 32,2676 12677 NOOP
025919,004809: 32,2677 00006 EXTEND
025920,004810: 32,2700 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025921,004811: 32,2701 00003 RELINT
025922,004812: 32,2702 12552 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025923,004813:
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Page 606 |
025925,004815: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025926,004816:
025927,004817:
025928,004818: 32,2703 31767 R29DPAS2 CA SAVECDUT +1
025929,004819: 32,2704 00006 EXTEND
025930,004820: 32,2705 70122 MP VBUF # FORM COS S ULOSNB'X.
025931,004821: 32,2706 53107 DXCH TANG
025932,004822: 32,2707 41766 CS SAVECDUT
025933,004823: 32,2710 00006 EXTEND
025934,004824: 32,2711 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025935,004825: 32,2712 21107 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025936,004826: 32,2713 40163 CS MODE # - SIN S)
025937,004827: 32,2714 00006 EXTEND
025938,004828: 32,2715 71766 MP SAVECDUT
025939,004829: 32,2716 00006 EXTEND
025940,004830: 32,2717 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025941,004831: 32,2720 52155 DXCH MPAC
025942,004832: 32,2721 30166 CA PUSHLOC
025943,004833: 32,2722 00006 EXTEND
025944,004834: 32,2723 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025945,004835: 32,2724 20155 DAS MPAC
025946,004836: 32,2725 40163 CS MODE
025947,004837: 32,2726 00006 EXTEND
025948,004838: 32,2727 71767 MP SAVECDUT +1
025949,004839: 32,2730 00006 EXTEND
025950,004840: 32,2731 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025951,004841: 32,2732 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025952,004842: 32,2733 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025953,004843: 32,2734 00006 EXTEND
025954,004844: 32,2735 72776 MP RR29GAIN
025955,004845: 32,2736 57354 XCH TRUNNCMD # STORE REFINED T CMD,GET RAW S CMD.
025956,004846: 32,2737 00006 EXTEND
025957,004847: 32,2740 72776 MP RR29GAIN
025958,004848: 32,2741 55355 TS SHAFTCMD # STORE REFINED SHAFT COMMAND FOR RROUT
025959,004849:
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Page 607 |
025961,004851: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025962,004852: # READING DATA FROM THE RENDEZVOUS RADAR.
025963,004853:
025964,004854:
025965,004855: 32,2742 34750 DGOOD? CAF BIT4
025966,004856: 32,2743 00006 EXTEND
025967,004857: 32,2744 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025968,004858: 32,2745 00004 INHINT # (MAINLY FOR RROUT).
025969,004859: 32,2746 00006 EXTEND
025970,004860: 32,2747 12753 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025971,004861:
025972,004862: 32,2750 04616 TC BANKCALL
025973,004863: 32,2751 52317 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025974,004864: 32,2752 12771 TCF END29DOD
025975,004865:
025976,004866: 32,2753 44742 R29LOKON CS DESIGBIT
025977,004867: 32,2754 70110 MASK RADMODES
025978,004868: 32,2755 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025979,004869: 32,2756 44752 CS BIT2
025980,004870: 32,2757 00006 EXTEND
025981,004871: 32,2760 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025982,004872: 32,2761 34743 CA READRBIT
025983,004873: 32,2762 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025984,004874: 32,2763 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025985,004875: 32,2764 44776 CS SUPER110 # - 96D + 100D = 4.
025986,004876: 32,2765 64777 AD 1SEC # 0 + 100D = 100D.
025987,004877: 32,2766 05203 TC WAITLIST
025988,004878: 32,2767 E7,1456 EBANK= LOSCOUNT
025989,004879: 32,2767 03400 50067 2CADR R29READ # START READING TASK AND JOB.
025990,004880: 32,2771 44740 END29DOD CS LOSCMBIT
025991,004881: 32,2772 70076 MASK FLAGWRD2
025992,004882: 32,2773 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
025993,004883: 32,2774 15155 TCF ENDOFJOB
025994,004884:
025995,004885: 32,2775 00052 R29FXLOC ADRES INTB15+ -34D
025996,004886: 32,2776 56655 RR29GAIN DEC -.53624
025997,004887: 32,2777 E3,1760 LOSVDT/4 EQUALS LOSVEL
025998,004888: 32,2777 1100 LOSSM EQUALS RRTARGET
025999,004889: 32,2777 E3,1766 SAVECDUT EQUALS MLOSV
026000,004890:
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Page 608 |
026002,004892: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026003,004893:
026004,004894:
026005,004895: 24,3400 BANK 24
026006,004896: 24,2000 SETLOC P20S
026007,004897: 24,2000 BANK
026008,004898:
026009,004899: 24,3400 COUNT* $$/R29
026010,004900:
026011,004901: 24,3400 E7,1456 EBANK= LOSCOUNT
026012,004902:
026013,004903: 24,3400 37717 R29READ CAF PRIO26 # CALLED BY WAITLIST.
026014,004904: 24,3401 05072 TC NOVAC
026015,004905: 24,3402 E7,1456 EBANK= LOSCOUNT
026016,004906: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026017,004907:
026018,004908: 24,3404 35000 CA 2SECS
026019,004909: 24,3405 05224 TC VARDELAY
026020,004910:
026021,004911: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026022,004912: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026023,004913: 24,3410 10000 CCS A
026024,004914: 24,3411 13400 TCF R29READ # IT'S OK; CALL IT AGAIN.
026025,004915: 24,3412 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026026,004916:
026027,004917: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026028,004918: 24,3414 74741 MASK NR29FBIT
026029,004919: 24,3415 10000 CCS A # TEST "NOR29FLG".
026030,004920: 24,3416 13500 TCF ENDR29RD # R29 OVER,EXIT WITH RR STILL LOCKED ON
026031,004921: 24,3417 30110 CA RADMODES
026032,004922: 24,3420 74752 MASK AUTOMBIT
026033,004923: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026034,004924: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026035,004925:
026036,004926: 24,3423 04616 TC BANKCALL
026037,004927: 24,3424 53112 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026038,004928: 24,3425 04616 TC BANKCALL
026039,004929: 24,3426 17706 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026040,004930: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026041,004931:
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Page 609 |
026043,004933: # R29 RADAR READING CONTINUED.
026044,004934:
026045,004935:
026046,004936: 24,3430 53105 DXCH TIMEHOLD
026047,004937: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026048,004938: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026049,004939: 24,3433 00006 EXTEND
026050,004940: 24,3434 30036 DCA CDUT
026051,004941: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026052,004942: 24,3436 00006 EXTEND
026053,004943: 24,3437 30034 DCA CDUY
026054,004944: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026055,004945: 24,3441 30032 CA CDUX
026056,004946: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026057,004947:
026058,004948: 24,3443 04616 R29RANGE TC BANKCALL
026059,004949: 24,3444 53114 CADR RRRANGE # INITIATE READING OF RR RANGE.
026060,004950: 24,3445 04616 TC BANKCALL
026061,004951: 24,3446 17706 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026062,004952: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026063,004953:
026064,004954: 24,3450 00004 INHINT
026065,004955: 24,3451 53331 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026066,004956: 24,3452 53757 DXCH RM
026067,004957: 24,3453 52155 DXCH MPAC
026068,004958: 24,3454 53755 DXCH MKTIME
026069,004959: 24,3455 52157 DXCH MPAC +2
026070,004960: 24,3456 53753 DXCH TANGNB
026071,004961: 24,3457 52161 DXCH MPAC +4
026072,004962: 24,3460 53460 DXCH AIG
026073,004963: 24,3461 30162 CA MPAC +6
026074,004964: 24,3462 55461 TS AOG
026075,004965: 24,3463 34753 CA ONE
026076,004966: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
026077,004967: 24,3465 15155 TCF ENDOFJOB
026078,004968:
026079,004969: 24,3466 40101 R29RRR? CS FLAGWRD5
026080,004970: 24,3467 74742 MASK BIT10
026081,004971: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
026082,004972: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
026083,004973: 24,3472 05516 TC DOWNFLAG
026084,004974: 24,3473 00120 ADRES RNGSCFLG
026085,004975: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
026086,004976:
026087,004977: 24,3475 44736 ENDRRD29 CS BIT14 # TROUBLE MADE US COME HERE TO LEAVE THE
026088,004978: 24,3476 00006 EXTEND # RR-READING MODE. DISCREDIT DOWNTEL
026089,004979: 24,3477 03012 WAND CHAN12
026090,004980: 24,3500 34755 ENDR29RD CA ZERO
026091,004981: 24,3501 55462 TS TRKMKCNT
026092,004982: 24,3502 05516 TC DOWNFLAG
026093,004983:
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Page 610 |
026095,004985: 24,3503 00063 ADRES READRFLG
026096,004986: 24,3504 15155 TCF ENDOFJOB
026097,004987:
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Page 611 |
026099,004989: # W-MATRIX MONITOR
026100,004990:
026101,004991:
026102,004992: 31,2007 BANK 31
026103,004993: 31,2000 SETLOC VB67
026104,004994: 31,2000 BANK
026105,004995: 31,2007 COUNT* $$/EXTVB
026106,004996:
026107,004997: 31,2007 E4,1600 EBANK= WWPOS
026108,004998:
026109,004999: 31,2007 06042 V67CALL TC INTPRET
026110,005000: 31,2010 77624 CALL
026111,005001: 31,2011 62120 V67WW
026112,005002: 31,2012 77776 EXIT
026113,005003: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026114,005004: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026115,005005: 31,2015 53607 DXCH WWBIAS +2
026116,005006: 31,2016 00006 EXTEND
026117,005007: 31,2017 31603 DCA WWVEL
026118,005008: 31,2020 53611 DXCH WWBIAS +4
026119,005009: 31,2021 00006 EXTEND
026120,005010: 31,2022 31605 DCA WWBIAS
026121,005011: 31,2023 53613 DXCH WWBIAS +6
026122,005012: 31,2024 32143 V06N99DS CAF V06N99
026123,005013: 31,2025 04616 TC BANKCALL
026124,005014: 31,2026 20334 CADR GOXDSPF
026125,005015: 31,2027 15472 TCF ENDEXT
026126,005016: 31,2030 12032 TCF V6N99PRO
026127,005017: 31,2031 12024 TCF V06N99DS
026128,005018: 31,2032 22007 V6N99PRO ZL
026129,005019: 31,2033 34756 CA FIVE
026130,005020: 31,2034 54002 N99LOOP TS Q
026131,005021: 31,2035 50002 INDEX Q
026132,005022: 31,2036 41600 CS WWPOS
026133,005023: 31,2037 50002 INDEX Q
026134,005024: 31,2040 61606 AD WWPOS +6
026135,005025: 31,2041 26001 ADS L
026136,005026: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026137,005027: 31,2043 12034 TCF N99LOOP
026138,005028: 31,2044 22000 LXCH A
026139,005029: 31,2045 00006 EXTEND
026140,005030: 31,2046 12051 BZF V06N9933
026141,005031: 31,2047 05504 TC UPFLAG
026142,005032: 31,2050 00160 ADRES V67FLAG
026143,005033:
026144,005034: 31,2051 06042 V06N9933 TC INTPRET
026145,005035: 31,2052 77414 BON EXIT
026146,005036: 31,2053 03707 V67FLAG
026147,005037: 31,2054 62056 +2
026148,005038: 31,2055 15472 TCF ENDEXT
026149,005039: 31,2056 77745 DLOAD
026150,005040:
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Page 612 |
026152,005042: 31,2057 02201 WWPOS
026153,005043: 31,2060 72412 SL4 SL1
026154,005044: 31,2061 14001 STODL 0D
026155,005045: 31,2062 02203 WWVEL
026156,005046: 31,2063 14003 STODL 2D
026157,005047: 31,2064 02205 WWBIAS
026158,005048: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026159,005049: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026160,005050: 31,2067 00005 STORE 4D
026161,005051: 31,2070 72014 BON LXA,1
026162,005052: 31,2071 04307 SURFFLAG
026163,005053: 31,2072 62102 V67SURF
026164,005054: 31,2073 00000 0D
026165,005055: 31,2074 72130 SXA,1 LXA,1
026166,005056: 31,2075 02000 WRENDPOS
026167,005057: 31,2076 00002 2D
026168,005058: 31,2077 52130 SXA,1 GOTO
026169,005059: 31,2100 02001 WRENDVEL
026170,005060: 31,2101 62110 V67CLRF
026171,005061: 31,2102 66150 V67SURF LXA,1 SXA,1
026172,005062: 31,2103 00000 0D
026173,005063: 31,2104 02006 WSURFPOS
026174,005064: 31,2105 66150 LXA,1 SXA,1
026175,005065: 31,2106 00002 2D
026176,005066: 31,2107 02007 WSURFVEL
026177,005067: 31,2110 66150 V67CLRF LXA,1 SXA,1
026178,005068: 31,2111 00004 4D
026179,005069: 31,2112 02003 WTRUN
026180,005070: 31,2113 77730 SXA,1
026181,005071: 31,2114 02002 WSHAFT
026182,005072: 31,2115 77414 CLEAR EXIT
026183,005073: 31,2116 02676 RENDWFLG
026184,005074: 31,2117 15472 TCF ENDEXT
026185,005075: 31,2120 40020 V67WW STQ BOV
026186,005076: 31,2121 00051 S2
026187,005077: 31,2122 62123 +1
026188,005078: 31,2123 45014 CLEAR CALL
026189,005079: 31,2124 03667 V67FLAG
026190,005080: 31,2125 27412 INTSTALL
026191,005081: 31,2126 71331 SSP DLOAD
026192,005082: 31,2127 00051 S1
026193,005083: 31,2130 00006 DEC 6 B-14
026194,005084: 31,2131 06524 ZEROVECS
026195,005085: 31,2132 02201 STORE WWPOS
026196,005086: 31,2133 02203 STORE WWVEL
026197,005087: 31,2134 02205 STORE WWBIAS
026198,005088: 31,2135 77770 AXT,1
026199,005089: 31,2136 00066 DEC 54 B-14
026200,005090: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026201,005091: 31,2140 02467 W +54D,1
026202,005092:
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Page 613 |
026204,005094: 31,2141 77650 GOTO
026205,005095: 31,2142 60002 ADDPOS
026206,005096: 31,2143 01543 V06N99 VN 0699
026207,005097:
026208,005098: 30,2000 SETLOC VB67A
026209,005099: 30,2000 BANK
026210,005100: 30,2002 COUNT* $$/EXTVB
026211,005101:
026212,005102: 30,2002 77615 ADDPOS DAD
026213,005103: 30,2003 02201 WWPOS
026214,005104: 30,2004 02201 STORE WWPOS
026215,005105: 30,2005 47573 VLOAD* VSQ
026216,005106: 30,2006 02555 W +108D,1
026217,005107: 30,2007 77615 DAD
026218,005108: 30,2010 02203 WWVEL
026219,005109: 30,2011 02203 STORE WWVEL
026220,005110: 30,2012 47573 VLOAD* VSQ
026221,005111: 30,2013 02643 W +162D,1
026222,005112: 30,2014 77615 DAD
026223,005113: 30,2015 02205 WWBIAS
026224,005114: 30,2016 02205 STORE WWBIAS
026225,005115: 30,2017 75500 TIX,1 SQRT
026226,005116: 30,2020 62137 NXPOSVEL
026227,005117: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026228,005118: 30,2022 20613 10D # NOUN SCALING (B-5)
026229,005119: 30,2023 16205 STODL WWBIAS
026230,005120: 30,2024 02203 WWVEL
026231,005121: 30,2025 77766 SQRT
026232,005122: 30,2026 16203 STODL WWVEL
026233,005123: 30,2027 02201 WWPOS
026234,005124: 30,2030 77766 SQRT
026235,005125: 30,2031 02201 STORE WWPOS
026236,005126: 30,2032 52000 BOV GOTO
026237,005127: 30,2033 60035 +2
026238,005128: 30,2034 60042 V67XXX
026239,005129: 30,2035 77745 DLOAD
026240,005130: 30,2036 06532 DPPOSMAX
026241,005131: 30,2037 02201 STORE WWPOS
026242,005132: 30,2040 02203 STORE WWVEL
026243,005133: 30,2041 02205 STORE WWBIAS
026244,005134: 30,2042 45345 V67XXX DLOAD DSU
026245,005135: 30,2043 02201 WWPOS
026246,005136: 30,2044 20060 FT99999
026247,005137: 30,2045 71240 BMN DLOAD
026248,005138: 30,2046 60051 +3
026249,005139: 30,2047 20060 FT99999
026250,005140: 30,2050 02201 STORE WWPOS
026251,005141: 30,2051 66150 LXA,1 SXA,1
026252,005142: 30,2052 00051 S2
026253,005143: 30,2053 00052 QPRET
026254,005144:
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Page 614 |
026256,005146: 30,2054 77776 EXIT
026257,005147: 30,2055 04635 TC POSTJUMP
026258,005148: 30,2056 27423 CADR INTWAKE
026259,005149:
026260,005150: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026261,005151:
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Page 615 |
026263,005153: 25,3572 BANK 25
026264,005154: 25,2000 SETLOC RADARUPT
026265,005155: 25,2000 BANK
026266,005156: 25,3572 COUNT* $$/RRUPT
026267,005157:
026268,005158: 25,3572 E7,1456 EBANK= LOSCOUNT
026269,005159:
026270,005160: 25,3572 44747 RADLITES CS BIT5
026271,005161: 25,3573 60061 AD ITEMP1
026272,005162: 25,3574 10000 CCS A
026273,005163: 25,3575 44753 CS ONE
026274,005164: 25,3576 13626 TCF VLIGHT
026275,005165:
026276,005166: 25,3577 14570 TCF RRTRKF
026277,005167:
026278,005168: 25,3600 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026279,005169:
026280,005170: 25,3601 34747 CA HLITE
026281,005171: 25,3602 54001 TS L
026282,005172:
026283,005173: 25,3603 34747 CA LRALTBIT
026284,005174: 25,3604 70110 BOTHLITS MASK RADMODES
026285,005175: 25,3605 10000 CCS A
026286,005176: 25,3606 13620 TCF ONLITES
026287,005177:
026288,005178: 25,3607 30107 CA FLGWRD11
026289,005179: 25,3610 50065 INDEX ITEMP5
026290,005180: 25,3611 74753 MASK HFLSHBIT
026291,005181: 25,3612 10000 CCS A
026292,005182: 25,3613 14570 TCF RRTRKF
026293,005183:
026294,005184: 25,3614 00006 LITIT EXTEND
026295,005185: 25,3615 22066 QXCH ITEMP6
026296,005186: 25,3616 04602 TC TRKFLON +1
026297,005187:
026298,005188: 25,3617 00066 TC ITEMP6
026299,005189:
026300,005190: 25,3620 50065 ONLITES INDEX ITEMP5
026301,005191: 25,3621 44753 CS HFLSHBIT
026302,005192: 25,3622 70107 MASK FLGWRD11
026303,005193: 25,3623 54107 TS FLGWRD11
026304,005194:
026305,005195: 25,3624 30001 CA L
026306,005196: 25,3625 13614 TCF LITIT
026307,005197: 25,3626 54065 VLIGHT TS ITEMP5
026308,005198: 25,3627 34751 CA VLITE
026309,005199: 25,3630 54001 TS L
026310,005200: 25,3631 34744 CA BIT8
026311,005201: 25,3632 13604 TCF BOTHLITS
026312,005202:
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Page 616 |
026314,005204: 25,3633 4747 HLITE EQUALS BIT5
026315,005205: 25,3633 4751 VLITE EQUALS BIT3
End of include-file P20-P25.agc. Parent file is MAIN.agc