Source Code
020792,000001: # Copyright: Public domain.
020793,000002: # Filename: P20-P25.agc
020794,000003: # Purpose: A section of Luminary 1C, revision 131.
020795,000004: # It is part of the source code for the Lunar Module's (LM)
020796,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
020797,000006: # This file is intended to be a faithful transcription, except
020798,000007: # that the code format has been changed to conform to the
020799,000008: # requirements of the yaYUL assembler rather than the
020800,000009: # original YUL assembler.
020801,000010: # Reference: pp. 501-623 of 1729.pdf.
020802,000011: # Contact: Ron Burkey <info@sandroid.org>.
020803,000012: # Website: www.ibiblio.org/apollo/index.html
020804,000013: # Mod history: 05/15/03 RSB. Began transcribing.
020805,000014: # 12/01/03 RSB. Entered/corrected the previously-missing code from
020806,000015: # the bottom of p. 595 using a replacement scan
020807,000016: # provided by Gary Neff.
020808,000017: # 05/14/05 RSB Corrected website reference above.
020809,000018:
020810,000019: # Page 501
020811,000020: # RENDEZVOUS NAVIGATION PROGRAM 20
020812,000021:
020813,000022: # PROGRAM DESCRIPTION
020814,000023:
020815,000024: # MOD NO -- 2
020816,000025: # BY P. VOLANTE
020817,000026:
020818,000027: # FUNCTIONAL DESCRIPTION
020819,000028:
020820,000029: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
020821,000030: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
020822,000031: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
020823,000032: # ON THE BASIS OF THE RR TRACKING DATA.
020824,000033:
020825,000034: # CALLING SEQUENCE --
020826,000035:
020827,000036: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
020828,000037:
020829,000038: # SUBROUTINES CALLED
020830,000039:
020831,000040: # R02BOTH (IMU STATUS CHECK) FLAGUP
020832,000041: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
020833,000042: # R23LEM (MANUAL ACQUISITION) BANKCALL
020834,000043: # LS201 (LOS DETERMINATION) TASKOVER
020835,000044: # LS202 (RANGE LIMIT TEST)
020836,000045: # R61LEM (PREFERRED TRACKING ATTITUDE)
020837,000046: # R21LEM (RR DESIGNATE) ENDOFJOB
020838,000047: # R22LEM (DATA READ) GOPERF1
020839,000048: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
020840,000049: # PRIOLARM (PRIORITY DISPLAY)
020841,000050:
020842,000051: # NORMAL EXIT MODES --
020843,000052:
020844,000053: # P20 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING
020845,000054: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
020846,000055:
020847,000056: # ALARM OR ABORT EXIT MODES --
020848,000057:
020849,000058: # RANGE GREATER THAN 400 NM DISPLAY
020850,000059:
020851,000060: # OUTPUT
020852,000061:
020853,000062: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
020854,000063:
020855,000064: # ERASABLE INITIALIZATION REQUIRED
020856,000065:
020857,000066: # FLAGS SET + RESET
020858,000067:
020859,000068: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG
020860,000069:
020861,000070: # DEBRIS
020862,000071:
020863,000072: # CENTRALS -- A,Q,L
020864,000073:
020865,000074: 25,2073 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
020866,000075:
020867,000076: 33,2045 BANK 33
020868,000077: 24,2000 SETLOC P20S
020869,000078: 24,2000 BANK
020870,000079:
020871,000080: 24,2000 E7,1456 EBANK= LOSCOUNT
020872,000081: 24,2000 COUNT* $$/P20
020873,000082: 24,2000 24,2000 PROG22 = PROG20
020874,000083: 24,2000 05327 PROG20 TC 2PHSCHNG
020875,000084: 24,2001 00004 OCT 4
020876,000085: 24,2002 05022 OCT 05022
020877,000086: 24,2003 26000 OCT 26000 # PRIORITY 26
020878,000087: 24,2004 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
020879,000088: # Page 502
020880,000089: 24,2005 02007 TC ORBCHGO # YES
020881,000090: 24,2006 02036 TC PROG20A -2 # NO -- CONTINUE WITH P20
020882,000091: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG -- CSM STATE
020883,000092: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
020884,000093: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
020885,000094: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
020886,000095: 24,2013 34363 CAF OCT00012
020887,000096: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
020888,000097: 24,2015 20634 CADR GOPERF4
020889,000098: 24,2016 06001 TC GOTOP00H # TERMINATE
020890,000099: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
020891,000100: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
020892,000101: 24,2021 44753 ORBCHG1 CS ONE
020893,000102: 24,2022 61144 AD OPTION2
020894,000103: 24,2023 00006 EXTEND
020895,000104: 24,2024 12040 BZF PROG20A
020896,000105: 24,2025 32311 CAF V06N33*
020897,000106: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
020898,000107: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
020899,000108: 24,2030 06001 TC GOTOP00H # TERMINATE
020900,000109: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
020901,000110: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
020902,000111: 24,2033 06042 ORBCHG2 TC INTPRET
020903,000112: 24,2034 77650 GOTO
020904,000113: 24,2035 64217 ORBCHG3
020905,000114:
020906,000115: 32,2217 BANK 32
020907,000116: 32,2000 SETLOC P20S4
020908,000117: 32,2000 BANK
020909,000118: 32,2217 COUNT* $$/P20
020910,000119:
020911,000120: 32,2217 77624 ORBCHG3 CALL
020912,000121: 32,2220 27410 INTSTALL
020913,000122: 32,2221 77745 DLOAD
020914,000123: 32,2222 03442 TIG
020915,000124: 32,2223 03661 STORE LNCHTM
020916,000125: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
020917,000126: 32,2225 43014 CLEAR CLEAR
020918,000127: 32,2226 01674 VINTFLAG # LM INTEGRATION
020919,000128: 32,2227 01673 INTYPFLG # PRECISION -- ENCKE
020920,000129: 32,2230 43014 CLEAR CLEAR
020921,000130: 32,2231 01676 DIM0FLAG # NO W-MATRIX
020922,000131: 32,2232 01675 D6OR9FLG
020923,000132: 32,2233 77624 CALL
020924,000133: 32,2234 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION
020925,000134: 32,2235 77624 CALL
020926,000135: 32,2236 11210 GRP2PC
020927,000136: 32,2237 77775 VLOAD
020928,000137: 32,2240 00017 RATT1
020929,000138: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
020930,000139: 32,2242 00015 TAT
020931,000140: # Page 503
020932,000141: 32,2243 34041 STCALL TDEC1
020933,000142: 32,2244 27410 INTSTALL
020934,000143: 32,2245 43014 SET CLEAR
020935,000144: 32,2246 01474 VINTFLAG # CSM INTEGRATION
020936,000145: 32,2247 01673 INTYPFLG
020937,000146: 32,2250 43014 CLEAR BOFF
020938,000147: 32,2251 01676 DIM0FLAG
020939,000148: 32,2252 02756 RENDWFLG # W MATRIX VALID
020940,000149: 32,2253 64257 NOWMATX # NO
020941,000150: 32,2254 43014 SET SET # YES -- SET FOR W MATRIX
020942,000151: 32,2255 01476 DIM0FLAG
020943,000152: 32,2256 01475 D6OR9FLG
020944,000153: 32,2257 77624 NOWMATX CALL
020945,000154: 32,2260 27133 INTEGRV # CSM INTEGRATION
020946,000155: 32,2261 77624 CALL
020947,000156: 32,2262 11210 GRP2PC
020948,000157: 32,2263 77775 VLOAD
020949,000158: 32,2264 00025 VATT1
020950,000159: 32,2265 25761 STOVL VSUBC # SAVE CSM POSITION
020951,000160: 32,2266 00017 RATT1
020952,000161: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
020953,000162: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
020954,000163: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(GM))
020955,000164: 32,2272 24025 STOVL 20D # SAVE NSUB1
020956,000165: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
020957,000166: 32,2274 53435 VXV UNIT # PLANE CHANGE
020958,000167: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
020959,000168: 32,2276 27637 STOVL UCSM
020960,000169: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
020961,000170: 32,2300 50256 UNIT DOT # AND RSUBC
020962,000171: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
020963,000172: 32,2302 77752 SL1
020964,000173: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
020965,000174: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
020966,000175: 32,2305 06514 ONEB-2
020967,000176: 32,2306 77766 SQRT
020968,000177: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
020969,000178: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
020970,000179: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETHA B-27
020971,000180: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH.
020972,000181: 32,2313 77676 VCOMP
020973,000182: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
020974,000183: 32,2315 45014 CLEAR CALL
020975,000184: 32,2316 03666 RVSW
020976,000185: 32,2317 24732 TIMETHET
020977,000186: 32,2320 77676 VCOMP
020978,000187: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
020979,000188: 32,2322 77745 DLOAD
020980,000189: 32,2323 00037 T
020981,000190: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
020982,000191: # Page 504
020983,000192: 32,2325 03645 NEWVEL
020984,000193: 32,2326 77646 ABVAL
020985,000194: 32,2327 24025 STOVL 20D
020986,000195: 32,2330 00001 0D
020987,000196: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
020988,000197: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO SCM ORBITAL PLANE
020989,000198: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
020990,000199: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
020991,000200: 32,2335 03653 NEWPOS # ORBITAL PLANE
020992,000201: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL)
020993,000202: 32,2337 00025 20D
020994,000203: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
020995,000204: 32,2341 11210 GRP2PC
020996,000205: 32,2342 77624 CALL
020997,000206: 32,2343 27410 INTSTALL
020998,000207: 32,2344 44345 DLOAD BDSU
020999,000208: 32,2345 03663 TRANSTM # LAUNCH TIME -- TRANSFER TIME
021000,000209: 32,2346 03661 LNCHTM
021001,000210: 32,2347 25517 STOVL TET
021002,000211: 32,2350 03653 NEWPOS
021003,000212: 32,2351 01535 STORE RCV
021004,000213: 32,2352 25503 STOVL RRECT
021005,000214: 32,2353 03665 NCSMVEL
021006,000215: 32,2354 35511 STCALL VRECT
021007,000216: 32,2355 27705 MINIRECT
021008,000217: 32,2356 45174 AXT,2 CALL
021009,000218: 32,2357 00002 2
021010,000219: 32,2360 26660 ATOPCSM
021011,000220: 32,2361 77624 CALL
021012,000221: 32,2362 27417 INTWAKE0
021013,000222: 32,2363 77776 EXIT
021014,000223: 32,2364 04616 TC BANKCALL
021015,000224: 32,2365 50040 CADR PROG20A
021016,000225:
021017,000226: 24,2036 BANK 24
021018,000227: 24,2000 SETLOC P20S
021019,000228: 24,2000 BANK
021020,000229: 24,2036 COUNT* $$/P20
021021,000230:
021022,000231: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG -- LM STATE VECTOR
021023,000232: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021024,000233: 24,2040 04616 PROG20A TC BANKCALL
021025,000234: 24,2041 11233 CADR R02BOTH
021026,000235: 24,2042 05504 TC UPFLAG
021027,000236: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021028,000237: 24,2044 05504 TC UPFLAG
021029,000238: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021030,000239: 24,2046 05504 TC UPFLAG
021031,000240: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021032,000241: 24,2050 05516 TC DOWNFLAG
021033,000242: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
021034,000243: # Page 505
021035,000244: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021036,000245: 24,2053 00040 ADRES ACMODFLG
021037,000246: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021038,000247: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CAN'T READ RADAR
021039,000248: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021040,000249: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021041,000250: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021042,000251: 24,2061 00041 ADRES LOSCMFLG
021043,000252: 24,2062 06011 TC CLRADMOD
021044,000253: 24,2063 05353 P20LEM1 TC PHASCHNG
021045,000254: 24,2064 04022 OCT 04022
021046,000255: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021047,000256: 24,2066 55462 TS MARKCTR
021048,000257: 24,2067 06042 TC INTPRET # LOS DETERMINATION ROUTINE
021049,000258: 24,2070 77634 RTB
021050,000259: 24,2071 21574 LOADTIME
021051,000260: 24,2072 34041 STCALL TDEC1
021052,000261: 24,2073 51256 LPS20.1
021053,000262: 24,2074 77624 CALL
021054,000263: 24,2075 53570 LPS20.2 # TEST RANGE R/UTINE
021055,000264: 24,2076 77776 EXIT
021056,000265: 24,2077 50154 INDEX MPAC
021057,000266: 24,2100 02101 TC +1
021058,000267: 24,2101 02111 TC P20LEMA # NORMAL RETURN WTIHIN 400 N M
021059,000268: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT -- RANGE > 400 N. MI.
021060,000269: 24,2103 04616 TC BANKCALL
021061,000270: 24,2104 21563 CADR PRIOLARM
021062,000271: 24,2105 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021063,000272: 24,2106 02102 TC -4 # PROC (ILLEGAL)
021064,000273: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021065,000274: 24,2110 05155 TC ENDOFJOB
021066,000275:
021067,000276: 24,2111 05353 P20LEMA TC PHASCHNG
021068,000277: 24,2112 04022 OCT 04022
021069,000278: 24,2113 02670 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021070,000279: 24,2114 02117 TC P20LEMB
021071,000280: 24,2115 04616 TC BANKCALL
021072,000281: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021073,000282: 24,2117 05353 P20LEMB TC PHASCHNG
021074,000283: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021075,000284: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021076,000285: 24,2122 37717 CAF PRIO26 # RESTORE PRIORITY 26
021077,000286: 24,2123 05146 TC PRIOCHNG
021078,000287: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021079,000288: 24,2125 74747 MASK TRACKBIT
021080,000289: 24,2126 00006 EXTEND
021081,000290: 24,2127 12232 BZF P20LEMWT # BRANCH -- NO -- WAIT FOR IT TO BE SET
021082,000291: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021083,000292: 24,2131 00006 EXTEND
021084,000293: # Page 506
021085,000294: 24,2132 02033 RAND CHAN33
021086,000295: 24,2133 00006 EXTEND
021087,000296: 24,2134 12170 BZF P20LEMB3 # YES -- DO AUTOMATIC ACQUISITION (R21)
021088,000297:
021089,000298: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021090,000299: 24,2136 61010 AD MODREG # MAJOR MODE IS 20
021091,000300: 24,2137 00006 EXTEND
021092,000301: 24,2140 12153 BZF P20LEMB6 # BRANCH -- YES -- OKAY TO DO PLEASE PERFORM
021093,000302:
021094,000303: 24,2141 67751 AD NEG2 # ALSO CHECK FOR P22
021095,000304: 24,2142 00006 EXTEND
021096,000305: 24,2143 12153 BZF P20LEMB6 # BRANCH -- YES OK TO DO PLEASE PERFORM
021097,000306: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET -- FLASH PRIORITY ALARM 514 --
021098,000307: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021099,000308: 24,2146 21563 CADR PRIOLARM
021100,000309: 24,2147 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
021101,000310: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021102,000311: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021103,000312: 24,2152 05155 TC ENDOFJOB
021104,000313: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021105,000314: 24,2154 04616 TC BANKCALL
021106,000315: 24,2155 20624 CADR GOPERF1
021107,000316: 24,2156 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021108,000317: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021109,000318: 24,2160 02670 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021110,000319: 24,2161 02166 TC P20LEMB2 # YES -- R23 NOT ALLOWED -- TURN ON OPR ERROR
021111,000320: 24,2162 03137 TC R23LEM # NO -- DO MANUAL ACQUISITION
021112,000321:
021113,000322: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 -- LOCKON ACHIEVED
021114,000323: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021115,000324: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021116,000325:
021117,000326: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021118,000327: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021119,000328:
021120,000329: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021121,000330: 24,2171 74737 MASK RCDU0BIT
021122,000331: 24,2172 00006 EXTEND
021123,000332: 24,2173 12205 BZF P20LEMB4 # BRANCH -- YES -- WAIT
021124,000333: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021125,000334: 24,2175 70076 MASK FLAGWRD2
021126,000335: 24,2176 00006 EXTEND
021127,000336: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISITION
021128,000337: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021129,000338: 24,2201 00037 ADRES SRCHOPTN
021130,000339: # Page 507
021131,000340: 24,2202 05516 TC DOWNFLAG
021132,000341: 24,2203 00040 ADRES ACMODFLG
021133,000342: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021134,000343:
021135,000344: 24,2205 32304 P20LEMB4 CAF 250DEC
021136,000345: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021137,000346: 24,2207 01736 CADR DELAYJOB # ZEROED -- THEN GO BACK AND CHECK AGAIN
021138,000347: 24,2210 02170 TC P20LEMB3
021139,000348:
021140,000349: 24,2211 06042 P20LEMC3 TC INTPRET
021141,000350: 24,2212 77634 RTB
021142,000351: 24,2213 21574 LOADTIME
021143,000352: 24,2214 34041 STCALL TDEC1
021144,000353: 24,2215 50312 UPPSV
021145,000354: 24,2216 77776 P20LEMC4 EXIT
021146,000355: 24,2217 05353 P20LEMC TC PHASCHNG
021147,000356: 24,2220 04022 OCT 04022
021148,000357: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021149,000358: 24,2222 74745 MASK RNDVZBIT
021150,000359: 24,2223 00006 EXTEND
021151,000360: 24,2224 15155 BZF ENDOFJOB # NO -- EXIT P20
021152,000361: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021153,000362: 24,2226 74747 MASK TRACKBIT
021154,000363: 24,2227 00006 EXTEND
021155,000364: 24,2230 12264 BZF P20LEMD # BRANCH -- TRACK FLAG NOT ON -- WAIT 15 SECONDS
021156,000365: 24,2231 02675 P20LEMF TC R21LEM
021157,000366:
021158,000367: 24,2232 32304 P20LEMWT CAF 250DEC
021159,000368: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021160,000369: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021161,000370: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021162,000371: 24,2236 74747 MASK TRACKBIT
021163,000372: 24,2237 00006 EXTEND
021164,000373: 24,2240 15155 BZF ENDOFJOB # NO -- EXIT WITHOUT DOING 2.7 PHASE CHANGE
021165,000374: 24,2241 05353 P20LMWT1 TC PHASCHNG
021166,000375: 24,2242 40072 OCT 40072
021167,000376: 24,2243 05155 TC ENDOFJOB
021168,000377:
021169,000378: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021170,000379: 24,2245 74745 MASK RNDVZBIT
021171,000380: 24,2246 00006 EXTEND
021172,000381: 24,2247 15261 BZF TASKOVER # NO -- EXIT P20/R22
021173,000382: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021174,000383: 24,2251 74747 MASK TRACKBIT
021175,000384: 24,2252 00006 EXTEND
021176,000385: 24,2253 12261 BZF P20LEMC2 # NO -- DON'T SCHEDULE R22 JOB
021177,000386: # Page 508
021178,000387: 24,2254 37717 CAF PRIO26 # YES -- SCHEDULE R22 JOB (RR DATA READ)
021179,000388: 24,2255 05105 TC FINDVAC
021180,000389: 24,2256 E7,1456 EBANK= LOSCOUNT
021181,000390: 24,2256 02631 50067 2CADR R22LEM42
021182,000391:
021183,000392: 24,2260 05261 TC TASKOVER
021184,000393:
021185,000394: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021186,000395: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021187,000396:
021188,000397: 24,2263 02244 TC P20LEMC1
021189,000398:
021190,000399: 24,2264 32667 P20LEMD CAF 1500DEC
021191,000400: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 5 SECONDS
021192,000401: 24,2266 02270 ADRES P20LEMD1
021193,000402: 24,2267 05155 TC ENDOFJOB
021194,000403:
021195,000404: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021196,000405: 24,2271 74747 MASK TRACKBIT
021197,000406: 24,2272 10000 CCS A
021198,000407: 24,2273 12277 TCF P20LEMD2 # YES -- SCHEDULE DESIGNATE JOB
021199,000408: 24,2274 05221 TC FIXDELAY # NO -- WAIT 15 SECONDS
021200,000409: 24,2275 02734 DEC 1500 B-14
021201,000410: 24,2276 02270 TC P20LEMD1
021202,000411:
021203,000412: 24,2277 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021204,000413: 24,2300 05105 TC FINDVAC
021205,000414: 24,2301 E7,1456 EBANK= LOSCOUNT
021206,000415: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021207,000416:
021208,000417: 24,2303 05261 TC TASKOVER
021209,000418:
021210,000419: 24,2304 00372 250DEC DEC 250 B-14
021211,000420: 24,2305 00526 ALRM526 OCT 00526
021212,000421: 24,2306 00201 OCT201 OCT 00201
021213,000422: 24,2307 00514 ALRM514 OCT 514
021214,000423: 24,2310 00074 MAXTRIES DEC 60 B-14
021215,000424: 24,2311 4363 OCT00012 EQUALS BINCON
021216,000425: 24,2311 23,2513 ONEB-2 EQUALS DP1/4TH
021217,000426: 24,2311 01441 V06N33* VN 0633
021218,000427: 24,2312 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021219,000428: 24,2313 01757 LS21X # TO PRESENT TIME
021220,000429: 24,2314 27410 INTSTALL
021221,000430: 24,2315 77624 CALL
021222,000431: 24,2316 26643 SETIFLGS
021223,000432: 24,2317 43014 BOF SET # IF W-MATRIX INVALID, DON'T INTEGRATE IT
021224,000433: # Page 509
021225,000434: 24,2320 02756 RENDWFLG
021226,000435: 24,2321 50332 UPPSV1
021227,000436: 24,2322 01476 DIM0FLAG # SET DIM0FLAG TO INTEGRATE W-MATRIX
021228,000437: 24,2323 43014 BON SET
021229,000438: 24,2324 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021230,000439: 24,2325 50327 UPPSV5
021231,000440: 24,2326 01475 D6OR9FLG # OTHERWISE 9X9
021232,000441: 24,2327 77614 UPPSV5 BOF
021233,000442: 24,2330 00747 VEHUPFLG
021234,000443: 24,2331 50364 UPPSV3
021235,000444: 24,2332 77614 UPPSV1 SET
021236,000445: 24,2333 01474 VINTFLAG
021237,000446: 24,2334 77624 CALL
021238,000447: 24,2335 27133 INTEGRV
021239,000448: 24,2336 77624 CALL # GROUP 2 PHASE CHANGE
021240,000449: 24,2337 11210 GRP2PC # TO PROTECT INTEGRATION
021241,000450: 24,2340 77624 CALL
021242,000451: 24,2341 27410 INTSTALL
021243,000452: 24,2342 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021244,000453: 24,2343 01571 TETCSM
021245,000454: 24,2344 01674 VINTFLAG
021246,000455: 24,2345 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021247,000456: 24,2346 26643 SETIFLGS # WITHOUT W-MATRIX
021248,000457: 24,2347 34041 STCALL TDEC1
021249,000458: 24,2350 27133 INTEGRV
021250,000459: 24,2351 77214 BOFF VLOAD
021251,000460: 24,2352 04347 SURFFLAG
021252,000461: 24,2353 50216 P20LEMC4
021253,000462: 24,2354 01661 RCVLEM
021254,000463: 24,2355 77742 VSR2
021255,000464: 24,2356 26352 STOVL LMPOS
021256,000465: 24,2357 01667 VCVLEM
021257,000466: 24,2360 77742 VSR2
021258,000467: 24,2361 02360 STORE LMVEL
021259,000468: 24,2362 77650 GOTO
021260,000469: 24,2363 01757 LS21X
021261,000470:
021262,000471: 24,2364 45014 UPPSV3 CLEAR CALL
021263,000472: 24,2365 01674 VINTFLAG
021264,000473: 24,2366 27133 INTEGRV
021265,000474: 24,2367 77624 CALL
021266,000475: 24,2370 11210 GRP2PC
021267,000476: 24,2371 77624 CALL
021268,000477: 24,2372 27410 INTSTALL
021269,000478: 24,2373 71214 SET DLOAD
021270,000479: 24,2374 01474 VINTFLAG
021271,000480: 24,2375 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
021272,000481: 24,2376 77650 GOTO
021273,000482: 24,2377 50345 UPPSV4
021274,000483: # Page 510
021275,000484: 24,2400 E7,1456 EBANK= LOSCOUNT
021276,000485: 24,2400 COUNT* $$/P22
021277,000486:
021278,000487: # Page 511
021279,000488: # PROGRAM DESCRIPTION
021280,000489:
021281,000490: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021282,000491: # MOD NO -- 3
021283,000492: # BY P. VOLANTE
021284,000493:
021285,000494: # FUNCTIONAL DESCRIPTION
021286,000495:
021287,000496: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021288,000497: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRTACKING BEACON AT THE
021289,000498: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021290,000499: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS.
021291,000500:
021292,000501: # CALLING SEQUENCE --
021293,000502:
021294,000503: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021295,000504:
021296,000505: # SUBROUTINES CALLED --
021297,000506:
021298,000507: # BANKCALL FLAGUP
021299,000508: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021300,000509: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021301,000510: # TASKOVER FINDVAC
021302,000511:
021303,000512: # NORMAL EXIT MODES --
021304,000513:
021305,000514: # P25 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING
021306,000515: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021307,000516:
021308,000517: # ALARM OR ABORT EXIT MODES --
021309,000518:
021310,000519: # NONE
021311,000520:
021312,000521: # OUTPUT
021313,000522:
021314,000523: # ERASABLE INITIALIZATION REQUIRED
021315,000524:
021316,000525: # FLAGS SET + RESET
021317,000526:
021318,000527: # TRACKFLG, P25FLAG
021319,000528:
021320,000529: # DEBRIS
021321,000530:
021322,000531: # NONE
021323,000532:
021324,000533: 24,2400 E7,1456 EBANK= LOSCOUNT
021325,000534: 24,2400 COUNT* $$/P25
021326,000535: 24,2400 05327 PROG25 TC 2PHSCHNG
021327,000536: 24,2401 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021328,000537: 24,2402 05022 OCT 05022
021329,000538: 24,2403 26000 OCT 26000 # PRIORITY 26
021330,000539:
021331,000540: 24,2404 04616 TC BANKCALL
021332,000541: 24,2405 11233 CADR R02BOTH # IMU STATUS CHECK
021333,000542: 24,2406 05504 TC UPFLAG
021334,000543: 24,2407 00031 ADRES TRACKFLG # SET TRACK FLAG
021335,000544: 24,2410 05504 TC UPFLAG
021336,000545: 24,2411 00006 ADRES P25FLAG # SET P25FLAG
021337,000546: 24,2412 05516 TC DOWNFLAG
021338,000547: 24,2413 00010 ADRES RNDVZFLG
021339,000548: 24,2414 05353 P25LEM1 TC PHASCHNG
021340,000549: 24,2415 04022 OCT 04022
021341,000550: 24,2416 34743 CAF P25FLBIT
021342,000551: 24,2417 70074 MASK STATE # IS P25FLAG SET
021343,000552: 24,2420 00006 EXTEND
021344,000553: 24,2421 15155 BZF ENDOFJOB
021345,000554: 24,2422 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021346,000555: # Page 512
021347,000556: 24,2423 70075 MASK STATE +1
021348,000557: 24,2424 00006 EXTEND
021349,000558: 24,2425 12433 BZF P25LMWT1 # NO -- SKIP PHASE CHANGE AND WAIT 1 MINUTE
021350,000559: 24,2426 34757 CAF SEVEN # CALL R65 -- FINE PREFERRED
021351,000560: 24,2427 55745 TS R65CNTR
021352,000561: 24,2430 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021353,000562: 24,2431 46123 CADR R65LEM
021354,000563: 24,2432 02414 TC P25LEM1 # THEN GO CHECK FLAGS
021355,000564: 24,2433 32444 P25LMWT1 CAF 60SCNDS
021356,000565: 24,2434 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021357,000566: 24,2435 02437 ADRES P25LEM2
021358,000567: 24,2436 05155 TC ENDOFJOB
021359,000568: 24,2437 35024 P25LEM2 CAF PRIO14
021360,000569: 24,2440 05105 TC FINDVAC
021361,000570: 24,2441 E7,1456 EBANK= LOSCOUNT
021362,000571: 24,2441 02414 50067 2CADR P25LEM1
021363,000572:
021364,000573: 24,2443 05261 TC TASKOVER
021365,000574: 24,2444 13560 60SCNDS DEC 6000 B-14
021366,000575:
021367,000576: # Page 513
021368,000577: # DATA READ ROUTINE 22 (LEM)
021369,000578: # PROGRAM DESCRIPTION
021370,000579:
021371,000580: # MOD NO -- 2
021372,000581: # BY P. VOLANTE
021373,000582:
021374,000583: # FUNCTIONAL DESCRIPTION
021375,000584:
021376,000585: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021377,000586: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021378,000587:
021379,000588: # CALLING SEQUENCE --
021380,000589:
021381,000590: # TC BANKCALL
021382,000591: # CADR R22LEM
021383,000592:
021384,000593: # SUBROUTINES CALLED --
021385,000594:
021386,000595: # LSR22.1 GOFLASH WAITLIST
021387,000596: # LSR22.2 PRIOLARM BANKCALL
021388,000597: # LSR22.3 R61LEM
021389,000598:
021390,000599: # NORMAL EXIT MODES --
021391,000600:
021392,000601: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021393,000602: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021394,000603: # R22 WILL TERMINATE SELF.
021395,000604:
021396,000605: # ALARM OR ABORT EXIT MODES --
021397,000606:
021398,000607: # PRIORITY ALARM
021399,000608: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021400,000609:
021401,000610: # OUTPUT
021402,000611:
021403,000612: # SEE OUTPUT FROM LSR22.3
021404,000613:
021405,000614: # ERASABLE INITIALIZATION REQUIRED
021406,000615:
021407,000616: # SEE LSR22.1, LSR22.2, LSR22.3
021408,000617:
021409,000618: # FLAGS SET + RESET
021410,000619:
021411,000620: # NOANGFLG
021412,000621:
021413,000622: # DEBRIS
021414,000623:
021415,000624: # SEE LSR22.1, LSR22.2, LSR22.3
021416,000625:
021417,000626: 24,2445 E7,1737 EBANK= LRS22.1X
021418,000627: 24,2445 COUNT* $$/R22
021419,000628: 24,2445 05353 R22LEM TC PHASCHNG
021420,000629: 24,2446 04022 OCT 04022
021421,000630: 24,2447 34745 CAF RNDVZBIT # IS RENDEZVOUS FLAG SET?
021422,000631: 24,2450 70074 MASK STATE
021423,000632: 24,2451 00006 EXTEND
021424,000633: 24,2452 15155 BZF ENDOFJOB # NO -- EXIT R22 AND P20
021425,000634: 24,2453 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021426,000635: 24,2454 70075 MASK STATE +1
021427,000636: 24,2455 00006 EXTEND
021428,000637: 24,2456 12640 BZF R22WAIT # NO WAIT
021429,000638: 24,2457 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021430,000639: 24,2460 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARS IT)
021431,000640: 24,2461 02012 RAND CHAN12
021432,000641: 24,2462 00006 EXTEND
021433,000642: 24,2463 12111 BZF P20LEMA # NO -- RETURN TO P20
021434,000643: 24,2464 34752 CAF BIT2 # YES
021435,000644: 24,2465 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021436,000645: 24,2466 02033 RAND CHAN33
021437,000646: # Page 514
021438,000647: 24,2467 00006 EXTEND
021439,000648: 24,2470 12472 BZF +2 # YES CONTINUE
021440,000649: 24,2471 02135 TC P20LEMB5 # NO -- SET IT
021441,000650: 24,2472 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021442,000651: 24,2473 74737 MASK RCDU0BIT
021443,000652: 24,2474 00006 EXTEND
021444,000653: 24,2475 12631 BZF R22LEM42 # CDUS BEING ZEROED
021445,000654: 24,2476 05353 TC PHASCHNG # IF A RESTART OCCURS, AND EXTRA RADAR
021446,000655: 24,2477 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021447,000656: 24,2500 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021448,000657: 24,2501 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021449,000658: 24,2502 50154 INDEX MPAC
021450,000659: 24,2503 02504 TC +1
021451,000660: 24,2504 02525 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021452,000661: 24,2505 02217 TC P20LEMC # COULD NOT READ RADAR -- TRY TO REDESIGNATE
021453,000662: 24,2506 32664 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021454,000663: 24,2507 04616 TC BANKCALL
021455,000664: 24,2510 21563 CADR PRIOLARM
021456,000665: 24,2511 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021457,000666: 24,2512 02515 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021458,000667: 24,2513 02506 TC -5 # ENTER (ILLEGAL OPTION)
021459,000668: 24,2514 05155 TC ENDOFJOB
021460,000669:
021461,000670: 24,2515 05353 R22LEM1 TC PHASCHNG
021462,000671: 24,2516 04022 OCT 04022
021463,000672: 24,2517 32665 CAF V06N05 # DISPLAY DELTA THETA
021464,000673: 24,2520 04616 TC BANKCALL
021465,000674: 24,2521 20510 CADR PRIODSP
021466,000675: 24,2522 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021467,000676: 24,2523 02525 TC R22LEM2 # PROC (OK CONTINUE)
021468,000677: 24,2524 02217 TC P20LEMC # ENTER (RECYCLE)
021469,000678: 24,2525 05353 R22LEM2 TC PHASCHNG
021470,000679: 24,2526 04022 OCT 04022
021471,000680: 24,2527 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021472,000681: 24,2530 02545 TC R22LEM3 # YES -- BYPASS FLAG CHECKS AND LRS22.2
021473,000682: 24,2531 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021474,000683: 24,2532 74747 MASK TRACKBIT
021475,000684: 24,2533 00006 EXTEND
021476,000685: 24,2534 12640 BZF R22WAIT # NO -- WAIT
021477,000686: 24,2535 04616 TC BANKCALL # YES
021478,000687: 24,2536 51334 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021479,000688: 24,2537 50154 INDEX MPAC
021480,000689: 24,2540 02541 TC +1
021481,000690: 24,2541 02545 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021482,000691: 24,2542 04616 TC BANKCALL
021483,000692: 24,2543 46116 CADR R61LEM
021484,000693: 24,2544 02640 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021485,000694: 24,2545 40075 R22LEM3 CS FLAGWRD1 # SHOULD W BYPASS STATE VECTOR UPDATE
021486,000695: 24,2546 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
021487,000696: # Page 515
021488,000697: 24,2547 00006 EXTEND
021489,000698: 24,2550 12631 BZF R22LEM42 # BRANCH -- YES
021490,000699: 24,2551 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021491,000700: 24,2552 74745 MASK UPDATBIT
021492,000701: 24,2553 00006 EXTEND
021493,000702: 24,2554 12631 BZF R22LEM42 # UPDATE FLAG NOT SET
021494,000703: 24,2555 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021495,000704: 24,2556 55055 TS PHSPRDT2
021496,000705:
021497,000706: 24,2557 06042 TC INTPRET
021498,000707: 24,2560 77650 GOTO
021499,000708: 24,2561 54416 LSR22.3
021500,000709: 24,2562 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021501,000710: 24,2563 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINS
021502,000711: 24,2564 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021503,000712: 24,2565 12624 TCF R22LEM44
021504,000713: 24,2566 77776 R22LEM96 EXIT
021505,000714: 24,2567 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021506,000715: 24,2570 55746 TS N49FLAG # V06 N49 DISPLAY HASN'T BEEN ANSWERED
021507,000716: 24,2571 05353 TC PHASCHNG
021508,000717: 24,2572 04022 OCT 04022 # TO PROTECT DISPLAY
021509,000718: 24,2573 37720 CAF PRIO27 # PROTECT DISPLAY
021510,000719: 24,2574 05072 TC NOVAC
021511,000720: 24,2575 E7,1746 EBANK= N49FLAG
021512,000721: 24,2575 02645 50067 2CADR N49DSP
021513,000722:
021514,000723: 24,2577 06042 TC INTPRET
021515,000724: 24,2600 77735 SLOAD
021516,000725: 24,2601 03747 N49FLAG
021517,000726: 24,2602 50054 BZE BMN # LOOP TO CHECK IF FLAG
021518,000727: 24,2603 50600 -3 # SETTING CHANGED -- BRANCH -- NO
021519,000728: 24,2604 50612 R22LEM7 # PROCEED
021520,000729: 24,2605 77650 GOTO # DISPLAY ANSWERED BY RECYCLE -- INCORPORATE
021521,000730: 24,2606 03675 LGRET # NEXT MEASUREMENT
021522,000731: 24,2607 44752 V34TON49 CS TWO
021523,000732: 24,2610 55746 TS N49FLAG
021524,000733: 24,2611 05155 TC ENDOFJOB
021525,000734: 24,2612 77776 R22LEM7 EXIT
021526,000735: 24,2613 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
021527,000736: 24,2614 64752 AD TWO
021528,000737: 24,2615 00006 EXTEND
021529,000738: 24,2616 12445 BZF R22LEM # BRANCH -- TERM -- TAKE ANOTHER RR READING
021530,000739: 24,2617 06042 TC INTPRET
021531,000740: 24,2620 77624 CALL
021532,000741: 24,2621 11210 GRP2PC # PHASE CHANGE AND
021533,000742: 24,2622 77650 GOTO # GO TO INCOPORATE DATA.
021534,000743: 24,2623 55431 ASTOK
021535,000744: 24,2624 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021536,000745: 24,2625 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021537,000746: 24,2626 02642 TC R22LEM46 # YES -- WAIT 2 SECONDS
021538,000747: # Page 516
021539,000748: 24,2627 34756 CA FIVE # NOT ON LUNAR SURFACE
021540,000749: 24,2630 02634 TC R22LEM45 # R65COUNTER = 5
021541,000750: 24,2631 02670 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021542,000751: 24,2632 02642 TC R22LEM46 # YES -- WAIT 2 SECONDS
021543,000752: 24,2633 34752 CA TWO # NO -- SET R65COUNTER = 2
021544,000753: 24,2634 55745 R22LEM45 TS R65CNTR
021545,000754: 24,2635 04616 TC BANKCALL
021546,000755: 24,2636 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021547,000756: 24,2637 02445 TC R22LEM
021548,000757: 24,2640 32667 R22WAIT CAF 1500DEC
021549,000758: 24,2641 02233 TC P20LEMWT +1
021550,000759:
021551,000760: 24,2642 04616 R22LEM46 TC BANKCALL
021552,000761: 24,2643 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021553,000762: 24,2644 02445 TC R22LEM
021554,000763:
021555,000764: 24,2645 32666 N49DSP CAF V06N49NB
021556,000765: 24,2646 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE -- FLASH
021557,000766: 24,2647 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021558,000767: 24,2650 02607 TC V34TON49 # TERMINATE -- SET N49FLAG = -2
021559,000768: 24,2651 44753 CS ONE # PROCEED -- N49FLAG = -1
021560,000769: 24,2652 55746 TS N49FLAG # RECYCLE -- N49FLAG = + VALUE
021561,000770: 24,2653 05155 TC ENDOFJOB
021562,000771: 24,2654 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021563,000772: 24,2655 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021564,000773: 24,2656 04616 TC BANKCALL # WHICH ISN'T USED TO PREVENT TAKING A BAD
021565,000774: 24,2657 53112 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021566,000775: 24,2660 04616 TC BANKCALL # BAD DATA
021567,000776: 24,2661 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
021568,000777: 24,2662 02217 TC P20LEMC # COULD NOT READ RADAR -- TRY TO REDISGNATE
021569,000778: 24,2663 02445 TC R22LEM # READ SUCCESSFUL -- CONTINUE AT R22
021570,000779:
021571,000780: 24,2664 00525 ALRM525 OCT 00525
021572,000781: 24,2665 01405 V06N05 VN 00605
021573,000782: 24,2666 01461 V06N49NB VN 00649
021574,000783: 24,2667 02734 1500DEC DEC 1500 B-14
021575,000784:
021576,000785: # LUNSFCHECK -- CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021577,000786: # RETURNS TO CALLER +1 IF P22FLAG SET
021578,000787: # TO CALLER +2 IF P22FLAG NOT SET
021579,000788:
021580,000789: 24,2670 COUNT* $$/P22
021581,000790: 24,2670 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021582,000791: 24,2671 74744 MASK SURFFBIT # IS SURFFLAG SET?
021583,000792: 24,2672 10000 CCS A # BRANCH -- P22FLAG SET
021584,000793: 24,2673 24002 INCR Q # NOT SET
021585,000794: 24,2674 00002 TC Q # RETURN
021586,000795:
021587,000796: # Page 517
021588,000797: # RR DESIGNATE ROUTINE (R21LEM)
021589,000798: # PROGRAM DESCRIPTION
021590,000799:
021591,000800: # MOD NO -- 2
021592,000801: # BY P. VOLANTE
021593,000802:
021594,000803: # FUNCTIONAL DESCRIPTION
021595,000804:
021596,000805: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021597,000806: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021598,000807:
021599,000808: # CALLING SEQUENCE --
021600,000809:
021601,000810: # TC BANKCALL
021602,000811: # CADR R21LEM
021603,000812:
021604,000813: # SUBROUTINES CALLED --
021605,000814:
021606,000815: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021607,000816: # NOVAC INTPRET LPS20.1 PHASCHNG
021608,000817: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021609,000818: # TASKOVER BANKCALL RADSTALL RRDESSM
021610,000819:
021611,000820: # NORMAL EXIT MODES
021612,000821: #
021613,000822: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021614,000823: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021615,000824:
021616,000825: # ALARM OR ABORT EXIT MODES --
021617,000826:
021618,000827: # PRIORITY ALARM 503 WHEN LOCK-ON HASN'T BEEN ACHIEVED AFTER 30SECS --
021619,000828: # THIS REQUIRES ASTRONAUT INTERFACE: SELECTION OF SEARCH OPTION OF
021620,000829: # ACQUISITION
021621,000830:
021622,000831: # OUTPUT
021623,000832:
021624,000833: # SEE LPS20.1, RRDESSM
021625,000834:
021626,000835: # ERASABLE INITIALIZATION REQUIRED
021627,000836:
021628,000837: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021629,000838:
021630,000839: # FLAGS SET + RESET
021631,000840:
021632,000841: # LOSCMFLG LOKONSW
021633,000842:
021634,000843: # DEBRIS
021635,000844:
021636,000845: # SEE LPS20.1, RRSESSM
021637,000846:
021638,000847: 24,2675 E7,1456 EBANK= LOSCOUNT
021639,000848: 24,2675 COUNT* $$/R21
021640,000849: 24,2675 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021641,000850: 24,2676 00006 EXTEND
021642,000851: 24,2677 03012 WAND CHAN12
021643,000852: 24,2700 02670 TC LUNSFCHK
021644,000853: 24,2701 02706 TC R21LEM5
021645,000854: 24,2702 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021646,000855: 24,2703 55106 TS TANG # IF NOT ON SURFACE -- MODE 1 -- (T=0,S=0)
021647,000856: 24,2704 55107 TS TANG +1
021648,000857: 24,2705 02716 TC R21LEM6
021649,000858: 24,2706 34740 R21LEM5 CAF BIT12
021650,000859: 24,2707 70110 MASK RADMODES
021651,000860: 24,2710 10000 CCS A
021652,000861: 24,2711 02726 TC R21LEM10
021653,000862: 24,2712 34735 CAF BIT15
021654,000863: 24,2713 55106 TS TANG
021655,000864: 24,2714 44736 CS HALF
021656,000865: 24,2715 55107 TS TANG +1
021657,000866:
021658,000867: # Page 518
021659,000868: 24,2716 05516 R21LEM6 TC DOWNFLAG
021660,000869: 24,2717 00012 ADRES LOKONSW
021661,000870: 24,2720 04616 TC BANKCALL
021662,000871: 24,2721 52506 CADR RRDESNB
021663,000872: 24,2722 02723 TC +1
021664,000873: 24,2723 04616 TC BANKCALL
021665,000874: 24,2724 17705 CADR RADSTALL
021666,000875: 24,2725 02761 TC R21-503 # BAD RETURN FROM DESIGNATE -- ISSUE ALARM
021667,000876: 24,2726 05504 R21LEM10 TC UPFLAG
021668,000877: 24,2727 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021669,000878: 24,2730 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021670,000879: 24,2731 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021671,000880: 24,2732 36250 R21LEM2 CAF THREE
021672,000881: 24,2733 55456 TS LOSCOUNT
021673,000882: 24,2734 06042 R21LEM1 TC INTPRET
021674,000883: 24,2735 43234 RTB DAD
021675,000884: 24,2736 21574 LOADTIME
021676,000885: 24,2737 11122 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021677,000886: 24,2740 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021678,000887: 24,2741 51256 LPS20.1
021679,000888: 24,2742 77776 EXIT
021680,000889: 24,2743 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR -- ON DESIRED
021681,000890: 24,2744 00012 ADRES LOKONSW
021682,000891: 24,2745 05516 TC DOWNFLAG
021683,000892: 24,2746 00126 ADRES NORRMON
021684,000893: 24,2747 06042 TC INTPRET
021685,000894: 24,2750 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021686,000895: 24,2751 52404 RRDESSM # DESIGNATE ROUTINE
021687,000896: 24,2752 77776 EXIT
021688,000897: 24,2753 03002 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021689,000898: # ON LUNAR SURFACE
021690,000899: 24,2754 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021691,000900: 24,2755 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021692,000901: 24,2756 17705 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE -- LOCKON OR
021693,000902: 24,2757 02761 TC +2 # BAD END -- LOCKON NOT ACHIEVED IN 60 TRIES
021694,000903: 24,2760 02770 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021695,000904: 24,2761 33000 R21-503 CAF ALRM503 # ISSUE ALARM 503
021696,000905: 24,2762 04616 TC BANKCALL
021697,000906: 24,2763 21563 CADR PRIOLARM
021698,000907: 24,2764 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021699,000908: 24,2765 02775 TC R21SRCH # PROC
021700,000909: 24,2766 02211 TC P20LEMC3
021701,000910: 24,2767 05155 TC ENDOFJOB
021702,000911: 24,2770 05516 R21END TC DOWNFLAG
021703,000912: 24,2771 00041 ADRES LOSCMFLG # RESET LOSCMFLG
021704,000913: 24,2772 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021705,000914: 24,2773 02232 TC P20LEMWT # YES -- BYPASS V50 N 72 DISPLAY
021706,000915: 24,2774 03123 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021707,000916: 24,2775 05353 R21SRCH TC PHASCHNG
021708,000917: 24,2776 04022 OCT 04022
021709,000918: # Page 519
021710,000919: 24,2777 03210 TC R24LEM # SEARCH ROUTINE
021711,000920: 24,3000 00503 ALRM503 OCT 00503
021712,000921: 24,3001 00527 ALRM527 OCT 527
021713,000922:
021714,000923: 24,3002 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
021715,000924: 24,3003 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
021716,000925: 24,3004 05504 TC UPFLAG
021717,000926: 24,3005 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
021718,000927: 24,3006 05516 TC DOWNFLAG # RESET LOS BEING
021719,000928: 24,3007 00041 ADRES LOSCMFLG # COMPUTED FLAG
021720,000929: 24,3010 06042 TC INTPRET
021721,000930: 24,3011 77634 R21LEM12 RTB
021722,000931: 24,3012 21574 LOADTIME
021723,000932: 24,3013 77615 R21LEM00 DAD
021724,000933: 24,3014 11120 TENSEC # TIME T = T + 10 SECS.
021725,000934: 24,3015 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
021726,000935: 24,3016 34041 STCALL TDEC1
021727,000936: 24,3017 51256 LPS20.1 # COMPUTE LOS AT TIME T
021728,000937: 24,3020 77624 CALL
021729,000938: 24,3021 52404 RRDESSM
021730,000939: 24,3022 77776 EXIT
021731,000940: 24,3023 03035 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
021732,000941: 24,3024 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
021733,000942: 24,3025 06032 TC KILLTASK
021734,000943: 24,3026 52604 CADR BEGDES
021735,000944: 24,3027 06042 TC INTPRET
021736,000945: 24,3030 43014 BOF CLRGO
021737,000946: 24,3031 00345 FSPASFLG # FIRST PASS THRU REPOSITION
021738,000947: 24,3032 51045 R21LEMB # NO -- GO TO CONTINUOUS DESIGNATE
021739,000948: 24,3033 00225 FSPASFLG # YES -- RESET FIRST PASS FLAG
021740,000949: 24,3034 51042 R21LEM50
021741,000950: 24,3035 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
021742,000951: 24,3036 03040 TC R21LEM7 # NO -- ADD 10 SECS. RECOMPUTE LOS
021743,000952: 24,3037 03107 TC R21LEM11 # YES -- PUT OUT ALARM 530
021744,000953: 24,3040 55423 R21LEM7 TS REPOSCNT
021745,000954: 24,3041 06042 TC INTPRET
021746,000955: 24,3042 52145 R21LEM50 DLOAD GOTO
021747,000956: 24,3043 03425 REPOSTM
021748,000957: 24,3044 51013 R21LEM00
021749,000958: 24,3045 77745 R21LEMB DLOAD
021750,000959: 24,3046 03425 REPOSTM
021751,000960: 24,3047 34041 STCALL TDEC1
021752,000961: 24,3050 50312 UPPSV
021753,000962: 24,3051 77776 EXIT
021754,000963: 24,3052 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
021755,000964: 24,3053 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
021756,000965: 24,3054 05516 TC DOWNFLAG
021757,000966: 24,3055 00012 ADRES LOKONSW
021758,000967: 24,3056 05504 TC UPFLAG
021759,000968: # Page 520
021760,000969: 24,3057 00126 ADRES NORRMON
021761,000970: 24,3060 04616 TC BANKCALL
021762,000971: 24,3061 52506 CADR RRDESNB
021763,000972: 24,3062 03063 TC +1
021764,000973: 24,3063 06042 TC INTPRET
021765,000974: 24,3064 44234 RTB BDSU
021766,000975: 24,3065 21574 LOADTIME # COMPUTE DELTA TIME
021767,000976: 24,3066 03425 REPOSTM # FOR LONGCALL
021768,000977: 24,3067 03427 STORE DELTATM
021769,000978: 24,3070 77776 EXIT
021770,000979: 24,3071 00006 EXTEND
021771,000980: 24,3072 31427 DCA DELTATM
021772,000981: 24,3073 05277 TC LONGCALL
021773,000982: 24,3074 E7,1456 EBANK= LOSCOUNT
021774,000983: 24,3074 03077 50067 2CADR R21LEM9
021775,000984:
021776,000985: 24,3076 05155 TC ENDOFJOB
021777,000986: 24,3077 06032 R21LEM9 TC KILLTASK
021778,000987: 24,3100 52613 CADR STDESIG
021779,000988: 24,3101 06011 TC CLRADMOD
021780,000989: 24,3102 37717 CAF PRIO26
021781,000990: 24,3103 05105 TC FINDVAC
021782,000991: 24,3104 E7,1456 EBANK= LOSCOUNT
021783,000992: 24,3104 02726 50067 2CADR R21LEM10
021784,000993:
021785,000994: 24,3106 05261 TC TASKOVER
021786,000995: 24,3107 33116 R21LEM11 CAF ALRM530 # ALARM 530 -- LOS NOT IN COVERAGE
021787,000996: 24,3110 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
021788,000997: 24,3111 21563 CADR PRIOLARM # 600 SECS.
021789,000998: 24,3112 06025 TC GOTOV56
021790,000999: 24,3113 06025 TC GOTOV56
021791,001000: 24,3114 06025 TC GOTOV56
021792,001001: 24,3115 05155 TC ENDOFJOB
021793,001002: 24,3116 00530 ALRM530 OCT 00530
021794,001003: 24,3117 00000 01750 TENSEC 2DEC 1000 B-28
021795,001004:
021796,001005: 24,3121 00000 00062 HALFSEC 2DEC 50 B-28
021797,001006:
021798,001007: 24,3123 05353 R21DISP TC PHASCHNG
021799,001008: 24,3124 04022 OCT 04022
021800,001009: 24,3125 33136 CAF V06N72PV # FLASH V 50 N 72 -- PLEASE PERFORM RR
021801,001010: 24,3126 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
021802,001011: 24,3127 20711 CADR GOPERF2R
021803,001012: 24,3130 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
021804,001013: 24,3131 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
021805,001014: 24,3132 03125 TC -5 # ENTER ILLEGAL
021806,001015: 24,3133 34745 CAF BIT7
021807,001016: 24,3134 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
021808,001017: 24,3135 05155 TC ENDOFJOB
021809,001018:
021810,001019: # Page 521
021811,001020: 24,3136 01510 V06N72PV VN 00672
021812,001021:
021813,001022: # Page 522
021814,001023: # MANUAL ACQUISITION ROUTINE R23LEM
021815,001024: # PROGRAM DESCRIPTION
021816,001025:
021817,001026: # MOD NO -- 2
021818,001027: # BY P. VOLANTE
021819,001028:
021820,001029: # FUNCTIONAL DESCRIPTION
021821,001030:
021822,001031: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
021823,001032:
021824,001033: # CALLING SEQUENCE --
021825,001034:
021826,001035: # TC R23LEM
021827,001036:
021828,001037: # SUBROUTINES CALLED
021829,001038:
021830,001039: # BANKCALL R61LEM
021831,001040: # SETMINDB GOPERF1
021832,001041:
021833,001042: # NORMAL EXIT MODES --
021834,001043:
021835,001044: # IN RESPONSE TO THE GOPERF1, SELECTION OF ENTER WILL RECYCLE R23
021836,001045: # SELECTION OF PROC WILL CONTINUE R23
021837,001046: # SELECTION OF TERM WILL TERMINATE R23 + P20
021838,001047:
021839,001048: # ALARM OR ABORT EXIT MODES --
021840,001049:
021841,001050: # SEE NORMAL EXIT MODES ABOVE
021842,001051:
021843,001052: # OUTPUT
021844,001053:
021845,001054: # N.A.
021846,001055:
021847,001056: # ERASABLE INITIALIZATION REQUIRED --
021848,001057:
021849,001058: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
021850,001059:
021851,001060: 24,3137 1142 EBANK= GENRET
021852,001061: 24,3137 COUNT* $$/R23
021853,001062: 24,3137 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
021854,001063: 24,3140 00126 ADRES NORRMON
021855,001064: 24,3141 00004 INHINT
021856,001065: 24,3142 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
021857,001066: 24,3143 40141 CADR SETMINDB
021858,001067: 24,3144 00003 RELINT
021859,001068: 24,3145 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
021860,001069: 24,3146 00006 EXTEND
021861,001070: 24,3147 05012 WOR CHAN12
021862,001071: 24,3150 33207 CAF OCT205
021863,001072: 24,3151 04616 TC BANKCALL
021864,001073: 24,3152 20624 CADR GOPERF1
021865,001074: 24,3153 03200 TC R23LEM2 # TERMINATE
021866,001075: 24,3154 03156 TC R23LEM11 # PROCEDE
021867,001076: 24,3155 03203 TC R23LEM3 # ENTER -- DO ANOTHER MANEUVER
021868,001077: 24,3156 00004 R23LEM11 INHINT
021869,001078: 24,3157 04523 TC RRLIMCHK # YES -- CHECK IF ANTENNA IS WITHIN LIMITS
021870,001079: 24,3160 00035 ADRES CDUT
021871,001080: 24,3161 03170 TC OUTOFLIM # NOT WITHIN LIMITS
021872,001081: 24,3162 04674 TC IBNKCALL # RESTORE DEADBAND TO
021873,001082: 24,3163 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
021874,001083: 24,3164 00003 RELINT
021875,001084: 24,3165 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021876,001085: 24,3166 00126 ADRES NORRMON
021877,001086: 24,3167 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
021878,001087: 24,3170 00003 OUTOFLIM RELINT
021879,001088: # Page 523
021880,001089: 24,3171 33206 CAF OCT501PV
021881,001090: 24,3172 04616 TC BANKCALL # ISSUE ALARM -- RR ANTENNA NOT WITHIN
021882,001091: 24,3173 21563 CADR PRIOLARM # LIMITS
021883,001092: 24,3174 03200 TC R23LEM2 # TERMINATE -- EXIT R23 TO R00 (GO TO P00H)
021884,001093: 24,3175 03171 TC OUTOFLIM +1 # PROCEED ILLEGAL
021885,001094: 24,3176 03203 TC R23LEM3 # RECYCLE -- TO ANOTHER MANEUVER
021886,001095: 24,3177 05155 TC ENDOFJOB
021887,001096: 24,3200 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021888,001097: 24,3201 00126 ADRES NORRMON
021889,001098: 24,3202 06025 TC GOTOV56 # AND EXIT VIA V56
021890,001099: 24,3203 04616 R23LEM3 TC BANKCALL
021891,001100: 24,3204 46116 CADR R61LEM
021892,001101: 24,3205 03145 TC R23LEM1
021893,001102:
021894,001103: 24,3206 00501 OCT501PV OCT 501
021895,001104: 24,3207 00205 OCT205 OCT 205
021896,001105:
021897,001106: # Page 524
021898,001107: # SEARCH ROUTINE R24LEM
021899,001108: # PROGRAM DESCRIPTION
021900,001109:
021901,001110: # MOD NO -- 2
021902,001111: # BY P. VOLANTE
021903,001112:
021904,001113: # FUNCTIONAL DESCRIPTION
021905,001114:
021906,001115: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
021907,001116: # FAILED TO ACQUIRE TEH CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
021908,001117: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN IN SIDELOBE.
021909,001118:
021910,001119: # CALLING SEQUENCE
021911,001120:
021912,001121: # CAF PRIONN
021913,001122: # TC FINDVAC
021914,001123: # EBANK= DATAGOOD
021915,001124: # 2CADR R24LEM
021916,001125:
021917,001126: # SUBROUTINES CALLED
021918,001127:
021919,001128: # FLAGUP FLAGDOWN BANKCALL
021920,001129: # R61LEM GOFLASHR FINDVAC
021921,001130: # ENDOFJOB NOVAC LSR24.1
021922,001131:
021923,001132: # NORMAL EXIT MODES --
021924,001133:
021925,001134: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
021926,001135: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20)
021927,001136:
021928,001137: # ALARM OR ABORT EXIT MODES --
021929,001138:
021930,001139: # SEE NORMAL EXIT MODES ABOVE
021931,001140:
021932,001141: # OUTPUT --
021933,001142:
021934,001143: # SEE OUTPUT FROM LSR24.1 + R61LEM
021935,001144:
021936,001145: # ERASABLE INITIALIZATION REQUIRED
021937,001146:
021938,001147: # SET INPUT FOR LSR24.1
021939,001148:
021940,001149: # FLAGS SET + RESET
021941,001150:
021942,001151: # SRCHOPT, ACMODFLG
021943,001152:
021944,001153: 24,3210 E7,1733 EBANK= DATAGOOD
021945,001154: 24,3210 COUNT* $$/R24
021946,001155: 24,3210 05504 R24LEM TC UPFLAG
021947,001156: 24,3211 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
021948,001157: 24,3212 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
021949,001158: 24,3213 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
021950,001159: 24,3214 34755 R24LEM1 CAF ZERO
021951,001160: 24,3215 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
021952,001161: 24,3216 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
021953,001162: 24,3217 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
021954,001163: 24,3220 05353 R24LEM2 TC PHASCHNG
021955,001164: 24,3221 04022 OCT 04022
021956,001165: 24,3222 33255 CAF V16N80
021957,001166: 24,3223 04616 TC BANKCALL
021958,001167: 24,3224 20505 CADR PRIODSPR
021959,001168: 24,3225 06025 TC GOTOV56
021960,001169: 24,3226 03232 TC R24END # PROCEED EXIT R24 TO P20LEM1
021961,001170:
021962,001171: 24,3227 03236 TC R24LEM3 # RECYCLE -- CALL R61 TO MANEUVER S/C
021963,001172: # Page 525
021964,001173: 24,3230 04616 TC BANKCALL
021965,001174: 24,3231 55442 CADR LRS24.1
021966,001175: 24,3232 06032 R24END TC KILLTASK
021967,001176: 24,3233 55643 CADR CALLDGCH
021968,001177: 24,3234 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
021969,001178: 24,3235 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20
021970,001179:
021971,001180: 6011 BLOCK 3
021972,001181: 6000 SETLOC FFTAG6
021973,001182: 6000 BANK
021974,001183: 6011 COUNT* $$/R24
021975,001184:
021976,001185: 6011 46021 CLRADMOD CS BIT10+15
021977,001186: 6012 00004 INHINT
021978,001187: 6013 70110 MASK RADMODES
021979,001188: 6014 54110 TS RADMODES
021980,001189: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
021981,001190: 6016 00006 EXTEND
021982,001191: 6017 03012 WAND CHAN12 # USER WILL RELINT
021983,001192:
021984,001193: 6020 00002 TC Q
021985,001194:
021986,001195: 6021 41000 BIT10+15 OCT 41000
021987,001196:
021988,001197: 24,3236 BANK 24
021989,001198: 24,2000 SETLOC P20S
021990,001199: 24,2000 BANK
021991,001200: 24,3236 COUNT* $$/R24
021992,001201:
021993,001202: 24,3236 05353 R24LEM3 TC PHASCHNG
021994,001203: 24,3237 04022 OCT 04022
021995,001204: 24,3240 06032 TC KILLTASK
021996,001205: 24,3241 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
021997,001206: 24,3242 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
021998,001207: 24,3243 34774 CAF .5SEC
021999,001208: 24,3244 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022000,001209: 24,3245 01736 CADR DELAYJOB
022001,001210: 24,3246 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022002,001211: 24,3247 03252 TC R24LEM4 # YES -- DON'T DO ATTITUDE MANEUVER
022003,001212: 24,3250 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022004,001213: 24,3251 46116 CADR R61LEM # ATTITUDE MANEUVER
022005,001214: 24,3252 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022006,001215: 24,3253 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022007,001216: # RRDESSM WILL RETURN TO CALLER
022008,001217: 24,3254 03220 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022009,001218:
022010,001219: 24,3255 04120 V16N80 VN 01680
022011,001220:
022012,001221: # Page 526
022013,001222: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022014,001223: # PROGRAM DESCRIPTION
022015,001224:
022016,001225: # MOD NO: 3 DATE: 4-11-67
022017,001226: # MOD BY: P. VOLANTE, SDC
022018,001227:
022019,001228: # FUNCTIONAL DESCRIPTION --
022020,001229:
022021,001230: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022022,001231: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022023,001232: # ATTITUDE.
022024,001233:
022025,001234: # CALLING SEQUENCE --
022026,001235:
022027,001236: # TC BANKCALL
022028,001237: # CADR R61LEM
022029,001238:
022030,001239: # SUBROUTINES CALLED
022031,001240:
022032,001241: # LPS20.1 VECPOINT
022033,001242: # KALCMAN3
022034,001243:
022035,001244: # NORMAL EXIT MODES --
022036,001245:
022037,001246: # NORMAL RETURN IS TO CALLER + 1
022038,001247:
022039,001248: # ALARM OR ABORT EXIT MODES --
022040,001249:
022041,001250: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022042,001251: # RENDEZVOUS FLAG ARE NOT SET.
022043,001252:
022044,001253: # OUTPUT --
022045,001254:
022046,001255: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022047,001256:
022048,001257: # ERASABLE INITIALIZATION REQUIRED
022049,001258:
022050,001259: # GENRET USED TO SAVE Q FOR RETURN
022051,001260:
022052,001261: # FLAGS SET + RESET
022053,001262:
022054,001263: # 3AXISFLG
022055,001264:
022056,001265: # DEBRIS
022057,001266:
022058,001267: # SEE SUBROUTINES
022059,001268:
022060,001269: 23,2000 SETLOC R61
022061,001270: 23,2000 BANK
022062,001271: 23,2116 E7,1456 EBANK= LOSCOUNT
022063,001272: 23,2116 COUNT* $$/R61
022064,001273: 23,2116 04645 R61LEM TC MAKECADR
022065,001274: 23,2117 55142 TS GENRET
022066,001275: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022067,001276: 23,2121 00024 ADRES R61FLAG
022068,001277: 23,2122 02152 TC R61C+L02
022069,001278: 23,2123 04645 R65LEM TC MAKECADR
022070,001279: 23,2124 55142 TS GENRET
022071,001280: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022072,001281: 23,2126 00024 ADRES R61FLAG
022073,001282: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
022074,001283: 23,2130 00006 EXTEND # GOOD NOT PRESENT
022075,001284: 23,2131 02033 RAND CHAN33
022076,001285: 23,2132 10000 CCS A
022077,001286: 23,2133 12152 TCF R61C+L02 # NO DATA GOOD
022078,001287: 23,2134 05504 TC UPFLAG
022079,001288: # Page 527
022080,001289: 23,2135 00063 ADRES R04FLAG # PREVENT 521 ALM
022081,001290: 23,2136 04616 TC BANKCALL # READ RR RANGE AND RDOT
022082,001291: 23,2137 53112 CADR RRRDOT # EVERY R65 PASS (3 TIMES
022083,001292: 23,2140 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
022084,001293: 23,2141 17705 CADR RADSTALL # DURING ANY MARK PROCESSING.
022085,001294: 23,2142 12143 NOOP
022086,001295: 23,2143 04616 TC BANKCALL
022087,001296: 23,2144 53114 CADR RRRANGE
022088,001297: 23,2145 04616 TC BANKCALL
022089,001298: 23,2146 17705 CADR RADSTALL
022090,001299: 23,2147 12150 NOOP
022091,001300: 23,2150 05516 TC DOWNFLAG
022092,001301: 23,2151 00063 ADRES R04FLAG
022093,001302: 23,2152 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
022094,001303: 23,2153 70075 MASK STATE +1
022095,001304: 23,2154 00006 EXTEND
022096,001305: 23,2155 12314 BZF R65WAIT # NOT SET
022097,001306: 23,2156 06042 R61C+L03 TC INTPRET
022098,001307: 23,2157 77775 VLOAD
022099,001308: 23,2160 06516 HIUNITZ
022100,001309: 23,2161 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022101,001310: 23,2162 43234 R61LEM1 RTB DAD
022102,001311: 23,2163 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022103,001312: 23,2164 15712 3SECONDS # SIX SECOND PERIOD.
022104,001313: 23,2165 34041 STCALL TDEC1
022105,001314: 23,2166 51256 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022106,001315: 23,2167 77775 VLOAD
022107,001316: 23,2170 01101 RRTARGET
022108,001317: 23,2171 03773 STORE POINTVSM
022109,001318: 23,2172 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022110,001319: 23,2173 46322 READCDUD
022111,001320: 23,2174 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022112,001321: 23,2175 00322 STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
022113,001322: 23,2176 77776 EXIT
022114,001323: 23,2177 05353 TC PHASCHNG
022115,001324: 23,2200 04022 OCT 04022
022116,001325: 23,2201 34747 CAF TRACKBIT # IS TRACK FLAG SET
022117,001326: 23,2202 70075 MASK FLAGWRD1
022118,001327: 23,2203 00006 EXTEND
022119,001328: 23,2204 12314 BZF R65WAIT
022120,001329: 23,2205 04616 TC BANKCALL
022121,001330: 23,2206 54261 CADR G+N,AUTO # CHECK FOR AUTO MODE
022122,001331: 23,2207 10000 CCS A
022123,001332: 23,2210 02302 TC R61C+L04 # NOT IN AUTO
022124,001333: 23,2211 06042 TC INTPRET
022125,001334: 23,2212 45175 VLOAD CALL
022126,001335: 23,2213 01101 RRTARGET
022127,001336: 23,2214 47650 CDU*SMNB
022128,001337: 23,2215 45345 DLOAD DSU # GET PHI -- ARCCOS OF Z-COMPONENT OF LOS
022129,001338: 23,2216 00162 MPAC +5
022130,001339: # Page 528
022131,001340: 23,2217 06320 COS15DEG
022132,001341: 23,2220 77440 R61LEM2 BMN EXIT # BRANCH -- PHI > 15 DEGREES
022133,001342: 23,2221 46236 R61C+L05 # PHI GRE 10DEG
022134,001343: 23,2222 E6,1634 EBANK= CDUXD
022135,001344: 23,2222 35015 CAF EBANK6
022136,001345: 23,2223 54003 TS EBANK
022137,001346: 23,2224 00004 INHINT
022138,001347: 23,2225 00006 EXTEND
022139,001348: 23,2226 30322 DCA CPHI
022140,001349: 23,2227 53635 DXCH CDUXD
022141,001350: 23,2230 30323 CA CPSI
022142,001351: 23,2231 55636 TS CDUZD
022143,001352: 23,2232 00003 RELINT
022144,001353: 23,2233 E7,1456 EBANK= LOSCOUNT
022145,001354: 23,2233 35016 CAF EBANK7
022146,001355: 23,2234 54003 TS EBANK
022147,001356: 23,2235 02261 TC R61C+L06
022148,001357: 23,2236 77776 R61C+L05 EXIT
022149,001358: 23,2237 00004 INHINT
022150,001359: 23,2240 04674 TC IBNKCALL
022151,001360: 23,2241 40154 FCADR ZATTEROR
022152,001361: 23,2242 04674 TC IBNKCALL
022153,001362: 23,2243 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022154,001363: 23,2244 05516 TC DOWNFLAG
022155,001364: 23,2245 00124 ADRES 3AXISFLG
022156,001365: 23,2246 05504 TC UPFLAG
022157,001366: 23,2247 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022158,001367: 23,2250 04616 TC BANKCALL
022159,001368: 23,2251 54123 CADR R60LEM
022160,001369: 23,2252 00004 INHINT
022161,001370: 23,2253 04674 TC IBNKCALL
022162,001371: 23,2254 40115 FCADR RESTORDB
022163,001372: 23,2255 05353 TC PHASCHNG
022164,001373: 23,2256 04022 OCT 04022
022165,001374: 23,2257 05516 TC DOWNFLAG
022166,001375: 23,2260 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022167,001376: 23,2261 30075 R61C+L06 CA FLAGWRD1
022168,001377: 23,2262 74742 MASK R61FLBIT
022169,001378: 23,2263 10000 CCS A
022170,001379: 23,2264 02305 TC R61C+L4
022171,001380: 23,2265 11745 CCS R65CNTR
022172,001381: 23,2266 02270 TC +2
022173,001382: 23,2267 02305 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022174,001383: 23,2270 55745 TS R65CNTR
022175,001384: 23,2271 32321 CAF 06SEC
022176,001385: 23,2272 05173 TC TWIDDLE
022177,001386: 23,2273 02275 ADRES R61C+L2
022178,001387: 23,2274 05155 TC ENDOFJOB
022179,001388: 23,2275 37717 R61C+L2 CAF PRIO26
022180,001389: 23,2276 05105 TC FINDVAC
022181,001390: # Page 529
022182,001391: 23,2277 E7,1456 EBANK= LOSCOUNT
022183,001392: 23,2277 02127 46067 2CADR R61C+L01
022184,001393:
022185,001394: 23,2301 05261 TC TASKOVER
022186,001395: 23,2302 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022187,001396: 23,2303 54272 CADR BALLANGS
022188,001397: 23,2304 02261 TC R61C+L06
022189,001398: 23,2305 31142 R61C+L4 CAE GENRET
022190,001399: 23,2306 14640 TCF BANKJUMP # EXIT R61
022191,001400: 23,2307 32316 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022192,001401: 23,2310 70074 MASK STATE
022193,001402: 23,2311 00006 EXTEND
022194,001403: 23,2312 15155 BZF ENDOFJOB # NO -- EXIT ROUTINE AND PROGRAM.
022195,001404: 23,2313 02261 TC R61C+L06 # YES EXIT ROUTINE
022196,001405: 23,2314 04635 R65WAIT TC POSTJUMP
022197,001406: 23,2315 50232 CADR P20LEMWT
022198,001407:
022199,001408: 23,2316 00500 BIT7+9PV OCT 00500
022200,001409: 23,2317 17350 34602 COS15DEG 2DEC 0.96593 B-1
022201,001410:
022202,001411: 23,2321 01130 06SEC DEC 600 B-14
022203,001412: 23,2322 PHI EQUALS 20D
022204,001413: 23,2322 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022205,001414: 23,2323 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022206,001415: 23,2324 56003 XCH EBANK
022207,001416: 23,2325 54070 TS RUPTREG1
022208,001417: 23,2326 E6,1634 EBANK= CDUXD
022209,001418: 23,2326 31634 CA CDUXD
022210,001419: 23,2327 54154 TS MPAC
022211,001420: 23,2330 00006 EXTEND
022212,001421: 23,2331 31636 DCA CDUYD
022213,001422: 23,2332 52156 DXCH MPAC +1
022214,001423: 23,2333 30070 CA RUPTREG1
022215,001424: 23,2334 54003 TS EBANK
022216,001425: 23,2335 00003 RELINT
022217,001426: 23,2336 16502 TCF TMODE
022218,001427:
022219,001428: 4512 BLOCK 02
022220,001429: 4000 SETLOC RADARFF
022221,001430: 4000 BANK
022222,001431:
022223,001432: 4512 E7,1456 EBANK= LOSCOUNT
022224,001433: 4512 COUNT* $$/RRSUB
022225,001434:
022226,001435: # Page 530
022227,001436: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022228,001437: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022229,001438:
022230,001439: 4512 00006 MAGSUB EXTEND
022231,001440: 4513 64515 BZMF +2
022232,001441: 4514 14516 TCF +2
022233,001442: 4515 40000 COM
022234,001443:
022235,001444: 4516 50002 INDEX Q
022236,001445: 4517 60000 AD 0
022237,001446: 4520 00006 EXTEND
022238,001447: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+1
022239,001448: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
022240,001449:
022241,001450: # Page 531
022242,001451: # PROGRAM NAME: RRLIMCHK
022243,001452:
022244,001453: # FUNCTIONAL DESCRIPTION:
022245,001454:
022246,001455: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022247,001456: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022248,001457: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022249,001458: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022250,001459: # MODE 1 AND =1 FOR MODE 2.
022251,001460:
022252,001461: # MODE 1 -- THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022253,001462: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022254,001463: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022255,001464: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022256,001465:
022257,001466: # MODE 2 -- THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022258,001467: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022259,001468: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022260,001469: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022261,001470: # TO L +3.
022262,001471:
022263,001472: # CALLING SEQUENCE:
022264,001473:
022265,001474: # L TC RLIMCHK (WITH INTERRUPT INHIBITED)
022266,001475: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022267,001476:
022268,001477: # ERASABLE INITIALIZATION REQUIRED:
022269,001478:
022270,001479: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022271,001480: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS -- UNSWITCHED ERASABLE OR
022272,001481: # CURRENT EBANK).
022273,001482:
022274,001483: # SUBROUTINES CALLED: MAGSUB
022275,001484:
022276,001485: # JOBS OR TASKS INITIATED: NONE
022277,001486:
022278,001487: # ALARMS: NONE
022279,001488:
022280,001489: # EXIT: L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022281,001490: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022282,001491:
022283,001492: 4523 00006 RRLIMCHK EXTEND
022284,001493: 4524 50002 INDEX Q
022285,001494: 4525 50000 INDEX 0
022286,001495: 4526 30001 DCA 0
022287,001496: 4527 24002 INCR Q
022288,001497: 4530 52062 DXCH ITEMP1
022289,001498: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022290,001499:
022291,001500: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022292,001501: 4533 70110 MASK RADMODES
022293,001502: 4534 10000 CCS A
022294,001503: 4535 14550 TCF MODE2CHK
022295,001504:
022296,001505: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
022297,001506: # Page 532
022298,001507: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022299,001508: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022300,001509: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022301,001510:
022302,001511: 4542 34562 CAF 5.5DEGS
022303,001512: 4543 60062 AD ITEMP2
022304,001513: 4544 04512 TC MAGSUB
022305,001514: 4545 64420 DEC -.35833 # 64.5 DEGS
022306,001515: 4546 00001 TC L
022307,001516: 4547 04560 TC RRLIMOK # IN LIMITS.
022308,001517:
022309,001518: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022310,001519: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022311,001520: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022312,001521: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022313,001522: 4554 00001 TC L
022314,001523:
022315,001524: 4555 30061 CA ITEMP1
022316,001525: 4556 04512 TC MAGSUB
022317,001526: 4557 51615 DEC -.69444 # 125 DEGS
022318,001527:
022319,001528: 4560 50001 RRLIMOK INDEX L
022320,001529: 4561 00001 TC L # ( = TC 1 )
022321,001530:
022322,001531: 4562 00765 5.5DEGS DEC .03056
022323,001532: 4563 16450 82DEGS DEC .45556
022324,001533:
022325,001534: # Page 533
022326,001535: # PROGRAM NAME: SETTRKF
022327,001536:
022328,001537: # FUNCTIONAL DESCRIPTION:
022329,001538:
022330,001539: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.
022331,001540: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022332,001541: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022333,001542: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY:
022334,001543: # 1) RR CDU'S BEING ZEROED, RR CDU OK, AND RR NOT IN
022335,001544: # AUTO MODE (RADMODES BITS 13, 7, 2).
022336,001545: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022337,001546: # 8,5)
022338,001547: # 3) NO RR DATA (RADMODES BIT 4)
022339,001548: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022340,001549: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022341,001550: # LAMP (DSPTAB +11D BIT 8) BEING TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022342,001551: # TRACKER FAIL LAMP IS TURN ON IF:
022343,001552: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU'S NOT BEING ZEROED
022344,001553: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022345,001554: # EITHER THE ALT OR VEL INFORMATION
022346,001555: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022347,001556: # WITH EITHER THE AL
022348,001557:
022349,001558: # CALLING SEQUENCE:
022350,001559:
022351,001560: # L TC SETTRKF
022352,001561:
022353,001562: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022354,001563:
022355,001564: # SUBROUTINES CALLED: NONE
022356,001565:
022357,001566: # ALARMS: TRACKER FAIL LAMP
022358,001567:
022359,001568: # EXIT: L +1 (ALWAYS)
022360,001569:
022361,001570: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST
022362,001571: 4565 71300 MASK IMODES33
022363,001572: 4566 10000 CCS A
022364,001573: 4567 00002 TC Q
022365,001574:
022366,001575: 4570 34744 RRTRKF CA BIT8
022367,001576: 4571 54001 TS L
022368,001577:
022369,001578: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022370,001579: 4573 70110 MASK RADMODES
022371,001580: 4574 00006 EXTEND
022372,001581: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022373,001582:
022374,001583: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022375,001584: 4577 70110 MASK RADMODES
022376,001585: # Page 534
022377,001586: 4600 10000 CCS A
022378,001587: 4601 30001 TRKFLON CA L
022379,001588: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022380,001589: 4603 70001 MASK L
022381,001590: 4604 00006 EXTEND
022382,001591: 4605 16745 BZF TCQ # NO CHANGE.
022383,001592:
022384,001593: 4606 31035 FLIP CA DSPTAB +11D # CAN'T USE LXCH DSPTAB +11D (RESTART PROB)
022385,001594: 4607 00006 EXTEND
022386,001595: 4610 06001 RXOR LCHAN
022387,001596: 4611 74733 MASK POSMAX
022388,001597: 4612 64735 AD BIT15
022389,001598: 4613 55035 TS DSPTAB +11D
022390,001599: 4614 00002 TC Q
022391,001600:
022392,001601: 4615 10102 13,7,2 OCT 10102
022393,001602: 4616 ENDRMODF EQUALS
022394,001603:
022395,001604: # Page 535
022396,001605: # PROGRAM NAME: RRTURNON
022397,001606:
022398,001607: # FUNCTIONAL DESCRIPTION:
022399,001608:
022400,001609: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WTIH
022401,001610: # RRZEROSB, ZEROES TEH CDU'S AND DETERMINES THE RR MODE.
022402,001611: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022403,001612: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022404,001613: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022405,001614: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON'T
022406,001615: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022407,001616: # TO SEE IF A PROGRAM IS USEING THE RR (STATE BIT 7). IF
022408,001617: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022409,001618: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022410,001619: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022411,001620: # TC TASKOVER.
022412,001621:
022413,001622: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER-ON (garbled)
022414,001623: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022415,001624: # THE RR (STATE BIT 7).
022416,001625:
022417,001626: # ERASABLE INITIALIZATION REQUIRED:
022418,001627:
022419,001628: # RADMODES, STATE
022420,001629:
022421,001630: # SUBROUTINES CALLED: RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022422,001631:
022423,001632: # JOBS OR TASKS INITIATED:
022424,001633: #
022425,001634: # NONE
022426,001635:
022427,001636: # ALARMS: NONE (SEE RRZEROSB)
022428,001637:
022429,001638: # EXIT: TASKOVER, ENDRADAR (WAITING PROGRAM)
022430,001639:
022431,001640: 24,3256 BANK 24
022432,001641: 25,2000 SETLOC P20S1
022433,001642: 25,2000 BANK
022434,001643:
022435,001644: 25,2073 E7,1456 EBANK= LOSCOUNT
022436,001645: 25,2073 COUNT* $$/RSUB
022437,001646: 25,2073 02102 RRTURNON TC RRZEROSB
022438,001647: 25,2074 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022439,001648: 25,2075 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WON'T ALARM.
022440,001649: 25,2076 44753 CS TURNONBT
022441,001650: 25,2077 70110 MASK RADMODES
022442,001651: 25,2100 54110 TS RADMODES
022443,001652: 25,2101 15261 TCF TASKOVER
022444,001653: # Page 536
022445,001654: # PROGRAM NAME: RRZEROSB
022446,001655:
022447,001656: # FUNCTIONAL DESCRIPTION:
022448,001657:
022449,001658: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU'S,
022450,001659: # DETERMINE THE RR MODE, AND TURN ON THE TRACKER FAIL
022451,001660: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022452,001661: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022453,001662: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022454,001663: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022455,001664: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU'S
022456,001665: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022457,001666: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022458,001667: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022459,001668: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022460,001669: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022461,001670: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022462,001671: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022463,001672: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022464,001673:
022465,001674: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022466,001675:
022467,001676: # ERASABLE INITIALIZATION REQUIRED:
022468,001677:
022469,001678: # RADMODES (BIT 13 SET), DSPTAB +11D
022470,001679:
022471,001680: # SUBROUTINES CALLED: FIXDELAY, MAGSUB, SETTRKF
022472,001681:
022473,001682: # JOBS OR TASKS INITIATED:
022474,001683:
022475,001684: # NONE
022476,001685:
022477,001686: # ALARMS: TRAKCER FAIL
022478,001687:
022479,001688: # EXIT: L +1 (ALWAYS)
022480,001689:
022481,001690: 25,2102 00006 RRZEROSB EXTEND
022482,001691: 25,2103 23312 QXCH RRRET
022483,001692: 25,2104 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022484,001693: 25,2105 00006 EXTEND # COMING HERE.
022485,001694: 25,2106 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022486,001695: 25,2107 05221 TC FIXDELAY
022487,001696: 25,2110 00002 DEC 2 B-14
022488,001697:
022489,001698: 25,2111 34755 CAF ZERO
022490,001699: 25,2112 54035 TS CDUT
022491,001700: 25,2113 54036 TS CDUS
022492,001701: 25,2114 44753 CS ONE # REMOVE ZEROING BIT.
022493,001702: 25,2115 00006 EXTEND
022494,001703: 25,2116 03012 WAND CHAN12
022495,001704: 25,2117 05221 TC FIXDELAY
022496,001705: 25,2120 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS. -- D.281
022497,001706:
022498,001707: 25,2121 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT
022499,001708: # Page 537
022500,001709: 25,2122 70110 MASK RADMODES
022501,001710: 25,2123 54110 TS RADMODES
022502,001711:
022503,001712: 25,2124 30035 CA CDUT
022504,001713: 25,2125 04512 TC MAGSUB
022505,001714: 25,2126 57777 DEC -.5
022506,001715: 25,2127 12132 TCF +3 # IF MODE 2.
022507,001716:
022508,001717: 25,2130 34755 CAF ZERO
022509,001718: 25,2131 12133 TCF +2
022510,001719: 25,2132 34740 CAF ANTENBIT
022511,001720: 25,2133 56110 XCH RADMODES
022512,001721: 25,2134 77744 MASK -BIT12
022513,001722: 25,2135 26110 ADS RADMODES
022514,001723:
022515,001724: 25,2136 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022516,001725:
022517,001726: 25,2137 01312 TC RRRET # DONE.
022518,001727:
022519,001728: 25,2140 7744 -BIT12 EQUALS -1/8 # IN SPROOT
022520,001729:
022521,001730: # Page 538
022522,001731: # PROGRAM NAME: DORREPOS
022523,001732:
022524,001733: # FUNCTIONAL DESCRIPTION:
022525,001734:
022526,001735: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE TEH RENDEZVOUS RADAR
022527,001736: # TO A SAFE POSITION. INIITALLY SETRRECR IS CALLED WHERE THE RR
022528,001737: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022529,001738: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022530,001739: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022531,001740: # TURN-ON FLOAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022532,001741: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022533,001742: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022534,001743: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022535,001744: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022536,001745: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022537,001746: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022538,001747: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022539,001748: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022540,001749: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022541,001750: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANFERRED TO
022542,001751: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022543,001752: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022544,001753: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022545,001754: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022546,001755: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022547,001756: # TASKOVER.
022548,001757:
022549,001758: # CALLING SEQUENCE:
022550,001759:
022551,001760: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022552,001761: # NOT WITHIN LIMITS OF CURRENT MODE.
022553,001762:
022554,001763: # ERASABLE INITIALIZATION REQUIRED:
022555,001764:
022556,001765: # RADMODES
022557,001766:
022558,001767: # SUBROUTINES CALLED
022559,001768:
022560,001769: # RRTONLY, RRSONLY, BEGDES (EXIT)
022561,001770:
022562,001771: # JOBS OR TASKS INITIATED:
022563,001772:
022564,001773: # NONE
022565,001774:
022566,001775: # ALARMS: NONE
022567,001776:
022568,001777: # EXIT: TASKOVER, BEGDES
022569,001778:
022570,001779: 25,2140 02167 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022571,001780:
022572,001781: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022573,001782:
022574,001783: 25,2141 05221 TC FIXDELAY
022575,001784: 25,2142 00002 DEC 2 B-14
022576,001785:
022577,001786: 25,2143 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
022578,001787: # Page 539
022579,001788: 25,2144 70110 MASK RADMODES
022580,001789: 25,2145 10000 CCS A
022581,001790: 25,2146 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022582,001791: 25,2147 02252 TC RRTONLY
022583,001792:
022584,001793: 25,2150 34740 CAF ANTENBIT # NOT PUT SHAFT IN RIGHT POSITION
022585,001794: 25,2151 70110 MASK RADMODES
022586,001795: 25,2152 10000 CCS A
022587,001796: 25,2153 44736 CS HALF # -90 FOR MODE 2.
022588,001797: 25,2154 02255 TC RRSONLY
022589,001798:
022590,001799: 25,2155 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IN REMODE
022591,001800: # REQUESTED DURING REPOSITION.
022592,001801: 25,2156 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022593,001802: 25,2157 54110 TS RADMODES
022594,001803: 25,2160 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022595,001804: 25,2161 10000 CCS A
022596,001805: 25,2162 12604 TCF BEGDES
022597,001806: 25,2163 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022598,001807: 25,2164 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022599,001808: 25,2165 03012 WAND CHAN12
022600,001809: 25,2166 15261 TCF TASKOVER
022601,001810:
022602,001811: 25,2167 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS
022603,001812: 25,2170 00006 EXTEND
022604,001813: 25,2171 02012 RAND CHAN12
022605,001814: 25,2172 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022606,001815: 25,2173 00002 TC Q # ERROR COUNTERS ARE ENABLED
022607,001816:
022608,001817: 25,2174 54112 TS LASTYCMD
022609,001818: 25,2175 54113 TS LASTXCMD
022610,001819: 25,2176 34752 CAF BIT2
022611,001820: 25,2177 00006 EXTEND
022612,001821: 25,2200 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022613,001822: 25,2201 00002 TC Q
022614,001823: # Page 540
022615,001824: # PROGRAM NAME: REMODE
022616,001825:
022617,001826: # FUNCTIONAL DESCRIPTION
022618,001827:
022619,001828: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022620,001829: # TRUNNION ANGLE TO 0 DEGREES IF TEH CURRENT MODE IS MODE 1,
022621,001830: # 180 DEGREES FOR MODE 2, TEHN DRIVES THE SHAFT ANGLE TO -45
022622,001831: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022623,001832: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022624,001833: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022625,001834: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022626,001835: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022627,001836: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022628,001837: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022629,001838: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022630,001839: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022631,001840: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022632,001841: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022633,001842: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022634,001843: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022635,001844: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022636,001845: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022637,001846: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022638,001847:
022639,001848: # CALLIN SEQUENCE:
022640,001849:
022641,001850: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022642,001851: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022643,001852: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022644,001853: # OTHER MODE.
022645,001854:
022646,001855: # ERASABLE INIITIALIZATION REQUIRED:
022647,001856:
022648,001857: # RADMODES
022649,001858:
022650,001859: # SUBROUTINES CALLED:
022651,001860:
022652,001861: # RRTONLY, RRSONL, RMODINV (ACTUALLY PART OF)
022653,001862:
022654,001863: # JOBS OR TASKS INITIATED:
022655,001864:
022656,001865: # NONE
022657,001866:
022658,001867: # EXIT: STDESIG
022659,001868:
022660,001869: 25,2202 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022661,001870: 25,2203 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022662,001871: 25,2204 10000 CCS A
022663,001872: 25,2205 34735 CAF BIT15
022664,001873: 25,2206 02252 TC RRTONLY
022665,001874:
022666,001875: 25,2207 37743 CAF -45DEGSR
022667,001876: 25,2210 02255 TC RRSONLY
022668,001877: # Page 541
022669,001878: 25,2211 40110 CS RADMODES
022670,001879: 25,2212 74740 MASK ANTENBIT
022671,001880: 25,2213 10000 CCS A
022672,001881: 25,2214 32243 CAF -80DEGSR # GO TO T = -130 (-50).
022673,001882: 25,2215 62242 AD -50DEGSR
022674,001883: 25,2216 02252 TC RRTONLY
022675,001884:
022676,001885: 25,2217 40110 CS RADMODES
022677,001886: 25,2220 74740 MASK ANTENBIT
022678,001887: 25,2221 10000 CCS A
022679,001888: 25,2222 34735 CAF BIT15 # GO TO T = -180 (+0).
022680,001889: 25,2223 02252 TC RRTONLY
022681,001890:
022682,001891: 25,2224 40110 CS RADMODES # GO TO S = -90 (+0).
022683,001892: 25,2225 74740 MASK ANTENBIT
022684,001893: 25,2226 10000 CCS A
022685,001894: 25,2227 44736 CS HALF
022686,001895: 25,2230 02255 TC RRSONLY
022687,001896:
022688,001897: 25,2231 02244 TC RMODINV
022689,001898: 25,2232 44736 CS REMODBIT # END OF REMODE.
022690,001899: 25,2233 70110 MASK RADMODES
022691,001900: 25,2234 54110 TS RADMODES
022692,001901:
022693,001902: 25,2235 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022694,001903: 25,2236 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022695,001904: 25,2237 00006 EXTEND
022696,001905: 25,2240 13560 BZF RGOODEND # NO -- RETURN TO CALLER WAITING IN RADSTALL
022697,001906: 25,2241 02613 TC STDESIG # YES -- RETURN TO DESIGNATE
022698,001907: 25,2242 7743 -45DEGSR = 13,14,15
022699,001908: 25,2242 67070 -50DEGSR DEC -.27778
022700,001909: 25,2243 61615 -80DEGSR DEC -.44444
022701,001910:
022702,001911: 25,2244 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
022703,001912: 25,2245 34740 CAF ANTENBIT
022704,001913: 25,2246 00006 EXTEND
022705,001914: 25,2247 06001 RXOR LCHAN
022706,001915: 25,2250 54110 TS RADMODES
022707,001916: 25,2251 00002 TC Q
022708,001917:
022709,001918: # Page 542
022710,001919: # PROGRAM NAMES: RRTONLY, RRSONLY
022711,001920:
022712,001921: # FUNCTIONAL DESCRIPTION:
022713,001922:
022714,001923: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIT
022715,001924: # RRMANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022716,001925: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022717,001926: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022718,001927: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022719,001928: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022720,001929: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022721,001930: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
022722,001931: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022723,001932: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
022724,001933: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
022725,001934: # TRANFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022726,001935: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022727,001936: # REPEATED.
022728,001937:
022729,001938: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
022730,001939: # L TC RRTONLY (TRUNNION ONLY)
022731,001940: # RRSONLY (SHAFT ONLY)
022732,001941: # RRTONLY IS CALLED BY PREPOS29;
022733,001942: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022734,001943:
022735,001944: # ERASABLE INITIALIZATION REQUIRED:
022736,001945:
022737,001946: # C(A) = DESIRED ANGLE, RADMODES
022738,001947:
022739,001948: # SUBROUTINES CALLED:
022740,001949:
022741,001950: # FIXDELAY, REPOSRPT, MAGSUB, RADMODES
022742,001951:
022743,001952: # JOBS OR TASKS INITIATED:
022744,001953:
022745,001954: # NONE
022746,001955:
022747,001956: # ALARMS: NONE
022748,001957:
022749,001958: # EXIT: REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT -- RADMODES
022750,001959: # BITS 14, 11)
022751,001960: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022752,001961:
022753,001962: 25,2252 55313 RRTONLY TS RDES # DESIRED TRUNNION ANGLE.
022754,001963: 25,2253 34755 CAF ZERO
022755,001964: 25,2254 12257 TCF RR1AXIS
022756,001965:
022757,001966: 25,2255 55313 RRSONLY TS RDES # SHAFT COMMANDS WARE UNRESOLVED SINCE THIS
022758,001967: 25,2256 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022759,001968:
022760,001969: 25,2257 55314 RR1AXIS TS RRINDEX
022761,001970: 25,2260 00006 EXTEND
022762,001971: 25,2261 23312 QXCH RRRET
022763,001972: 25,2262 12265 TCF RR1AX2
022764,001973:
022765,001974: # Page 543
022766,001975: 25,2263 05221 NXTRR1AX TC FIXDELAY
022767,001976: 25,2264 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
022768,001977:
022769,001978: 25,2265 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTS A DESIGNATE WHICH
022770,001979: 25,2266 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
022771,001980: 25,2267 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
022772,001981: 25,2270 12155 BZF REPOSRPT # REMODE IMMEDIATELY.
022773,001982:
022774,001983: 25,2271 31313 CA RDES
022775,001984: 25,2272 00006 EXTEND
022776,001985: 25,2273 51314 INDEX RRINDEX
022777,001986: 25,2274 20035 MSU CDUT
022778,001987: 25,2275 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
022779,001988: 25,2276 00006 EXTEND
022780,001989: 25,2277 72316 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
022781,001990: 25,2300 54001 TS L
022782,001991: 25,2301 30110 CA RADMODES
022783,001992: 25,2302 74752 MASK AUTOMBIT
022784,001993: 25,2303 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
022785,001994: 25,2304 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
022786,001995: 25,2305 77644 DEC -.00555 # SCALED IN HALF-REVS.
022787,001996:
022788,001997: 25,2306 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
022789,001998: 25,2307 01312 TC RRRET # RETURN TO CALLER.
022790,001999:
022791,002000: 25,2310 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
022792,002001: 25,2311 12313 TCF +2 # SETTING A TO 0.
022793,002002: 25,2312 56001 XCH L
022794,002003: 25,2313 53355 DXCH TRUNNCMD
022795,002004: 25,2314 02317 TC RROUT
022796,002005:
022797,002006: 25,2315 12263 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
022798,002007:
022799,002008: 25,2316 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
022800,002009:
022801,002010: # Page 544
022802,002011: # PROGRAM NAME: RROUT
022803,002012:
022804,002013: # FUNCTIONAL DESCRIPTION:
022805,002014:
022806,002015: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
022807,002016: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
022808,002017: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
022809,002018: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
022810,002019: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
022811,002020: # 384 PULSES. IF NOT, CONTROL IS TRANFERRED TO RROUTLIM TO
022812,002021: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
022813,002022: # THEN CALCULATED BETWEEN THE DESIRED STATE AND TEH PRESENT STATE OF
022814,002023: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
022815,002024: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
022816,002025: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
022817,002026: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
022818,002027: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
022819,002028:
022820,002029: # CALLING SEQUENCE:
022821,002030: #
022822,002031: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
022823,002032: # RRTONLY, RRSONLY, AND DODES
022824,002033:
022825,002034: # ERASABLE INITIALIZATION REQURIED:
022826,002035:
022827,002036: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
022828,002037: # (1ST PASS = 0), RR ERROR COUNTER ENAGLE SET (CHAN 12 BIT 2).
022829,002038:
022830,002039: # SUBROUTINES CALLED:
022831,002040:
022832,002041: # MAGSUB
022833,002042:
022834,002043: # JOBS OR TASKS INITIATED:
022835,002044:
022836,002045: # NONE
022837,002046:
022838,002047: # ALARMS: NONE
022839,002048:
022840,002049: # EXIT: L+1 (ALWAYS)
022841,002050:
022842,002051: 25,2317 22002 RROUT LXCH Q # SAVE RETURN
022843,002052: 25,2320 34753 CAF ONE # LOOP TWICE.
022844,002053: 25,2321 54062 RROUT2 TS ITEMP2
022845,002054: 25,2322 50000 INDEX A
022846,002055: 25,2323 31354 CA TRUNNCMD
022847,002056: 25,2324 54061 TS ITEMP1 # SAVE SIGN COMMAND FOR LIMITING.
022848,002057:
022849,002058: 25,2325 04512 TC MAGSUB # SEE IF WITHIN LIMITS.
022850,002059: 25,2326 77177 -RRLIMIT DEC -384 B-14
022851,002060: 25,2327 12346 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
022852,002061:
022853,002062: 25,2330 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
022854,002063: 25,2331 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
022855,002064: 25,2332 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
022856,002065: 25,2333 40000 COM
022857,002066: # Page 545
022858,002067: 25,2334 60061 AD ITEMP1
022859,002068: 25,2335 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
022860,002069: 25,2336 50062 INDEX ITEMP2
022861,002070: 25,2337 54053 TS CDUTCMD
022862,002071:
022863,002072: 25,2340 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
022864,002073: 25,2341 12321 TCF RROUT2
022865,002074:
022866,002075: 25,2342 35020 CAF PRIO6 # ENABLE COUNTERS.
022867,002076: 25,2343 00006 EXTEND
022868,002077: 25,2344 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
022869,002078: 25,2345 00001 TC L # RETURN.
022870,002079:
022871,002080: 25,2346 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
022872,002081: 25,2347 42326 CS -RRLIMIT
022873,002082: 25,2350 12352 TCF +2
022874,002083: 25,2351 32326 CA -RRLIMIT
022875,002084: 25,2352 54061 TS ITEMP1
022876,002085: 25,2353 12331 TCF SETRRCTR +1
022877,002086:
022878,002087: # Page 546
022879,002088: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
022880,002089:
022881,002090: 25,2354 32403 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
022882,002091: 25,2355 70110 MASK RADMODES # IF SO, DON'T RE-ZERO CDUS.
022883,002092: 25,2356 10000 CCS A
022884,002093: 25,2357 13513 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
022885,002094:
022886,002095: 25,2360 00004 INHINT
022887,002096: 25,2361 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
022888,002097: 25,2362 70110 MASK RADMODES
022889,002098: 25,2363 64737 AD RCDU0BIT
022890,002099: 25,2364 54110 TS RADMODES
022891,002100:
022892,002101: 25,2365 34753 CAF ONE
022893,002102: 25,2366 05203 TC WAITLIST
022894,002103: 25,2367 E7,1456 EBANK= LOSCOUNT
022895,002104: 25,2367 02401 52067 2CADR RRZ2
022896,002105:
022897,002106: 25,2371 40110 CS RADMODES # SEE IF IN AUTO MODE.
022898,002107: 25,2372 74752 MASK AUTOMBIT
022899,002108: 25,2373 10000 CCS A
022900,002109: 25,2374 12377 TCF ROADBACK
022901,002110: 25,2375 05567 TC ALARM # AUTO DISCRETE NOT PRESENT -- TRYING
022902,002111: 25,2376 00510 OCT 510
022903,002112: 25,2377 00003 ROADBACK RELINT
022904,002113: 25,2400 14631 TCF SWRETURN
022905,002114:
022906,002115: 25,2401 02102 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
022907,002116: 25,2402 13551 TCF ENDRADAR
022908,002117:
022909,002118: 25,2403 02001 BIT11+1 OCT 02001
022910,002119:
022911,002120: # Page 547
022912,002121: # PROGRAM NAME: RRDESSM
022913,002122:
022914,002123: # FUNCTIONAL DESCRIPTION:
022915,002124:
022916,002125: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
022917,002126: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF-SIGHT (LOS VECTOR
022918,002127: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
022919,002128: # ORIENTATION. INITIALLY THE IMU CDU'S ARE READ AND CONTROL
022920,002129: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
022921,002130: # MEMBER TO NAVIGATION BASE CORRDINATES (SEE STG MEMO 699)
022922,002131: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
022923,002132: # TRUNNION AND SHAFT, FOR BOT THE PRESENT AND ALTERNATE MODE.
022924,002133: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
022925,002134: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETUREN
022926,002135: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
022927,002136: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN THE LIMITS OF THE
022928,002137: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
022929,002138: # ANTENNA MODE FLAG (RADMOES BIT 12), RRLIMCHK IS CALLED
022930,002139: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
022931,002140: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
022932,002141: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
022933,002142: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
022934,002143: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
022935,002144: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
022936,002145: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
022937,002146: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
022938,002147:
022939,002148: # CALLING SEQUENCE:
022940,002149:
022941,002150: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
022942,002151: # L+1 RRDESM
022943,002152: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
022944,002153: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
022945,002154:
022946,002155: # ERASABLE INITIALIZATION REQUIRED:
022947,002156:
022948,002157: # RRTARGET, RADMODES
022949,002158:
022950,002159: # SUBROUTINES CALLED:
022951,002160:
022952,002161: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
022953,002162: # PART OF), RMODINV
022954,002163:
022955,002164: # JOBS OR TASKS INITIATED:
022956,002165:
022957,002166: # NONE
022958,002167:
022959,002168: # ALARMS: NONE
022960,002169:
022961,002170: # EXIT: L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
022962,002171: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLES ATTITUDE -- RETURNS
022963,002172: # TO L+3 FROM STARTDES)
022964,002173:
022965,002174: 25,2404 43020 RRDESSM STQ CLEAR
022966,002175: 25,2405 01112 DESRET
022967,002176: # Page 548
022968,002177: 25,2406 00271 RRNBSW
022969,002178: 25,2407 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
022970,002179: 25,2410 47541 CDUTRIG
022971,002180: 25,2411 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
022972,002181: 25,2412 01101 RRTARGET
022973,002182: 25,2413 47673 *SMNB*
022974,002183:
022975,002184: 25,2414 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
022976,002185: 25,2415 26133 RRANGLES # ALTERNATE MODE.
022977,002186: 25,2416 77776 EXIT
022978,002187:
022979,002188: 25,2417 00004 INHINT
022980,002189: 25,2420 04523 TC RRLIMCHK
022981,002190: 25,2421 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
022982,002191: 25,2422 02425 TC +3 # NOT IN CURRENT MODE
022983,002192: 25,2423 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
022984,002193: 25,2424 02443 TC STARTDES # SHOW DESIGNATE REQUIRED
022985,002194: 25,2425 40104 CS FLAGWRD8
022986,002195: 25,2426 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F)
022987,002196: 25,2427 00006 EXTEND
022988,002197: 25,2430 12467 BZF NORDSTAL # BRANCH -- YES -- CANNOT DESIGNATE IN MODE 2
022989,002198: 25,2431 02472 TC TRYSWS
022990,002199:
022991,002200: 25,2432 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
022992,002201: 25,2433 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
022993,002202: 25,2434 00006 EXTEND
022994,002203: 25,2435 12467 BZF NORDSTAL # BRANCH -- YES -- RETURN TO CALLER -- ALARM 527
022995,002204: 25,2436 30074 CA STATE
022996,002205: 25,2437 74745 MASK RNDVZBIT
022997,002206: 25,2440 10000 CCS A # TEST RNDVZFLG
022998,002207: 25,2441 02502 TC NODESSM # NOT ON MOON -- CALL FOR ATTITUDE MANEUVER
022999,002208: 25,2442 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
023000,002209:
023001,002210: # Page 549
023002,002211: # PROGRAM NAME: STARTDES
023003,002212:
023004,002213: # FUNCTIONAL DESCRIPTION:
023005,002214:
023006,002215: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.
023007,002216: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.
023008,002217: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITON
023009,002218: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023010,002219: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023011,002220: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023012,002221: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023013,002222: # THAT 30 SECONDS WILL BE ALLOWED FOR TEH RR DATA GOO INBIT
023014,002223: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023015,002224: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023016,002225: # THE REPOSITON FLAG (RADMODES BIT 11) IS CHECKED. IT SET,
023017,002226: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023018,002227: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023019,002228: # ANGLES FOLLOWING THE REPOSITON OR REMODE IF ONE WAS
023020,002229: # REQUESTED. IF TEH REPOSITON FLAG IS NOT SET, SETRRECR IS CALLED
023021,002230: # WITH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023022,002231: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023023,002232: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023024,002233: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023025,002234: # AFTER WITH THE PROGRAM EXITS TO L+3 OF TEH CALLING PROGRAM.
023026,002235:
023027,002236: # CALLING SEQUENCE:
023028,002237:
023029,002238: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023030,002239:
023031,002240: # ERASABLE INITIALIZATION REQUIRED:
023032,002241:
023033,002242: # RADMODES, (SEE DODES)
023034,002243:
023035,002244: # SUBROUTINES CALLED
023036,002245:
023037,002246: # SETRRECR, WAITLIST
023038,002247:
023039,002248: # JOBS OR TASKS INITIATED:
023040,002249:
023041,002250: # BEGDES
023042,002251:
023043,002252: # ALARMS: NONE
023044,002253:
023045,002254: # EXIT: L+3 OF CALLING PROGRAM (SEE RRDESSM)
023046,002255: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023047,002256:
023048,002257: 25,2443 25112 STARTDES INCR DESRET
023049,002258: 25,2444 40110 CS RADMODES
023050,002259: 25,2445 74742 MASK DESIGBIT
023051,002260: 25,2446 26110 ADS RADMODES
023052,002261: 25,2447 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023053,002262: 25,2450 10000 CCS A
023054,002263: 25,2451 12457 TCF DESRETRN # ECTR ALREADY SET UP.
023055,002264:
023056,002265: 25,2452 02167 TC SETRRECR # SET UP ERROR COUNTERS.
023057,002266: # Page 550
023058,002267: 25,2453 34752 CAF TWO
023059,002268: 25,2454 05203 TC WAITLIST
023060,002269: 25,2455 E7,1456 EBANK= LOSCOUNT
023061,002270: 25,2455 02604 52067 2CADR BEGDES
023062,002271:
023063,002272: 25,2457 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023064,002273: 25,2460 00006 EXTEND
023065,002274: 25,2461 12463 BZF DESRTRN # YES SET EXIT
023066,002275: 25,2462 05155 TC ENDOFJOB # NO
023067,002276: 25,2463 00003 DESRTRN RELINT
023068,002277: 25,2464 25112 INCR DESRET
023069,002278: 25,2465 31112 CA DESRET
023070,002279: 25,2466 14640 TCF BANKJUMP
023071,002280:
023072,002281: 25,2467 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023073,002282: 25,2470 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023074,002283: 25,2471 12463 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023075,002284:
023076,002285: # Page 551
023077,002286: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023078,002287:
023079,002288: 25,2472 02244 TRYSWS TC RMODINV # (NOT RUPT INHIBIT)
023080,002289: 25,2473 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023081,002290: 25,2474 01110 ADRES MODEB
023082,002291: 25,2475 12502 TCF NODESSM # VEHICLE MANEUVER REQUIRED
023083,002292:
023084,002293: 25,2476 02244 TC RMODINV # RESET BIT12
023085,002294: 25,2477 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023086,002295: 25,2500 26110 ADS RADMODES
023087,002296:
023088,002297: 25,2501 12423 TCF OKDESSM
023089,002298:
023090,002299: 25,2502 02244 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023091,002300: 25,2503 25112 INCR DESRET # TO CALLER +2
023092,002301: 25,2504 12467 TCF NORDSTAL
023093,002302:
023094,002303: 25,2505 00074 MAXTRYS DEC 60 B-14
023095,002304:
023096,002305: # Page 552
023097,002306: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023098,002307: # TANG AND TANG +1.
023099,002308:
023100,002309: 25,2506 04645 RRDESNB TC MAKECADR
023101,002310: 25,2507 55112 TS DESRET
023102,002311:
023103,002312: 25,2510 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOINING
023104,002313: 25,2511 00041 ADRES LOSCMFLG # BACK TO R21
023105,002314: 25,2512 32505 CA MAXTRYS # SET TIME LIMIT COUNTER
023106,002315: 25,2513 55113 TS DESCOUNT # FOR DESIGNATE
023107,002316: 25,2514 00004 INHINT # SEE IF CURRENT MODE OK.
023108,002317: 25,2515 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023109,002318: 25,2516 01106 ADRES TANG
023110,002319: 25,2517 12534 TCF TRYSWN # SEE IF IN OTHER MODE.
023111,002320:
023112,002321: 25,2520 00003 OKDESNB RELINT
023113,002322: 25,2521 00006 EXTEND
023114,002323: 25,2522 31107 DCA TANG
023115,002324: 25,2523 53753 DXCH TANGNB
023116,002325: 25,2524 06042 TC INTPRET
023117,002326:
023118,002327: 25,2525 77624 CALL # GET LOS IN NB COORDS.
023119,002328: 25,2526 46041 RRNB
023120,002329: 25,2527 01101 STORE RRTARGET
023121,002330:
023122,002331: 25,2530 77414 SET EXIT
023123,002332: 25,2531 00071 RRNBSW
023124,002333:
023125,002334: 25,2532 00004 INHINT
023126,002335: 25,2533 12444 TCF STARTDES +1
023127,002336: 25,2534 02244 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023128,002337: 25,2535 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023129,002338: 25,2536 01106 ADRES TANG
023130,002339: 25,2537 12544 TCF NODESNB # NOT POSSIBLE.
023131,002340:
023132,002341: 25,2540 02244 TC RMODINV
023133,002342: 25,2541 34736 CAF REMODBIT # CALL FOR REMODE.
023134,002343: 25,2542 26110 ADS RADMODES
023135,002344: 25,2543 12520 TCF OKDESNB
023136,002345:
023137,002346: 25,2544 02244 NODESNB TC RMODINV # REINVERT MODE BIT.
023138,002347: 25,2545 05567 TC ALARM # BAD INPUT ANGLES.
023139,002348: 25,2546 00502 OCT 502
023140,002349: 25,2547 06011 TC CLRADMOD
023141,002350: 25,2550 05155 TC ENDOFJOB # AVOID 503 ALARM.
023142,002351:
023143,002352: 25,2551 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023144,002353: # Was CAF --- RSB 2004.
023145,002354: 25,2552 30000 CA 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023146,002355: 25,2553 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023147,002356: 25,2554 00006 EXTEND
023148,002357: # Page 553
023149,002358: 25,2555 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023150,002359: 25,2556 30001 DCA 0
023151,002360: 25,2557 52062 DXCH ITEMP1
023152,002361: 25,2560 22002 LXCH Q # L(CALLER +2) TO L
023153,002362:
023154,002363: 25,2561 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN
023155,002364: 25,2562 70110 MASK RADMODES
023156,002365: 25,2563 10000 CCS A
023157,002366: 25,2564 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023158,002367: 25,2565 30061 CA ITEMP1
023159,002368: 25,2566 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023160,002369: 25,2567 66161 DEC -.30555 # 1 ABS(T) L 55 DEGS
023161,002370: 25,2570 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023162,002371:
023163,002372: 25,2571 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023164,002373: 25,2572 00006 EXTEND
023165,002374: 25,2573 62601 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023166,002375: 25,2574 64562 AD 5.5DEGS
023167,002376: 25,2575 04512 SHAFTLIM TC MAGSUB
023168,002377: 25,2576 64420 DEC -.35833 # 64.5 DEGREES
023169,002378: 25,2577 00001 TC L # NOT IN LIMITS
023170,002379: 25,2600 04560 TC RRLIMOK # IN LIMITS
023171,002380: 25,2601 62603 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023172,002381: 25,2602 12575 TCF SHAFTLIM
023173,002382:
023174,002383: 25,2603 03512 20.5DEGS DEC .11389
023175,002384:
023176,002385: # Page 554
023177,002386: # PROGRAM NAME: BEGDES
023178,002387:
023179,002388: # FUNCTIONAL DESCRIPTION:
023180,002389:
023181,002390: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023182,002391: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023183,002392: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023184,002393: # CONTROL IS TRANFERRED TO STDESIG AFTER ROUTINE REMODE IS
023185,002394: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHRE
023186,002395: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023187,002396: # PRESETN, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023188,002397: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023189,002398: # FLAG IS NOT PRESET, THE CONTINUS DESIGNATE FLAG (RADMODES
023190,002399: # BIT 15) IS CHECKED. IF PRESENT, AN EXECUTIVE CALL IS IMMEDIATELY
023191,002400: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BFORE
023192,002401: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023193,002402: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023194,002403: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023195,002404: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023196,002405: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023197,002406: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023198,002407: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023199,002408: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023200,002409: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023201,002410: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023202,002411: # (RADMODES BIT 10) REMOVED BEFORE EEXITING TO RDBADEND. IF
023203,002412: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023204,002413: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023205,002414: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023206,002415:
023207,002416: # CALLING SEQUENCE:
023208,002417:
023209,002418: # WAITLIST CALL FROM STARTDES
023210,002419: # TCF BEGDES FROM DORREPOS
023211,002420: # TC STDESIG RETURNING, FROM REMODE
023212,002421:
023213,002422: # ERASABLE INITIALIZATION REQUIRED:
023214,002423:
023215,002424: # DESCOUNT, FINDVAC
023216,002425:
023217,002426: # JOBS OR TASKS INITIATED: DODES
023218,002427:
023219,002428: # ALARMS: PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023220,002429: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023221,002430:
023222,002431: # EXIT: TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023223,002432: # ENDRADAR (NO DESIGNATE -- RADMODES BIT 10)
023224,002433: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023225,002434:
023226,002435: 25,2604 40110 BEGDES CS RADMODES
023227,002436: # Page 555
023228,002437: 25,2605 74736 MASK REMODBIT
023229,002438: 25,2606 10000 CCS A
023230,002439: 25,2607 02613 TC STDESIG
023231,002440: 25,2610 02202 TC REMODE
023232,002441: 25,2611 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023233,002442: 25,2612 00062 DEC 50 B-14
023234,002443:
023235,002444: 25,2613 34741 STDESIG CAF REPOSBIT
023236,002445: 25,2614 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023237,002446: 25,2615 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023238,002447: 25,2616 12634 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023239,002448:
023240,002449: 25,2617 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023241,002450: 25,2620 12623 TCF +3 # IF SO, DON'T CHECK BIT 10 TO SEE IF IN
023242,002451: 25,2621 12623 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023243,002452: 25,2622 12640 TCF MOREDES +1
023244,002453:
023245,002454: 25,2623 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023246,002455: 25,2624 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023247,002456: 25,2625 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023248,002457: 25,2626 13551 TCF ENDRADAR # CHECKING RR CDU FAIL.
023249,002458:
023250,002459: 25,2627 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TIME LIMIT HAS EXPIRED
023251,002460: 25,2630 12637 TCF MOREDES
023252,002461:
023253,002462: 25,2631 42645 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023254,002463: 25,2632 00006 EXTEND
023255,002464: 25,2633 03012 WAND CHAN12
023256,002465: 25,2634 05516 BADDES TC DOWNFLAG
023257,002466: 25,2635 00271 ADRES DESIGFLG
023258,002467: 25,2636 13565 TCF RDBADEND
023259,002468:
023260,002469: 25,2637 55113 MOREDES TS DESCOUNT
023261,002470: 25,2640 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023262,002471: 25,2641 05105 TC FINDVAC
023263,002472: 25,2642 E7,1456 EBANK= LOSCOUNT
023264,002473: 25,2642 02646 52067 2CADR DODES
023265,002474:
023266,002475: 25,2644 12611 TCF DESLOOP
023267,002476:
023268,002477: 25,2645 20002 B14+B2 OCT 20002
023269,002478:
023270,002479: # Page 556
023271,002480: # PROGRAM NAME: DODES
023272,002481:
023273,002482: # FUNCTIONAL DESCRIPTION:
023274,002483:
023275,002484: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023276,002485: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023277,002486: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023278,002487: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023279,002488: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS:
023280,002489: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023281,002490: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023282,002491: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023283,002492: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023284,002493: # POLARITY FO TEH COMMAND. AT RRSCALUP EACH COMMAND IS
023285,002494: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023286,002495: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023287,002496: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023288,002497: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023289,002498: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023290,002499: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023291,002500: # OPERATING (SRCHOPT FLAT SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023292,002501: # CONTINUOUS DESIGNATE AND BOT COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023293,002502: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023294,002503: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITON
023295,002504: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023296,002505: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023297,002506: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023298,002507: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023299,002508: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023300,002509: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESETN, THE
023301,002510: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, AND ENDOFJOB
023302,002511: # CALLED. IF LOCK-ON IS DESIRED, TEH RR AUTO TRACKER (CHAN 12
023303,002512: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023304,002513: # RR DATA GOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023305,002514: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023306,002515: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023307,002516: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023308,002517: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023309,002518: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023310,002519: # VIA ENDOFJOB.
023311,002520:
023312,002521: # CALLING SEQUENCE:
023313,002522:
023314,002523: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023315,002524:
023316,002525: # ERASABLE INITIALIZATION REQUIRED:
023317,002526:
023318,002527: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023319,002528: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023320,002529:
023321,002530: # SUBROUTINES CALLED:
023322,002531:
023323,002532: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
023324,002533: # Page 557
023325,002534:
023326,002535: # JOBS OR TASKS INITIATED:
023327,002536:
023328,002537: # NONE
023329,002538:
023330,002539: # ALARMS: NONE
023331,002540:
023332,002541: # EXIT: ENDOFJOB (ALWAYS)
023333,002542:
023334,002543: 25,2646 00006 DODES EXTEND
023335,002544: 25,2647 30036 DCA CDUT
023336,002545: 25,2650 53107 DXCH TANG
023337,002546:
023338,002547: 25,2651 06042 TC INTPRET
023339,002548:
023340,002549: 25,2652 77201 SETPD VLOAD
023341,002550: 25,2653 00001 0
023342,002551: 25,2654 01101 RRTARGET
023343,002552: 25,2655 74214 BON VXSC
023344,002553: 25,2656 00311 RRNBSW
023345,002554: 25,2657 52671 DONBRD # TARGET IN NAV-BASE COORDINATES
023346,002555: 25,2660 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023347,002556: 25,2661 63372 VSL1 PDVL
023348,002557: 25,2662 01761 LOSVEL
023349,002558: 25,2663 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023350,002559: 25,2664 13101 MCTOMS
023351,002560: 25,2665 45056 UNIT CALL
023352,002561: 25,2666 47541 CDUTRIG
023353,002562: 25,2667 77624 CALL
023354,002563: 25,2670 47673 *SMNB*
023355,002564:
023356,002565: 25,2671 14041 DONBRD STODL 32D
023357,002566: 25,2672 01110 TANG +1
023358,002567: 25,2673 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023359,002568: 25,2674 21577 CDULOGIC # -SIN(S)).
023360,002569: 25,2675 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023361,002570: 25,2676 41546 COS PUSH
023362,002571: 25,2677 65205 DMP PDDL
023363,002572: 25,2700 00041 32D
023364,002573: 25,2701 00045 36D
023365,002574: 25,2702 44205 DMP BDSU
023366,002575: 25,2703 00001 0
023367,002576: 25,2704 77626 STADR
023368,002577: 25,2705 76667 STORE TANG +1 # SHAFT COMMAND
023369,002578:
023370,002579: 25,2706 47135 SLOAD RTB
023371,002580: 25,2707 01107 TANG
023372,002581: 25,2710 21577 CDULOGIC
023373,002582: 25,2711 71406 PUSH COS # COS(T) TO 4.
023374,002583: 25,2712 73525 PDDL SIN
023375,002584: 25,2713 41206 PUSH DMP # SIN(T) TO 6.
023376,002585: 25,2714 00003 2
023377,002586: # Page 558
023378,002587: 25,2715 65352 SL1 PDDL # DEFINE VECTOR U = [SIN(T)SIN(S)]
023379,002588: 25,2716 00005 4 # [ COS(T) ]
023380,002589: 25,2717 41325 PDDL DMP # [SIN(T)COS(S)]
023381,002590: 25,2720 00007 6
023382,002591: 25,2721 00001 0
023383,002592: 25,2722 55552 SL1 VDEF
023384,002593: 25,2723 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023385,002594: 25,2724 00041 32D
023386,002595:
023387,002596: # Page 559
023388,002597: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023389,002598: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023390,002599:
023391,002600: 25,2725 40154 CS MPAC # DOT WAS NEGATIVE OF DESREG ANGLE.
023392,002601: 25,2726 00006 EXTEND
023393,002602: 25,2727 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023394,002603: 25,2730 55354 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
023395,002604: 25,2731 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023396,002605: 25,2732 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023397,002606: 25,2733 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023398,002607: 25,2734 12737 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023399,002608: 25,2735 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023400,002609: 25,2736 12740 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023401,002610: 25,2737 41107 +3 CS TANG +1
023402,002611: 25,2740 00006 EXTEND
023403,002612: 25,2741 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023404,002613: 25,2742 55355 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
023405,002614: 25,2743 06042 TC INTPRET
023406,002615:
023407,002616: 25,2744 41345 DLOAD DMP
023408,002617: 25,2745 00003 2 # COS(S).
023409,002618: 25,2746 00005 4 # COS(T).
023410,002619: 25,2747 65352 SL1 PDDL # Z COMPONENT OF URR.
023411,002620: 25,2750 65276 DCOMP PDDL # Y COMPONENT = -SIN(T)
023412,002621: 25,2751 00001 0 # SIN(S).
023413,002622: 25,2752 72405 DMP SL1
023414,002623: 25,2753 00005 4 # COS(T).
023415,002624: 25,2754 43066 VDEF BON # FORM URR IN NB AXES.
023416,002625: 25,2755 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41
023417,002626: 25,2756 52761 +3
023418,002627: 25,2757 77624 CALL
023419,002628: 25,2760 47675 *NBSM* # GET URR IN SM AXES.
023420,002629: 25,2761 77441 DOT EXIT
023421,002630: 25,2762 01101 RRTARGET # GET COSIN OF ANGLE BETWEEN RR AND LOS
023422,002631:
023423,002632: 25,2763 00006 EXTEND
023424,002633: 25,2764 43077 DCS COS1/2DG
023425,002634: 25,2765 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023426,002635: 25,2766 10154 CCS MPAC
023427,002636: 25,2767 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER
023428,002637: 25,2770 12772 TCF +2
023429,002638: 25,2771 34753 CA ONE
023430,002639: 25,2772 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
023431,002640: # Page 560
023432,002641: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023433,002642:
023434,002643: 25,2773 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023435,002644: 25,2774 12777 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023436,002645: 25,2775 12777 TCF SIGNLCHK # ERROR SIGNALS
023437,002646: 25,2776 13027 TCF DORROUT
023438,002647: 25,2777 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023439,002648: 25,3000 13010 TCF DGOODCHK
023440,002649: 25,3001 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023441,002650: 25,3002 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023442,002651: 25,3003 10000 CCS A
023443,002652: 25,3004 13015 TCF RRDESDUN
023444,002653:
023445,002654: 25,3005 34736 CAF BIT14 # ENABLE THE TRACKER
023446,002655: 25,3006 00006 EXTEND
023447,002656: 25,3007 05012 WOR CHAN12
023448,002657:
023449,002658: 25,3010 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023450,002659: 25,3011 00006 EXTEND
023451,002660: 25,3012 02033 RAND CHAN33
023452,002661: 25,3013 10000 CCS A
023453,002662: 25,3014 13027 TCF DORROUT
023454,002663:
023455,002664: 25,3015 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023456,002665: 25,3016 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023457,002666: 25,3017 00004 INHINT
023458,002667: 25,3020 54110 TS RADMODES
023459,002668:
023460,002669: 25,3021 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREENT A
023461,002670: 25,3022 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023462,002671: 25,3023 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023463,002672: 25,3024 00006 EXTEND
023464,002673: 25,3025 03012 WAND CHAN12
023465,002674: 25,3026 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023466,002675:
023467,002676: 25,3027 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023468,002677: 25,3030 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023469,002678: 25,3031 00006 EXTEND
023470,002679: 25,3032 13051 BZF NOTP20
023471,002680: 25,3033 06042 TC INTPRET
023472,002681: 25,3034 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023473,002682: 25,3035 01101 RRTARGET
023474,002683: 25,3036 01767 MLOSV
023475,002684: 25,3037 41572 VSL1 PUSH
023476,002685: 25,3040 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023477,002686: 25,3041 01761 LOSVEL # TO LOS VECTOR
023478,002687: 25,3042 13101 MCTOMS
023479,002688: 25,3043 53362 VSR1 VAD
023480,002689: 25,3044 77656 UNIT
023481,002690: 25,3045 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
023482,002691: # Page 561
023483,002692: 25,3046 00045 36D
023484,002693: 25,3047 01767 STORE MLOSV # AND STORE MAGNITUDE
023485,002694: 25,3050 77776 EXIT
023486,002695: 25,3051 00004 NOTP20 INHINT
023487,002696: 25,3052 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023488,002697: 25,3053 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER
023489,002698: 25,3054 10000 CCS A
023490,002699: 25,3055 02317 TC RROUT
023491,002700:
023492,002701: 25,3056 30076 CA FLAGWRD2
023493,002702: 25,3057 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023494,002703: 25,3060 00006 EXTEND # LOS COUNTER
023495,002704: 25,3061 15155 BZF ENDOFJOB
023496,002705: 25,3062 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023497,002706: 25,3063 03073 TC DODESEND # A NEW LOS
023498,002707: 25,3064 06032 TC KILLTASK # YES -- KILL TASK WHICH SCHEDULES DODES
023499,002708: 25,3065 52613 CADR DESLOOP +2
023500,002709: 25,3066 00003 RELINT
023501,002710: 25,3067 10067 CCS NEWJOB
023502,002711: 25,3070 05122 TC CHANG1
023503,002712: 25,3071 04616 TC BANKCALL
023504,002713: 25,3072 50732 CADR R21LEM2
023505,002714:
023506,002715: 25,3073 55456 DODESEND TS LOSCOUNT
023507,002716: 25,3074 05155 TC ENDOFJOB
023508,002717:
023509,002718: 25,3075 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023510,002719: 25,3076 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
023511,002720: 25,3076 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023512,002721: 25,3100 00310 00000 MCTOMS 2DEC 100 B-13
023513,002722:
023514,002723: # Page 562
023515,002724: # RADAR READ INITIALIZATION
023516,002725:
023517,002726: # RADAR DATA READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023518,002727:
023519,002728: 25,3102 03122 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023520,002729: 25,3103 00017 ALLREAD OCT 17
023521,002730:
023522,002731: 25,3104 03123 LRVELZ TC INITREAD
023523,002732: 25,3105 00016 OCT 16
023524,002733:
023525,002734: 25,3106 03123 LRVELY TC INITREAD
023526,002735: 25,3107 00015 OCT 15
023527,002736:
023528,002737: 25,3110 03123 LRVELX TC INITREAD
023529,002738: 25,3111 00014 OCT 14
023530,002739:
023531,002740: 25,3112 03122 RRRDOT TC INITREAD -1
023532,002741: 25,3113 00012 OCT 12
023533,002742:
023534,002743: 25,3114 03122 RRRANGE TC INITREAD -1
023535,002744: 25,3115 00011 OCT 11
023536,002745:
023537,002746: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023538,002747: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023539,002748:
023540,002749: 25,3116 55104 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMENTARILY
023541,002750: 25,3117 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023542,002751: 25,3120 51104 INDEX TIMEHOLD
023543,002752: 25,3121 13104 TCF LRVELZ
023544,002753:
023545,002754: # Page 563
023546,002755: 25,3122 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE
023547,002756: 25,3123 00004 INITREAD INHINT
023548,002757:
023549,002758: 25,3124 55104 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023550,002759: 25,3125 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023551,002760: 25,3126 74751 MP BIT3 # ENCOUNTERED).
023552,002761: 25,3127 53105 DXCH TIMEHOLD
023553,002762:
023554,002763: 25,3130 10000 CCS A
023555,002764: 25,3131 55110 TS NSAMP
023556,002765: 25,3132 64753 AD ONE
023557,002766: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023558,002767: # DOUBLE
023559,002768: 25,3133 55077 TS SAMPLIM
023560,002769:
023561,002770: 25,3134 33156 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023562,002771: 25,3135 00006 EXTEND
023563,002772: 25,3136 02033 RAND CHAN33
023564,002773: 25,3137 55112 TS OLDATAGD
023565,002774:
023566,002775: 25,3140 43103 CS ALLREAD
023567,002776: 25,3141 00006 EXTEND
023568,002777: 25,3142 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023569,002778:
023570,002779: 25,3143 50002 INDEX Q
023571,002780: # Was CAF --- RSB 2004.
023572,002781: 25,3144 30000 CA 0
023573,002782: 25,3145 04674 TC IBNKCALL
023574,002783: 25,3146 36000 CADR RADSTART
023575,002784:
023576,002785: 25,3147 00006 EXTEND
023577,002786: 25,3150 30025 DCA TIME2
023578,002787: 25,3151 21105 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT
023579,002788:
023580,002789: 25,3152 34755 CAF ZERO
023581,002790: 25,3153 54001 TS L
023582,002791: 25,3154 53101 DXCH SAMPLSUM
023583,002792: 25,3155 12377 TCF ROADBACK
023584,002793:
023585,002794: 25,3156 00230 DGBITS OCT 230
023586,002795:
023587,002796: # Page 564
023588,002797: # RADAR RUPT READER
023589,002798:
023590,002799: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA & LOTS MORE.
023591,002800:
023592,002801: 25,2000 SETLOC RADARUPT
023593,002802: 25,2000 BANK
023594,002803:
023595,002804: 25,3157 COUNT* $$/RRUPT
023596,002805: 25,3157 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023597,002806: 25,3160 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND).
023598,002807: 25,3161 54016 TS BANKRUPT
023599,002808: 25,3162 00006 EXTEND
023600,002809: 25,3163 22012 QXCH QRUPT
023601,002810:
023602,002811: 25,3164 00006 EXTEND
023603,002812: 25,3165 31454 DCA TTOGO # LOAD TIME TO TIG
023604,002813: 25,3166 53272 DXCH TTOTIG # FOR R65 RADAR READING.
023605,002814:
023606,002815: 25,3167 34757 CAF SEVEN
023607,002816: 25,3170 00006 EXTEND
023608,002817: 25,3171 02013 RAND CHAN13
023609,002818: 25,3172 55332 TS DNINDEX
023610,002819: 25,3173 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
023611,002820: 25,3174 13200 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023612,002821: 25,3175 30046 CA RNRAD
023613,002822: 25,3176 51332 INDEX DNINDEX
023614,002823: 25,3177 55327 TS DNRRANGE -1
023615,002824: 25,3200 11077 TRYCOUNT CCS SAMPLIM
023616,002825: 25,3201 13223 TCF PLENTY
023617,002826: 25,3202 13206 TCF NOMORE
023618,002827: 25,3203 05567 TC ALARM
023619,002828: 25,3204 00520 OCT 520
023620,002829: 25,3205 05270 TC RESUME
023621,002830:
023622,002831: 25,3206 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023623,002832: 25,3207 74735 MASK LRBYBIT
023624,002833: 25,3210 00006 EXTEND
023625,002834: 25,3211 13220 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023626,002835:
023627,002836: 25,3212 40077 CS FLAGWRD3 # CHECK R04FLAG.
023628,002837: 25,3213 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM
023629,002838: 25,3214 00006 EXTEND
023630,002839: 25,3215 13220 BZF BADRAD
023631,002840:
023632,002841: 25,3216 05567 TC ALARM # P20 WANTS THE ALARM.
023633,002842: 25,3217 00521 OCT 521
023634,002843: 25,3220 44753 BADRAD CS ONE
023635,002844: 25,3221 55077 TS SAMPLIM
023636,002845: 25,3222 03563 TC RDBADEND -2
023637,002846: 25,3223 55077 PLENTY TS SAMPLIM
023638,002847: # Page 565
023639,002848: 25,3224 34751 CAF BIT3
023640,002849: 25,3225 00006 EXTEND
023641,002850: 25,3226 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023642,002851: 25,3227 00006 EXTEND
023643,002852: 25,3230 13277 BZF RENDRAD
023644,002853:
023645,002854: 25,3231 03365 TC R77CHECK # R77 QUITS HERE.
023646,002855: 25,3232 36250 VELCHK CAF BIN3 # = 00003 OCT
023647,002856: 25,3233 00006 EXTEND
023648,002857: 25,3234 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023649,002858: 25,3235 76250 MASK BIN3
023650,002859: 25,3236 00006 EXTEND
023651,002860: 25,3237 13273 BZF LRHEIGHT # TAKE A LR RANGE READING
023652,002861:
023653,002862: 25,3240 34733 CAF POSMAX
023654,002863: 25,3241 70046 MASK RNRAD
023655,002864: 25,3242 62000 AD LVELBIAS
023656,002865: 25,3243 54001 TS L
023657,002866: 25,3244 30046 CAE RNRAD
023658,002867: 25,3245 60000 DOUBLE
023659,002868: 25,3246 74753 MASK BIT1
023660,002869: 25,3247 52064 DXCH ITEMP3
023661,002870:
023662,002871: 25,3250 34744 CAF BIT8 # DATA GOOD ISN'T CHECKED UNTIL AFTER READ-
023663,002872: 25,3251 03425 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023664,002873: # INDEPENDENT OF DATA GOOD.
023665,002874:
023666,002875: 25,3252 11110 CCS NSAMP
023667,002876: 25,3253 03263 TC NOEND
023668,002877: 25,3254 44753 GOODRAD CS ONE
023669,002878: 25,3255 55077 TS SAMPLIM
023670,002879: 25,3256 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023671,002880: 25,3257 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023672,002881: 25,3260 54110 TS RADMODES
023673,002882: 25,3261 03612 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023674,002883: 25,3262 03556 TC RGOODEND -2
023675,002884:
023676,002885: 25,3263 55110 NOEND TS NSAMP
023677,002886: 25,3264 11077 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023678,002887: 25,3265 13267 TCF +2
023679,002888: 25,3266 13444 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023680,002889: 25,3267 34750 CAF BIT4 # RESET ACTIVITY BIT.
023681,002890: 25,3270 04674 TC IBNKCALL
023682,002891: 25,3271 36000 CADR RADSTART
023683,002892:
023684,002893: 25,3272 05270 TC RESUME
023685,002894:
023686,002895: 25,3273 34747 LRHEIGHT CAF BIT5
023687,002896: 25,3274 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023688,002897: # Page 566
023689,002898: 25,3275 34743 CAF BIT9
023690,002899: 25,3276 03321 TC SCALECHK -1
023691,002900:
023692,002901: 25,3277 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023693,002902: 25,3300 70110 MASK RADMODES # LIMITS.
023694,002903: 25,3301 10000 CCS A
023695,002904: 25,3302 13220 TCF BADRAD
023696,002905:
023697,002906: 25,3303 40110 CS RADMODES # BE SURE RR CDU HASN'T FAILED.
023698,002907: 25,3304 74745 MASK RCDUFBIT
023699,002908: 25,3305 10000 CCS A
023700,002909: 25,3306 13220 TCF BADRAD
023701,002910:
023702,002911: 25,3307 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
023703,002912: 25,3310 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023704,002913:
023705,002914: 25,3311 34753 CAF BIT1 # SEE IF RR RDOT.
023706,002915: 25,3312 00006 EXTEND
023707,002916: 25,3313 02013 RAND CHAN13
023708,002917: 25,3314 54002 TS Q # FOR LATER TESTING.
023709,002918: 25,3315 10000 CCS A
023710,002919: 25,3316 13320 TCF +2
023711,002920: 25,3317 13332 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
023712,002921: 25,3320 34751 CAF BIT3
023713,002922: 25,3321 54001 TS L
023714,002923:
023715,002924: 25,3322 00006 SCALECHK EXTEND
023716,002925: 25,3323 02033 RAND CHAN33 # SCALE STATUS NOW
023717,002926: 25,3324 56001 XCH L
023718,002927: 25,3325 70110 MASK RADMODES # SCALE STATUS BEFORE
023719,002928: 25,3326 00006 EXTEND
023720,002929: 25,3327 06001 RXOR LCHAN # SEE IF THEY DIFFER
023721,002930: 25,3330 10000 CCS A
023722,002931: 25,3331 03351 TC SCALCHNG # THEY DIFFER.
023723,002932:
023724,002933: 25,3332 34733 RADIN CAF POSMAX
023725,002934: 25,3333 70046 MASK RNRAD
023726,002935: 25,3334 54064 TS ITEMP4
023727,002936:
023728,002937: 25,3335 30046 CAE RNRAD
023729,002938: 25,3336 60000 DOUBLE
023730,002939: 25,3337 74753 MASK BIT1
023731,002940: 25,3340 54063 TS ITEMP3
023732,002941:
023733,002942: 25,3341 10002 CCS Q # SEE IF RR RDOT.
023734,002943: 25,3342 13403 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
023735,002944:
023736,002945: 25,3343 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS
023737,002946: 25,3344 42002 DCS RDOTBIAS
023738,002947: 25,3345 20064 DASAMPL DAS ITEMP3
023739,002948: # Page 567
023740,002949: 25,3346 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
023741,002950: 25,3347 03426 TC DGCHECK +1 # AFTER TAKING SAMPLE.
023742,002951: 25,3350 03254 TC GOODRAD
023743,002952:
023744,002953: 25,3351 22110 SCALCHNG LXCH RADMODES
023745,002954: 25,3352 64753 AD BIT1
023746,002955: 25,3353 00006 EXTEND
023747,002956: 25,3354 06001 RXOR LCHAN
023748,002957: 25,3355 54110 TS RADMODES
023749,002958: 25,3356 33156 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
023750,002959: 25,3357 00006 EXTEND
023751,002960: 25,3360 02033 RAND CHAN33
023752,002961: 25,3361 55112 TS OLDATAGD
023753,002962: 25,3362 05504 TC UPFLAG # SET RNGSCFLG
023754,002963: 25,3363 00120 ADRES RNGSCFLG # FOR LRS24.1
023755,002964: 25,3364 13220 TCF BADRAD
023756,002965:
023757,002966: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023758,002967:
023759,002968: 25,3365 40101 R77CHECK CS FLAGWRD5
023760,002969: 25,3366 74741 MASK R77FLBIT
023761,002970: 25,3367 10000 CCS A
023762,002971: 25,3370 00002 TC Q # NOT R77
023763,002972: 25,3371 43402 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
023764,002973: 25,3372 70110 MASK RADMODES
023765,002974: 25,3373 54001 TS L
023766,002975: 25,3374 33402 CA BITS5,8
023767,002976: 25,3375 00006 EXTEND
023768,002977: 25,3376 02033 RAND CHAN33
023769,002978: 25,3377 60001 AD L
023770,002979: 25,3400 54110 TS RADMODES
023771,002980: 25,3401 03556 TC RGOODEND -2
023772,002981: 25,3402 00220 BITS5,8 OCT 220
023773,002982:
023774,002983: # Page 568
023775,002984: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
023776,002985:
023777,002986: 25,3403 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
023778,002987: 25,3404 13406 TCF +2 # ON HIGH SCALE.
023779,002988: 25,3405 13346 TCF DGCHECK2
023780,002989:
023781,002990: 25,3406 31332 CA DNINDEX
023782,002991: 25,3407 74751 MASK BIT3
023783,002992: 25,3410 10000 CCS A
023784,002993: 25,3411 13420 TCF LRSCK
023785,002994:
023786,002995: 25,3412 52064 DXCH ITEMP3
023787,002996: 25,3413 20001 DDOUBL
023788,002997: 25,3414 20001 DDOUBL
023789,002998: 25,3415 20001 DDOUBL
023790,002999: 25,3416 52064 DXCH ITEMP3
023791,003000:
023792,003001: 25,3417 13346 TCF DGCHECK2
023793,003002:
023794,003003: 25,3420 00006 LRSCK EXTEND
023795,003004: 25,3421 30064 DCA ITEMP3
023796,003005: 25,3422 20001 DDOUBL
023797,003006: 25,3423 20001 DDOUBL
023798,003007: 25,3424 13345 TCF DASAMPL
023799,003008:
023800,003009: 25,3425 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
023801,003010: 25,3426 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
023802,003011: 25,3427 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
023803,003012: 25,3430 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
023804,003013: 25,3431 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
023805,003014: 25,3432 71112 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
023806,003015: 25,3433 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
023807,003016: 25,3434 57112 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
023808,003017: 25,3435 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
023809,003018: 25,3436 60001 AD L
023810,003019: 25,3437 10000 CCS A # SHOULD BOTH BE ZERO.
023811,003020: 25,3440 03264 TC RESAMPLE
023812,003021: 25,3441 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
023813,003022: 25,3442 21101 DAS SAMPLSUM # ACCUMULATION.
023814,003023: 25,3443 00002 TC Q
023815,003024:
023816,003025: 25,3444 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
023817,003026: 25,3445 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
023818,003027: 25,3446 60061 AD ITEMP1
023819,003028: 25,3447 54110 TS RADMODES
023820,003029:
023821,003030: 25,3450 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
023822,003031: 25,3451 53101 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
023823,003032: # Page 569
023824,003033: 25,3452 03612 TC RADLITES
023825,003034: 25,3453 13206 TCF NOMORE
023826,003035:
023827,003036: # Page 570
023828,003037: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
023829,003038:
023830,003039: 17,2000 SETLOC C13BANK
023831,003040: 17,2000 BANK
023832,003041:
023833,003042: 17,2000 54002 RADSTART TS Q
023834,003043: 17,2001 00006 +1 EXTEND
023835,003044: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
023836,003045: 17,2003 54001 TS L
023837,003046:
023838,003047: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5-BITS MATTER
023839,003048: 17,2005 40000 COM
023840,003049: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
023841,003050: 17,2007 74346 MASK LOW5
023842,003051: 17,2010 55270 TS RADDEL
023843,003052:
023844,003053: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
023845,003054: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
023846,003055: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
023847,003056:
023848,003057: 17,2014 30002 CA Q
023849,003058: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
023850,003059: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
023851,003060:
023852,003061: 17,2017 40001 CS L
023853,003062: 17,2020 55267 TS RADTIME # SAVE THE NEGATIVE TIME OF READ
023854,003063: 17,2021 04707 TC ISWRETRN
023855,003064:
023856,003065: 17,2022 55266 C13STAL1 TS C13FSAV
023857,003066:
023858,003067: 17,2023 34750 CA BIT4
023859,003068: 17,2024 00006 EXTEND
023860,003069: 17,2025 02013 RAND CHAN13
023861,003070: 17,2026 00006 EXTEND
023862,003071: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
023863,003072:
023864,003073: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
023865,003074: 17,2031 00006 EXTEND
023866,003075: 17,2032 00004 READ LOSCALAR
023867,003076: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
023868,003077: 17,2034 64736 AD HALF
023869,003078: 17,2035 64736 AD HALF # CORECT FOR TIME OVERFLOW
023870,003079: 17,2036 56001 XCH L
023871,003080:
023872,003081: 17,2037 32053 CA 90MSCALR
023873,003082: 17,2040 61270 AD RADDEL
023874,003083: 17,2041 00006 EXTEND
023875,003084: 17,2042 60001 SU L
023876,003085: # Page 571
023877,003086: 17,2043 00006 EXTEND
023878,003087: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
023879,003088:
023880,003089: 17,2045 62054 AD -DTSCALR
023881,003090: 17,2046 00006 EXTEND
023882,003091: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
023883,003092:
023884,003093: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
023885,003094: 17,2051 31266 CA C13FSAV
023886,003095: 17,2052 52005 DTCF
023887,003096:
023888,003097: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
023889,003098: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
023890,003099:
023891,003100: 6000 SETLOC FFTAG6
023892,003101: 6000 BANK
023893,003102:
023894,003103: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (garbled)
023895,003104: 6023 56004 XCH FBANK
023896,003105: 6024 12022 TCF C13STAL1
023897,003106:
023898,003107: # Page 572
023899,003108: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
023900,003109:
023901,003110: 25,2000 SETLOC P20S1
023902,003111: 25,2000 BANK
023903,003112:
023904,003113: 25,3454 COUNT* $$/RSUB
023905,003114: 25,3454 00004 LRPOS2 INHINT
023906,003115:
023907,003116: 25,3455 40110 CS RADMODES
023908,003117: 25,3456 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
023909,003118: 25,3457 26110 ADS RADMODES
023910,003119:
023911,003120: 25,3460 34745 CAF BIT7
023912,003121: 25,3461 00006 EXTEND
023913,003122: 25,3462 02033 RAND CHAN33 # SEE IF ALREADY THERE.
023914,003123: 25,3463 00006 EXTEND
023915,003124: 25,3464 13513 BZF RADNOOP
023916,003125:
023917,003126: 25,3465 34737 CAF BIT13
023918,003127: 25,3466 00006 EXTEND
023919,003128: 25,3467 05012 WOR CHAN12 # COMMAND TO POSITION 2
023920,003129: 25,3470 33530 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
023921,003130: 25,3471 05203 TC WAITLIST
023922,003131: 25,3472 E7,1456 EBANK= LOSCOUNT
023923,003132: 25,3472 03526 52067 2CADR LRPOSCAN
023924,003133:
023925,003134: 25,3474 02377 TC ROADBACK
023926,003135:
023927,003136: 25,3475 55077 LRPOSNXT TS SAMPLIM
023928,003137: 25,3476 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
023929,003138: 25,3477 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
023930,003139:
023931,003140: 25,3500 34745 CAF BIT7 # SEE IF LR POS2 IS ON
023932,003141: 25,3501 00006 EXTEND
023933,003142: 25,3502 02033 RAND CHAN33
023934,003143: 25,3503 00006 EXTEND
023935,003144: 25,3504 13520 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
023936,003145:
023937,003146: 25,3505 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
023938,003147: 25,3506 13475 TCF LRPOSNXT
023939,003148:
023940,003149: 25,3507 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
023941,003150: 25,3510 00006 EXTEND
023942,003151: 25,3511 03012 WAND CHAN12
023943,003152: 25,3512 13565 TCF RDBADEND
023944,003153:
023945,003154: 25,3513 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
023946,003155: 25,3514 05203 TC WAITLIST
023947,003156: 25,3515 E7,1456 EBANK= LOSCOUNT
023948,003157: 25,3515 03560 52067 2CADR RGOODEND
023949,003158: # Page 573
023950,003159: 25,3517 02377 TC ROADBACK
023951,003160:
023952,003161: 25,3520 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
023953,003162: 25,3521 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
023954,003163:
023955,003164: 25,3522 44737 CS BIT13 # REMOVE COMMAND
023956,003165: 25,3523 00006 EXTEND
023957,003166: 25,3524 03012 WAND CHAN12
023958,003167: 25,3525 13560 TCF RGOODEND
023959,003168:
023960,003169: 25,3526 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
023961,003170: 25,3527 13475 TCF LRPOSNXT
023962,003171: 25,3530 01130 6SECS DEC 600 B-14
023963,003172:
023964,003173: 25,3531 03454 LRP2COMM TC LRPOS2
023965,003174: 25,3532 04616 TC BANKCALL
023966,003175: 25,3533 17705 CADR RADSTALL
023967,003176: 25,3534 03536 TC LP2ALM
023968,003177: 25,3535 13547 TCF GOPINNER
023969,003178:
023970,003179: 25,3536 05567 LP2ALM TC ALARM
023971,003180: 25,3537 00523 OCT 523
023972,003181: 25,3540 13547 TCF GOPINNER
023973,003182:
023974,003183: 25,3541 35016 V59GP63 CA EBANK7
023975,003184: 25,3542 54003 TS EBANK
023976,003185: 25,3543 E7,1427 EBANK= RPCRTIME
023977,003186: 25,3543 34733 CA POSMAX
023978,003187: 25,3544 55427 TS RPCRTIME
023979,003188: 25,3545 44736 CS BIT14
023980,003189: 25,3546 55430 TS RPCRTQSW
023981,003190: 25,3547 04635 GOPINNER TC POSTJUMP
023982,003191: 25,3550 21051 CADR PINBRNCH
023983,003192:
023984,003193: # Page 574
023985,003194: # SEQUENCES TO TERMINATE RR OPERATIONS.
023986,003195:
023987,003196: 25,3551 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
023988,003197: 25,3552 70110 MASK RADMODES
023989,003198: 25,3553 10000 CCS A
023990,003199: 25,3554 13560 TCF RGOODEND
023991,003200: 25,3555 13565 TCF RDBADEND
023992,003201: 25,3556 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
023993,003202: 25,3557 54332 TS RUPTAGN
023994,003203:
023995,003204: 25,3560 34752 RGOODEND CAF TWO
023996,003205: 25,3561 04635 TC POSTJUMP
023997,003206: 25,3562 17656 CADR GOODEND
023998,003207:
023999,003208: 25,3563 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WIATLIST.
024000,003209: 25,3564 54332 TS RUPTAGN
024001,003210: 25,3565 34752 RDBADEND CAF TWO
024002,003211: 25,3566 04635 TC POSTJUMP
024003,003212: 25,3567 17653 CADR BADEND
024004,003213:
024005,003214: 25,3570 6250 BIN3 EQUALS THREE
024006,003215:
024007,003216: # Page 575
024008,003217: # PROGRAM NAME: LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024009,003218: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024010,003219:
024011,003220: # FUNCTIONAL DESCRPIPTION:
024012,003221: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERRED TO IN CALLER + 1.
024013,003222: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024014,003223: # 3) COMPUTES THE MAGNITUDE OF TEH LOS VECTOR AND STORES IT IN MLOSV
024015,003224:
024016,003225: # CALLING SEQUENCE: CALL
024017,003226: # LPS20.1
024018,003227:
024019,003228: # SUBROUTINES CALLED:
024020,003229: # LEMPREC, CSMPREC
024021,003230:
024022,003231: # NORMAL EXIT: RETURN TO CALLER + 2.
024023,003232:
024024,003233: # ERROR EXITS: NONE
024025,003234:
024026,003235: # ALARMS: NONE
024027,003236:
024028,003237: # OUTPUT:
024029,003238: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024030,003239: # MAGNITUDE OF TEH LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024031,003240: # RRNBSW CLEARED.
024032,003241:
024033,003242: # INITIALIZED ERASABLE
024034,003243: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024035,003244: # SEE ORBITAL INTEGRATION ROUTINE
024036,003245:
024037,003246: # DEBRIS:
024038,003247: # MPAC DESTROYED BY THE ROUTINE
024039,003248:
024040,003249: 23,2337 BANK 23
024041,003250: 24,2000 SETLOC P20S
024042,003251: 24,2000 BANK
024043,003252: # Page 576
024044,003253: 24,3256 COUNT* $$/LPS20
024045,003254:
024046,003255: 24,3256 43020 LPS20.1 STQ BOFF
024047,003256: 24,3257 01757 LS21X
024048,003257: 24,3260 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024049,003258: 24,3261 51265 LMINT # SO CALL LEMCONIC TO GET LM STATE
024050,003259: 24,3262 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024051,003260: 24,3263 04307 SURFFLAG # DON'T CALL LEMCONIC
024052,003261: 24,3264 51275 CSMINT
024053,003262: 24,3265 77624 LMINT CALL
024054,003263: 24,3266 27077 LEMCONIC # EXTRAPOLATE LEM
024055,003264: 24,3267 77775 VLOAD
024056,003265: 24,3270 00001 RATT
024057,003266: 24,3271 26352 STOVL LMPOS # SAVE LM POSITION B-29
024058,003267: 24,3272 00007 VATT
024059,003268: 24,3273 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024060,003269: 24,3274 00015 TAT
024061,003270: 24,3275 34041 CSMINT STCALL TDEC1
024062,003271: 24,3276 27065 CSMCONIC # EXTRAPOLATE CSM
024063,003272: 24,3277 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024064,003273: 24,3300 00007 VATT
024065,003274: 24,3301 02360 LMVEL
024066,003275: 24,3302 76521 MXV VSL1
024067,003276: 24,3303 01734 REFSMMAT
024068,003277: 24,3304 77776 EXIT
024069,003278: 24,3305 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024070,003279: 24,3306 52613 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024071,003280: 24,3307 06042 TC INTPRET
024072,003281: 24,3310 25761 STOVL LOSVEL
024073,003282: 24,3311 00001 RATT
024074,003283: 24,3312 43051 VSU BOFF
024075,003284: 24,3313 02352 LMPOS
024076,003285: 24,3314 00350 RNDVZFLG
024077,003286: 24,3315 51322 NOTSHIFT
024078,003287: 24,3316 77604 BOVB
024079,003288: 24,3317 57754 TCDANZIG
024080,003289: 24,3320 77661 VSL
024081,003290: 24,3321 20212 9D
024082,003291: 24,3322 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024083,003292: 24,3323 50102 526ALARM # THAN 400 N. M.
024084,003293: 24,3324 76521 MXV VSL1
024085,003294: 24,3325 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024086,003295: 24,3326 15101 STODL RRTARGET
024087,003296: 24,3327 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024088,003297: 24,3330 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024089,003298: 24,3331 77614 CLRGO
024090,003299: 24,3332 00231 RRNBSW
024091,003300: 24,3333 01757 LS21X
024092,003301:
024093,003302: # Page 577
024094,003303: # PROGRAM NAME: LPS20.2 400 NM RANGE CHECK
024095,003304: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024096,003305:
024097,003306: # FUNCTIONAL DESCRIPTION:
024098,003307: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM.
024099,003308:
024100,003309: # CALLING SEQUENCE: CALL
024101,003310: # LPS20.2
024102,003311:
024103,003312: # SUBROUTINES CALLED: NONE
024104,003313:
024105,003314: # NORMAL EXIT: RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024106,003315:
024107,003316: # ERROR EXITS: RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024108,003317:
024109,003318: # ALARMS: NONE
024110,003319:
024111,003320: # OUTPUT: NONE
024112,003321:
024113,003322: # INITIALIZED ERASEABLE:
024114,003323: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024115,003324:
024116,003325: # DEBRIS:
024117,003326: # MPAC DESTROYED BY THIS ROUTINE
024118,003327:
024119,003328: 25,2000 SETLOC P20S1
024120,003329: 25,2000 BANK
024121,003330: 25,3570 COUNT* $$/LPS20
024122,003331:
024123,003332: 25,3570 45345 LPS20.2 DLOAD DSU
024124,003333: 25,3571 01767 MLOSV # MAGNITUDE OF LOS
024125,003334: 25,3572 13603 FHNM # OVER 400NM
024126,003335: 25,3573 77644 BPL
024127,003336: 25,3574 53577 TOFAR
024128,003337: 25,3575 43535 SLOAD RVQ
024129,003338: 25,3576 06524 ZERO/SP
024130,003339: 25,3577 43535 TOFAR SLOAD RVQ
024131,003340: 25,3600 13602 ONE/SP
024132,003341: 25,3601 00001 ONE/SP DEC 1 B-14
024133,003342: # Page 578
024134,003343: 25,3602 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024135,003344:
024136,003345: # Page 579
024137,003346: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024138,003347: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024139,003348:
024140,003349: # FUNCTIONAL DESCRIPTION:
024141,003350: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024142,003351: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024143,003352: # RR REPOSITION AND RR CDU FAIL
024144,003353: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024145,003354:
024146,003355: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024147,003356:
024148,003357: # SUBROUTINES CALLED:
024149,003358: # RRDOT LPS20.1
024150,003359: # RRRANGE BANKCALL
024151,003360: # RADSTALL CDULOGIC
024152,003361: # RRNB SMNB
024153,003362:
024154,003363: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024155,003364:
024156,003365: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024157,003366: # 00001 -- ERROR EXIT 1 -- RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024158,003367: # 00002 -- ERROR EXIT 2 -- RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024159,003368:
024160,003369: # ALARMS: 521 -- COUNT NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024161,003370: # (THIS ALARM IS ISSUED BY RADARREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024162,003371:
024163,003372: # OUTPUT: RRLOSVEC -- THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) -- A HALF-UNIT VECTOR
024164,003373: # RM -- THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED BY B-29 (USED BY LRS22.2 AND LRS22.3)
024165,003374:
024166,003375: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024167,003376: # RDOTM -- THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED BY B-7
024168,003377: # RRTRUN -- THE RR TRUNNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024169,003378: # RRSHAFT -- RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024170,003379: # AIG,AMG,ADG -- THE CDU ANGLES, THREE SP WORDS
024171,003380: # MKTIME -- THE TIME OF THE RR READING, DP, IN CENTISECONDS
024172,003381:
024173,003382: # ERASABLE INITIALIZATION REQUIRED:
024174,003383: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
024175,003384: # Page 580
024176,003385: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024177,003386: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024178,003387: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ, AND TIME1 AND TIME2
024179,003388:
024180,003389: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024181,003390:
024182,003391: 32,2366 BANK 32
024183,003392: 32,2000 SETLOC LRS22
024184,003393: 32,2000 BANK
024185,003394: 32,2366 COUNT* $$/LRS22
024186,003395:
024187,003396: 32,2366 04645 LRS22.1 TC MAKECADR
024188,003397: 32,2367 55737 TS LRS22.1X
024189,003398: 32,2370 05516 TC DOWNFLAG
024190,003399: 32,2371 00120 ADRES RNGSCFLG
024191,003400: 32,2372 00004 INHINT
024192,003401: 32,2373 34751 CAF BIT3
024193,003402: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024194,003403: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024195,003404: 32,2376 54001 TS L
024196,003405: 32,2377 44751 CS RRRSBIT
024197,003406: 32,2400 70110 MASK RADMODES
024198,003407: 32,2401 60001 AD L
024199,003408: 32,2402 54110 TS RADMODES
024200,003409: 32,2403 00003 RELINT
024201,003410: 32,2404 04616 READRDOT TC BANKCALL
024202,003411: 32,2405 53112 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024203,003412: 32,2406 04616 TC BANKCALL
024204,003413: 32,2407 17705 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024205,003414: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024206,003415:
024207,003416: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024208,003417: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024209,003418: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024210,003419: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024211,003420: 32,2415 53747 DXCH RDOTMSAV
024212,003421: 32,2416 00006 EXTEND
024213,003422: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024214,003423: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024215,003424: 32,2421 30032 CA CDUX
024216,003425: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024217,003426: 32,2423 00006 EXTEND
024218,003427: 32,2424 30025 DCA TIME2 # SAVE TIME
024219,003428: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDUY READINGS IN MPAC
024220,003429: 32,2426 00006 EXTEND
024221,003430: 32,2427 30036 DCA CDUT # SAVE TRUNNION AND SHAFT ANGLES FOR RRNB
024222,003431: 32,2430 53107 DXCH TANG
024223,003432: # Page 581
024224,003433: 32,2431 00003 RELINT
024225,003434: 32,2432 04616 TC BANKCALL
024226,003435: 32,2433 53114 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024227,003436: 32,2434 04616 TC BANKCALL
024228,003437: 32,2435 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
024229,003438: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
024230,003439: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024231,003440: 32,2440 00006 EXTEND
024232,003441: 32,2441 31331 DCA DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024233,003442: 32,2442 53761 DXCH RANGRDOT
024234,003443: 32,2443 52162 DXCH MPAC +5
024235,003444: 32,2444 53755 DXCH MKTIME # MARK TIME
024236,003445: 32,2445 52160 DXCH MPAC +3
024237,003446: 32,2446 53460 DXCH AIG # CDUY, CDUZ
024238,003447: 32,2447 00006 EXTEND
024239,003448: 32,2450 31107 DCA TANG # PRESERVE TANG
024240,003449: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024241,003450: 32,2452 30156 CA MPAC +2
024242,003451: 32,2453 55461 TS AOG # CDUX
024243,003452: 32,2454 06042 TC INTPRET
024244,003453: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024245,003454: 32,2456 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024246,003455: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024247,003456: 32,2460 20217 14D # FT./SECOND PER BIT
024248,003457: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024249,003458: 32,2462 03751 STORE RDOTM
024250,003459: 32,2463 47135 SLOAD RTB
024251,003460: 32,2464 01107 TANG # GET TRUNNION ANGLE
024252,003461: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIOINS
024253,003462: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024254,003463: 32,2467 47135 SLOAD RTB
024255,003464: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
024256,003465: 32,2471 21577 CDULOGIC
024257,003466: 32,2472 17736 STODL RRSHAFT
024258,003467: 32,2473 01101 SAMPLSUM
024259,003468: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING DP RANGE
024260,003469: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024261,003470: 32,2476 37757 STCALL RM
024262,003471: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024263,003472: 32,2500 17741 STODL RRBORSIT # AND SAVE
024264,003473: 32,2501 00025 20D
024265,003474: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024266,003475: 32,2503 51256 LPS20.1
024267,003476: 32,2504 77776 EXIT
024268,003477: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024269,003478: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024270,003479: 32,2507 31460 CA AMG
024271,003480: 32,2510 54767 TS CDUSPOT +2
024272,003481: 32,2511 31461 CA AOG
024273,003482: 32,2512 54771 TS CDUSPOT +4
024274,003483: # Page 582
024275,003484: 32,2513 06042 TC INTPRET
024276,003485: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024277,003486: 32,2515 01101 RRTARGET
024278,003487: 32,2516 47653 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024279,003488: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024280,003489: 32,2520 03741 RRBORSIT
024281,003490: 32,2521 65552 SL1 ACOS # BETWEEN THEM
024282,003491: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024283,003492: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024284,003493: 32,2524 24547 THREEDEG
024285,003494: 32,2525 64532 NORMEXIT # YES -- NORMAL EXIT
024286,003495:
024287,003496: 32,2526 77776 EXIT # ERROR EXIT 2
024288,003497: 32,2527 34752 CAF BIT2 # SET ERROR CODE
024289,003498: 32,2530 54154 TS MPAC
024290,003499: 32,2531 12535 TCF OUT22.1
024291,003500:
024292,003501: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT -- SET MPAC EQUAL ZERO
024293,003502: 32,2533 34755 CAF ZERO
024294,003503: 32,2534 54154 TS MPAC
024295,003504: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024296,003505: 32,2536 04640 TC BANKJUMP
024297,003506: 32,2537 30101 CHEXERR CAE FLAGWRD5
024298,003507: 32,2540 74742 MASK RNGSCBIT
024299,003508: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024300,003509: 32,2542 12404 TCF READRDOT # YES -- TAKE ANOTHER READING
024301,003510:
024302,003511: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024303,003512: 32,2544 54154 TS MPAC
024304,003513: 32,2545 02535 TC OUT22.1
024305,003514: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024306,003515:
024307,003516: 32,2550 1100 RRLOSVEC EQUALS RRTARGET
024308,003517:
024309,003518: # Page 584
024310,003519: # PROGRAM NAME -- LRS22.2 (DATA READ SUBROUTINE 2)
024311,003520: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 4-11-67
024312,003521:
024313,003522: # FUNCTIONAL DESCRIPTION:
024314,003523: # (Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003)
024315,003524: # 2) CHECKS IF THE RR LOS (I.E., THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024316,003525:
024317,003526: # CALLING SEQUENCE: BANKCALL FOR LRS22.2
024318,003527:
024319,003528: # SUBROUTINES CALLED: G+N, AUTO, SETMAXDB
024320,003529:
024321,003530: # NORMAL EXIT: RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024322,003531:
024323,003532: # ERROR EXIT: RETURN TO CALLER WITH MPAC SET TO 00001 -- RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS.
024324,003533:
024325,003534: # ALARMS: NONE
024326,003535:
024327,003536: # ERASABLE INITIALIZATION REQUIRED:
024328,003537: # RRLOSVEC -- THE RR LINE-OF-SIGHT VECTOR -- A HALF UNIT VECTOR COMPUTED BY LRS22.1
024329,003538: # RM -- RR RANGE, METERS B-29, FROM LRS22.1
024330,003539: # BIT 14 CHANNEL 31 -- INDICATES AUTOPILOT IS IN AUTO MODE
024331,003540:
024332,003541: # DEBRIS -- A,L,Q,MPAC -- PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024333,003542:
024334,003543: 24,2000 SETLOC P20S
024335,003544: 24,2000 BANK
024336,003545: 24,3334 04645 LRS22.2 TC MAKECADR
024337,003546: 24,3335 55737 TS LRS22.1X
024338,003547: 24,3336 06042 TC INTPRET
024339,003548: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024340,003549: 24,3337 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIT
024341,003550: 24,3340 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024342,003551: # LOS VECTOR, A HALF UNIT VECTOR
024343,003552: # IN NAV BASE AXES)
024344,003553: 24,3341 50025 DSU BMN
024345,003554: 24,3342 11356 30DEG
024346,003555: 24,3343 51350 OKEXIT # NORMAL EXIT -- WITHIN 30 DEG.
024347,003556: 24,3344 77776 EXIT # ERROR EXIT -- NOT WITHIN 30 DEG.
024348,003557: 24,3345 34753 CAF BIT1 # SETS ERROR CODE IN MPAC
024349,003558: 24,3346 54154 TS MPAC
024350,003559: 24,3347 13353 TCF OUT22.2
024351,003560: 24,3350 77776 OKEXIT EXIT # NORMAL EXIT -- SET MPAC = ZERO
024352,003561:
024353,003562: # Page 584
024354,003563: 24,3351 34755 CAF ZERO
024355,003564: 24,3352 54154 TS MPAC
024356,003565: 24,3353 31737 OUT22.2 CAE LRS22.1X
024357,003566: 24,3354 04640 TC BANKJUMP
024358,003567:
024359,003568: 24,3355 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024360,003569:
024361,003570: # Page 585
024362,003571: # PROGRAM NAME -- LSR22.3 DATE -- 29 MAY 1967
024363,003572: # MOD. NO 3 LOG SECTION -- P20-P25
024364,003573: # MOD. BY -- DANFORTH ASSEMBLY LEMP20S REV 10
024365,003574:
024366,003575: # FUNCTIONAL DESCRIPTION:
024367,003576: # THIS ROUTINE COMPUTES THE B-VECTORS ADN DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024368,003577: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024369,003578: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024370,003579:
024371,003580: # CALLING SEQUENCE:
024372,003581: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024373,003582: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024374,003583: # COMPUTED STATE VECTOR DEVATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024375,003584: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024376,003585: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024377,003586: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024378,003587:
024379,003588: # SUBROUTINES CALLED:
024380,003589: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024381,003590: # GETULC RADARANG INCORP2 NBSM INTSTALL
024382,003591:
024383,003592: # OUTPUT:
024384,003593: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024385,003594: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024386,003595: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024387,003596: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024388,003597: # UPDATED W-MATRIX
024389,003598:
024390,003599: # ERASABLE INITIALIZATION REQUIRED:
024391,003600: # LM AND CSM STATE VECTORS
024392,003601: # W-MATRIX
024393,003602: # MARK TIME IN MKTIME
024394,003603: # RADAR RANGE IN RM METERS B-29
024395,003604: # RANGE RATE IN RDOTM METERS/CSES B-7
024396,003605: # SHAFT ANGLE IN RRSHAFT REVS. B0
024397,003606: # TRUNNION ANGLE IN RRTRUN REVS. B0
024398,003607: # GIMBAL ANGLES INNER IN AIG
024399,003608: # MIDDLE IN AMG
024400,003609: # OUTER IN ACG
024401,003610: # REFSMMAT
024402,003611: # RENDWFLG
024403,003612: # NOANGFLG
024404,003613: # VEHUPFLG
024405,003614:
024406,003615: # DEBRIS:
024407,003616: # PUSHLIST -- ALL
024408,003617: # MX, MY, MZ (VECTORS)
024409,003618: # Page 586
024410,003619: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024411,003620:
024412,003621: 13,2207 BANK 13
024413,003622: 26,2000 SETLOC P20S3
024414,003623: 26,2000 BANK
024415,003624:
024416,003625: 26,2416 E7,1456 EBANK= LOSCOUNT
024417,003626: 26,2416 COUNT* $$/LSR22
024418,003627: 26,2416 77624 LSR22.3 CALL
024419,003628: 26,2417 11210 GRP2PC
024420,003629: 26,2420 43014 BON SET
024421,003630: 26,2421 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024422,003631: 26,2422 55200 LSR22.4 # YES
024423,003632: 26,2423 02466 DMENFLG
024424,003633: 26,2424 45014 BOFF CALL
024425,003634: 26,2425 00747 VEHUPFLG
024426,003635: 26,2426 54460 DOLEM
024427,003636: 26,2427 27410 INTSTALL
024428,003637: 26,2430 45014 CLEAR CALL # LM PRECISION INTEGRATION
024429,003638: 26,2431 01674 VINTFLAG
024430,003639: 26,2432 26643 SETIFLGS
024431,003640: 26,2433 77624 CALL
024432,003641: 26,2434 55242 INTGRCAL
024433,003642: 26,2435 77624 CALL
024434,003643: 26,2436 11210 GRP2PC
024435,003644: 26,2437 77624 CALL
024436,003645: 26,2440 27410 INTSTALL
024437,003646: 26,2441 43014 CLEAR BOFF
024438,003647: 26,2442 01676 DIM0FLAG
024439,003648: 26,2443 02756 RENDWFLG
024440,003649: 26,2444 54450 NOTWCSM
024441,003650: 26,2445 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024442,003651: 26,2446 01476 DIM0FLAG
024443,003652: 26,2447 01475 D6OR9FLG
024444,003653: 26,2450 43014 NOTWCSM SET CLEAR
024445,003654: 26,2451 01474 VINTFLAG
024446,003655: 26,2452 01673 INTYPFLG
024447,003656: 26,2453 45014 SET CALL
024448,003657: 26,2454 01472 STATEFLG
024449,003658: 26,2455 55242 INTGRCAL
024450,003659: 26,2456 77650 GOTO
024451,003660: 26,2457 54510 MARKTEST
024452,003661: 26,2460 77624 DOLEM CALL
024453,003662: 26,2461 27410 INTSTALL
024454,003663: 26,2462 45014 SET CALL
024455,003664: 26,2463 01474 VINTFLAG
024456,003665: 26,2464 26643 SETIFLGS
024457,003666: 26,2465 77624 CALL
024458,003667: 26,2466 55242 INTGRCAL
024459,003668: # Page 587
024460,003669: 26,2467 77624 CALL
024461,003670: 26,2470 11210 GRP2PC
024462,003671: 26,2471 77624 CALL
024463,003672: 26,2472 27410 INTSTALL
024464,003673: 26,2473 43014 CLEAR BOFF
024465,003674: 26,2474 01676 DIM0FLAG
024466,003675: 26,2475 02756 RENDWFLG
024467,003676: 26,2476 54502 NOTWLEM
024468,003677: 26,2477 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024469,003678: 26,2500 01476 DIM0FLAG
024470,003679: 26,2501 01475 D6OR9FLG
024471,003680: 26,2502 43014 NOTWLEM CLEAR CLEAR
024472,003681: 26,2503 01673 INTYPFLG
024473,003682: 26,2504 01674 VINTFLAG
024474,003683: 26,2505 45014 SET CALL
024475,003684: 26,2506 01472 STATEFLG
024476,003685: 26,2507 55242 INTGRCAL
024477,003686: 26,2510 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024478,003687: 26,2511 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024479,003688: 26,2512 54514 RANGEBQ
024480,003689: 26,2513 55251 WLINIT # YES -- REINITIALIZE
024481,003690: 26,2514 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024482,003691: 26,2515 04307 SURFFLAG
024483,003692: 26,2516 54524 RANGEBQ1
024484,003693: 26,2517 34755 CA ZERO
024485,003694: 26,2520 55745 TS R65CNTR
024486,003695: 26,2521 04616 TC BANKCALL
024487,003696: 26,2522 46123 CADR R65LEM
024488,003697: 26,2523 06042 TC INTPRET
024489,003698: 26,2524 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024490,003699: 26,2525 00000 0
024491,003700: 26,2526 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024492,003701: 26,2527 54532 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024493,003702: 26,2530 77714 INCR,2
024494,003703: 26,2531 00002 2
024495,003704: 26,2532 45134 SETX2 SXA,2 CALL
024496,003705: 26,2533 03720 SCALSHFT # 0 -- MOON. 2 -- EARTH.
024497,003706: 26,2534 11210 GRP2PC
024498,003707: 26,2535 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024499,003708: 26,2536 00001 1
024500,003709: 26,2537 01356 WHCHREAD
024501,003710: 26,2540 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024502,003711: 26,2541 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024503,003712: 26,2542 20635 28D
024504,003713: 26,2543 77634 RTB
024505,003714: 26,2544 21634 TPMODE # AND SAVE IN 20D
024506,003715: 26,2545 00025 STORE 20D
024507,003716: 26,2546 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024508,003717: 26,2547 55333 GETULC # B-VECTORS FOR RANGE
024509,003718: 26,2550 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024510,003719: # Page 588
024511,003720: 26,2551 00707 VEHUPFLG
024512,003721: 26,2552 54553 +1
024513,003722: 26,2553 27525 STOVL BVECTOR
024514,003723: 26,2554 06524 ZEROVECS
024515,003724: 26,2555 03533 STORE BVECTOR +6 # B1
024516,003725: 26,2556 17541 STODL BVECTOR +12D # B2
024517,003726: 26,2557 00045 36D
024518,003727: 26,2560 44257 SRR* BDSU
024519,003728: 26,2561 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024520,003729: 26,2562 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024521,003730: 26,2563 77657 SLR*
024522,003731: 26,2564 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024523,003732: 26,2565 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024524,003733: 26,2566 00045 36D # RLC B-29/B-27
024525,003734: 26,2567 63501 NORM DSQ # NORMALIZE AND SQUARE
024526,003735: 26,2570 00047 X1
024527,003736: 26,2571 53605 DMP SR*
024528,003737: 26,2572 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024529,003738: 26,2573 20577 0 -2,1 # UNNORMALIZE
024530,003739: 26,2574 53657 SR* SR*
024531,003740: 26,2575 20601 0,1
024532,003741: 26,2576 57176 0,2
024533,003742: 26,2577 47057 SR* RTB
024534,003743: 26,2600 57176 0,2
024535,003744: 26,2601 21634 TPMODE
024536,003745: 26,2602 02707 STORE VARIANCE # B-40
024537,003746: 26,2603 76276 DCOMP TAD
024538,003747: 26,2604 00025 20D # B-40
024539,003748: 26,2605 72240 BMN TLOAD
024540,003749: 26,2606 54611 QOK
024541,003750: 26,2607 00025 20D # B-40
024542,003751: 26,2610 02707 STORE VARIANCE
024543,003752: 26,2611 77624 QOK CALL
024544,003753: 26,2612 55401 LGCUPDTE
024545,003754:
024546,003755: 26,2613 45131 SSP CALL
024547,003756: 26,2614 01357 WHCHREAD
024548,003757: 26,2615 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024549,003758: 26,2616 11210 GRP2PC
024550,003759: 26,2617 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024551,003760: 26,2620 55333 GETULC
024552,003761: 26,2621 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024553,003762: 26,2622 00045 36D # AND SHIFT TO B-23
024554,003763: 26,2623 57202 0 -4,2
024555,003764: 26,2624 24045 STOVL 36D # THEN STORE BACK IN 36D
024556,003765: 26,2625 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024557,003766: 26,2626 00707 VEHUPFLG
024558,003767: 26,2627 54630 +1
024559,003768: 26,2630 77761 VXSC
024560,003769: 26,2631 00045 36D # B1 = RLC (B-24/B-22)
024561,003770: # Page 589
024562,003771: 26,2632 27533 STOVL BVECTOR +6
024563,003772: 26,2633 01653 NUVLEM
024564,003773: 26,2634 53257 VSR* VAD
024565,003774: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024566,003775: 26,2636 01667 VCVLEM # EARTH B-7. MOON B-5
024567,003776: 26,2637 53715 PDVL VSR* # VL TO PD6
024568,003777: 26,2640 01601 NUVCSM
024569,003778: 26,2641 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024570,003779: 26,2642 52255 VAD VSU
024571,003780: 26,2643 01615 VCVCSM
024572,003781: 26,2644 50315 PDVL DOT # VC - VL = VLC TO PD6
024573,003782: 26,2645 00001 0
024574,003783: 26,2646 00007 6
024575,003784: 26,2647 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024576,003785: 26,2650 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024577,003786: 26,2651 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024578,003787: 26,2652 01773 RATEVAR
024579,003788: 26,2653 02707 STORE VARIANCE
024580,003789: 26,2654 54335 SLOAD SR
024581,003790: 26,2655 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024582,003791: 26,2656 20621 16D # SHIFT TO DP (B-4)
024583,003792: 26,2657 00031 STORE 24D # AND SAVE IN 24D
024584,003793: 26,2660 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024585,003794: 26,2661 02707 VARIANCE
024586,003795: 26,2662 54666 VOK # BRANCH -- NO
024587,003796: 26,2663 77745 DLOAD # YES -- USE MINIMUM VARIANCE
024588,003797: 26,2664 00031 24D
024589,003798: 26,2665 02707 STORE VARIANCE
024590,003799: 26,2666 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024591,003800: 26,2667 53725 PDDL SLR* # TO B-10/B-8
024592,003801: 26,2670 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024593,003802: 26,2671 56577 0 -1,2 # B-7 TO B-10/B-8
024594,003803: 26,2672 77625 DSU
024595,003804: 26,2673 77675 DMPR
024596,003805: 26,2674 00045 36D
024597,003806: 26,2675 27547 STOVL DELTAQ # B-33
024598,003807: 26,2676 00001 0 # NOW GET B0
024599,003808: 26,2677 47235 VXV VXV # (ULC X VLC) X ULC
024600,003809: 26,2700 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024601,003810: 26,2701 00707 VEHUPFLG
024602,003811: 26,2702 54703 +1
024603,003812: 26,2703 77657 VSR*
024604,003813: 26,2704 57200 0 -2,2 # SCALED B-5
024605,003814: 26,2705 27525 STOVL BVECTOR
024606,003815: 26,2706 06524 ZEROVECS
024607,003816: 26,2707 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024608,003817: 26,2710 27541 STOVL BVECTOR +12D
024609,003818: 26,2711 03525 BVECTOR
024610,003819: 26,2712 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024611,003820: 26,2713 00025 20D # SHIFT COUNT IN 20D
024612,003821: # Page 590
024613,003822: 26,2714 51575 VLOAD ABVAL
024614,003823: 26,2715 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024615,003824: 26,2716 71301 NORM DLOAD
024616,003825: 26,2717 00027 22D # SHIFT COUNT IN 22D
024617,003826: 26,2720 00027 22D # FIND WHICH SHIFT IS SMALLER
024618,003827: 26,2721 50025 DSU BMN # BRANCH -- B0 HAS A SMALLER SHIFT COUNT
024619,003828: 26,2722 00025 20D
024620,003829: 26,2723 54727 VOK1
024621,003830: 26,2724 52150 LXA,1 GOTO
024622,003831: 26,2725 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024623,003832: 26,2726 54731 VOK2
024624,003833: 26,2727 77750 VOK1 LXA,1
024625,003834: 26,2730 00024 20D
024626,003835: 26,2731 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024627,003836: 26,2732 03525 BVECTOR # WITH THI SSHIFT COUNT
024628,003837: 26,2733 20201 0,1
024629,003838: 26,2734 27525 STOVL BVECTOR
024630,003839: 26,2735 03533 BVECTOR +6
024631,003840: 26,2736 77657 VSL*
024632,003841: 26,2737 20201 0,1
024633,003842: 26,2740 17533 STODL BVECTOR +6
024634,003843: 26,2741 03547 DELTAQ
024635,003844: 26,2742 77657 SL*
024636,003845: 26,2743 20201 0,1
024637,003846: 26,2744 03547 STORE DELTAQ
024638,003847: 26,2745 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024639,003848: 26,2746 00045 36D
024640,003849: 26,2747 20200 0 -1,1
024641,003850: 26,2750 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024642,003851: 26,2751 02707 VARIANCE
024643,003852: 26,2752 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024644,003853: 26,2753 21634 TPMODE
024645,003854: 26,2754 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024646,003855: 26,2755 55401 LGCUPDTE
024647,003856:
024648,003857: 26,2756 77624 CALL
024649,003858: 26,2757 11210 GRP2PC
024650,003859: 26,2760 77414 BON EXIT # ARE ANGLES TO BE DONE
024651,003860: 26,2761 04307 SURFFLAG
024652,003861: 26,2762 55176 RENDEND # NO
024653,003862: 26,2763 E7,1457 EBANK= AIG
024654,003863: 26,2763 33332 MXMYMZ CAF AIGBANK
024655,003864: 26,2764 54006 TS BBANK
024656,003865: 26,2765 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024657,003866: 26,2766 54765 TS CDUSPOT
024658,003867: 26,2767 31460 CA AMG
024659,003868: 26,2770 54767 TS CDUSPOT +2
024660,003869: 26,2771 31461 CA AOG
024661,003870: 26,2772 54771 TS CDUSPOT +4 # GIMBAL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024662,003871: 26,2773 06042 TC INTPRET
024663,003872: # Page 591
024664,003873: 26,2774 45175 VLOAD CALL
024665,003874: 26,2775 06522 UNITX
024666,003875: 26,2776 47666 TRG*NBSM
024667,003876: 26,2777 76505 VXM VSL1
024668,003877: 26,3000 01734 REFSMMAT
024669,003878: 26,3001 27677 STOVL MX
024670,003879: 26,3002 06520 UNITY
024671,003880: 26,3003 77624 CALL
024672,003881: 26,3004 47675 *NBSM*
024673,003882: 26,3005 76505 VXM VSL1
024674,003883: 26,3006 01734 REFSMMAT
024675,003884: 26,3007 27705 STOVL MY
024676,003885: 26,3010 06516 UNITZ
024677,003886: 26,3011 77624 CALL
024678,003887: 26,3012 47675 *NBSM*
024679,003888: 26,3013 76505 VXM VSL1
024680,003889: 26,3014 01734 REFSMMAT
024681,003890: 26,3015 37713 SHAFTBQ STCALL MZ
024682,003891: 26,3016 55361 RADARANG
024683,003892: 26,3017 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024684,003893: 26,3020 01357 WHCHREAD
024685,003894: 26,3021 00003 DEC 3 B-14
024686,003895: 26,3022 03724 ULC
024687,003896: 26,3023 72441 DOT SL1
024688,003897: 26,3024 03677 MX
024689,003898: 26,3025 24023 STOVL SINTH # 18D
024690,003899: 26,3026 03724 ULC
024691,003900: 26,3027 72441 DOT SL1
024692,003901: 26,3030 03713 MZ
024693,003902: 26,3031 34021 STCALL COSTH # 16D
024694,003903: 26,3032 26506 ARCTAN
024695,003904: 26,3033 41221 BDSU DMP
024696,003905: 26,3034 03736 RRSHAFT
024697,003906: 26,3035 15441 2PI/8
024698,003907: 26,3036 41472 SL3R PUSH
024699,003908: 26,3037 52545 DLOAD SL3
024700,003909: 26,3040 01701 X789
024701,003910: 26,3041 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024702,003911: 26,3042 56176 0,2
024703,003912: 26,3043 53605 DMP SRR*
024704,003913: 26,3044 03722 RXZ
024705,003914: 26,3045 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024706,003915: 26,3046 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
024707,003916: 26,3047 03724 ULC
024708,003917: 26,3050 76435 VXV VSL1
024709,003918: 26,3051 03705 MY
024710,003919: 26,3052 77656 UNIT
024711,003920: 26,3053 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024712,003921: 26,3054 00747 VEHUPFLG
024713,003922: 26,3055 55056 +1
024714,003923: # Page 592
024715,003924: 26,3056 27525 STOVL BVECTOR
024716,003925: 26,3057 06524 ZEROVECS
024717,003926: 26,3060 03533 STORE BVECTOR +6
024718,003927: 26,3061 17541 STODL BVECTOR +12D
024719,003928: 26,3062 03722 RXZ
024720,003929: 26,3063 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024721,003930: 26,3064 20577 0 -2,1
024722,003931: 26,3065 56176 0,2
024723,003932: 26,3066 03541 STORE BVECTOR +12D
024724,003933: 26,3067 77735 SLOAD
024725,003934: 26,3070 02011 SHAFTVAR
024726,003935: 26,3071 41215 DAD DMP
024727,003936: 26,3072 15436 IMUVAR # RAD**2 B12
024728,003937: 26,3073 03722 RXZ
024729,003938: 26,3074 41257 SRR* DMP
024730,003939: 26,3075 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024731,003940: 26,3076 03722 RXZ
024732,003941: 26,3077 53657 SR* SR*
024733,003942: 26,3100 20577 0 -2,1
024734,003943: 26,3101 57176 0,2
024735,003944: 26,3102 47057 SR* RTB
024736,003945: 26,3103 57176 0,2
024737,003946: 26,3104 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
024738,003947: 26,3105 36707 STCALL VARIANCE # B-40
024739,003948: 26,3106 55401 LGCUPDTE
024740,003949:
024741,003950: 26,3107 77624 CALL
024742,003951: 26,3110 11210 GRP2PC
024743,003952: 26,3111 77624 TRUNBQ CALL
024744,003953: 26,3112 55361 RADARANG
024745,003954: 26,3113 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
024746,003955: 26,3114 01357 WHCHREAD
024747,003956: 26,3115 00004 DEC 4 B-14
024748,003957: 26,3116 03724 ULC
024749,003958: 26,3117 76435 VXV VSL1
024750,003959: 26,3120 03705 MY
024751,003960: 26,3121 76435 VXV VSL1 # (ULC X MY) X ULC
024752,003961: 26,3122 03724 ULC
024753,003962: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024754,003963: 26,3124 00747 VEHUPFLG
024755,003964: 26,3125 55126 +1
024756,003965: 26,3126 27525 STOVL BVECTOR
024757,003966: 26,3127 06524 ZEROVECS
024758,003967: 26,3130 03533 STORE BVECTOR +6
024759,003968: 26,3131 17541 STODL BVECTOR +12D
024760,003969: 26,3132 03722 RXZ
024761,003970: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024762,003971: 26,3134 20577 0 -2,1
024763,003972: 26,3135 56176 0,2
024764,003973: 26,3136 03543 STORE BVECTOR +14D
024765,003974: # Page 593
024766,003975: 26,3137 77735 SLOAD
024767,003976: 26,3140 02012 TRUNVAR
024768,003977: 26,3141 41215 DAD DMP
024769,003978: 26,3142 15436 IMUVAR
024770,003979: 26,3143 03722 RXZ
024771,003980: 26,3144 41257 SRR* DMP
024772,003981: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024773,003982: 26,3146 03722 RXZ
024774,003983: 26,3147 53657 SR* SR*
024775,003984: 26,3150 20577 0 -2,1
024776,003985: 26,3151 57176 0,2
024777,003986: 26,3152 47057 SR* RTB
024778,003987: 26,3153 57176 0,2
024779,003988: 26,3154 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
024780,003989: 26,3155 16707 STODL VARIANCE
024781,003990: 26,3156 03732 SINTHETA
024782,003991: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
024783,003992: 26,3160 03734 RRTRUN
024784,003993: 26,3161 56405 DMP SL3R
024785,003994: 26,3162 15441 2PI/8
024786,003995: 26,3163 52525 PDDL SL3
024787,003996: 26,3164 01703 X789 +2
024788,003997: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024789,003998: 26,3166 56176 0,2
024790,003999: 26,3167 53605 DMP SRR*
024791,004000: 26,3170 03722 RXZ
024792,004001: 26,3171 21601 0,1
024793,004002: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
024794,004003: 26,3173 55401 LGCUPDTE
024795,004004: 26,3174 77624 CALL
024796,004005: 26,3175 11210 GRP2PC
024797,004006: 26,3176 77650 RENDEND GOTO
024798,004007: 26,3177 50562 R22LEM93
024799,004008:
024800,004009: # FUNCTIONAL DESCRIPTION:
024801,004010: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
024802,004011: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE BE-VECTORS AND DELTA Q FOR RANGE
024803,004012: # AND RANGE RATE MEASURED BY TEH RENDEZVOUS RADAR
024804,004013:
024805,004014: # SUBROUTINES CALLED:
024806,004015: # INTSTALL LGCUPDTE INCORP1 RP-TO-R
024807,004016: # INTEGRV GETULC INCORP2
024808,004017:
024809,004018: # OUTPUT
024810,004019: # CORRECTED CSM STATE VECTOR (PERMANENT)
024811,004020: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024812,004021: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
024813,004022: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024814,004023: # UPDATED W-MATRIX
024815,004024: # Page 594
024816,004025:
024817,004026: # ERASABLE INITIALIZATION REQUIRED
024818,004027: # LM AND CSM STATE VECTORS
024819,004028: # W-MATRIX
024820,004029: # MARK TIME IN MKTIME
024821,004030: # RADAR RANGE IN RM METERS B-29
024822,004031: # RANGE RATE IN RDOTM METERS/CSEC B-7
024823,004032: # VEHUPFLG
024824,004033:
024825,004034: 26,3200 77624 LSR22.4 CALL
024826,004035: 26,3201 27410 INTSTALL
024827,004036: 26,3202 43014 SET CLEAR
024828,004037: 26,3203 01472 STATEFLG
024829,004038: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
024830,004039: 26,3205 77624 CALL
024831,004040: 26,3206 55242 INTGRCAL
024832,004041: 26,3207 77624 CALL
024833,004042: 26,3210 11210 GRP2PC
024834,004043: 26,3211 45014 CLEAR CALL
024835,004044: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
024836,004045: 26,3213 27410 INTSTALL
024837,004046: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
024838,004047: 26,3215 03463 MARKCTR
024839,004048: 26,3216 55231 INITWMX6 # YES, INITIALIZE 6X6 W-MATRIX
024840,004049: 26,3217 43014 CLEAR SET
024841,004050: 26,3220 01675 D6OR9FLG
024842,004051: 26,3221 01476 DIM0FLAG
024843,004052: 26,3222 43014 SET CLEAR
024844,004053: 26,3223 01474 VINTFLAG
024845,004054: 26,3224 01673 INTYPFLG
024846,004055: 26,3225 77624 CALL
024847,004056: 26,3226 55242 INTGRCAL
024848,004057: 26,3227 77650 GOTO
024849,004058: 26,3230 54514 RANGEBQ
024850,004059:
024851,004060: 26,3231 77624 INITWMX6 CALL
024852,004061: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
024853,004062: 26,3233 45014 SET CALL
024854,004063: 26,3234 01474 VINTFLAG
024855,004064: 26,3235 26643 SETIFLGS
024856,004065: 26,3236 77624 CALL
024857,004066: 26,3237 55242 INTGRCAL
024858,004067: 26,3240 77650 GOTO
024859,004068: 26,3241 54514 RANGEBQ
024860,004069:
024861,004070: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
024862,004071:
024863,004072: 26,3242 71220 INTGRCAL STQ DLOAD
024864,004073: 26,3243 03675 IGRET
024865,004074: 26,3244 03755 MKTIME
024866,004075: # Page 595
024867,004076: 26,3245 34041 STCALL TDEC1
024868,004077: 26,3246 27133 INTEGRV
024869,004078: 26,3247 77650 GOTO
024870,004079: 26,3250 03675 IGRET
024871,004080:
024872,004081: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
024873,004082: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
024874,004083:
024875,004084: 26,3251 E5,1400 EBANK= W
024876,004085: 26,3251 77776 WLINIT EXIT
024877,004086: 26,3252 33331 CAF WBANK
024878,004087: 26,3253 54006 TS BBANK
024879,004088: 26,3254 33437 CAF WSIZE
024880,004089: 26,3255 55256 TS W.IND
024881,004090: 26,3256 34755 CAF ZERO
024882,004091:
024883,004092: # [All source code from addresses 26,3257-26,3321 inclusive is missing from the program
024884,004093: # listing. However, Mr. Gary Neff has provided a replacement scan of this page, and the
024885,004094: # source-code below has come from that replacement scan.]
024886,004095: 26,3257 51256 INDEX W.IND
024887,004096: 26,3260 55400 TS W
024888,004097: 26,3261 11256 CCS W.IND
024889,004098: 26,3262 03255 TC -5
024890,004099: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
024891,004100: 26,3264 54006 TS BBANK
024892,004101: 26,3265 06042 TC INTPRET
024893,004102: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
024894,004103: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
024895,004104: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
024896,004105: 26,3271 02001 WRENDPOS
024897,004106: 26,3272 77650 GOTO
024898,004107: 26,3273 55276 WPOSTORE
024899,004108: 26,3274 77735 WLSRFPOS SLOAD
024900,004109: 26,3275 02007 WSURFPOS
024901,004110: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
024902,004111: 26,3277 20606 5
024903,004112: 26,3300 02401 STORE W
024904,004113: 26,3301 02411 STORE W +8D
024905,004114: 26,3302 02421 STORE W +16D
024906,004115: 26,3303 67214 BON SLOAD
024907,004116: 26,3304 04307 SURFFLAG
024908,004117: 26,3305 55311 WLSRFVEL
024909,004118: 26,3306 02002 WRENDVEL
024910,004119: 26,3307 77650 GOTO
024911,004120: 26,3310 55313 WVELSTOR
024912,004121: 26,3311 77735 WLSRFVEL SLOAD
024913,004122: 26,3312 02010 WSURFVEL
024914,004123: 26,3313 02511 WVELSTOR STORE W +72D
024915,004124: 26,3314 02521 STORE W +80D
024916,004125: 26,3315 02531 STORE W +88D
024917,004126: 26,3316 77735 SLOAD
024918,004127: 26,3317 02003 WSHAFT
024919,004128: 26,3320 02621 STORE W +144D
024920,004129: 26,3321 77735 SLOAD
024921,004130: # Page 596
024922,004131: 26,3322 02004 WTRUN
024923,004132: 26,3323 02631 STORE W +152D
024924,004133: 26,3324 66214 SET SSP # SET RENDWFLG -- W-MATRIX VALID
024925,004134: 26,3325 02476 RENDWFLG
024926,004135: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
024927,004136: 26,3327 00000 0
024928,004137: 26,3330 77616 RVQ
024929,004138:
024930,004139: 26,3331 E5,1400 EBANK= W
024931,004140: 26,3331 54065 WBANK BBCON WLINIT
024932,004141: 26,3332 E7,1457 EBANK= AIG
024933,004142: 26,3332 54067 AIGBANK BBCON LSR22.3
024934,004143:
024935,004144: # GETULC
024936,004145:
024937,004146: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
024938,004147: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
024939,004148: # MAGNITUDE IN 36D.
024940,004149:
024941,004150: 26,3333 77201 GETULC SETPD VLOAD
024942,004151: 26,3334 00001 0
024943,004152: 26,3335 01645 DELTALEM
024944,004153: 26,3336 77754 LXA,2
024945,004154: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
024946,004155: 26,3340 53257 VSR* VAD
024947,004156: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024948,004157: 26,3342 01661 RCVLEM
024949,004158: 26,3343 53715 PDVL VSR*
024950,004159: 26,3344 01573 DELTACSM
024951,004160: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024952,004161: 26,3346 52255 VAD VSU
024953,004162: 26,3347 01607 RCVCSM
024954,004163: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
024955,004164: 26,3351 21725 NORMUNX1
024956,004165: 26,3352 17724 STODL ULC
024957,004166: 26,3353 00045 36D
024958,004167: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
024959,004168: 26,3355 20201 0,1
024960,004169: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
024961,004170: 26,3357 03724 ULC
024962,004171: 26,3360 77616 RVQ
024963,004172:
024964,004173: # RADARANG
024965,004174:
024966,004175: # THIS SUBROUTINE COMPUTS SINTHETA = -ULC DOT MY
024967,004176: # RXZ = (SQRT (1-SINTHETA**2))RLC
024968,004177: # OUTPUT
024969,004178: # ULC IN ULC, PD0
024970,004179: # RLC IN PD36D
024971,004180: # SIN THETA IN SINTHETA AND PD6
024972,004181: # RXZ NORM IN RXZ (N IN X1)
024973,004182: # Page 597
024974,004183:
024975,004184: 26,3361 45020 RADARANG STQ CALL
024976,004185: 26,3362 03675 RDRET
024977,004186: 26,3363 55333 GETULC
024978,004187: 26,3364 50276 VCOMP DOT
024979,004188: 26,3365 03705 MY
024980,004189: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
024981,004190: 26,3367 03732 STORE SINTHETA
024982,004191: 26,3370 44316 DSQ BDSU
024983,004192: 26,3371 06514 DP1/4TH # 1-(SIN THETA)**2
024984,004193: 26,3372 41366 SQRT DMP
024985,004194: 26,3373 00045 36D
024986,004195: 26,3374 60352 SL1 NORM
024987,004196: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
024988,004197: 26,3376 03722 STORE RXZ
024989,004198: 26,3377 77650 GOTO # EXIT
024990,004199: 26,3400 03675 RDRET
024991,004200: 26,3401 45020 LGCUPDTE STQ CALL
024992,004201: 26,3402 03675 LGRET
024993,004202: 26,3403 46533 INCORP1
024994,004203: 26,3404 51575 VLOAD ABVAL
024995,004204: 26,3405 02673 DELTAX +6
024996,004205: 26,3406 53754 LXA,2 SRR*
024997,004206: 26,3407 03720 SCALSHFT # 0 -- MOON. 2 -- EARTH
024998,004207: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
024999,004208: 26,3411 24317 STOVL R22DISP +2
025000,004209: 26,3412 02665 DELTAX
025001,004210: 26,3413 53646 ABVAL SRR*
025002,004211: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025003,004212: 26,3415 00315 STORE R22DISP
025004,004213: 26,3416 54335 SLOAD SR
025005,004214: 26,3417 02005 RMAX
025006,004215: 26,3420 20613 10D
025007,004216: 26,3421 50025 DSU BMN
025008,004217: 26,3422 00315 R22DISP
025009,004218: 26,3423 50566 R22LEM96 # GO DISPLAY
025010,004219: 26,3424 45335 SLOAD DSU
025011,004220: 26,3425 02006 VMAX
025012,004221: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025013,004222: 26,3427 77640 BMN
025014,004223: 26,3430 50566 R22LEM96 # GO DISPLAY
025015,004224: 26,3431 77624 ASTOK CALL
025016,004225: 26,3432 46745 INCORP2
025017,004226: 26,3433 77650 GOTO
025018,004227: 26,3434 03675 LGRET
025019,004228: 26,3435 00103 03370 IMUVAR 2DEC 1 E-6 B12 # RAD**2
025020,004229:
025021,004230: 26,3437 00241 WSIZE DEC 161 B-14
025022,004231: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025023,004232:
025024,004233: 26,3442 E7,1456 EBANK= LOSCOUNT
025025,004234:
025026,004235: # Page 598
025027,004236: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025028,004237: # MCD NO. 0 BY P. VOLANTE, SDC DATE 1-15-67
025029,004238:
025030,004239: # FUNCTIONAL DESCRIPTION
025031,004240:
025032,004241: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025033,004242: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN TEH RADAR BORESIGHT AND THE
025034,004243: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025035,004244: # ATTITUDE MANEUVER.
025036,004245:
025037,004246: # CALLING SEQUENCE -- BANKCALL FOR LRS24.1
025038,004247:
025039,004248: # SUBROUTINES CALLED
025040,004249:
025041,004250: # LEMCONIC R61LEM
025042,004251: # CSMCONIC RRDESSM
025043,004252: # JOBDELAY FLAGDOWN
025044,004253: # WAITLIST FLAGUP
025045,004254: # RRNB BANKCALL
025046,004255:
025047,004256: # EXIT -- TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025048,004257:
025049,004258: # OUTPUT
025050,004259:
025051,004260: # DATAGOOD (SP) -- FOR DISPLAY IN R1 -- 00000 INDICATES NO LOCKON
025052,004261: # 11111 INDICATES LOCKON ACHIEVED
025053,004262: # OMEGAD (SP) -- FOR DISPLAY IN R2 -- ANGLE BETWEEN RR BORESIGNT VECTOR AND THE SPACECRAFT +Z AXIS
025054,004263:
025055,004264: # ERASABLE INITIALIZATION REQUIRED:
025056,004265:
025057,004266: # SEARCH FLAG MUST BE SET
025058,004267: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025059,004268:
025060,004269: # DEBRIS
025061,004270:
025062,004271: # RLMSRCH UXVECT
025063,004272: # VXRLM UYVECT
025064,004273: # LOSDESRD NSRCHPNT
025065,004274: # DATAGOOD OMEGAD
025066,004275: # MPAC PUSHLIST
025067,004276:
025068,004277: 26,3442 COUNT* $$/LRS24
025069,004278: 26,3442 34755 LRS24.1 CAF ZERO
025070,004279: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025071,004280: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025072,004281: 26,3445 00006 EXTEND
025073,004282: # Page 599
025074,004283: 26,3446 05012 WOR CHAN12
025075,004284: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025076,004285: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025077,004286: 26,3451 00006 EXTEND
025078,004287: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025079,004288:
025080,004289: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025081,004290: 26,3454 00004 INHINT
025082,004291: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025083,004292: 26,3456 E7,1456 EBANK= LOSCOUNT
025084,004293: 26,3456 03643 54067 2CADR CALLDGCH
025085,004294:
025086,004295: 26,3460 00003 RELINT
025087,004296: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025088,004297: 26,3462 74736 MASK REMODBIT
025089,004298: 26,3463 00006 EXTEND
025090,004299: 26,3464 15155 BZF ENDOFJOB # YES -- WAIT SIX SECONDS
025091,004300: 26,3465 06042 TC INTPRET
025092,004301:
025093,004302: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025094,004303: 26,3467 21574 LOADTIME
025095,004304: 26,3470 15715 1.5SECS
025096,004305: 26,3471 34041 LRS24.11 STCALL TDEC1
025097,004306: 26,3472 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025098,004307: 26,3473 77775 VLOAD
025099,004308: 26,3474 00001 RATT
025100,004309: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025101,004310: 26,3476 00007 VATT
025102,004311: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025103,004312: 26,3500 00015 TAT
025104,004313: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025105,004314: 26,3502 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025106,004315: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
025107,004316: 26,3504 00001 RATT
025108,004317: 26,3505 03676 RLMSRCH
025109,004318: 26,3506 77656 UNIT
025110,004319: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025111,004320: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025112,004321: 26,3511 47256 UNIT VXV
025113,004322: 26,3512 00001 RATT
025114,004323: 26,3513 77656 UNIT
025115,004324: 26,3514 03704 STORE VXRCM
025116,004325: 26,3515 52375 VLOAD VSU
025117,004326: 26,3516 00007 VATT
025118,004327: 26,3517 03740 SAVLEMV
025119,004328: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025120,004329: 26,3521 01734 REFSMMAT
025121,004330: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025122,004331: 26,3523 53135 SLOAD BZE # CHECK IF N=0
025123,004332: # Page 600
025124,004333: 26,3524 03737 NSRCHPNT
025125,004334: 26,3525 55636 DESGLOS # YES -- DESIGNATE ALONG LOS
025126,004335: 26,3526 53025 DSU BZE # IS N=1
025127,004336: 26,3527 15711 ONEOCT # YES -- CALCULATE X AND Y AXES OF
025128,004337: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025129,004338: 26,3531 77775 VLOAD # NO -- ROTATE X-Y AXES TO NEXT SEARCH POINT
025130,004339: 26,3532 03720 UXVECT
025131,004340: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025132,004341: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025133,004342: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025134,004343: 26,3536 77761 VXSC
025135,004344: 26,3537 15705 SIN60DEG # UX = (COS 60) UXPR + (SIN 60) UYPR
025136,004345: 26,3540 27720 STOVL UXVECT
025137,004346: 26,3541 00015 UXVECTPR
025138,004347: 26,3542 53361 VXSC VAD
025139,004348: 26,3543 06522 COS60DEG
025140,004349: 26,3544 03720 UXVECT
025141,004350: 26,3545 77656 UNIT
025142,004351: 26,3546 27720 STOVL UXVECT
025143,004352: 26,3547 00015 UXVECTPR # UY = (-SIN 60) UXPR + (COS 60) UYPR
025144,004353: 26,3550 77761 VXSC
025145,004354: 26,3551 15705 SIN60DEG
025146,004355: 26,3552 27726 STOVL UYVECT
025147,004356: 26,3553 00023 UYVECTPR
025148,004357: 26,3554 52361 VXSC VSU
025149,004358: 26,3555 06522 COS60DEG
025150,004359: 26,3556 03726 UYVECT
025151,004360: 26,3557 77656 UNIT
025152,004361: 26,3560 03726 STORE UYVECT
025153,004362: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025154,004363: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025155,004364: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025156,004365: 26,3564 64256 UNIT MXV
025157,004366: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025158,004367: 26,3566 77772 VSL1
025159,004368: 26,3567 25101 CONTDESG STOVL RRTARGET
025160,004369: 26,3570 03740 SAVLEMV
025161,004370: 26,3571 01761 STORE LOSVEL
025162,004371: 26,3572 77776 EXIT
025163,004372: 26,3573 00004 INHINT
025164,004373: 26,3574 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025165,004374: 26,3575 52613 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025166,004375: # POINT IN THE PATTERN
025167,004376: 26,3576 44735 CONTDES2 CS CDESBIT
025168,004377: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025169,004378: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025170,004379: 26,3601 54110 TS RADMODES
025171,004380: 26,3602 06042 TC INTPRET
025172,004381:
025173,004382: 26,3603 77624 CALL
025174,004383: # Page 601
025175,004384: 26,3604 52404 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025176,004385:
025177,004386: 26,3605 77776 EXIT
025178,004387: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025179,004388: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025180,004389:
025181,004390: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025182,004391: # SPACECRAFT +Z AXIS
025183,004392: 26,3610 00006 OMEGCALC EXTEND
025184,004393: 26,3611 30036 DCA CDUT
025185,004394: 26,3612 53753 DXCH TANGNB
025186,004395: 26,3613 06042 TC INTPRET
025187,004396: 26,3614 77624 CALL
025188,004397: 26,3615 46041 RRNB
025189,004398: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025190,004399: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025191,004400: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025192,004401: 26,3621 77776 EXIT
025193,004402: 26,3622 05155 TC ENDOFJOB
025194,004403: # Page 602
025195,004404: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM.
025196,004405:
025197,004406: 26,3623 47375 CALCXY VLOAD VXV
025198,004407: 26,3624 03704 VXRCM
025199,004408: 26,3625 03712 LOSDESRD
025200,004409: 26,3626 77656 UNIT
025201,004410: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025202,004411: 26,3630 03712 LOSDESRD
025203,004412: 26,3631 53435 VXV UNIT
025204,004413: 26,3632 03720 UXVECT
025205,004414: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025206,004415: 26,3634 77650 GOTO
025207,004416: 26,3635 55561 OFFCALC
025208,004417:
025209,004418: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025210,004419: 26,3637 03712 LOSDESRD
025211,004420: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025212,004421: 26,3641 52172 VSL1 GOTO
025213,004422: 26,3642 55567 CONTDESG
025214,004423:
025215,004424: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025216,004425: 26,3644 74745 MASK RNDVZBIT
025217,004426: 26,3645 00006 EXTEND
025218,004427: 26,3646 15261 BZF TASKOVER # NO -- EXIT R24
025219,004428: 26,3647 37716 CAF PRIO25 # YES -- SCHEDULE JOB TO DRIVE RADAR TO NEXT
025220,004429: 26,3650 05105 TC FINDVAC # PONT IN SEARCH PATTERN
025221,004430: 26,3651 E7,1675 EBANK= RLMSRCH
025222,004431: 26,3651 03654 54067 2CADR DATGDCHK
025223,004432:
025224,004433: 26,3653 05261 TC TASKOVER
025225,004434:
025226,004435: 26,3654 34750 DATGDCHK CAF BIT4
025227,004436: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025228,004437: 26,3656 02033 RAND CHAN33
025229,004438: 26,3657 00006 EXTEND
025230,004439: 26,3660 13667 BZF STORE1S # YES -- GO TO STORE 11111 FOR DISPLAY IN R1
025231,004440: 26,3661 46245 CS SIX
025232,004441: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025233,004442: 26,3663 00006 EXTEND
025234,004443: 26,3664 13442 BZF LRS24.1 # YES -- RESET N = 0 AND START AROUND AGAIN
025235,004444: 26,3665 25736 INCR NSRCHPNT # NO -- SET N = N+1 AND GO TO
025236,004445: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025237,004446:
025238,004447: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025239,004448: 26,3670 55733 TS DATAGOOD
025240,004449: # Page 603
025241,004450: 26,3671 00004 INHINT
025242,004451: 26,3672 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
025243,004452: 26,3673 52613 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025244,004453: 26,3674 05155 TC ENDOFJOB
025245,004454:
025246,004455: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 -- LOS NOT IN MODE2
025247,004456: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025248,004457: 26,3677 00004 INHINT # REQUIRED IN P20
025249,004458: 26,3700 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025250,004459: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025251,004460: 26,3702 05155 TC ENDOFJOB
025252,004461:
025253,004462: 26,3703 25547 ALL1S DEC 11111 B-14
025254,004463: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025255,004464: 26,3706 23,2521 COS60DEG = DPHALF # (DEC .50)
025256,004465: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025257,004466: 26,3706 UYVECTPR EQUALS 18D
025258,004467: 26,3706 RLMUNIT EQUALS 12D
025259,004468: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025260,004469: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE -- THESE TWO CONSTANTS MUST ****
025261,004470: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025262,004471: # **** ONEOCT NEEDS A LOWER ORDER ****
025263,004472: # **** WORD OF ZEROES ****
025264,004473: 26,3713 01130 6SECONDS DEC 600 B-14
025265,004474: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025266,004475:
025267,004476: 26,3716 23,2523 ZERO/SP EQUALS HI6ZEROS
025268,004477:
025269,004478: 4616 BLOCK 02
025270,004479: 6000 SETLOC FFTAG5
025271,004480: 6000 BANK
025272,004481: 6025 COUNT* $$/P20
025273,004482: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025274,004483: 6026 36031 DCA VB56CADR # GOTOP00H
025275,004484: 6027 15165 TCF SUPDXCHZ
025276,004485: 6030 E7,1471 EBANK= WHOCARES
025277,004486: 6030 03045 66107 VB56CADR 2CADR TRMTRACK
025278,004487:
025279,004488: # Page 604
025280,004489: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025281,004490: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968
025282,004491:
025283,004492: # FUNCTIONAL DESCRIPTION:
025284,004493:
025285,004494: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTES LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025286,004495: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025287,004496: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025288,004497: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025289,004498: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025290,004499: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025291,004500:
025292,004501: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025293,004502:
025294,004503: # SUBROUTINES CALLED:
025295,004504:
025296,004505: # REMODE RRPONLY
025297,004506: # UNIT MPACVBUF
025298,004507: # QUICTRIG AX*SR*T
025299,004508: # SPSIN SPCOS
025300,004509: # SETRRECR RROUT
025301,004510: # RRRDOT RRRANGE
025302,004511:
025303,004512: # EXIT: TO NOR29NOW, IN SERVICER.
025304,004513:
025305,004514: # OUTPUT: (ALL FOR DOWNLINK)
025306,004515:
025307,004516: # RM RDOTM (RAW)
025308,004517: # AIG AMG
025309,004518: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025310,004519: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025311,004520: # MKTIME
025312,004521: # Page 605
025313,004522:
025314,004523: # ERASABLE INITIALIZATION REQUIRED:
025315,004524:
025316,004525: # NCR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025317,004526: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025318,004527: # R(CSM) V(CSM)
025319,004528: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025320,004529:
025321,004530: # DEBRIS:
025322,004531:
025323,004532: # RADMODES (BIT 10)
025324,004533: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025325,004534: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025326,004535: # LOSCMFLG READRFLG
025327,004536:
025328,004537: # ALARMS: NONE.
025329,004538:
025330,004539: # COMPONENT JOBS AND TASKS:
025331,004540:
025332,004541: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE: ALWAYS: TASK PREPOS29.
025333,004542: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025334,004543: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025335,004544:
025336,004545: 33,2045 BANK 33
025337,004546: 33,2000 SETLOC R29/SERV
025338,004547: 33,2000 BANK
025339,004548:
025340,004549: 33,2045 COUNT* $$/r29
025341,004550:
025342,004551: 33,2045 5014 NR29&RDR EQUALS EBANK5
025343,004552:
025344,004553: # Page 606
025345,004554: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025346,004555: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025347,004556:
025348,004557: 33,2045 40110 R29 CS RADMODES
025349,004558: 33,2046 74742 MASK DESIGBIT
025350,004559: 33,2047 00006 EXTEND
025351,004560: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025352,004561:
025353,004562: 33,2051 00004 INHINT
025354,004563: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025355,004564: 33,2053 44736 CS BIT14
025356,004565: 33,2054 00006 EXTEND
025357,004566: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025358,004567: 33,2056 44740 CS LOSCMBIT
025359,004568: 33,2057 70076 MASK FLAGWRD2
025360,004569: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025361,004570: 33,2061 44753 CS OLDESBIT
025362,004571: 33,2062 70074 MASK STATE
025363,004572: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025364,004573: 33,2064 04616 TC BANKCALL
025365,004574: 33,2065 52167 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025366,004575: 33,2066 34740 CA ANTENBIT
025367,004576: 33,2067 70110 MASK RADMODES
025368,004577: 33,2070 10000 CCS A # TEST RR MODE BIT.
025369,004578: 33,2071 12104 TCF SETPRPOS # MODE 2.
025370,004579:
025371,004580: 33,2072 35031 CA PRIO21 # MODE 1: MUST REMODE.
025372,004581: 33,2073 05072 TC NOVAC
025373,004582: 33,2074 E7,1456 EBANK= LOSCOUNT
025374,004583: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN.
025375,004584:
025376,004585: 33,2076 44742 CS DESIGBIT
025377,004586: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025378,004587: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025379,004588: 33,2101 34736 CA REMODBIT
025380,004589: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025381,004590: 33,2103 12573 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025382,004591:
025383,004592: 33,2104 34753 SETPRPOS CA ONE
025384,004593: 33,2105 05203 TC WAITLIST
025385,004594: 33,2106 E7,1456 EBANK= LOSCOUNT
025386,004595: 33,2106 03604 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO 180 DEG.
025387,004596:
025388,004597: 33,2110 34741 CA REPOSBIT
025389,004598: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025390,004599: 33,2112 12573 TCF NOR29NOW
025391,004600:
025392,004601: # Page 607
025393,004602: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025394,004603:
025395,004604: 33,2113 34753 R29REM0J CA ONE
025396,004605: 33,2114 05203 TC WAITLIST
025397,004606: 33,2115 E7,1456 EBANK= LOSCOUNT
025398,004607: 33,2115 02202 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025399,004608:
025400,004609: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING
025401,004610: 33,2120 17705 CADR RADSTALL
025402,004611:
025403,004612: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025404,004613: 33,2122 15155 TCF ENDOFJOB
025405,004614:
025406,004615: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025407,004616:
025408,004617: 25,2000 SETLOC R29S1
025409,004618: 25,2000 BANK
025410,004619:
025411,004620: 25,3604 34735 PREPOS29 CA NEGMAX # -180 DEG.
025412,004621: 25,3605 02252 TC RRTONLY # DRIVE TRUNNION CDU.
025413,004622: 25,3606 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025414,004623: 25,3607 70110 MASK RADMODES
025415,004624: 25,3610 54110 TS RADMODES
025416,004625: 25,3611 15261 TCF TASKOVER
025417,004626:
025418,004627: # COMPUTE THE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS TEHM TO THE R29DODES LOOP.
025419,004628:
025420,004629: 33,2045 SETLOC R29
025421,004630: 33,2045 BANK
025422,004631:
025423,004632: 33,2123 00006 R29.LOS EXTEND
025424,004633: 33,2124 41234 DCS PIPTIME
025425,004634: 33,2125 52155 DXCH MPAC
025426,004635: 33,2126 00006 EXTEND
025427,004636: 33,2127 30025 DCA TIME2
025428,004637: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025429,004638: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025430,004639: 33,2132 30155 CA MPAC +1
025431,004640: 33,2133 00006 EXTEND
025432,004641: 33,2134 74740 MP BIT12
025433,004642: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025434,004643: 33,2136 06042 TC INTPRET
025435,004644: # Page 608
025436,004645: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025437,004646: # START IT UP WHEN THE DATA IS IN PLACE.
025438,004647: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME
025439,004648: 33,2140 01726 V(CSM)
025440,004649: 33,2141 03527 V # LOSVEL = V(CSM) - V
025441,004650: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025442,004651: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025443,004652: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025444,004653: 33,2145 03521 R
025445,004654: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025446,004655: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025447,004656: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025448,004657: 33,2151 12573 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025449,004658:
025450,004659: 33,2152 25101 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025451,004660: 33,2153 00001 0
025452,004661: 33,2154 77761 VXSC
025453,004662: 33,2155 26177 .5SECB17
025454,004663: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025455,004664: 33,2157 77414 CLEAR EXIT
025456,004665: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025457,004666:
025458,004667: 33,2161 40074 CS STATE
025459,004668: 33,2162 74753 MASK OLDESBIT
025460,004669: 33,2163 00006 EXTEND
025461,004670: 33,2164 12573 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025462,004671: 33,2165 00004 INHINT
025463,004672: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025464,004673:
025465,004674: 33,2167 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025466,004675: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025467,004676: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025468,004677: 33,2172 05203 TC WAITLIST
025469,004678: 33,2173 E7,1456 EBANK= LOSCOUNT
025470,004679: 33,2173 03357 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025471,004680:
025472,004681: 33,2175 12573 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025473,004682:
025474,004683: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025475,004684:
025476,004685: # Page 609
025477,004686: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025478,004687: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025479,004688:
025480,004689: 24,3357 BANK 24
025481,004690: 24,2000 SETLOC P20S
025482,004691: 24,2000 BANK
025483,004692:
025484,004693: 24,3357 COUNT* $$/R29
025485,004694:
025486,004695: 24,3357 35031 BEGDES29 CAF PRIO21
025487,004696: 24,3360 05072 TC NOVAC
025488,004697: 24,3361 E3,1760 EBANK= LOSVDT/4
025489,004698: 24,3361 02550 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025490,004699:
025491,004700: 24,3363 34774 R29DLOOP CAF .5SEC
025492,004701: 24,3364 05224 TC VARDELAY
025493,004702:
025494,004703: 24,3365 40110 CS RADMODES
025495,004704: 24,3366 74742 MASK DESIGBIT
025496,004705: 24,3367 10000 CCS A
025497,004706: 24,3370 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025498,004707:
025499,004708: 24,3371 40076 CS FLAGWRD2
025500,004709: 24,3372 74740 MASK LOSCMBIT
025501,004710: 24,3373 00006 EXTEND
025502,004711: 24,3374 13377 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025503,004712: 24,3375 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025504,004713: 24,3376 13357 TCF BEGDES29
025505,004714:
025506,004715: 24,3377 34753 CA ONE
025507,004716: 24,3400 13364 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
025508,004717: # Page 610
025509,004718: # R29DODES: RR DESIGNATION LOOP FOR R29
025510,004719:
025511,004720: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025512,004721: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025513,004722: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025514,004723: # ALL. THE UNIT(LOSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025515,004724: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025516,004725:
025517,004726: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025518,004727: # TASK WHEN LOCK-ON IS ACHIEVED.
025519,004728:
025520,004729: 32,2550 BANK 32
025521,004730: 32,2000 SETLOC F2DPS*32
025522,004731: 32,2000 BANK
025523,004732:
025524,004733: 32,2550 COUNT* $$/R29
025525,004734: 32,2550 E3,1760 EBANK= LOSVDT/4
025526,004735:
025527,004736: 32,2550 34753 R29DODES CA ONE
025528,004737: 32,2551 55106 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025529,004738: 32,2552 34756 CA FIVE
025530,004739:
025531,004740: 32,2553 10000 R29DVBEG CCS A # COUNT DOWN BY TWO'S IN VECTOR LOOP.
025532,004741: 32,2554 54002 TS Q
025533,004742: 32,2555 11106 CCS TANG
025534,004743: 32,2556 12564 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025535,004744:
025536,004745: 32,2557 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025537,004746: 32,2560 50002 INDEX Q
025538,004747: 32,2561 31761 DCA LOSVDT/4
025539,004748: 32,2562 50002 INDEX Q
025540,004749: 32,2563 21101 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025541,004750:
025542,004751: 32,2564 00006 R29DPAS1 EXTEND
025543,004752: 32,2565 50002 INDEX Q
025544,004753: 32,2566 31101 DCA LOSSM
025545,004754: 32,2567 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025546,004755: 32,2570 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025547,004756: 32,2571 11106 CCS TANG
025548,004757: 32,2572 12600 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025549,004758:
025550,004759: 32,2573 00006 EXTEND
025551,004760: 32,2574 50002 INDEX Q
025552,004761: 32,2575 31761 DCA LOSVDT/4
025553,004762: 32,2576 50002 INDEX Q
025554,004763: 32,2577 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025555,004764:
025556,004765: 32,2600 10002 R29DVEND CCS Q
025557,004766: 32,2601 12553 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025558,004767:
025559,004768: # Page 611
025560,004769: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025561,004770:
025562,004771: 32,2602 52156 DXCH MPAC +1
025563,004772: 32,2603 52155 DXCH MPAC
025564,004773: 32,2604 32776 CA R29FXLOC # = ADRES INTB15 + -34D
025565,004774: 32,2605 54120 TS FIXLOC
025566,004775: 32,2606 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025567,004776: 32,2607 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025568,004777: 32,2610 07535 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025569,004778:
025570,004779: 32,2611 11106 CCS TANG
025571,004780: 32,2612 12614 TCF +2
025572,004781: 32,2613 12630 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025573,004782: 32,2614 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025574,004783: 32,2615 00006 EXTEND
025575,004784: 32,2616 30036 DCA CDUT
025576,004785: 32,2617 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025577,004786: 32,2620 30033 CA CDUY
025578,004787: 32,2621 54765 TS CDUSPOT
025579,004788: 32,2622 30034 CA CDUZ
025580,004789: 32,2623 54767 TS CDUSPOT +2
025581,004790: 32,2624 30032 CA CDUX
025582,004791: 32,2625 54771 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025583,004792: 32,2626 04616 TC BANKCALL
025584,004793: 32,2627 47617 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025585,004794:
025586,004795: 32,2630 46250 GOTANGLS CS THREE
025587,004796: 32,2631 04616 TC BANKCALL
025588,004797: 32,2632 47677 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025589,004798:
025590,004799: 32,2633 11106 CCS TANG
025591,004800: 32,2634 12636 TCF +2
025592,004801: 32,2635 12703 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025593,004802:
025594,004803: # Page 612
025595,004804: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025596,004805: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E., SMALLER ANGLE).
025597,004806:
025598,004807: 32,2636 00004 INHINT
025599,004808: 32,2637 55106 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025600,004809: 32,2640 31766 CA SAVECDUT
025601,004810: 32,2641 05032 TC SPCOS
025602,004811: 32,2642 54166 TS PUSHLOC # PUSHLOC = COS T.
025603,004812: 32,2643 41766 CS SAVECDUT
025604,004813: 32,2644 05033 TC SPSIN
025605,004814: 32,2645 54163 TS MODE # MODE = -SIN T.
025606,004815: 32,2646 00006 EXTEND
025607,004816: 32,2647 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025608,004817: 32,2650 52155 DXCH MPAC
025609,004818: 32,2651 31767 CA SAVECDUT +1
025610,004819: 32,2652 05033 TC SPSIN
025611,004820: 32,2653 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025612,004821: 32,2654 00006 EXTEND
025613,004822: 32,2655 70166 MP PUSHLOC
025614,004823: 32,2656 00006 EXTEND
025615,004824: 32,2657 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025616,004825: 32,2660 20155 DAS MPAC
025617,004826: 32,2661 31767 CA SAVECDUT +1
025618,004827: 32,2662 05032 TC SPCOS
025619,004828: 32,2663 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025620,004829: 32,2664 00006 EXTEND
025621,004830: 32,2665 70166 MP PUSHLOC
025622,004831: 32,2666 00006 EXTEND
025623,004832: 32,2667 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025624,004833: 32,2670 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025625,004834: 32,2671 00006 EXTEND # -SIN T, COS S COS T).
025626,004835: 32,2672 30155 DCA MPAC
025627,004836: 32,2673 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025628,004837: 32,2674 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025629,004838: 32,2675 34736 CA BIT14
025630,004839: 32,2676 12677 NOOP
025631,004840: 32,2677 00006 EXTEND
025632,004841: 32,2700 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025633,004842: 32,2701 00003 RELINT
025634,004843: 32,2702 12552 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025635,004844:
025636,004845: # Page 613
025637,004846: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HAVE THE ERROR IN HALF A SECOND.
025638,004847:
025639,004848: 32,2703 31767 R29DPAS2 CA SAVECDUT +1
025640,004849: 32,2704 00006 EXTEND
025641,004850: 32,2705 70122 MP VBUF # FORM COS S ULOSNB'X.
025642,004851: 32,2706 53107 DXCH TANG
025643,004852: 32,2707 41766 CS SAVECDUT
025644,004853: 32,2710 00006 EXTEND
025645,004854: 32,2711 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025646,004855: 32,2712 21107 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025647,004856: 32,2713 40163 CS MODE # - SIN S)
025648,004857: 32,2714 00006 EXTEND
025649,004858: 32,2715 71766 MP SAVECDUT
025650,004859: 32,2716 00006 EXTEND
025651,004860: 32,2717 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025652,004861: 32,2720 52155 DXCH MPAC
025653,004862: 32,2721 30166 CA PUSHLOC
025654,004863: 32,2722 00006 EXTEND
025655,004864: 32,2723 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025656,004865: 32,2724 20155 DAS MPAC
025657,004866: 32,2725 40163 CS MODE
025658,004867: 32,2726 00006 EXTEND
025659,004868: 32,2727 71767 MP SAVECDUT +1
025660,004869: 32,2730 00006 EXTEND
025661,004870: 32,2731 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025662,004871: 32,2732 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025663,004872: 32,2733 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025664,004873: 32,2734 00006 EXTEND
025665,004874: 32,2735 72777 MP RR29GAIN
025666,004875: 32,2736 55354 TS TRUNNCMD
025667,004876: 32,2737 31106 CA TANG
025668,004877: 32,2740 00006 EXTEND
025669,004878: 32,2741 72777 MP RR29GAIN
025670,004879: 32,2742 55355 TS SHAFTCMD # STORE REFINED SHAFT COMMAND FOR RROUT
025671,004880:
025672,004881: # Page 614
025673,004882: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025674,004883: # READING DATA FROM THE RENDEZVOUS RADAR.
025675,004884:
025676,004885: 32,2743 34750 DGOOD? CAF BIT4
025677,004886: 32,2744 00006 EXTEND
025678,004887: 32,2745 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025679,004888: 32,2746 00004 INHINT # (MAINLY FOR RROUT).
025680,004889: 32,2747 00006 EXTEND
025681,004890: 32,2750 12754 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025682,004891:
025683,004892: 32,2751 04616 TC BANKCALL
025684,004893: 32,2752 52317 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025685,004894: 32,2753 12772 TCF END29DOD
025686,004895:
025687,004896: 32,2754 44742 R29LOKON CS DESIGBIT
025688,004897: 32,2755 70110 MASK RADMODES
025689,004898: 32,2756 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025690,004899: 32,2757 44752 CS BIT2
025691,004900: 32,2760 00006 EXTEND
025692,004901: 32,2761 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025693,004902: 32,2762 34743 CA READRBIT
025694,004903: 32,2763 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025695,004904: 32,2764 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025696,004905: 32,2765 44776 CS SUPER110 # -96D + 10D = 4.
025697,004906: 32,2766 64777 AD 1SEC # 0 + 100D = 100D.
025698,004907: 32,2767 05203 TC WAITLIST
025699,004908: 32,2770 E7,1456 EBANK= LOSCOUNT
025700,004909: 32,2770 03401 50067 2CADR R29READ # START READING TASK AND JOB.
025701,004910:
025702,004911: 32,2772 44740 END29DOD CS LOSCMBIT
025703,004912: 32,2773 70076 MASK FLAGWRD2
025704,004913: 32,2774 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
025705,004914: 32,2775 15155 TCF ENDOFJOB
025706,004915:
025707,004916: 32,2776 00052 R29FXLOC ADRES INTB15+ -34D
025708,004917: 32,2777 56655 RR29GAIN DEC -.53624
025709,004918: 32,3000 E3,1760 LOSVDT/4 EQUALS LOSVEL
025710,004919: 32,3000 1100 LOSSM EQUALS RRTARGET
025711,004920: 32,3000 E3,1766 SAVECDUT EQUALS MLOSV
025712,004921:
025713,004922: # Page 615
025714,004923: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON
025715,004924:
025716,004925: 24,3401 BANK 24
025717,004926: 24,2000 SETLOC P20S
025718,004927: 24,2000 BANK
025719,004928:
025720,004929: 24,3401 COUNT* $$/R29
025721,004930:
025722,004931: 24,3401 E7,1456 EBANK= LOSCOUNT
025723,004932:
025724,004933: 24,3401 37717 R29READ CAF PRIO26 # CALLED BY WAITLIST
025725,004934: 24,3402 05072 TC NOVAC
025726,004935: 24,3403 E7,1456 EBANK= LOSCOUNT
025727,004936: 24,3403 03414 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
025728,004937:
025729,004938: 24,3405 35000 CA 2SECS
025730,004939: 24,3406 05224 TC VARDELAY
025731,004940:
025732,004941: 24,3407 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
025733,004942: 24,3410 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
025734,004943: 24,3411 10000 CCS A
025735,004944: 24,3412 13401 TCF R29READ # IT'S OK: CALL IT AGAIN.
025736,004945: 24,3413 15261 TCF TASKOVER # IT AIN'T: WAIT FOR REDESIGNATE.
025737,004946:
025738,004947: 24,3414 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
025739,004948: 24,3415 74741 MASK NR29FBIT
025740,004949: 24,3416 10000 CCS A # TEST "NOR29FLG".
025741,004950: 24,3417 13501 TCF ENDR29RD # R29 OVER, EXIT WITH RR STILL LOCKED ON.
025742,004951: 24,3420 30110 CA RADMODES
025743,004952: 24,3421 74752 MASK AUTOMBIT
025744,004953: 24,3422 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
025745,004954: 24,3423 13476 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
025746,004955:
025747,004956: 24,3424 04616 TC BANKCALL
025748,004957: 24,3425 53112 CADR RRRDOT # INITIATE READING OF RANGE RATE.
025749,004958: 24,3426 04616 TC BANKCALL
025750,004959: 24,3427 17705 CADR RADSTALL # GOT TO SLEEP UNTIL IT'S READY.
025751,004960: 24,3430 13476 TCF ENDRRD29 # BAD READ; REDESIGNATE.
025752,004961:
025753,004962: # Page 616
025754,004963: # R29 RADAR READING CONTINUED.
025755,004964:
025756,004965: 24,3431 53105 DXCH TIMEHOLD
025757,004966: 24,3432 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
025758,004967: 24,3433 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
025759,004968: 24,3434 00006 EXTEND
025760,004969: 24,3435 30036 DCA CDUT
025761,004970: 24,3436 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
025762,004971: 24,3437 00006 EXTEND
025763,004972: 24,3440 30034 DCA CDUY
025764,004973: 24,3441 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFERED FOR COPYCYCLE.
025765,004974: 24,3442 30032 CA CDUX
025766,004975: 24,3443 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
025767,004976:
025768,004977: 24,3444 04616 R29RANGE TC BANKCALL
025769,004978: 24,3445 53114 CADR RRRANGE # INITIATE READING OF RR RANGE.
025770,004979: 24,3446 04616 TC BANKCALL
025771,004980: 24,3447 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025772,004981: 24,3450 13467 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
025773,004982:
025774,004983: 24,3451 00004 INHINT
025775,004984: 24,3452 53331 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
025776,004985: 24,3453 53757 DXCH RM
025777,004986: 24,3454 52155 DXCH MPAC
025778,004987: 24,3455 53755 DXCH MKTIME
025779,004988: 24,3456 52157 DXCH MPAC +2
025780,004989: 24,3457 53753 DXCH TANGNB
025781,004990: 24,3460 52161 DXCH MPAC +4
025782,004991: 24,3461 53460 DXCH AIG
025783,004992: 24,3462 30162 CA MPAC +6
025784,004993: 24,3463 55461 TS AOG
025785,004994: 24,3464 34753 CA ONE
025786,004995: 24,3465 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
025787,004996: 24,3466 15155 TCF ENDOFJOB
025788,004997:
025789,004998: 24,3467 40101 R29RRR? CS FLAGWRD5
025790,004999: 24,3470 74742 MASK BIT10
025791,005000: 24,3471 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
025792,005001: 24,3472 13476 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
025793,005002: 24,3473 05516 TC DOWNFLAG
025794,005003: 24,3474 00120 ADRES RNGSCFLG
025795,005004: 24,3475 13444 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
025796,005005:
025797,005006: 24,3476 44736 ENDRRD29 CS BIT14 # TROUBLE MADE US COME HERE TO LEAVE THE
025798,005007: 24,3477 00006 EXTEND # RR-READING MODE. DISCREDIT DOWNTEL
025799,005008: 24,3500 03012 WAND CHAN12
025800,005009: 24,3501 34755 ENDR29RD CA ZERO
025801,005010: 24,3502 55462 TS TRKMKCNT
025802,005011: 24,3503 05516 TC DOWNFLAG
025803,005012:
025804,005013: # Page 617
025805,005014: 24,3504 00063 ADRES READRFLG
025806,005015: 24,3505 15155 TCF ENDOFJOB
025807,005016:
025808,005017: # Page 618
025809,005018: # W-MATRIX MONITOR
025810,005019:
025811,005020: 31,2007 BANK 31
025812,005021: 31,2000 SETLOC VB67
025813,005022: 31,2000 BANK
025814,005023: 31,2007 COUNT* $$/EXTVB
025815,005024:
025816,005025: 31,2007 E4,1600 EBANK= WWPOS
025817,005026:
025818,005027: 31,2007 06042 V67CALL TC INTPRET
025819,005028: 31,2010 77624 CALL
025820,005029: 31,2011 62120 V67WW
025821,005030: 31,2012 77776 EXIT
025822,005031: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
025823,005032: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
025824,005033: 31,2015 53607 DXCH WWBIAS +2
025825,005034: 31,2016 00006 EXTEND
025826,005035: 31,2017 31603 DCA WWVEL
025827,005036: 31,2020 53611 DXCH WWBIAS +4
025828,005037: 31,2021 00006 EXTEND
025829,005038: 31,2022 31605 DCA WWBIAS
025830,005039: 31,2023 53613 DXCH WWBIAS +6
025831,005040: 31,2024 32143 V06N99DS CAF V06N99
025832,005041: 31,2025 04616 TC BANKCALL
025833,005042: 31,2026 20334 CADR GOXDSPF
025834,005043: 31,2027 15472 TCF ENDEXT
025835,005044: 31,2030 12032 TCF V6N99PRO
025836,005045: 31,2031 12024 TCF V06N99DS
025837,005046: 31,2032 22007 V6N99PRO ZL
025838,005047: 31,2033 34756 CA FIVE
025839,005048: 31,2034 54002 N99LOOP TS Q
025840,005049: 31,2035 50002 INDEX Q
025841,005050: 31,2036 41600 CS WWPOS
025842,005051: 31,2037 50002 INDEX Q
025843,005052: 31,2040 61606 AD WWPOS +6
025844,005053: 31,2041 26001 ADS L
025845,005054: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
025846,005055: 31,2043 12034 TCF N99LOOP
025847,005056: 31,2044 22000 LXCH A
025848,005057: 31,2045 00006 EXTEND
025849,005058: 31,2046 12051 BZF V06N9933
025850,005059: 31,2047 05504 TC UPFLAG
025851,005060: 31,2050 00160 ADRES V67FLAG
025852,005061:
025853,005062: 31,2051 06042 V06N9933 TC INTPRET
025854,005063: 31,2052 77414 BON EXIT
025855,005064: 31,2053 03707 V67FLAG
025856,005065: 31,2054 62056 +2
025857,005066: 31,2055 15472 TCF ENDEXT
025858,005067: 31,2056 77745 DLOAD
025859,005068: # Page 619
025860,005069: 31,2057 02201 WWPOS
025861,005070: 31,2060 72412 SL4 SL1
025862,005071: 31,2061 14001 STODL 0D
025863,005072: 31,2062 02203 WWVEL
025864,005073: 31,2063 14003 STODL 2D
025865,005074: 31,2064 02205 WWBIAS
025866,005075: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
025867,005076: 31,2066 20213 10D # INTERNAL SCALING (B+5)
025868,005077: 31,2067 00005 STORE 4D
025869,005078: 31,2070 72014 BON LXA,1
025870,005079: 31,2071 04307 SURFFLAG
025871,005080: 31,2072 62102 V67SURF
025872,005081: 31,2073 00000 0D
025873,005082: 31,2074 72130 SXA,1 LXA,1
025874,005083: 31,2075 02000 WRENDPOS
025875,005084: 31,2076 00002 2D
025876,005085: 31,2077 52130 SXA,1 GOTO
025877,005086: 31,2100 02001 WRENDVEL
025878,005087: 31,2101 62110 V67CLRF
025879,005088: 31,2102 66150 V67SURF LXA,1 SXA,1
025880,005089: 31,2103 00000 0D
025881,005090: 31,2104 02006 WSURFPOS
025882,005091: 31,2105 66150 LXA,1 SXA,1
025883,005092: 31,2106 00002 2D
025884,005093: 31,2107 02007 WSURFVEL
025885,005094: 31,2110 66150 V67CLRF LXA,1 SXA,1
025886,005095: 31,2111 00004 4D
025887,005096: 31,2112 02003 WTRUN
025888,005097: 31,2113 77730 SXA,1
025889,005098: 31,2114 02002 WSHAFT
025890,005099: 31,2115 77414 CLEAR EXIT
025891,005100: 31,2116 02676 RENDWFLG
025892,005101: 31,2117 15472 TCF ENDEXT
025893,005102: 31,2120 40020 V67WW STQ BOV
025894,005103: 31,2121 00051 S2
025895,005104: 31,2122 62123 +1
025896,005105: 31,2123 45014 CLEAR CALL
025897,005106: 31,2124 03667 V67FLAG
025898,005107: 31,2125 27410 INTSTALL
025899,005108: 31,2126 71331 SSP DLOAD
025900,005109: 31,2127 00051 S1
025901,005110: 31,2130 00006 DEC 6 B-14
025902,005111: 31,2131 06524 ZEROVECS
025903,005112: 31,2132 02201 STORE WWPOS
025904,005113: 31,2133 02203 STORE WWVEL
025905,005114: 31,2134 02205 STORE WWBIAS
025906,005115: 31,2135 77770 AXT,1
025907,005116: 31,2136 00066 DEC 54 B-14
025908,005117: 31,2137 47573 NXPOSVEL VLOAD* VSQ
025909,005118: 31,2140 02467 W +54D,1
025910,005119: # Page 620
025911,005120: 31,2141 77650 GOTO
025912,005121: 31,2142 60002 ADDPOS
025913,005122: 31,2143 01543 V06N99 VN 0699
025914,005123:
025915,005124: 30,2000 SETLOC VB67A
025916,005125: 30,2000 BANK
025917,005126: 30,2002 COUNT* $$/EXTVB
025918,005127:
025919,005128: 30,2002 77615 ADDPOS DAD
025920,005129: 30,2003 02201 WWPOS
025921,005130: 30,2004 02201 STORE WWPOS
025922,005131: 30,2005 47573 VLOAD* VSQ
025923,005132: 30,2006 02555 W +108D,1
025924,005133: 30,2007 77615 DAD
025925,005134: 30,2010 02203 WWVEL
025926,005135: 30,2011 02203 STORE WWVEL
025927,005136: 30,2012 47573 VLOAD* VSQ
025928,005137: 30,2013 02643 W +162D,1
025929,005138: 30,2014 77615 DAD
025930,005139: 30,2015 02205 WWBIAS
025931,005140: 30,2016 02205 STORE WWBIAS
025932,005141: 30,2017 75500 TIX,1 SQRT
025933,005142: 30,2020 62137 NXPOSVEL
025934,005143: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
025935,005144: 30,2022 20613 10D # NOUN SCALING (B-5)
025936,005145: 30,2023 16205 STODL WWBIAS
025937,005146: 30,2024 02203 WWVEL
025938,005147: 30,2025 77766 SQRT
025939,005148: 30,2026 16203 STODL WWVEL
025940,005149: 30,2027 02201 WWPOS
025941,005150: 30,2030 77766 SQRT
025942,005151: 30,2031 02201 STORE WWPOS
025943,005152: 30,2032 52000 BOV GOTO
025944,005153: 30,2033 60035 +2
025945,005154: 30,2034 60042 V67XXX
025946,005155: 30,2035 77745 DLOAD
025947,005156: 30,2036 06532 DPPOSMAX
025948,005157: 30,2037 02201 STORE WWPOS
025949,005158: 30,2040 02203 STORE WWVEL
025950,005159: 30,2041 02205 STORE WWBIAS
025951,005160: 30,2042 45345 V67XXX DLOAD DSU
025952,005161: 30,2043 02201 WWPOS
025953,005162: 30,2044 20060 FT99999
025954,005163: 30,2045 71240 BMN DLOAD
025955,005164: 30,2046 60051 +3
025956,005165: 30,2047 20060 FT99999
025957,005166: 30,2050 02201 STORE WWPOS
025958,005167: 30,2051 66150 LXA,1 SXA,1
025959,005168: 30,2052 00051 S2
025960,005169: 30,2053 00052 QPRET
025961,005170: # Page 621
025962,005171: 30,2054 77776 EXIT
025963,005172: 30,2055 04635 TC POSTJUMP
025964,005173: 30,2056 27421 CADR INTWAKE
025965,005174:
025966,005175: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
025967,005176:
025968,005177: # Page 622
025969,005178: 25,3612 BANK 25
025970,005179: 25,2000 SETLOC RADARUPT
025971,005180: 25,2000 BANK
025972,005181: 25,3612 COUNT* $$/RRUPT
025973,005182:
025974,005183: 25,3612 E7,1456 EBANK= LOSCOUNT
025975,005184:
025976,005185: 25,3612 44747 RADLITES CS BIT5
025977,005186: 25,3613 60061 AD ITEMP1
025978,005187: 25,3614 10000 CCS A
025979,005188: 25,3615 44753 CS ONE
025980,005189: 25,3616 13646 TCF VLIGHT
025981,005190:
025982,005191: 25,3617 14570 TCF RRTRKF
025983,005192:
025984,005193: 25,3620 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
025985,005194:
025986,005195: 25,3621 34747 CA HLITE
025987,005196: 25,3622 54001 TS L
025988,005197:
025989,005198: 25,3623 34747 CA LRALTBIT
025990,005199: 25,3624 70110 BOTHLITS MASK RADMODES
025991,005200: 25,3625 10000 CCS A
025992,005201: 25,3626 13640 TCF ONLITES
025993,005202:
025994,005203: 25,3627 30107 CA FLGWRD11
025995,005204: 25,3630 50065 INDEX ITEMP5
025996,005205: 25,3631 74753 MASK HFLSHBIT
025997,005206: 25,3632 10000 CCS A
025998,005207: 25,3633 14570 TCF RRTRKF
025999,005208:
026000,005209: 25,3634 00006 LITIT EXTEND
026001,005210: 25,3635 22066 QXCH ITEMP6
026002,005211: 25,3636 04602 TC TRKFLON +1
026003,005212:
026004,005213: 25,3637 00066 TC ITEMP6
026005,005214:
026006,005215: 25,3640 50065 ONLITES INDEX ITEMP5
026007,005216: 25,3641 44753 CS HFLSHBIT
026008,005217: 25,3642 70107 MASK FLGWRD11
026009,005218: 25,3643 54107 TS FLGWRD11
026010,005219:
026011,005220: 25,3644 30001 CA L
026012,005221: 25,3645 13634 TCF LITIT
026013,005222: 25,3646 54065 VLIGHT TS ITEMP5
026014,005223: 25,3647 34751 CA VLITE
026015,005224: 25,3650 54001 TS L
026016,005225: 25,3651 34744 CA BIT8
026017,005226: 25,3652 13624 TCF BOTHLITS
026018,005227:
026019,005228: # Page 623
026020,005229: 25,3653 4747 HLITE EQUALS BIT5
026021,005230: 25,3653 4751 VLITE EQUALS BIT3
026022,005231:
026023,005232: # *** END OF LEMP20S .145 ***
026024,005233:
End of include-file P20-P25.agc. Parent file is MAIN.agc