1+_____________________________________________________________________
 ] AUTHOR:            ]                             ] DR:              ]
 ]   ALAN OGLETREE    ]    PASS PROGRAM NOTE        ]     106676       ]
 ]____________________]                             ]__________________]
 ] ORG/PHONE:         ] OPS NOTE ( )  USER NOTE (X) ] DATE:            ]
 ]   IBM/282-8440     ]      RELEASE NOTE( )        ]     08/12/93     ]
 ]____________________]_____________________________]__________________]
 ] OI/FLIGHT EFFECTIVITY:        ]  USER AFFECTED:                     ]
 ]   OI-21 AND SUBS              ]  CREW (X)  GROUND (X)  DUMP ONLY ( )]
 ]_______________________________]_____________________________________]
 ]        MAJOR SOFTWARE AREA:       ] OPS MODES AFFECTED:             ]
 ]SSW ( )  GNC ( )  VU ( )  SM/PL (X)]   S2, S4                        ]
 ]_____________________________________________________________________]
 ] SOFTWARE SUB-AREA:  RMS                                             ]
 ]_____________________________________________________________________]
 ] PRINCIPAL FUNCTIONS:  R4.8                                          ]
 ]_____________________________________________________________________]
 ] TITLE:  IN PROGRESS LIGHT NOT EXTINGUISHED DURING OCAS              ]
 ]_____________________________________________________________________]
 ] DESCRIPTION:                                                        ]
 ] DURING THE RMS AUTO MODES (OPERATOR COMMANDED OR PREPROGRAMMED) THE ]
 ] IN PROGRESS LIGHT IS USED TO INDICATE THAT THE ARM IS BEING DRIVEN  ]
 ] BY THE FSW TOWARDS THE DESIRED POINT.  THIS NOTE DESCRIBES A        ]
 ] CONDITION IN WHICH THE ARM STOPS MOVING *BEFORE* IT REACHES THE     ]
 ] DESIRED POINT, THUS LEAVING THE IN PROGRESS LIGHT ON INDEFINITELY.  ]
 ] THIS CAN OCCUR WHEN A COMBINATION OF FACTORS (E.G., LARGE PAYLOADS, ]
 ] VERNIER RATES, AUTO MODE RATE WASHOUT, ETC.) RESULT IN THE FSW      ]
 ] COMPUTING VERY SMALL END EFFECTOR RATES.  IF THE RESULTANT JOINT    ]
 ] ANGLE RATES CALCULATED BY THE FSW ALL FALL WITHIN CERTAIN WINDOWS,  ]
 ] THEN THE SCALED AND BIASED MOTOR SPEEDS (CONVERTED TO INTEGER FOR   ]
 ] TRANSMISSION TO THE MCIU) ARE ALL ROUNDED TO 0.  THIS RESULTS IN NO ]
 ] *ACTUAL* COMMAND TO THE ARM, ALTHOUGH THE FSW IS STILL CONTINUOUSLY ]
 ] CALCULATING A VERY SMALL COMMAND IN ITS DILIGENT, YET ULTIMATELY    ]
 ] FRUITLESS ATTEMPT TO DRIVE THE ARM TO THE DESIRED POINT.            ]
 ]_____________________________________________________________________]
 ]USER RESPONSE:                                                       ]
 ] WHEN IT IS CLEAR THAT THIS SITUATION HAS OCCURRED, MOVE THE AUTO    ]
 ] SEQ SWITCH TO THE STOP POSITION.  IF THE CURRENT POINT IS THE FINAL ]
 ] END POINT, CONTINUE AS IF THE SEQUENCE HAD TERMINATED NOMINALLY.    ]
 ] IF THE CURRENT POINT IS AN INTERMEDIATE PAUSE POINT, ENTER THE      ]
 ] CURRENT POINT AS THE START POINT ON SPEC 94 (ITEM 17), RE-ENTER THE ]
 ] AUTO MODE, AND CONTINUE AS IF THE SEQUENCE HAD REACHED THE PAUSE    ]
 ] POINT NOMINALLY.                                                    ]
 ]                                                                     ]
 ] (NOTE:  THIS WORKAROUND IS BASED ON THE ASSUMPTION THAT THE INITIAL ]
 ] TOLERANCE IS 1 INCH AND 2 DEGREES, THE HOLD SPHERE IS 1/2 INCHES    ]
 ] AND 1/2 DEGREES, AND THE ARM, ALTHOUGH NOT WITHIN THE HOLD SPHERE,  ]
 ] ENDS UP AT A POSITION THAT WILL SATISFY THE INITIAL TOLERANCE       ]
 ] CRITERIA.)                                                          ]
 ]_____________________________________________________________________]
 ]CONCURRENCE:                           ]APPROVAL:                    ]
 ]IBM:   JEAN L. ZOPHY      DATE 09/21/93]                             ]
 ]    --------------------      ---------]                             ]
 ]FDSD:   W. R. PRUETT      DATE 10/15/93]                             ]
 ]     -------------------      ---------] DARRELL E. STAMPER 10/27/93 ]
 ]PF MGR:  PALMER CHIU      DATE 10/27/93]------------------- -------- ]
 ]       -----------------      ---------] CHAIRMAN, SASCB      DATE   ]
 ]_______________________________________]_____________________________]
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