GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
030301,000002: ## Copyright: Public domain.
030302,000003: ## Filename: P51-P53.agc
030303,000004: ## Purpose: Part of the source code for Colossus build 237.
030304,000005: ## This is for the Command Module's (CM) Apollo Guidance
030305,000006: ## Computer (AGC), for Apollo 8.
030306,000007: ## Assembler: yaYUL
030307,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
030308,000009: ## Website: www.ibiblio.org/apollo/index.html
030309,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
030310,000011: ## Mod history: 2011-02-23 JL Adapted from corresponding Colossus 249 file.
030311,000012: ## 2011-04-17 JL Removed temporary line.
030312,000013: ## 2016-12-31 RSB Proofed comment text using octopus/ProoferComments,
030313,000014: ## and corrected errors found.
030314,000015: ## 2017-01-18 RSB Fixed comment-text errors noted while diff'ing
030315,000016: ## vs Colossus 249.
030316,000017:
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Page 690 |
030318,000019: # PROGRAM NAME- PROG52 DATE- NOV 30, 1966
030319,000020: # MOD NO- 2 LOG SECTION- P51-P53
030320,000021: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDISK REV 30
030321,000022:
030322,000023: # FUNCTIONAL DESCRIPTION-
030323,000024:
030324,000025: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
030325,000026: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
030326,000027:
030327,000028: # (A) PREFERRED ORIENTATION
030328,000029:
030329,000030: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
030330,000031: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
030331,000032:
030332,000033: # (B) NOMINAL ORIENTATION
030333,000034:
030334,000035: # X = UNIT(Y X Z )
030335,000036: # -SM -SM -SM
030336,000037:
030337,000038: # Y = UNIT(V X R)
030338,000039: # -SM - -
030339,000040:
030340,000041: # Z = UNIT(-R)
030341,000042: # -SM -
030342,000043:
030343,000044: # WHERE_
030344,000045: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030345,000046: # -
030346,000047:
030347,000048: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030348,000049: # -
030349,000050:
030350,000051: # (C) REFSMMAT ORIENTATION
030351,000052:
030352,000053: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
030353,000054: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
030354,000055: # SINCE THE LAST ALIGNMENT).
030355,000056:
030356,000057: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
030357,000058: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
030358,000059: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
030359,000060: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
030360,000061: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
030361,000062: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
030362,000063: # REQUESTED.
030363,000064:
030364,000065: # CALLING SEQUENCE-
030365,000066:
030366,000067: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
030367,000068:
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Page 691 |
030369,000070: # SUBROUTINES CALLED-
030370,000071:
030371,000072: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
030372,000073: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
030373,000074: # 3. GOPERF4 9. FLAGUP
030374,000075: # 4. MATMOVE 10. R56
030375,000076: # 5. GOFLASH 11. R51
030376,000077: # 6. S52.3 12. GOPERF3
030377,000078:
030378,000079: # NORMAL EXIT MODES-
030379,000080:
030380,000081: # EXITS TO ENDOFJOB
030381,000082:
030382,000083: # ALARM OR ABORT EXIT MODES-
030383,000084:
030384,000085: # NONE
030385,000086:
030386,000087: # OUTPUT-
030387,000088:
030388,000089: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
030389,000090: # 1. IMU ORIENTATION CODE
030390,000091: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
030391,000092: # 3. TIME OF NEXT IGNITION
030392,000093: # 4. GIMBAL ANGLES
030393,000094: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
030394,000095: # 6. PLEASE PERFORM P00
030395,000096: # THE MODE DISPLAY MAY BE CHANGED TO 20
030396,000097:
030397,000098: # ERASABLE INITIALIZATION REQUIRED-
030398,000099:
030399,000100: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
030400,000101: # XSMD,YSMD,ZSMD.
030401,000102: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
030402,000103:
030403,000104: # DEBRIS-
030404,000105:
030405,000106: # WORK AREA
030406,000107: 21,2026 15,2000 P54 = PROG52
030407,000108: 33,3773 BANK 33
030408,000109: 15,2000 SETLOC P50S
030409,000110: 15,2000 BANK
030410,000111:
030411,000112: 15,2000 30,2000 SBANK= LOWSUPER
030412,000113: 15,2000 E5,1773 EBANK= SAC
030413,000114: 15,2000 COUNT 15/P52
030414,000115:
030415,000116: 15,2000 05301 PROG52 TC PHASCHNG
030416,000117: 15,2001 00254 OCT 00254
030417,000118: 15,2002 05447 TC DOWNFLAG
030418,000119: 15,2003 00027 ADRES UPDATFLG # BIT 7 FLAG 1
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Page 692 |
030420,000121: 15,2004 05447 TC DOWNFLAG
030421,000122: 15,2005 00031 ADRES TRACKFLG # BIT 5 FLAG 1
030422,000123: 15,2006 04555 TC BANKCALL
030423,000124: 15,2007 17573 CADR R02BOTH # IMU STATUS CHECK
030424,000125: 15,2010 34707 CAF BIT4
030425,000126: 15,2011 70076 MASK STATE +2 # IS PFRATFLG SET(PREFERRED ORIENTATION)
030426,000127: 15,2012 10000 CCS A
030427,000128: 15,2013 02016 TC P52A # YES
030428,000129: 15,2014 34711 CAF BIT2 # NO
030429,000130: 15,2015 02017 TC P52A +1
030430,000131: 15,2016 34712 P52A CAF BIT1
030431,000132: 15,2017 55132 TS OPTION2
030432,000133: 15,2020 34712 P52B CAF BIT1
030433,000134: 15,2021 04555 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
030434,000135: 15,2022 21041 CADR GOPERF4R
030435,000136: 15,2023 04106 TC GOTOPOOH
030436,000137: 15,2024 02031 TC +5
030437,000138: 15,2025 02020 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
030438,000139: 15,2026 05301 TC PHASCHNG
030439,000140: 15,2027 00014 OCT 00014
030440,000141: 15,2030 05112 TC ENDOFJOB
030441,000142: 15,2031 31132 CA OPTION2
030442,000143: 15,2032 76214 MASK THREE
030443,000144: 15,2033 50000 INDEX A
030444,000145: 15,2034 02035 TC +1
030445,000146: 15,2035 02041 TC P52T # L.S.
030446,000147: 15,2036 02110 TC P52J # PREF
030447,000148: 15,2037 02041 TC P52T # NOM
030448,000149: 15,2040 12120 TCF P52C # REF
030449,000150: 15,2041 00006 P52T EXTEND
030450,000151: 15,2042 34714 DCA NEG0
030451,000152: 15,2043 53046 DXCH DSPTEM1
030452,000153: 15,2044 32155 CAF V06N34
030453,000154: 15,2045 04555 TC BANKCALL
030454,000155: 15,2046 20624 CADR GOFLASH
030455,000156: 15,2047 04106 TC GOTOPOOH
030456,000157: 15,2050 02052 TC +2
030457,000158: 15,2051 02044 TC -5
030458,000159: 15,2052 00006 EXTEND
030459,000160: 15,2053 31046 DCA DSPTEM1
030460,000161: 15,2054 00006 EXTEND
030461,000162: 15,2055 12057 BZF +2
030462,000163: 15,2056 12062 TCF +4
030463,000164:
030464,000165: 15,2057 00006 EXTEND
030465,000166: 15,2060 30025 DCA TIME2
030466,000167: 15,2061 53046 DXCH DSPTEM1
030467,000168: 15,2062 31132 CA OPTION2
030468,000169: 15,2063 74711 MASK BIT2
030469,000170: 15,2064 10000 CCS A
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Page 693 |
030471,000172: 15,2065 12073 TCF +6 # NOM
030472,000173: 15,2066 06006 TC INTPRET # LS
030473,000174: 15,2067 77624 CALL
030474,000175: 15,2070 34506 P52LS
030475,000176: 15,2071 77650 GOTO
030476,000177: 15,2072 32100 P52D
030477,000178: 15,2073 06006 TC INTPRET
030478,000179: 15,2074 77745 DLOAD
030479,000180: 15,2075 01046 DSPTEM1
030480,000181: 15,2076 77624 CALL # COMPUTE NOMINAL IMU
030481,000182: 15,2077 34636 S52.3 # ORIENTATION
030482,000183: 15,2100 77624 P52D CALL # READ VEHICLE ATTITUDE AND
030483,000184: 15,2101 22256 S52.2 # COMPUTE GIMBAL ANGLES
030484,000185: 15,2102 77776 EXIT
030485,000186: 15,2103 32156 CAF VB06N22
030486,000187: 15,2104 04555 TC BANKCALL # DISPLAY GIMBAL ANGLES
030487,000188: 15,2105 20624 CADR GOFLASH
030488,000189: 15,2106 04106 TC GOTOPOOH
030489,000190: 15,2107 02113 TC +4 # PROCEED
030490,000191: 15,2110 06006 P52J TC INTPRET # RECYCLE- VEHICLE HAS BEEN MENUEVERED
030491,000192: 15,2111 77650 GOTO
030492,000193: 15,2112 32100 P52D
030493,000194: 15,2113 06006 TC INTPRET
030494,000195: 15,2114 77624 CALL # DO COARSE ALIGN
030495,000196: 15,2115 30763 CAL53A # ROUTINE
030496,000197: 15,2116 77414 SET EXIT
030497,000198: 15,2117 01462 REFSMFLG
030498,000199: 15,2120 34720 P52C CAF ALRM15
030499,000200: 15,2121 04555 TC BANKCALL
030500,000201: 15,2122 20751 CADR GOPERF1
030501,000202: 15,2123 04106 TC GOTOPOOH
030502,000203: 15,2124 02126 TC +2 # V33
030503,000204: 15,2125 02140 TC P52F # E
030504,000205: 15,2126 06006 TC INTPRET
030505,000206: 15,2127 43234 RTB DAD
030506,000207: 15,2130 45505 LOADTIME
030507,000208: 15,2131 32176 TSIGHT1
030508,000209: 15,2132 77624 CALL
030509,000210: 15,2133 30216 LOCSAM
030510,000211: 15,2134 77776 EXIT
030511,000212: 15,2135 04555 P52E TC BANKCALL # DO STAR SELECTION
030512,000213: 15,2136 30324 CADR PICAPAR
030513,000214: 15,2137 02145 TC P52I # 2 STARS NOT AVAILABLE
030514,000215: 15,2140 06006 P52F TC INTPRET # 2 STARS AVAILABLE
030515,000216: 15,2141 77624 CALL
030516,000217: 15,2142 30523 R51
030517,000218: 15,2143 77776 ENDP50S EXIT
030518,000219: 15,2144 04106 TC GOTOPOOH
030519,000220: 15,2145 05537 P52I TC ALARM
030520,000221: 15,2146 00405 OCT 405
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Page 694 |
030522,000223: 15,2147 34743 CAF V05N09
030523,000224: 15,2150 04555 TC BANKCALL
030524,000225: 15,2151 20624 CADR GOFLASH
030525,000226: 15,2152 04106 TC GOTOPOOH
030526,000227: 15,2153 02140 TC P52F # PROCEED - DO FINE ALIGN-R51
030527,000228: 15,2154 02120 TC P52C # RECYCLE- VEHICLE HAS BEEN MANUEVERED
030528,000229: 15,2155 01442 V06N34 VN 00634
030529,000230: 15,2156 01426 VB06N22 VN 00622
030530,000231: 15,2157 4720 ALRM15 EQUALS OCT15
030531,000232: 16,2000 SETLOC P50S2
030532,000233: 16,2000 BANK
030533,000234: 16,2505 01531 V06N89* VN 0689
030534,000235: # NAME-P52LS
030535,000236: # FUNCTION - TO DISPLAY THE LANDING SITE LATITUDE,
030536,000237: # LONGTITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA
030537,000238: # THE KEYBOARD. TO COMPUTE THE LANDING SITE
030538,000239: # ORIENTATION FOR P52 OR P54
030539,000240:
030540,000241: # LET:
030541,000242: # RLS = LANDING SITE VECTOR IN REF COORDINATES
030542,000243: # R = CSM POSITION VECTOR IN REF COORDINATES
030543,000244: # V = CSM VELOCITY VECTOR IN REF COORDINATES
030544,000245: # THEN THE LANDING SITE ORIENTATION IS:
030545,000246: # XSMD = UNIT(RLS)
030546,000247: # YSMD = UNIT(ZSMD*XSMD)
030547,000248: # ZSMD = UNIT((R*V)*RLS)
030548,000249: # CALL - CALL
030549,000250: # P52LS
030550,000251: # INPUTS- DSPTEM1=TIME OF ALIGNMENT
030551,000252: # RLS=LANDING SITE VECTOR IN MOON FIXED COORINATES
030552,000253: # OUTPUTS- XSMD,YSMD,ZSMD
030553,000254: # SUBROUTINES- RP-TO-R ,LAT-LONG,LLASRD,LLASRDA,CSMPREC
030554,000255: # DEBRIS- VAC, SEE SUBROUTINES
030555,000256:
030556,000257: 16,2506 43020 P52LS STQ SET
030557,000258: 16,2507 00300 QMAJ
030558,000259: 16,2510 01463 LUNAFLAG
030559,000260: 16,2511 77745 DLOAD
030560,000261: 16,2512 01046 DSPTEM1
030561,000262: 16,2513 02607 STORE TSIGHT
030562,000263: 16,2514 43175 VLOAD SET
030563,000264: 16,2515 02026 RLS
030564,000265: 16,2516 00462 ERADFLAG
030565,000266: 16,2517 14001 STODL 0D
030566,000267: 16,2520 02607 TSIGHT
030567,000268: 16,2521 34007 STCALL 6D
030568,000269: 16,2522 55341 RP-TO-R
030569,000270: 16,2523 77742 VSR2
030570,000271: 16,2524 16152 STODL ALPHAV
030571,000272: 16,2525 02607 TSIGHT
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Page 695 |
030573,000274: 16,2526 77624 CALL
030574,000275: 16,2527 26322 LAT-LONG
030575,000276: 16,2530 77624 CALL
030576,000277: 16,2531 61336 LLASRD
030577,000278: 16,2532 77776 EXIT
030578,000279: 16,2533 32505 LSDISP CAF V06N89*
030579,000280: 16,2534 04555 TC BANKCALL
030580,000281: 16,2535 20624 CADR GOFLASH
030581,000282: 16,2536 04106 TC GOTOPOOH
030582,000283: 16,2537 02541 TC +2
030583,000284: 16,2540 02533 TC LSDISP
030584,000285: 16,2541 06006 TC INTPRET
030585,000286: 16,2542 77624 CALL
030586,000287: 16,2543 61345 LLASRDA
030587,000288: 16,2544 45145 DLOAD CALL
030588,000289: 16,2545 02607 TSIGHT
030589,000290: 16,2546 26373 LALOTORV
030590,000291: 16,2547 53575 VLOAD UNIT
030591,000292: 16,2550 02152 ALPHAV
030592,000293: 16,2551 14307 STODL XSMD
030593,000294: 16,2552 02607 TSIGHT
030594,000295: 16,2553 34041 STCALL TDEC1
030595,000296: 16,2554 27022 CSMPREC
030596,000297: 16,2555 47375 VLOAD VXV
030597,000298: 16,2556 00001 RATT
030598,000299: 16,2557 00007 VATT
030599,000300: 16,2560 53435 VXV UNIT
030600,000301: 16,2561 00307 XSMD
030601,000302: 16,2562 00323 STORE ZSMD
030602,000303: 16,2563 53435 VXV UNIT
030603,000304: 16,2564 00307 XSMD
030604,000305: 16,2565 34315 STCALL YSMD
030605,000306: 16,2566 00300 QMAJ
030606,000307: 14,2000 SETLOC P50S1
030607,000308: 14,2000 BANK
030608,000309: # NAME- AUTOMATIC OPTICS POSITIONING ROUTINE
030609,000310:
030610,000311: # FUNCTION- (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
030611,000312: # (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
030612,000313:
030613,000314: # CALLING SEQUENCE- CALL R52
030614,000315:
030615,000316: # INPUT- 1. TARG1FLG AND TARG2FLG- PRESET BY CALLER
030616,000317: # 2. RNDVZFLG AND TRACKFLG- PRESET BY CALLER
030617,000318: # 3. STAR CODE- PRESET BY CALLER. ALSO INPUT THROUGH DSKY
030618,000319: # 4. LAT, LONG AND ALT OF LANDMARK- INPUT THROUGH DSKY
030619,000320: # 5. NO. OF MARKS(MARKINDX)- PRESET BY CALLER
030620,000321:
030621,000322: # OUTPUT- DRIVE SHAFT AND TRUNNION CDUS
030622,000323:
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Page 696 |
030624,000325: # SUBROUTINES- 1. FIXDELAY 7. CLEANDSP
030625,000326: # 2. GOPERF1 8. GODSPR
030626,000327: # 3. GOFLASH 9. REFLASHR
030627,000328: # 4. R53 10. R52.2
030628,000329: # 5. ALARM 11. R52.3
030629,000330: # 6. SR52.1
030630,000331:
030631,000332: 14,2002 COUNT 15/R52
030632,000333:
030633,000334: 14,2002 43020 R52 STQ CLEAR
030634,000335: 14,2003 02576 SAVQR52
030635,000336: 14,2004 04265 ADVTRK
030636,000337: 14,2005 77776 R52VRB EXIT
030637,000338: 14,2006 00006 EXTEND
030638,000339: 14,2007 30036 DCA CDUT
030639,000340: 14,2010 53161 DXCH DESOPTT
030640,000341: 14,2011 06006 TC INTPRET
030641,000342: 14,2012 43131 SSP CLEAR
030642,000343: 14,2013 01304 OPTIND
030643,000344: 14,2014 00000 0
030644,000345: 14,2015 00271 R53FLAG
030645,000346: 14,2016 77776 EXIT
030646,000347: 14,2017 06006 R52A TC INTPRET
030647,000348: 14,2020 43014 SET BON
030648,000349: 14,2021 00073 TRUNFLAG
030649,000350: 14,2022 00705 TARG1FLG
030650,000351: 14,2023 30103 R52H
030651,000352: 14,2024 77414 CLEAR EXIT
030652,000353: 14,2025 03660 TERMIFLG
030653,000354: 14,2026 31314 R52C CA SWSAMPLE # IS OPTICS MODE IN AGC
030654,000355: 14,2027 00006 EXTEND
030655,000356: 14,2030 62131 BZMF R52M # MANUAL
030656,000357: 14,2031 04555 R52D TC BANKCALL # AGC
030657,000358: 14,2032 26176 CADR SR52.1
030658,000359: 14,2033 12161 TCF R52L # GR 90 DEGREES
030659,000360: 14,2034 12124 TCF R52J # GR 50 DEGREES
030660,000361: 14,2035 05435 TC UPFLAG # LS 50 DEGREES
030661,000362: 14,2036 00013 ADRES TRUNFLAG # SET TRUNFLAG BIT 4 FLAG 0
030662,000363: 14,2037 34701 R52JA CAF BIT10 # IS THIS A LEM
030663,000364: 14,2040 70075 MASK STATE +1
030664,000365: 14,2041 10000 CCS A
030665,000366: 14,2042 02052 TC R52E # YES
030666,000367: 14,2043 34705 CAF BIT6 # NO, IS R53FLAG SET
030667,000368: 14,2044 70074 MASK STATE
030668,000369: 14,2045 10000 CCS A
030669,000370: 14,2046 12052 TCF R52E # YES
030670,000371: 14,2047 32151 CAF V06N92 # NO
030671,000372: 14,2050 04555 TC BANKCALL
030672,000373: 14,2051 20602 CADR GODSPR
030673,000374: 14,2052 31314 R52E CA SWSAMPLE # IS OSS IN CMC MODE
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Page 697 |
030675,000376: 14,2053 00006 EXTEND
030676,000377: 14,2054 62065 BZMF R52F # NO
030677,000378: 14,2055 40074 CS STATE # YES- IS TRUNFLAG SET
030678,000379: 14,2056 74707 MASK BIT4
030679,000380: 14,2057 10000 CCS A
030680,000381: 14,2060 02063 TC +3 # NO
030681,000382: 14,2061 31775 CA PAC # YES
030682,000383: 14,2062 55160 TS DESOPTT
030683,000384: 14,2063 31773 CA SAC
030684,000385: 14,2064 55161 TS DESOPTS
030685,000386: 14,2065 34731 R52F CAF .5SEC # WAIT 1/2 SEC
030686,000387: 14,2066 04555 TC BANKCALL
030687,000388: 14,2067 01730 CADR DELAYJOB
030688,000389: 14,2070 34701 CAF BIT10
030689,000390: 14,2071 70075 MASK STATE +1
030690,000391: 14,2072 10000 CCS A
030691,000392: 14,2073 12104 TCF R52HA # YES, LEM
030692,000393: 14,2074 34674 CAF BIT15 # NO
030693,000394: 14,2075 70103 MASK STATE +7 # IS TERMIFLG SET
030694,000395: 14,2076 00006 EXTEND
030695,000396: 14,2077 12026 BZF R52C # NO
030696,000397: 14,2100 06006 R52Q TC INTPRET # YES
030697,000398: 14,2101 77650 GOTO
030698,000399: 14,2102 02576 SAVQR52
030699,000400: 14,2103 77776 R52H EXIT # LEM
030700,000401: 14,2104 04555 R52HA TC BANKCALL
030701,000402: 14,2105 76536 CADR R61CSM
030702,000403: 14,2106 30075 CA STATE +1
030703,000404: 14,2107 74706 MASK BIT5
030704,000405: 14,2110 00006 EXTEND # TRACKFLG
030705,000406: 14,2111 12100 BZF R52Q
030706,000407:
030707,000408: 14,2112 40075 CS STATE +1
030708,000409: 14,2113 74704 MASK BIT7 # UPDATFLG
030709,000410: 14,2114 10000 CCS A
030710,000411: 14,2115 12122 TCF R52SYNC
030711,000412:
030712,000413: 14,2116 30101 R52I CA STATE +5
030713,000414: 14,2117 74701 MASK BIT10
030714,000415: 14,2120 10000 CCS A
030715,000416: 14,2121 02031 TC R52D # PRFTRKAT = 1
030716,000417: 14,2122 32175 R52SYNC CAF 1.8SEC # MAKE UP FOR LOST TIME
030717,000418: 14,2123 12066 TCF R52F +1
030718,000419:
030719,000420: 14,2124 05447 R52J TC DOWNFLAG # CLEAR TRUNFLAG
030720,000421: 14,2125 00013 ADRES TRUNFLAG # BIT 4 FLAG 0
030721,000422: 14,2126 05537 TC ALARM # SET 407 ALARM
030722,000423: 14,2127 00407 OCT 407
030723,000424: 14,2130 02037 TC R52JA
030724,000425: 14,2131 34705 R52M CAF BIT6 # IS R53FLAG SET
|
|
Page 698 |
030726,000427: 14,2132 70074 MASK STATE
030727,000428: 14,2133 10000 CCS A
030728,000429: 14,2134 02065 TC R52F # YES
030729,000430: 14,2135 00004 INHINT # NO
030730,000431: 14,2136 37661 CAF PRIO24
030731,000432: 14,2137 05042 TC FINDVAC
030732,000433: 14,2140 E5,1773 EBANK= SAC
030733,000434: 14,2140 02144 30065 2CADR R53JOB
030734,000435: 14,2142 00003 RELINT
030735,000436: 14,2143 12065 TCF R52F
030736,000437: 14,2144 06006 R53JOB TC INTPRET
030737,000438: 14,2145 77624 CALL
030738,000439: 14,2146 31327 R53
030739,000440: 14,2147 77776 ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB(R22 USES)
030740,000441: 14,2150 05112 TC ENDOFJOB
030741,000442: 14,2151 01534 V06N92 VN 00692
030742,000443: 14,2152 01531 V06N89A VN 0689
030743,000444: 14,2153 10464 12470 SHAXIS 2DEC .5376381241 B-1
030744,000445:
030745,000446: 14,2155 00000 00000 2DEC 0 B-28
030746,000447: 14,2157 15373 11554 2DEC .8431766920 B-1
030747,000448: 14,2161 34701 R52L CAF BIT10 # IS THIS A LEM
030748,000449: 14,2162 70075 MASK STATE +1
030749,000450: 14,2163 10000 CCS A
030750,000451: 14,2164 02124 TC R52J # YES
030751,000452: 14,2165 32174 CAF OCT404
030752,000453: 14,2166 04555 TC BANKCALL
030753,000454: 14,2167 21671 CADR PRIOLARM
030754,000455: 14,2170 12176 TCF TERM52 # TERMINATE
030755,000456: 14,2171 12065 TCF R52F # PROCEED
030756,000457: 14,2172 12065 TCF R52F # NO PROVISION FOR NEW DATA
030757,000458: 14,2173 15112 TCF ENDOFJOB
030758,000459:
030759,000460: 14,2174 00404 OCT404 OCT 404
030760,000461:
030761,000462: 14,2175 00264 1.8SEC DEC 180 B-14
030762,000463:
030763,000464: 14,2176 05425 TERM52 TC CLEARMRK
030764,000465:
030765,000466: 14,2177 04555 TC BANKCALL # KILL MARK SYSTEM
030766,000467: 14,2200 16063 CADR MKRELEAS
030767,000468:
030768,000469: 14,2201 34714 CAF ZERO
030769,000470: 14,2202 55323 TS OPTCADR
030770,000471:
030771,000472: 14,2203 04555 TC BANKCALL # CLEAR OUT EXTENDED VERBS
|
|
Page 699 |
030773,000474: 14,2204 20464 CADR KLEENEX
030774,000475:
030775,000476: 14,2205 04106 TC GOTOPOOH # NOW GO TO POO
030776,000477:
030777,000478: 14,2206 43020 ADVORB STQ SET # SETS UP ADVANCED ORBIT TRACKING
030778,000479: 14,2207 02576 SAVQR52
030779,000480: 14,2210 04065 ADVTRK
030780,000481: 14,2211 43014 SET SET
030781,000482: 14,2212 01463 LUNAFLAG
030782,000483: 14,2213 00462 ERADFLAG
030783,000484: 14,2214 77650 GOTO
030784,000485: 14,2215 30005 R52VRB
030785,000486:
|
|
Page 700 |
030787,000488: # NAME -S50 ALIAS LOCSAM
030788,000489: # NAME- LOCSAM
030789,000490: # FUNCTION -TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
030790,000491: # IMU ALIGNMENT PROGRAMS
030791,000492: # DEFINE:
030792,000493: # RATT=POSITION VECTOR OF CM WRT PRIMARY BODY
030793,000494: # VATT=VELOCITY VECTOR OF CM WRT PRIMARY BODY
030794,000495: # RE =RADIUS OF EARTH
030795,000496: # RM =RADIUS OF MOON
030796,000497: # ECLIPOL= POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
030797,000498: # WRT TO SUN OVER THE VELOCITY OF LIGHT
030798,000499: # REM =POSITION OF MOON WRT EARTH
030799,000500: # RES =POSITION OF SUN WRT EARTH
030800,000501: # C = VELOCITY OF LIGHT
030801,000502:
030802,000503:
030803,000504: # EARTH IS PRIMARY MOON IS PRIMARY
030804,000505: # - -
030805,000506: # VEARTH=-1(RATT) VEARTH=-1(REM+RATT)
030806,000507:
030807,000508: # - -
030808,000509: # VMOON = 1(REM-RATT) VMOON =-1(RATT)
030809,000510:
030810,000511: # - -
030811,000512: # VSUN = 1(RES) VSUN = 1(RES-REM)
030812,000513:
030813,000514: # -1
030814,000515: # CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5
030815,000516:
030816,000517: # -1
030817,000518: # CMOON= COS 5 CMOON=COS(SIN CRM/RATT)+5)
030818,000519:
030819,000520:
030820,000521: # CSUN = COS 15 CSUN = COS 15
030821,000522:
030822,000523:
030823,000524: # VEL/C = VSUN X ECLIPOL + VATT/C
030824,000525:
030825,000526:
030826,000527:
030827,000528: # CALL - DLOAD CALL
030828,000529: # DESIRED TIME
030829,000530: # LOCSAM
030830,000531: # INPUTS - MPAC = TIME
030831,000532:
030832,000533: # OUTPUTS- VEARTH,VMOON,VSUN,CEARTH,CMOON,CSUN,VEL/C
030833,000534:
030834,000535: # SUBROUTINES- LSPOS,CSMCONIC
030835,000536:
030836,000537: # DEBRIS - VAC AREA,SEE SUBROUTINES
030837,000538:
|
|
Page 701 |
030839,000540: 14,2000 SETLOC P50S1
030840,000541: 14,2000 BANK
030841,000542:
030842,000543: 14,2216 COUNT* $$/S50
030843,000544:
030844,000545: 14,2216 14,2216 LOCSAM = S50
030845,000546: 14,2216 77620 S50 STQ
030846,000547: 14,2217 00300 QMAJ
030847,000548: 14,2220 36607 STCALL TSIGHT
030848,000549: 14,2221 54110 LSPOS
030849,000550: 14,2222 26752 STOVL VMOON
030850,000551: 14,2223 00003 2D
030851,000552: 14,2224 16744 STODL VSUN
030852,000553: 14,2225 02607 TSIGHT
030853,000554: 14,2226 34041 STCALL TDEC1
030854,000555: 14,2227 27045 CSMCONIC
030855,000556: 14,2230 61131 SSP TIX,2
030856,000557: 14,2231 00052 S2
030857,000558: 14,2232 00000 0
030858,000559: 14,2233 30256 MOONCNTR
030859,000560: 14,2234 52375 EARTCNTR VLOAD VSU
030860,000561: 14,2235 02752 VMOON
030861,000562: 14,2236 00001 RATT
030862,000563: 14,2237 77656 UNIT
030863,000564: 14,2240 26752 STOVL VMOON
030864,000565: 14,2241 00001 RATT
030865,000566: 14,2242 57456 UNIT VCOMP
030866,000567: 14,2243 16736 STODL VEARTH
030867,000568: 14,2244 32162 RSUBE
030868,000569: 14,2245 77624 CALL
030869,000570: 14,2246 30316 OCCOS
030870,000571: 14,2247 14017 STODL CEARTH
030871,000572: 14,2250 32200 CSS5
030872,000573: 14,2251 24023 STOVL CMOON
030873,000574: 14,2252 02744 VSUN
030874,000575: 14,2253 77656 UNIT
030875,000576: 14,2254 36744 STCALL VSUN
030876,000577: 14,2255 30303 ENDSAM
030877,000578: 14,2256 40575 MOONCNTR VLOAD VSR8
030878,000579: 14,2257 02752 VMOON
030879,000580: 14,2260 51362 VSR1 BVSU
030880,000581: 14,2261 02744 VSUN
030881,000582: 14,2262 77656 UNIT
030882,000583: 14,2263 26744 STOVL VSUN
030883,000584: 14,2264 02752 VMOON
030884,000585: 14,2265 53455 VAD UNIT
030885,000586: 14,2266 00001 RATT
030886,000587: 14,2267 77676 VCOMP
030887,000588: 14,2270 26736 STOVL VEARTH
|
|
Page 702 |
030889,000590: 14,2271 00001 RATT
030890,000591: 14,2272 57456 UNIT VCOMP
030891,000592: 14,2273 16752 STODL VMOON
030892,000593: 14,2274 32160 RSUBM
030893,000594: 14,2275 77624 CALL
030894,000595: 14,2276 30316 OCCOS
030895,000596: 14,2277 14023 STODL CMOON
030896,000597: 14,2300 32200 CSS5
030897,000598: 14,2301 24017 STOVL CEARTH
030898,000599: 14,2302 02744 VSUN
030899,000600: 14,2303 77635 ENDSAM VXV
030900,000601: 14,2304 32170 ECLIPOL
030901,000602: 14,2305 27474 STOVL VEL/C
030902,000603: 14,2306 00007 VATT
030903,000604: 14,2307 53361 VXSC VAD
030904,000605: 14,2310 32166 1/C
030905,000606: 14,2311 03474 VEL/C
030906,000607: 14,2312 17474 STODL VEL/C
030907,000608: 14,2313 32202 CSSUN
030908,000609: 14,2314 34021 STCALL CSUN
030909,000610: 14,2315 00300 QMAJ
030910,000611: 14,2316 70471 OCCOS DDV SR1
030911,000612: 14,2317 00045 36D
030912,000613: 14,2320 43336 ASIN DAD
030913,000614: 14,2321 32164 5DEGREES
030914,000615: 14,2322 70546 COS SR1
030915,000616: 14,2323 77616 RVQ
030916,000617: 15,2000 SETLOC P50S
030917,000618: 15,2000 BANK
030918,000619: 15,2157 00065 01265 RSUBM 2DEC 1738090 B-29 # MOON RADIUS IN METERS
030919,000620: 15,2161 00302 24533 RSUBE 2DEC 6378166 B-29
030920,000621: 15,2163 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
030921,000622: 15,2165 00000 13143 1/C 2DEC .000042699 B-1 # *
030922,000623: 15,2167 00000 00000 ECLIPOL 2DEC 0 B-28 # *
030923,000624: 15,2171 77777 53231 2DEC -.00007896 B-1 # *
030924,000625: 15,2173 00001 17570 2DEC .00018209 B-1 # * * FOR USE BY CSM ONLY
030925,000626: 15,2175 00001 16700 TSIGHT1 2DEC 24000 B-28
030926,000627: 15,2177 CEARTH = 14D
030927,000628: 15,2177 CSUN = 16D
030928,000629: 15,2177 CMOON = 18D
030929,000630: 15,2177 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
|
|
Page 703 |
030931,000632: 15,2201 07564 15042 CSSUN 2DEC .24148 # COS 15 /4
030932,000633:
|
|
Page 704 |
030934,000635: # PROGRAM NAME - PICAPAR DATE DEC 20 66
030935,000636: # MOD 1 LOG SECTION P51-P53
030936,000637: # ASSEMBLY SUNDISK REV40
030937,000638: # BY KEN VINCENT
030938,000639:
030939,000640: # FUNCTION
030940,000641: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
030941,000642: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
030942,000643: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
030943,000644: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
030944,000645: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
030945,000646: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
030946,000647: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
030947,000648: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66DEGREES
030948,000649: # AND MORE THAN 40DEGREES. THOSE PAIRS OF STARS WITH GOOD SEPARATION
030949,000650: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
030950,000651: # 33DEGREES OF SAX). THE PAIR WITH MAXIMUM SEPARATION IS CHOSEN FROM
030951,000652: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
030952,000653:
030953,000654: # CALLING SEQUENCE
030954,000655: # L TC BANKCALL
030955,000656: # L+1 CADR PICAPAR
030956,000657: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
030957,000658: # L+3 NORMAL RETURN
030958,000659:
030959,000660: # OUTPUT
030960,000661: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
030961,000662: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
030962,000663:
030963,000664: # INITIALIZATION
030964,000665: # 1)A CALL TO LOCSAM MUST BE MADE
030965,000666: # 2)VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TOO APPROXIMATE TIME OF
030966,000667: # SIGHTINGS.
030967,000668:
030968,000669: # DEBRIS
030969,000670: # WORK AREA
030970,000671: # X,Y,ZNB
030971,000672: # SINCDU,COSCDU
030972,000673: # STARAD - STAR +5
030973,000674: 15,2203 COUNT 14/PICAP
030974,000675:
030975,000676: 14,2000 SETLOC P50S1
030976,000677: 14,2000 BANK
030977,000678: 14,2324 04604 PICAPAR TC MAKECADR
030978,000679: 14,2325 55777 TS QMIN
030979,000680: 14,2326 06006 TC INTPRET
030980,000681: 14,2327 77624 CALL
030981,000682: 14,2330 47432 CDUTRIG
030982,000683: 14,2331 77624 CALL
030983,000684: 14,2332 34567 CALCSMSC
|
|
Page 705 |
030985,000686: 14,2333 77601 SETPD
030986,000687: 14,2334 00001 0
030987,000688: 14,2335 71214 SET DLOAD # VFLAG = 1
030988,000689: 14,2336 01465 VFLAG
030989,000690: 14,2337 11453 DPZERO
030990,000691: 14,2340 24303 STOVL BESTI
030991,000692: 14,2341 02714 XNB
030992,000693: 14,2342 63361 VXSC PDVL
030993,000694: 14,2343 30502 SIN33
030994,000695: 14,2344 02730 ZNB
030995,000696: 14,2345 74370 AXT,1 VXSC
030996,000697: 14,2346 00344 228D # X1 = 37 X 6 + 6
030997,000698: 14,2347 30504 COS33
030998,000699: 14,2350 77655 VAD
030999,000700: 14,2351 53505 VXM UNIT
031000,000701: 14,2352 01736 REFSMMAT
031001,000702: 14,2353 02760 STORE SAX # SAX = SHAFT AXIS
031002,000703: 14,2354 66331 SSP SSP # S1=S2=6
031003,000704: 14,2355 00051 S1
031004,000705: 14,2356 00006 6
031005,000706: 14,2357 00052 S2
031006,000707: 14,2360 00006 6
031007,000708: 14,2361 52100 PIC1 TIX,1 GOTO # MAJOR STAR
031008,000709: 14,2362 30364 PIC2
031009,000710: 14,2363 30513 PICEND
031010,000711: 14,2364 45173 PIC2 VLOAD* CALL
031011,000712: 14,2365 31751 CATLOG,1
031012,000713: 14,2366 30457 OCCULT
031013,000714: 14,2367 73014 BON LXA,2
031014,000715: 14,2370 01710 CULTFLAG
031015,000716: 14,2371 30361 PIC1
031016,000717: 14,2372 00046 X1
031017,000718: 14,2373 52104 PIC3 TIX,2 GOTO
031018,000719: 14,2374 30376 PIC4
031019,000720: 14,2375 30361 PIC1
031020,000721: 14,2376 45173 PIC4 VLOAD* CALL
031021,000722: 14,2377 46026 CATLOG,2
031022,000723: 14,2400 30457 OCCULT
031023,000724: 14,2401 76614 BON VLOAD*
031024,000725: 14,2402 01710 CULTFLAG
031025,000726: 14,2403 30373 PIC3
031026,000727: 14,2404 31751 CATLOG,1
031027,000728: 14,2405 45237 DOT* DSU
031028,000729: 14,2406 46026 CATLOG,2
031029,000730: 14,2407 30506 CSS66 # SEPERATION LESS THAN 66 DEG.
031030,000731: 14,2410 43240 BMN DAD
031031,000732: 14,2411 30373 PIC3
031032,000733: 14,2412 30510 CSS6640 # SEPERATION MORE THAN 40 DEG.
031033,000734: 14,2413 77644 BPL
031034,000735: 14,2414 30373 PIC3
|
|
Page 706 |
031036,000737: 14,2415 50373 VLOAD* DOT
031037,000738: 14,2416 31751 CATLOG,1
031038,000739: 14,2417 02760 SAX
031039,000740: 14,2420 50025 DSU BMN # MAJOR STAR IN CONE
031040,000741: 14,2421 30512 CSS33
031041,000742: 14,2422 30361 PIC1
031042,000743: 14,2423 50373 VLOAD* DOT
031043,000744: 14,2424 46026 CATLOG,2
031044,000745: 14,2425 02760 SAX
031045,000746: 14,2426 51025 DSU BPL
031046,000747: 14,2427 30512 CSS33
031047,000748: 14,2430 30433 STRATGY
031048,000749: 14,2431 77650 GOTO
031049,000750: 14,2432 30373 PIC3
031050,000751: 14,2433 77614 STRATGY BONCLR
031051,000752: 14,2434 01605 VFLAG
031052,000753: 14,2435 30452 NEWPAR
031053,000754: 14,2436 65120 XCHX,1 XCHX,2
031054,000755: 14,2437 00302 BESTI
031055,000756: 14,2440 00303 BESTJ
031056,000757: 14,2441 47773 STRAT VLOAD* DOT*
031057,000758: 14,2442 31751 CATLOG,1
031058,000759: 14,2443 46026 CATLOG,2
031059,000760: 14,2444 43006 PUSH BOFINV
031060,000761: 14,2445 01545 VFLAG
031061,000762: 14,2446 30436 STRAT -3
031062,000763: 14,2447 45345 DLOAD DSU
031063,000764: 14,2450 77644 BPL
031064,000765: 14,2451 30373 PIC3
031065,000766: 14,2452 67130 NEWPAR SXA,1 SXA,2
031066,000767: 14,2453 00302 BESTI
031067,000768: 14,2454 00303 BESTJ
031068,000769: 14,2455 77650 GOTO
031069,000770: 14,2456 30373 PIC3
031070,000771: 14,2457 51321 OCCULT MXV BVSU
031071,000772: 14,2460 02736 CULTRIX
031072,000773: 14,2461 00017 CSS
031073,000774: 14,2462 77654 BZE
031074,000775: 14,2463 30476 CULTED
031075,000776: 14,2464 75240 BMN SIGN
031076,000777: 14,2465 30476 CULTED
031077,000778: 14,2466 00160 MPAC +3
031078,000779: 14,2467 75240 BMN SIGN
031079,000780: 14,2470 30476 CULTED
031080,000781: 14,2471 00162 MPAC +5
031081,000782: 14,2472 43040 BMN CLRGO
031082,000783: 14,2473 30476 CULTED
031083,000784: 14,2474 01630 CULTFLAG
031084,000785: 14,2475 00052 QPRET
031085,000786: 14,2476 77614 CULTED SETGO
|
|
Page 707 |
031087,000788: 14,2477 01430 CULTFLAG
031088,000789: 14,2500 00052 QPRET
031089,000790: 14,2501 0000016 CSS = CEARTH
031090,000791: 14,2501 21150 25157 SIN33 2DEC .5376381241
031091,000792: 14,2503 32766 22713 COS33 2DEC .8431756920
031092,000793: 14,2505 01736 35137 CSS66 2DEC .060480472 # (COS76)/4
031093,000794: 14,2507 73003 65403 CSS6640 2DEC -.15602587 # (COS76 - COS30)/4
031094,000795: 14,2511 06233 26112 CSS33 2DEC .197002688 # COS(1/2(76))/4
031095,000796: 14,2513 77414 PICEND BOFF EXIT
031096,000797: 14,2514 01745 VFLAG
031097,000798: 14,2515 30517 PICGXT
031098,000799: 14,2516 02521 TC PICBXT
031099,000800: 14,2517 77776 PICGXT EXIT
031100,000801: 14,2520 25777 INCR QMIN
031101,000802: 14,2521 31777 PICBXT CA QMIN
031102,000803: 14,2522 04561 TC SWCALL
031103,000804: # V1 = 12D
031104,000805:
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|
Page 708 |
031106,000807: # NAME-R51 FINE ALIGN
031107,000808: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
031108,000809: # CALLING SEQ- CALL R51
031109,000810: # INPUT- BESTI,BESTJ(PAIR OF STAR NO )
031110,000811: # OUTPUT- GYRO TORQUE PULSES
031111,000812: # SUBROUTINES- R52,R54,R55(SXTNB,NBSM,AXISGEN
031112,000813: 14,2523 COUNT 14/R51
031113,000814:
031114,000815: 14,2523 77776 R51 EXIT
031115,000816: 14,2524 34712 CAF BIT1
031116,000817: 14,2525 54304 TS STARIND
031117,000818: 14,2526 54301 TS MARKINDX
031118,000819: 14,2527 06006 R51.2 TC INTPRET
031119,000820: 14,2530 43014 R51.3 CLEAR CLEAR
031120,000821: 14,2531 00666 TARG2FLG
031121,000822: 14,2532 00665 TARG1FLG
031122,000823: 14,2533 77776 EXIT
031123,000824: 14,2534 05301 TC PHASCHNG
031124,000825: 14,2535 05024 OCT 05024 # RESTART GR 4 FOR R52 - R53
031125,000826: 14,2536 13000 OCT 13000
031126,000827: 14,2537 50304 INDEX STARIND
031127,000828: 14,2540 30302 CA BESTI
031128,000829: 14,2541 00006 EXTEND
031129,000830: 14,2542 72706 MP 1/6TH
031130,000831: 14,2543 54735 TS STARCODE
031131,000832: 14,2544 32705 CAF V01N70
031132,000833: 14,2545 04555 TC BANKCALL
031133,000834: 14,2546 20763 CADR GOFLASHR
031134,000835: 14,2547 04106 TC GOTOPOOH
031135,000836: 14,2550 02555 TC +5
031136,000837: 14,2551 02544 TC -5
031137,000838: 14,2552 36211 CAF SIX
031138,000839: 14,2553 05415 TC BLANKET
031139,000840: 14,2554 15112 TCF ENDOFJOB
031140,000841: 14,2555 06006 TC INTPRET
031141,000842: 14,2556 45034 RTB CALL
031142,000843: 14,2557 45505 LOADTIME
031143,000844: 14,2560 32363 PLANET
031144,000845: 14,2561 72131 SSP LXA,1
031145,000846: 14,2562 00051 S1
031146,000847: 14,2563 00000 0
031147,000848: 14,2564 00304 STARIND
031148,000849: 14,2565 77700 TIX,1
031149,000850: 14,2566 30571 R51ST
031150,000851: 14,2567 36617 STCALL STARSAV2 # 2ND STAR
031151,000852: 14,2570 30572 R51ST +1
031152,000853: 14,2571 02611 R51ST STORE STARSAV1 # 1ST STAR
031153,000854: 14,2572 77776 EXIT
031154,000855: 14,2573 41011 CS MODREG # IS THIS P54
031155,000856: 14,2574 62704 AD OCT66
|
|
Page 709 |
031157,000858: 14,2575 00006 EXTEND
031158,000859: 14,2576 12677 BZF R51B # YES
031159,000860: 14,2577 06006 TC INTPRET
031160,000861: 14,2600 77624 CALL
031161,000862: 14,2601 30002 R52 # AOP WILL MAKE CALLS TO SIGHTING
031162,000863: 14,2602 77624 R51A CALL # COMPUTE LOS IN SM FROM MARK DATA
031163,000864: 14,2603 31273 SXTSM
031164,000865: 14,2604 02617 STORE STARSAV2
031165,000866: 14,2605 77776 EXIT
031166,000867: 14,2606 04555 TC BANKCALL
031167,000868: 14,2607 16063 CADR MKRELEAS
031168,000869: 14,2610 06006 TC INTPRET
031169,000870: 14,2611 45145 DLOAD CALL
031170,000871: 14,2612 02607 TSIGHT
031171,000872: 14,2613 32363 PLANET
031172,000873: 14,2614 77776 EXIT
031173,000874: 14,2615 10304 CCS STARIND
031174,000875: 14,2616 02664 TC R51.4
031175,000876: 14,2617 06006 TC INTPRET
031176,000877: 14,2620 53521 MXV UNIT
031177,000878: 14,2621 01736 REFSMMAT
031178,000879: 14,2622 02736 STORE STARAD
031179,000880: 14,2623 77776 EXIT
031180,000881: 14,2624 05301 TC PHASCHNG
031181,000882: 14,2625 05024 OCT 05024 # RESTART THIS GROUP 4 JOB
031182,000883: 14,2626 13000 OCT 13000 # WITH PRIORITY 13
031183,000884: 14,2627 06006 TC INTPRET
031184,000885: 14,2630 77775 VLOAD
031185,000886: 14,2631 02617 STARSAV2
031186,000887: 14,2632 24007 STOVL 6D
031187,000888: 14,2633 02611 STARSAV1
031188,000889: 14,2634 24015 STOVL 12D
031189,000890: 14,2635 02601 PLANVEC
031190,000891: 14,2636 36744 STCALL STARAD +6
031191,000892: 14,2637 30707 R54 # STAR DATA TEST
031192,000893: 14,2640 45014 BOFF CALL
031193,000894: 14,2641 00354 FREEFLAG
031194,000895: 14,2642 30650 R51K
031195,000896: 14,2643 47334 AXISGEN
031196,000897: 14,2644 77624 CALL
031197,000898: 14,2645 32203 R55 # GYRO TORQUE
031198,000899: 14,2646 77614 CLEAR
031199,000900: 14,2647 01273 PFRATFLG
031200,000901: 14,2650 77776 R51K EXIT
031201,000902: 14,2651 35660 CAF OCT14
031202,000903: 14,2652 04555 TC BANKCALL
031203,000904: 14,2653 20751 CADR GOPERF1
031204,000905: 14,2654 04106 TC GOTOPOOH
031205,000906: 14,2655 02657 TC +2 # V33
031206,000907: 14,2656 02661 TC +3
|
|
Page 710 |
031208,000909: 14,2657 04555 TC BANKCALL
031209,000910: 14,2660 32120 CADR P52C
031210,000911: 14,2661 06006 TC INTPRET
031211,000912: 14,2662 77650 GOTO
031212,000913: 14,2663 32143 ENDP50S
031213,000914: 14,2664 06006 R51.4 TC INTPRET
031214,000915: 14,2665 53521 MXV UNIT
031215,000916: 14,2666 01736 REFSMMAT
031216,000917: 14,2667 26601 STOVL PLANVEC
031217,000918: 14,2670 02617 STARSAV2
031218,000919: 14,2671 02611 STORE STARSAV1
031219,000920: 14,2672 77731 SSP
031220,000921: 14,2673 00305 STARIND
031221,000922: 14,2674 00000 0
031222,000923: 14,2675 77650 GOTO
031223,000924: 14,2676 30530 R51.3
031224,000925: 14,2677 06006 R51B TC INTPRET
031225,000926: 14,2700 77624 CALL
031226,000927: 14,2701 32252 R56
031227,000928: 14,2702 77650 GOTO
031228,000929: 14,2703 30602 R51A
031229,000930: 14,2704 00066 OCT66 OCT 00066
031230,000931: 14,2705 00306 V01N70 VN 0170
031231,000932: 14,2706 05253 1/6TH DEC .1666667
031232,000933:
|
|
Page 711 |
031234,000935: # NAME-R55 GYRO TORQUE
031235,000936: # FUNCTION-COMPUTE AND SEND GYRO PULSES
031236,000937: # CALLING SEQ- CALL R55
031237,000938: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
031238,000939: # OUTPUT- GYRO PULSES
031239,000940: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
031240,000941: 15,2000 SETLOC P50S
031241,000942: 15,2000 BANK
031242,000943: 15,2203 COUNT* $$/R55
031243,000944: 15,2203 77620 R55 STQ
031244,000945: 15,2204 02777 QMIN
031245,000946: 15,2205 77624 CALL
031246,000947: 15,2206 47140 CALCGTA
031247,000948: 15,2207 77776 PULSEM EXIT
031248,000949: 15,2210 32234 R55.1 CAF V06N93
031249,000950: 15,2211 04555 TC BANKCALL
031250,000951: 15,2212 20624 CADR GOFLASH
031251,000952: 15,2213 04106 TC GOTOPOOH
031252,000953: 15,2214 02216 TC R55.2
031253,000954: 15,2215 02231 TC R55RET
031254,000955: 15,2216 05301 R55.2 TC PHASCHNG
031255,000956: 15,2217 00314 OCT 00314
031256,000957: 15,2220 32235 CA R55CDR
031257,000958: 15,2221 04555 TC BANKCALL
031258,000959: 15,2222 17125 CADR IMUPULSE
031259,000960: 15,2223 04555 TC BANKCALL
031260,000961: 15,2224 17516 CADR IMUSTALL
031261,000962: 15,2225 05646 TC CURTAINS
031262,000963: 15,2226 05301 TC PHASCHNG
031263,000964: 15,2227 05024 OCT 05024
031264,000965: 15,2230 13000 OCT 13000
031265,000966: 15,2231 06006 R55RET TC INTPRET
031266,000967: 15,2232 77650 GOTO
031267,000968: 15,2233 02777 QMIN
031268,000969: 15,2234 01535 V06N93 VN 0693
031269,000970: 15,2235 02757 R55CDR ECADR OGC
031270,000971: 15,2236 14,2707 R54 = CHKSDATA
031271,000972: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
031272,000973: # MOD NO- 0 LOG SECTION- P51-P53
031273,000974: # MODIFICATION BY- LONSKE ASSEMBLY-
031274,000975:
031275,000976: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
031276,000977: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
031277,000978: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
031278,000979:
031279,000980: # OS1 = OBSERVED STAR 1 VECTOR
031280,000981: # OS2 = OBSERVED STAR 2 VECTOR
031281,000982: # SS1 = STORED STAR 1 VECTOR
031282,000983: # SS2 = STORED STAR 2 VECTOR
031283,000984: # A1 = ARCCOS(OS1 - OS2)
|
|
Page 712 |
031285,000986: # A2 = ARCCOS(SS1 - SS2)
031286,000987: # A = ABS(2(A1 - A2))
031287,000988:
031288,000989: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
031289,000990: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
031290,000991: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
031291,000992: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
031292,000993: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
031293,000994:
031294,000995: # ERASABLE INITIALIZATION REQUIRED -
031295,000996: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
031296,000997: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
031297,000998: # DEBRIS -
031298,000999: 14,2000 SETLOC P50S1
031299,001000: 14,2000 BANK
031300,001001: 14,2707 COUNT* $$/R50
031301,001002: 14,2707 43020 CHKSDATA STQ SET
031302,001003: 14,2710 02777 QMIN
031303,001004: 14,2711 00074 FREEFLAG
031304,001005: 14,2712 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
031305,001006: 14,2713 02735 STARAD
031306,001007:
031307,001008: 14,2714 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
031308,001009: 14,2715 00001 0,1
031309,001010: 14,2716 00007 6,1
031310,001011: 14,2717 65552 SL1 ACOS
031311,001012: 14,2720 00025 STORE THETA
031312,001013: 14,2721 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
031313,001014: 14,2722 00354 FREEFLAG
031314,001015: 14,2723 30733 CHKSD
031315,001016: 14,2724 00174 FREEFLAG # CLEAR FREEFLAG
031316,001017: 14,2725 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
031317,001018: 14,2726 00006 6D
031318,001019: 14,2727 00025 THETA
031319,001020: 14,2730 00023 STORE 18D
031320,001021: 14,2731 77650 GOTO
031321,001022: 14,2732 30714 CHKSB # RETURN TO CAL. 2ND ANGLE
031322,001023: 14,2733 45345 CHKSD DLOAD DSU
031323,001024: 14,2734 00025 THETA
031324,001025: 14,2735 00023 18D # COMPUTE POS DIFF
031325,001026: 14,2736 47046 ABS RTB
031326,001027: 14,2737 45541 SGNAGREE
031327,001028: 14,2740 01046 STORE NORMTEM1
031328,001029: 14,2741 77414 SET EXIT
031329,001030: 14,2742 00074 FREEFLAG
031330,001031: 14,2743 34714 CAF ZERO
031331,001032: 14,2744 04555 TC BANKCALL
031332,001033: 14,2745 20607 CADR CLEANDSP
031333,001034:
031334,001035: 14,2746 32762 CAF VB6N5
|
|
Page 713 |
031336,001037: 14,2747 04555 TC BANKCALL
031337,001038: 14,2750 20624 CADR GOFLASH
031338,001039: 14,2751 14106 TCF GOTOPOOH
031339,001040: 14,2752 02757 TC CHKSDA # PROCEED
031340,001041: 14,2753 06006 TC INTPRET
031341,001042: 14,2754 52014 CLEAR GOTO
031342,001043: 14,2755 00274 FREEFLAG
031343,001044: 14,2756 02777 QMIN
031344,001045: 14,2757 06006 CHKSDA TC INTPRET
031345,001046: 14,2760 77650 GOTO
031346,001047: 14,2761 02777 QMIN
031347,001048: 14,2762 01405 VB6N5 VN 605
031348,001049: # NAME - CAL53A
031349,001050: # NAME - CAL53A
031350,001051: # FUNCTION - COARSE ALIGN THE IMU, IF NECESSARY.
031351,001052: # CALLING SEQUENCE - CALL CAL53A
031352,001053: # INPUT - PRESENT GIMBAL ANGLES - CDUX,CDUY,CDUZ
031353,001054: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
031354,001055: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
031355,001056: # SUBROUTINES USED - 1.IMUCOARS 2.IMUSTALL 3.CURTAINS
031356,001057: 14,2763 COUNT 14/R50
031357,001058:
031358,001059: 14,2763 45020 CAL53A STQ CALL
031359,001060: 14,2764 00035 29D
031360,001061: 14,2765 22256 S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES
031361,001062: 14,2766 66234 RTB SSP
031362,001063: 14,2767 32236 RDCDUS # READ CDUS
031363,001064: 14,2770 00051 S1
031364,001065: 14,2771 00001 1
031365,001066: 14,2772 40370 AXT,1 SETPD
031366,001067: 14,2773 00003 3
031367,001068: 14,2774 00005 4
031368,001069: 14,2775 70543 CALOOP DLOAD* SR1
031369,001070: 14,2776 01161 THETAD +3D,1
031370,001071: 14,2777 70523 PDDL* SR1
031371,001072: 14,3000 00005 4,1
031372,001073: 14,3001 51425 DSU ABS
031373,001074: 14,3002 45206 PUSH DSU
031374,001075: 14,3003 31060 DEGREE1
031375,001076: 14,3004 71240 BMN DLOAD
031376,001077: 14,3005 31034 CALOOP1
031377,001078: 14,3006 51025 DSU BPL
031378,001079: 14,3007 31061 DEG359
031379,001080: 14,3010 31034 CALOOP1
031380,001081: 14,3011 77776 COARFINE EXIT
031381,001082: 14,3012 04555 TC BANKCALL
031382,001083: 14,3013 16602 CADR IMUCOARS # PERFORM COARSE ALIGNMENT
031383,001084: 14,3014 04555 TC BANKCALL
031384,001085: 14,3015 17516 CADR IMUSTALL # REQUEST MODE SWITCH
031385,001086: 14,3016 05646 TC CURTAINS
|
|
Page 714 |
031387,001088: 14,3017 04555 TC BANKCALL
031388,001089: 14,3020 17012 CADR IMUFIN20
031389,001090: 14,3021 04555 TC BANKCALL
031390,001091: 14,3022 17516 CADR IMUSTALL
031391,001092: 14,3023 05646 TC CURTAINS # TEST FOR MALFUNCTION
031392,001093: 14,3024 06006 TC INTPRET
031393,001094: 14,3025 77234 RTB VLOAD
031394,001095: 14,3026 31270 SET1/PDT
031395,001096: 14,3027 11453 ZEROVEC
031396,001097: 14,3030 01472 STORE GCOMP
031397,001098: 14,3031 52014 SET GOTO
031398,001099: 14,3032 01060 DRIFTFLG
031399,001100: 14,3033 31036 FINEONLY
031400,001101: 14,3034 77700 CALOOP1 TIX,1
031401,001102: 14,3035 30775 CALOOP
031402,001103: 14,3036 75160 FINEONLY AXC,1 AXC,2
031403,001104: 14,3037 02671 XSM
031404,001105: 14,3040 01735 REFSMMAT
031405,001106: 14,3041 77624 CALL
031406,001107: 14,3042 31045 MATMOVE
031407,001108: 14,3043 77650 GOTO
031408,001109: 14,3044 00035 29D
031409,001110: 14,3045 77773 MATMOVE VLOAD* # TRANSFER MATRIX
031410,001111: 14,3046 00001 0,1
031411,001112: 14,3047 10001 STORE 0,2
031412,001113: 14,3050 77773 VLOAD*
031413,001114: 14,3051 00007 6D,1
031414,001115: 14,3052 10007 STORE 6D,2
031415,001116: 14,3053 77773 VLOAD*
031416,001117: 14,3054 00015 12D,1
031417,001118: 14,3055 10015 STORE 12D,2
031418,001119: 14,3056 77616 RVQ
031419,001120: 14,3057 00056 DEGREE1 DEC 46 B-14
031420,001121: 14,3060 37722 DEG359 DEC 16338 B-14
031421,001122: 15,2000 SETLOC P50S
031422,001123: 15,2000 BANK
031423,001124: 15,2236 00004 RDCDUS INHINT # READ CDUS
031424,001125: 15,2237 30032 CA CDUX
031425,001126: 15,2240 50120 INDEX FIXLOC
031426,001127: 15,2241 54001 TS 1
031427,001128: 15,2242 30033 CA CDUY
031428,001129: 15,2243 50120 INDEX FIXLOC
031429,001130: 15,2244 54002 TS 2
031430,001131: 15,2245 30034 CA CDUZ
031431,001132: 15,2246 50120 INDEX FIXLOC
031432,001133: 15,2247 54003 TS 3
031433,001134: 15,2250 00003 RELINT
031434,001135: 15,2251 06030 TC DANZIG # +
031435,001136: # NAME - GIMB
031436,001137: # FUNCTION - DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT.
|
|
Page 715 |
031438,001139: # CALLING SEQUENCE - CALL GIMB
031439,001140: # INPUT - DESIRED IMU INERTIAL ORIENTATION VECTORS-XSMD,YSMD,ZSMD
031440,001141: # OUTPUT - GIMBAL ANGLES LEFT IN THETAD,+1,+2 +
031441,001142: # SUBROUTINES USED - 1.CDUTRIG 2.CALCSMSC 3.CALCGA
031442,001143: 16,2000 SETLOC P50S2
031443,001144: 16,2000 BANK
031444,001145: 16,2567 COUNT 14/INFLT
031445,001146:
031446,001147: 16,2567 41345 CALCSMSC DLOAD DMP
031447,001148: 16,2570 00737 SINCDUY
031448,001149: 16,2571 00747 COSCDUZ
031449,001150: 16,2572 77676 DCOMP
031450,001151: 16,2573 70525 PDDL SR1
031451,001152: 16,2574 00741 SINCDUZ
031452,001153: 16,2575 41325 PDDL DMP
031453,001154: 16,2576 00745 COSCDUY
031454,001155: 16,2577 00747 COSCDUZ
031455,001156: 16,2600 76466 VDEF VSL1
031456,001157: 16,2601 02714 STORE XNB
031457,001158: 16,2602 41345 DLOAD DMP
031458,001159: 16,2603 00743 SINCDUX
031459,001160: 16,2604 00741 SINCDUZ
031460,001161: 16,2605 77752 SL1
031461,001162: 16,2606 00033 STORE 26D
031462,001163: 16,2607 77605 DMP
031463,001164: 16,2610 00737 SINCDUY
031464,001165: 16,2611 41325 PDDL DMP
031465,001166: 16,2612 00751 COSCDUX
031466,001167: 16,2613 00745 COSCDUY
031467,001168: 16,2614 77625 DSU
031468,001169: 16,2615 41325 PDDL DMP
031469,001170: 16,2616 00743 SINCDUX
031470,001171: 16,2617 00747 COSCDUZ
031471,001172: 16,2620 77676 DCOMP
031472,001173: 16,2621 41325 PDDL DMP
031473,001174: 16,2622 00751 COSCDUX
031474,001175: 16,2623 00737 SINCDUY
031475,001176: 16,2624 41325 PDDL DMP
031476,001177: 16,2625 00745 COSCDUY
031477,001178: 16,2626 00033 26D
031478,001179: 16,2627 55415 DAD VDEF
031479,001180: 16,2630 77772 VSL1
031480,001181: 16,2631 02730 STORE ZNB
031481,001182: 16,2632 76435 VXV VSL1
031482,001183: 16,2633 02714 XNB
031483,001184: 16,2634 02722 STORE YNB
031484,001185: 16,2635 77616 RVQ
031485,001186: # NAME - P51 - IMU ORIENTATION DETERMINATION
031486,001187: # MOD.NO.2 21 DEC 66 LOG SECTION - P51-P53
031487,001188: # MOD BY STURLAUGSON ASSEMBLY SUNDISK REV15
|
|
Page 716 |
031489,001190: # FUNCTIONAL DESCRIPTION
031490,001191:
031491,001192: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
031492,001193: # ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
031493,001194: # THEN PROCESSED AS FOLLOWS.
031494,001195:
031495,001196: # 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
031496,001197: # TRUNNION ANGLES, RESPECTIVELY. THEN,
031497,001198:
031498,001199: # -
031499,001200: # V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR)
031500,001201: # NB
031501,001202: # THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
031502,001203:
031503,001204: # 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
031504,001205:
031505,001206: # - T T T -
031506,001207: # V = Q *Q *Q *V , WHERE
031507,001208: # 1 2 3 NB
031508,001209:
031509,001210: # ( COS(IG) 0 -SIN(IG) )
031510,001211: # ( ) THE GIMBAL ANGLES ARE COMPUTED FROM
031511,001212: # Q = ( 0 1 0 ), IG=INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS-
031512,001213: # 1 ( ) ROT AND CDULOGIC)
031513,001214: # ( SIN(IG) 0 COS(IG) )
031514,001215:
031515,001216:
031516,001217: # ( COS(MG) SIN(MG) 0 )
031517,001218: # ( )
031518,001219: # Q = (-SIN(MG) COS(MG) 0 ), MG=MIDDLE GIMBAL ANGLE
031519,001220: # 2 ( )
031520,001221: # ( 0 0 1 )
031521,001222:
031522,001223:
031523,001224: # ( 1 0 0 )
031524,001225: # ( )
031525,001226: # Q = ( 0 COS(OG) SIN(OG) ), OG=OUTER GIMBAL ANGLE
031526,001227: # 3 ( )
031527,001228: # ( 0 -SIN(OG) COS(OG) )
031528,001229:
031529,001230: # 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
031530,001231:
031531,001232: # 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
031532,001233:
031533,001234: # 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
031534,001235: # - -
031535,001236: # LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS,A AND B (BASIC AND STABLE MEMBER).
031536,001237: # 1 2
031537,001238:
031538,001239: # DEFINE, - -
|
|
Page 717 |
031540,001241: # U = S
031541,001242: # A A1
031542,001243:
031543,001244: # - - -
031544,001245: # V = UNIT(S X S )
031545,001246: # A A1 A2
031546,001247:
031547,001248: # - - -
031548,001249: # W = U X V
031549,001250: # A A A
031550,001251: # AND
031551,001252: # - -
031552,001253: # U = S
031553,001254: # B B1
031554,001255:
031555,001256: # - - -
031556,001257: # V = UNIT(S X S )
031557,001258: # B B1 B2
031558,001259:
031559,001260: # - - -
031560,001261: # W = U X V
031561,001262: # B B B
031562,001263:
031563,001264: # THEN - - - -
031564,001265: # X = U *U + V *V + W *W
031565,001266: # B1 A B1 A B1 A
031566,001267:
031567,001268: # - - - - (REFSMMAT)
031568,001269: # Y = U *U + V *V + W *W
031569,001270: # B2 A B2 A B2 A
031570,001271:
031571,001272: # - - - -
031572,001273: # Z = U *U + V *V + W *W
031573,001274: # B3 A B3 A B3 A
031574,001275:
031575,001276: # THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
031576,001277:
031577,001278: # -
031578,001279: # S IN 6-11 OF THE VAC AREA
031579,001280: # A1
031580,001281:
031581,001282: # -
031582,001283: # S IN 12-17 OF THE VAC AREA
031583,001284: # A2
031584,001285:
031585,001286: # -
031586,001287: # S IN STARAD
031587,001288: # B1
031588,001289:
031589,001290: # -
|
|
Page 718 |
031591,001292: # S IN STARAD +6
031592,001293: # B2
031593,001294:
031594,001295: # CALLING SEQUENCE
031595,001296:
031596,001297: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
031597,001298:
031598,001299: # SUBROUTINES CALLED.
031599,001300:
031600,001301: # GOPERF3
031601,001302: # GOPERF1R
031602,001303: # GODSPR
031603,001304: # IMUCOARS
031604,001305: # IMUFIN20
031605,001306: # R53
031606,001307: # SXTNB
031607,001308: # NBSM
031608,001309: # MKRELEAS
031609,001310: # CHKSDATA
031610,001311: # MATMOVE
031611,001312:
031612,001313: # ALARMS
031613,001314:
031614,001315: # NONE.
031615,001316: # ERASABLE INITIALIZATION
031616,001317:
031617,001318: # IMU ZERO FLAG SHOULD BE SET.
031618,001319:
031619,001320: # OUTPUT
031620,001321:
031621,001322: # REFSMMAT
031622,001323: # REFSMFLG
031623,001324:
031624,001325: # DEBRIS
031625,001326:
031626,001327: # WORK AREA
031627,001328: # STARAD
031628,001329: # STARIND
031629,001330: # BESTI
031630,001331: # BESTJ
031631,001332:
031632,001333: 14,2000 SETLOC P50S1
031633,001334: 14,2000 BANK
031634,001335: 14,3061 COUNT 14/P5153
031635,001336:
031636,001337: 14,3061 14,3061 P53 EQUALS P51
031637,001338: 14,3061 41320 P51 CS IMODES30
031638,001339: 14,3062 74702 MASK BIT9
031639,001340: 14,3063 10000 CCS A
031640,001341: 14,3064 03070 TC P51A
|
|
Page 719 |
031642,001343: 14,3065 05537 TC ALARM
031643,001344: 14,3066 00210 OCT 210
031644,001345: 14,3067 04106 TC GOTOPOOH
031645,001346: 14,3070 04555 P51A TC BANKCALL
031646,001347: 14,3071 17607 CADR R02ZERO
031647,001348:
031648,001349: 14,3072 34720 P51AA CAF PRFMSTAQ
031649,001350: 14,3073 04555 TC BANKCALL
031650,001351: 14,3074 20751 CADR GOPERF1
031651,001352: 14,3075 04106 TC GOTOPOOH # TERM.
031652,001353: 14,3076 03141 TC P51B # V 33
031653,001354: 14,3077 05301 TC PHASCHNG
031654,001355: 14,3100 05024 OCT 05024
031655,001356: 14,3101 13000 OCT 13000
031656,001357: 14,3102 34714 CAF P51ZERO
031657,001358: 14,3103 55155 TS THETAD # ZERO THE GIMBALS
031658,001359: 14,3104 55156 TS THETAD +1
031659,001360: 14,3105 55157 TS THETAD +2
031660,001361: 14,3106 33266 CAF V6N22
031661,001362: 14,3107 04555 TC BANKCALL
031662,001363: 14,3110 20577 CADR GODSPRET
031663,001364: 14,3111 33267 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
031664,001365: 14,3112 04555 TC BANKCALL
031665,001366: 14,3113 20577 CADR GODSPRET
031666,001367: 14,3114 04555 TC BANKCALL
031667,001368: 14,3115 16602 CADR IMUCOARS
031668,001369: 14,3116 04555 TC BANKCALL
031669,001370: 14,3117 17516 CADR IMUSTALL
031670,001371: 14,3120 05646 TC CURTAINS # CAGING OR BAD END
031671,001372: 14,3121 04555 TC BANKCALL # SCHEDULE IFAILOK AND IMUFINED TASKS,IN 5
031672,001373: 14,3122 17012 CADR IMUFIN20 # AND 20 SECS. DIRECT RETURN AND NO STALL,
031673,001374: 14,3123 04555 TC BANKCALL # IF CAGING, BUT T4 WILL ZERO C/A ENABLE.
031674,001375: 14,3124 17516 CADR IMUSTALL # IF PUT TO SLEEP, IMUFINED WILL WAKE US
031675,001376: 14,3125 05646 TC CURTAINS # UP.
031676,001377: 14,3126 06006 TC INTPRET
031677,001378: 14,3127 77234 RTB VLOAD
031678,001379: 14,3130 31270 SET1/PDT
031679,001380: 14,3131 11453 ZEROVEC
031680,001381: 14,3132 01472 STORE GCOMP
031681,001382: 14,3133 77414 SET EXIT
031682,001383: 14,3134 01060 DRIFTFLG
031683,001384: 14,3135 05301 TC PHASCHNG
031684,001385: 14,3136 05024 OCT 05024
031685,001386: 14,3137 13000 OCT 13000
031686,001387: 14,3140 13072 TCF P51AA # COARSE ALIGN DONE - RECYCLE FOR FINE
|
|
Page 720 |
031688,001389: # DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
031689,001390:
031690,001391: 14,3141 05301 P51B TC PHASCHNG
031691,001392: 14,3142 00014 OCT 00014
031692,001393: 14,3143 06006 TC INTPRET
031693,001394: 14,3144 40331 SSP SETPD
031694,001395: 14,3145 00305 STARIND # INDEX-STAR 1 OR 2
031695,001396: 14,3146 00000 0
031696,001397: 14,3147 00001 0
031697,001398: 14,3150 77414 CLEAR EXIT
031698,001399: 14,3151 00666 TARG2FLG # SHOW STAR MARK-NOT LAND MARK
031699,001400: 14,3152 34712 CAF BIT1
031700,001401: 14,3153 54301 TS MARKINDX # INITIALIZE FOR ONE MARK
031701,001402:
031702,001403: 14,3154 05301 P51C TC PHASCHNG
031703,001404: 14,3155 05024 OCT 05024
031704,001405: 14,3156 13000 OCT 13000
031705,001406: 14,3157 05253 TC CHECKMM
031706,001407: 14,3160 00065 MM 53 B-14 # BACKUP PROGRAM
031707,001408: 14,3161 13167 TCF P51C.1 # NOT P53
031708,001409: 14,3162 06006 TC INTPRET
031709,001410: 14,3163 77624 CALL
031710,001411: 14,3164 32252 R56
031711,001412: 14,3165 77650 GOTO
031712,001413: 14,3166 31172 P51C.2
031713,001414: 14,3167 06006 P51C.1 TC INTPRET
031714,001415: 14,3170 77624 CALL
031715,001416: 14,3171 31327 R53 # SIGHTING ROUTINE
031716,001417: 14,3172 77624 P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA
031717,001418: 14,3173 31273 SXTSM
031718,001419: 14,3174 77606 PUSH
031719,001420: 14,3175 53135 SLOAD BZE
031720,001421: 14,3176 00305 STARIND
031721,001422: 14,3177 31204 P51D
031722,001423: 14,3200 45575 VLOAD STADR
031723,001424: 14,3201 75160 STORE STARSAV2 # DOWNLINK
031724,001425: 14,3202 77650 GOTO
031725,001426: 14,3203 31212 P51E
031726,001427: 14,3204 45575 P51D VLOAD STADR
031727,001428: 14,3205 61166 STODL STARSAV1
031728,001429: 14,3206 02607 TSIGHT
031729,001430: 14,3207 77624 CALL
031730,001431: 14,3210 32363 PLANET
031731,001432: 14,3211 02601 STORE PLANVEC
031732,001433: 14,3212 77776 P51E EXIT
031733,001434: 14,3213 05301 TC PHASCHNG
031734,001435: 14,3214 05024 OCT 05024
031735,001436: 14,3215 13000 OCT 13000
031736,001437: 14,3216 04555 TC BANKCALL
031737,001438: 14,3217 16063 CADR MKRELEAS # ZERO MARKSTAT
|
|
Page 721 |
031739,001440: 14,3220 10304 CCS STARIND
031740,001441: 14,3221 13230 TCF P51F # STAR 2
031741,001442: 14,3222 05301 TC PHASCHNG
031742,001443: 14,3223 05024 OCT 05024
031743,001444: 14,3224 13000 OCT 13000
031744,001445: 14,3225 34712 CAF BIT1
031745,001446: 14,3226 54304 TS STARIND
031746,001447: 14,3227 13154 TCF P51C # GO DO SECOND STAR
031747,001448: 14,3230 05301 P51F TC PHASCHNG
031748,001449: 14,3231 05024 OCT 05024
031749,001450: 14,3232 13000 OCT 13000
031750,001451: 14,3233 06006 TC INTPRET
031751,001452: 14,3234 45145 DLOAD CALL
031752,001453: 14,3235 02607 TSIGHT
031753,001454: 14,3236 32363 PLANET
031754,001455: 14,3237 24015 STOVL 12D
031755,001456: 14,3240 02601 PLANVEC
031756,001457: 14,3241 24007 STOVL 6D
031757,001458: 14,3242 02611 STARSAV1
031758,001459: 14,3243 26736 STOVL STARAD
031759,001460: 14,3244 02617 STARSAV2
031760,001461: 14,3245 36744 STCALL STARAD +6
031761,001462: 14,3246 30707 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
031762,001463: 14,3247 77414 BON EXIT
031763,001464: 14,3250 00314 FREEFLAG
031764,001465: 14,3251 31253 P51G
031765,001466: 14,3252 03072 TC P51AA
031766,001467: 14,3253 77624 P51G CALL
031767,001468: 14,3254 47334 AXISGEN # COME BACK WITH REFSMMAT IN XDC
031768,001469: 14,3255 75160 AXC,1 AXC,2
031769,001470: 14,3256 02713 XDC
031770,001471: 14,3257 01735 REFSMMAT
031771,001472: 14,3260 45014 CLEAR CALL
031772,001473: 14,3261 01662 REFSMFLG
031773,001474: 14,3262 31045 MATMOVE
031774,001475: 14,3263 52014 SET GOTO
031775,001476: 14,3264 01462 REFSMFLG
031776,001477: 14,3265 32143 ENDP50S
031777,001478: 14,3266 4720 PRFMSTAQ = OCT15
031778,001479: 14,3266 4714 P51ZERO = ZERO
031779,001480: 14,3266 4715 P51FIVE = FIVE
031780,001481: 14,3266 01426 V6N22 VN 0622
031781,001482: 14,3267 12200 V41K VN 4100
031782,001483: 14,3270 30025 SET1/PDT CA TIME1
031783,001484: 14,3271 55074 TS 1/PIPADT
031784,001485: 14,3272 16030 TCF DANZIG
031785,001486:
|
|
Page 722 |
031787,001488: # SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
031788,001489:
031789,001490: 14,3273 77620 SXTSM STQ
031790,001491: 14,3274 00300 QMAJ
031791,001492: 14,3275 70740 LXC,1 DLOAD*
031792,001493: 14,3276 01330 MARKSTAT
031793,001494: 14,3277 00001 0D,1
031794,001495: 14,3300 02607 STORE TSIGHT
031795,001496: 14,3301 66764 AXC,2 SLOAD*
031796,001497: 14,3302 00304 STARIND
031797,001498: 14,3303 46451 MKDNCDR,2
031798,001499: 14,3304 76764 AXC,2 VLOAD*
031799,001500: 14,3305 00154 MPAC
031800,001501: 14,3306 00001 0,1
031801,001502: 14,3307 10001 STORE 0,2
031802,001503: 14,3310 77743 DLOAD*
031803,001504: 14,3311 00006 5,1
031804,001505: 14,3312 10006 STORE 5,2
031805,001506: 14,3313 77624 CALL
031806,001507: 14,3314 46000 SXTNB # COMPUTE LOS VECTOR FROM OCDU IN MKVAC
031807,001508: 14,3315 62150 LXA,1 INCR,1
031808,001509: 14,3316 01330 MARKSTAT
031809,001510: 14,3317 00002 2 # INCREMENT TO BASE ADR OF ICDU
031810,001511: 14,3320 45130 SXA,1 CALL
031811,001512: 14,3321 00050 S1
031812,001513: 14,3322 47541 NBSM # TRANSFORM LOS TO SM
031813,001514: 14,3323 77650 GOTO
031814,001515: 14,3324 00300 QMAJ
031815,001516: 14,3325 03674 MKDNCDR ECADR MARKDOWN
031816,001517: 14,3326 03502 ECADR MARK2DWN
031817,001518:
|
|
Page 723 |
031819,001520: # PROGRAM DESCRIPTION - R53 - SIGHTING MARK ROUTINE
031820,001521: # MOD.NO.2 21 DEC 66
031821,001522: # MOD BY STURLAUGSON
031822,001523:
031823,001524: # FUNCTIONAL DESCRIPTION
031824,001525: # TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
031825,001526: # CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
031826,001527: # OCDUS) AND THE TIME OF THE MARK.
031827,001528:
031828,001529: # CALLING SEQUENCE
031829,001530: # R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
031830,001531: # THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
031831,001532:
031832,001533: # SUBROUTINES CALLED
031833,001534: # SXTMARK
031834,001535: # OPTSTALL
031835,001536: # GOFLASH
031836,001537:
031837,001538: # ERASABLE INITIALIZATION
031838,001539: # TARGET FLAG - STAR OR LANDMARK
031839,001540: # MARKINDX - NUMBER OF MARKS WANTED
031840,001541: # STARIND - INDEX TO BESTI OR BESTJ (STAR NUMBER)
031841,001542: # OUTPUT
031842,001543: # MARKSTAT CONTAINS INDEX TO VACANT AREA WHERE MARK DATA IS STORED
031843,001544: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED
031844,001545: # DEBRIS
031845,001546: # MARKINDX CONTAINS NUMBER OF MARKS DESIRED
031846,001547: 14,2000 SETLOC RT53
031847,001548: 14,2000 BANK
031848,001549:
031849,001550: 14,3327 COUNT 14/R53
031850,001551:
031851,001552: 14,3327 43020 R53 STQ SET # SET SIGHTING MARK FLAG
031852,001553: 14,3330 03501 R53EXIT
031853,001554: 14,3331 00071 R53FLAG
031854,001555: 14,3332 77776 EXIT
031855,001556: 14,3333 30301 R53A CA MARKINDX # NUMBER OF MARKS
031856,001557: 14,3334 74716 MASK LOW3
031857,001558: 14,3335 04555 TC BANKCALL
031858,001559: 14,3336 16002 CADR SXTMARK
031859,001560: 14,3337 04555 TC BANKCALL
031860,001561: 14,3340 17512 CADR OPTSTALL
031861,001562: 14,3341 05646 TC CURTAINS
031862,001563: 14,3342 51330 INDEX MARKSTAT
031863,001564: 14,3343 10052 CCS QPRET # NUMBER OF MARKS ACTUALLY DONE
031864,001565: 14,3344 13355 TCF R53B
031865,001566: 14,3345 13347 TCF +2 # ZERO
031866,001567: 14,3346 13347 TCF +1 # CCS HOLE
031867,001568: 14,3347 34714 CAF ZERO # HOUSEKEEP VAC AREA SAVE
031868,001569: 14,3350 57330 XCH MARKSTAT # AND MARKSTAT
|
|
Page 724 |
031870,001571: 14,3351 10000 CCS A
031871,001572: 14,3352 50000 INDEX A
031872,001573: 14,3353 54000 TS 0
031873,001574: 14,3354 13333 TCF R53A
031874,001575: 14,3355 05253 R53B TC CHECKMM
031875,001576: 14,3356 00026 MM 22 B-14
031876,001577: 14,3357 13361 TCF +2
031877,001578: 14,3360 13405 TCF R53D
031878,001579: 14,3361 05253 TC CHECKMM
031879,001580: 14,3362 00027 MM 23 B-14
031880,001581: 14,3363 13365 TCF R53C
031881,001582: 14,3364 13405 TCF R53D
031882,001583: 14,3365 33411 R53C CAF V01N71
031883,001584: 14,3366 04555 TC BANKCALL
031884,001585: 14,3367 20763 CADR GOFLASHR
031885,001586: 14,3370 04106 TC GOTOPOOH # TERM.
031886,001587: 14,3371 13376 TCF R53Z
031887,001588: 14,3372 03365 TC R53C # RECYCLE
031888,001589: 14,3373 36211 CAF SIX
031889,001590: 14,3374 05415 TC BLANKET
031890,001591: 14,3375 05112 TC ENDOFJOB
031891,001592: 14,3376 47713 R53Z CS HIGH9
031892,001593: 14,3377 70735 MASK STARCODE
031893,001594: 14,3400 00006 EXTEND
031894,001595: 14,3401 76211 MP SIGHTSIX
031895,001596: 14,3402 56001 XCH L
031896,001597: 14,3403 50304 INDEX STARIND
031897,001598: 14,3404 54302 TS BESTI
031898,001599: 14,3405 06006 R53D TC INTPRET
031899,001600: 14,3406 77614 R53OUT SETGO
031900,001601: 14,3407 03420 TERMIFLG # SET TERMINATE FOR R52
031901,001602: 14,3410 03501 R53EXIT
031902,001603: 14,3411 6211 SIGHTSIX = SIX
031903,001604: 14,3411 00307 V01N71 VN 0171
031904,001605:
|
|
Page 725 |
031906,001607: # NAME-S52.2
031907,001608: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
031908,001609: # CALL- CALL S52.2
031909,001610: # INPUT- X,Y,ZSMD
031910,001611: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
031911,001612: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
031912,001613: 11,2000 SETLOC S52/2
031913,001614: 11,2000 BANK
031914,001615:
031915,001616: 11,2256 COUNT 13/S52.2
031916,001617: 11,2256 77620 S52.2 STQ
031917,001618: 11,2257 00300 QMAJ
031918,001619: 11,2260 77624 CALL
031919,001620: 11,2261 47432 CDUTRIG
031920,001621: 11,2262 77624 CALL
031921,001622: 11,2263 34567 CALCSMSC
031922,001623: 11,2264 66370 AXT,1 SSP
031923,001624: 11,2265 00022 18D
031924,001625: 11,2266 00051 S1
031925,001626: 11,2267 00006 6D
031926,001627: 11,2270 61373 S52.2A VLOAD* VXM
031927,001628: 11,2271 02736 XNB +18D,1
031928,001629: 11,2272 01736 REFSMMAT
031929,001630: 11,2273 77656 UNIT
031930,001631: 11,2274 06736 STORE XNB +18D,1
031931,001632: 11,2275 77700 TIX,1
031932,001633: 11,2276 22270 S52.2A
031933,001634: 11,2277 75160 S52.2.1 AXC,1 AXC,2
031934,001635: 11,2300 00306 XSMD
031935,001636: 11,2301 02671 XSM
031936,001637: 11,2302 77624 CALL
031937,001638: 11,2303 31045 MATMOVE
031938,001639: 11,2304 77624 CALL
031939,001640: 11,2305 47244 CALCGA
031940,001641: 11,2306 77650 GOTO
031941,001642: 11,2307 00300 QMAJ
031942,001643:
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|
Page 726 |
031944,001645: # PROGRAM NAME - SR52.1 DATE DEC 20 66
031945,001646: # MOD 1 LOG SEC P51-P53
031946,001647: # BY KEN VINCENT ASSEMBLY SUNDISK REV 40
031947,001648:
031948,001649: # FUNCTION
031949,001650: # TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
031950,001651: # LEM, STAR OR LANDMARK. IN CASE OF LEM OR LMK,THE PRESENT TIME PLUS
031951,001652: # 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD ,+1 ). IF THE LEM IS
031952,001653: # THE TARGET THEN CONIC UPDATES OF THE CSM AND LEM ARE MADE TO
031953,001654: # THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
031954,001655: # POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE
031955,001656: # COMMON PART OF THIS PROGRAM.
031956,001657: # IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
031957,001658: # VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
031958,001659: # FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
031959,001660: # THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
031960,001661: # VECTOR FOR THE COMMON PART OF THIS ROUTINE.
031961,001662: # IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
031962,001663: # AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
031963,001664: # THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING
031964,001665: # VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
031965,001666: # THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
031966,001667: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG OR 38DEG.
031967,001668: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
031968,001669:
031969,001670: # CALLING SEQUENCE
031970,001671: # L+4 RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5DEG OF DESIRED
031971,001672: # L TC BANKCALL
031972,001673: # L+1 CADR SR52.1
031973,001674: # L+2 ERROR RETURN TRUNNION GREATER THAN 90 DEG
031974,001675: # L&3 ERROR RETURN TRUNNION GREATER THAN 50 DEG
031975,001676: # L+4 NORMAL RETURN
031976,001677:
031977,001678: # OUTPUT
031978,001679: # SAC -SINGLE PREC,2S COMP,SCALED AT HALF REVS- SHAFT ANGLE DESIRED
031979,001680: # PAC -SINGLE PREC,2S COMP SCALED AT EIGTH REVS - TRUNNION ANGLE DESIRED
031980,001681:
031981,001682: # INITIALIZATION
031982,001683: # IF TARG1FLG =1 THEN TARGET IS LEM -NO OTHER INPUT REQUIRED
031983,001684: # IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
031984,001685: # 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
031985,001686: # ARE 6 TIMES STAR NUMBER.
031986,001687: # IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SEE ROUTINE
031987,001688: # LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
031988,001689: # RADIUS
031989,001690:
031990,001691: # DEBRIS
031991,001692: # WORK AREA
031992,001693: # STARAD - STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
031993,001694: 11,2310 COUNT* $$/SR521
|
|
Page 727 |
031995,001696: 13,2000 SETLOC SR52/1
031996,001697: 13,2000 BANK
031997,001698:
031998,001699: 13,2176 04604 SR52.1 TC MAKECADR
031999,001700: 13,2177 55777 TS QMIN
032000,001701: 13,2200 06006 TC INTPRET
032001,001702: 13,2201 43234 RTB DAD
032002,001703: 13,2202 45505 LOADTIME
032003,001704: 13,2203 26317 1.3SECDP
032004,001705: 13,2204 02356 STORE AOPTIME
032005,001706: 13,2205 43014 BON BON
032006,001707: 13,2206 00705 TARG1FLG
032007,001708: 13,2207 26214 LEM52
032008,001709: 13,2210 00706 TARG2FLG
032009,001710: 13,2211 26224 LMK52
032010,001711: 13,2212 77650 GOTO
032011,001712: 13,2213 26245 STAR52
032012,001713: 13,2214 77745 LEM52 DLOAD
032013,001714: 13,2215 02356 AOPTIME
032014,001715: 13,2216 34041 STCALL TDEC1
032015,001716: 13,2217 27057 LEMCONIC
032016,001717: 13,2220 77775 VLOAD
032017,001718: 13,2221 00001 RATT
032018,001719: 13,2222 77650 GOTO
032019,001720: 13,2223 26234 LMKLMCOM
032020,001721: 13,2224 71214 LMK52 BON DLOAD
032021,001722: 13,2225 04305 ADVTRK
032022,001723: 13,2226 54000 ADVTRACK
032023,001724: 13,2227 02356 AOPTIME
032024,001725: 13,2230 77624 CALL
032025,001726: 13,2231 26373 LALOTORV
032026,001727: 13,2232 77775 VLOAD
032027,001728: 13,2233 02152 ALPHAV
032028,001729: 13,2234 16766 LMKLMCOM STODL STAR
032029,001730: 13,2235 02356 AOPTIME
032030,001731: 13,2236 34041 STCALL TDEC1
032031,001732: 13,2237 27045 CSMCONIC
032032,001733: 13,2240 52375 VLOAD VSU
032033,001734: 13,2241 02766 STAR
032034,001735: 13,2242 00001 RATT
032035,001736: 13,2243 52056 UNIT GOTO
032036,001737: 13,2244 26260 COM52
032037,001738: 13,2245 72131 STAR52 SSP LXA,1
032038,001739: 13,2246 00051 S1
032039,001740: 13,2247 00000 0
032040,001741: 13,2250 00304 STARIND
032041,001742: 13,2251 77700 TIX,1
032042,001743: 13,2252 26256 ST52ST
032043,001744: 13,2253 52175 VLOAD GOTO
032044,001745: 13,2254 02617 STARSAV2
|
|
Page 728 |
032046,001747: 13,2255 26260 COM52
032047,001748: 13,2256 77775 ST52ST VLOAD
032048,001749: 13,2257 02611 STARSAV1
032049,001750: 13,2260 53521 COM52 MXV UNIT
032050,001751: 13,2261 01736 REFSMMAT
032051,001752: 13,2262 02766 STORE STAR
032052,001753: 13,2263 45001 SETPD CALL
032053,001754: 13,2264 00001 0
032054,001755: 13,2265 47432 CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA
032055,001756: 13,2266 77624 CALL # NOW EXPECT TO SEE THE CDU ANGLES.
032056,001757: 13,2267 46034 CALCSXA
032057,001758: 13,2270 77414 BOFF EXIT
032058,001759: 13,2271 01750 CULTFLAG
032059,001760: 13,2272 26274 TRUN38
032060,001761: 13,2273 02312 TC SR52E1
032061,001762: 13,2274 45345 TRUN38 DLOAD DSU
032062,001763: 13,2275 02776 PAC
032063,001764: 13,2276 26315 38TRDEG
032064,001765: 13,2277 71244 BPL DLOAD
032065,001766: 13,2300 26305 SR52E22
032066,001767: 13,2301 02776 PAC
032067,001768: 13,2302 51025 DSU BPL
032068,001769: 13,2303 26321 20DEGSMN
032069,001770: 13,2304 26307 SR52E3
032070,001771: 13,2305 77776 SR52E22 EXIT
032071,001772: 13,2306 02311 TC SR52E2
032072,001773: 13,2307 77776 SR52E3 EXIT
032073,001774: 13,2310 25777 INCR QMIN
032074,001775: 13,2311 25777 SR52E2 INCR QMIN
032075,001776: 13,2312 31777 SR52E1 CA QMIN
032076,001777: 13,2313 04561 TC SWCALL
032077,001778: 13,2314 25252 25254 38TRDEG 2DEC .66666667 # CORESPONDS TO 50 DEGS IN TRUNION
032078,001779: 13,2316 00000 00202 1.3SECDP 2DEC 130 B-28
032079,001780: 13,2320 61740 20DEGSMN DEC -07199 B-14
032080,001781: 13,2321 77777 DEC -0 B-14
032081,001782:
|
|
Page 729 |
032083,001784: # THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO
032084,001785: # A POINT ON THE GROUND TRACK 60 DEGRESS FORWARD OF THE LOCAL VERTICAL
032085,001786: # OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW
032086,001787:
032087,001788: 26,2000 SETLOC 26P50S
032088,001789: 26,2000 BANK
032089,001790: 26,2000 77601 ADVTRACK SETPD
032090,001791: 26,2001 00001 0
032091,001792: 26,2002 41575 VLOAD PUSH # INITIALIZE FOR RP-TO-R
032092,001793: 26,2003 15324 UNITZ # UZ VEC IN PD 0-5
032093,001794: 26,2004 41434 RTB PUSH # TIME IN PD 6-7
032094,001795: 26,2005 45505 LOADTIME
032095,001796: 26,2006 36356 STCALL AOPTIME # TIME ALSO IN AOPTIME FOR CSMCONIC
032096,001797: 26,2007 55341 RP-TO-R # GET MOON ROTATION VEC IN REF
032097,001798: 26,2010 16766 STODL STAR
032098,001799: 26,2011 02356 AOPTIME # PICK UP TIME
032099,001800: 26,2012 34041 STCALL TDEC1 # UPDATE STATE TO TIME
032100,001801: 26,2013 27045 CSMCONIC
032101,001802: 26,2014 47375 VLOAD VXV
032102,001803: 26,2015 00007 VATT
032103,001804: 26,2016 00001 RATT
032104,001805: 26,2017 77656 UNIT
032105,001806: 26,2020 24031 STOVL 24D # SAVE -UNIT(V X R) FOR 2ND ROTATION
032106,001807: 26,2021 00001 RATT
032107,001808: 26,2022 57456 UNIT VCOMP
032108,001809: 26,2023 41401 SETPD PUSH # PUSH LOS=-UNIT(RVEC) PD 0-5
032109,001810: 26,2024 00001 0
032110,001811: 26,2025 77776 EXIT
032111,001812: 26,2026 31751 CA LANDMARK
032112,001813: 26,2027 74716 MASK SEVEN # GET NUMBER OF ADVANCE PERIODS
032113,001814: 26,2030 00006 EXTEND
032114,001815: 26,2031 74700 MP BIT11 # GET N/16
032115,001816: 26,2032 56001 XCH L
032116,001817: 26,2033 50120 INDEX FIXLOC
032117,001818: 26,2034 54036 TS 30D # TEMP STORE N/16
032118,001819: 26,2035 06006 TC INTPRET
032119,001820: 26,2036 41335 SLOAD DMP
032120,001821: 26,2037 00037 30D
032121,001822: 26,2040 14107 MPERIOD
032122,001823: 26,2041 36356 STCALL AOPTIME # ROTATE ANG ABOUT UR
032123,001824: 26,2042 54057 ROTA
032124,001825: 26,2043 77775 VLOAD
032125,001826: 26,2044 00031 24D # PICK UP 2ND ROTATION AXIS
032126,001827: 26,2045 16766 STODL STAR
032127,001828: 26,2046 14105 DP1/6
032128,001829: 26,2047 77625 DSU
032129,001830: 26,2050 02356 AOPTIME # 2ND RAT ANGLE = 60 - A
032130,001831: 26,2051 36356 STCALL AOPTIME
032131,001832: 26,2052 54057 ROTA # GO ROTATE 2ND TIME
032132,001833: 26,2053 77775 VLOAD
|
|
Page 730 |
032134,001835: 26,2054 00001 0
032135,001836: 26,2055 36766 STCALL STAR # STORE FINAL LOS IN STAR
032136,001837: 26,2056 26260 COM52 # RETURN TO SR52.1
032137,001838:
032138,001839: 26,2057 73545 ROTA DLOAD SIN
032139,001840: 26,2060 02356 AOPTIME
032140,001841: 26,2061 47315 PDVL VXV # PUSH 1/2SIN(A) PD 6-7
032141,001842: 26,2062 02766 STAR # UR VEC
032142,001843: 26,2063 00001 0 # LOS
032143,001844: 26,2064 72561 VXSC VSL2 # 1/2SIN(A)(URXLOS) PD 6-11
032144,001845: 26,2065 50315 PDVL DOT
032145,001846: 26,2066 02766 STAR
032146,001847: 26,2067 00001 0
032147,001848: 26,2070 72561 VXSC VSL2
032148,001849: 26,2071 02766 STAR
032149,001850: 26,2072 71525 PDDL COS # 1/2(UR . LOS)UR 12-17
032150,001851: 26,2073 02356 AOPTIME
032151,001852: 26,2074 51315 PDVL BVSU # PUSH 1/2COS(A) 18-19
032152,001853: 26,2075 00015 12D
032153,001854: 26,2076 00001 0
032154,001855: 26,2077 76561 VXSC VSL1 # UP 18-19
032155,001856: 26,2100 53255 VAD VAD # UP 12-17 UP 6-11
032156,001857: 26,2101 40256 UNIT SETPD
032157,001858: 26,2102 00001 0
032158,001859: 26,2103 43406 PUSH RVQ
032159,001860:
032160,001861: 26,2104 05252 25251 DP1/6 2DEC .16666666
032161,001862: 26,2106 11446 02760 MPERIOD 2DEC .2992 # APPROX LUNAR ROT ANG IN 2HRS X 16
032162,001863:
|
|
Page 731 |
032164,001865: # NAME-S52.3
032165,001866: # FUNCTION- XSMD= UNIT(YSMD X ZSMD)
032166,001867: # YSMD= UNIT(V X R)
032167,001868: # ZSMD= UNIT(-R)
032168,001869: # CALL DLOAD CALL
032169,001870: # TALIGN
032170,001871: # S52.3
032171,001872: # INPUT- TIME OF ALIGNMENT IN MPAC
032172,001873: # OUTPUT- X,Y,ZSMD
032173,001874: # SUBROUTINES- CSMCONIC
032174,001875: 16,2000 SETLOC P50S2
032175,001876: 16,2000 BANK
032176,001877:
032177,001878: 16,2636 COUNT 15/S52.3
032178,001879: 16,2636 77620 S52.3 STQ
032179,001880: 16,2637 00300 QMAJ
032180,001881: 16,2640 34041 STCALL TDEC1
032181,001882: 16,2641 27045 CSMCONIC
032182,001883: 16,2642 77601 SETPD
032183,001884: 16,2643 00001 0
032184,001885: 16,2644 57575 VLOAD VCOMP
032185,001886: 16,2645 00001 RATT
032186,001887: 16,2646 77656 UNIT
032187,001888: 16,2647 24323 STOVL ZSMD
032188,001889: 16,2650 00007 VATT
032189,001890: 16,2651 53435 VXV UNIT
032190,001891: 16,2652 00001 RATT
032191,001892: 16,2653 00315 STORE YSMD
032192,001893: 16,2654 53435 VXV UNIT
032193,001894: 16,2655 00323 ZSMD
032194,001895: 16,2656 34307 STCALL XSMD
032195,001896: 16,2657 00300 QMAJ
032196,001897:
|
|
Page 732 |
032198,001899: # PROGRAM DESCRIPTION - R56 - ALTERNATE LOS SIGHTING MARK ROUTINE
032199,001900:
032200,001901: # FUNCTIONAL DESCRIPTION
032201,001902: # TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOWS THE
032202,001903: # COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE ASTRONAUT KEYS IN
032203,001904: # ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
032204,001905: # IN N92.
032205,001906:
032206,001907: # CALLING SEQUENCE
032207,001908: # CALL
032208,001909: # R56
032209,001910:
032210,001911: # SUBROUTINES CALLED
032211,001912: # A PORTION OF SXTMARK (VAC.AREA SEARCH)
032212,001913: # GOFLASH
032213,001914: # GOPERF1
032214,001915:
032215,001916: # ERASABLE INITIALIZATION
032216,001917: # STARIND-INDEX TO STAR NUMBER
032217,001918:
032218,001919: # OUTPUT
032219,001920: # MARKSTAT-INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
032220,001921: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
032221,001922: # ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS-
032222,001923: # VAC +2 CDUY
032223,001924: # VAC +3 CDUS
032224,001925: # VAC +4 CDUZ
032225,001926: # VAC +5 CDUT
032226,001927: # VAC +6 CDUX
032227,001928:
032228,001929: 16,2660 COUNT* $$/R56
032229,001930: 15,2000 SETLOC P50S
032230,001931: 15,2000 BANK
032231,001932: 15,2252 77776 R56 EXIT
032232,001933: 15,2253 32362 CAF V06N94B
032233,001934: 15,2254 04555 TC BANKCALL
032234,001935: 15,2255 20624 CADR GOFLASH
032235,001936: 15,2256 04106 TC GOTOPOOH # TERM.
032236,001937: 15,2257 02261 TC R56A # PROCEED - ANGLES OK
032237,001938: 15,2260 02253 TC -5 # ENTER - NEW ANGLES
032238,001939: 15,2261 04555 R56A TC BANKCALL
032239,001940: 15,2262 16004 CADR SXTMARK +2 # INHIBIR EXT VB ACT AND FIND VAC AREA
032240,001941:
032241,001942: 15,2263 34714 CAF ZERO
032242,001943: 15,2264 04555 TC BANKCALL
032243,001944: 15,2265 20607 CADR CLEANDSP
032244,001945:
032245,001946: 15,2266 32360 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK
032246,001947: 15,2267 04555 TC BANKCALL
032247,001948: 15,2270 20470 CADR GOMARK2
|
|
Page 733 |
032249,001950: 15,2271 14106 TCF GOTOPOOH # V34-TERMINATE
032250,001951: 15,2272 12263 TCF R56A +2 # V33-DONT PROCEED-JUST ENTER TO MARK
032251,001952: 15,2273 06006 TC INTPRET
032252,001953: 15,2274 77745 DLOAD
032253,001954: 15,2275 03731 MRKBUF1 +3
032254,001955: 15,2276 16774 STODL SAC
032255,001956: 15,2277 03733 MRKBUF1 +5
032256,001957: 15,2300 02776 STORE PAC
032257,001958: 15,2301 77776 EXIT
032258,001959: 15,2302 00004 INHINT
032259,001960: 15,2303 00006 EXTEND
032260,001961: 15,2304 30025 DCA TIME2
032261,001962: 15,2305 51330 INDEX MARKSTAT
032262,001963: 15,2306 52001 DXCH 0
032263,001964: 15,2307 30033 CA CDUY # ENTER-THIS IS A BACKUP SYSTEM MARK
032264,001965: 15,2310 51330 INDEX MARKSTAT
032265,001966: 15,2311 54002 TS 2
032266,001967: 15,2312 31773 CA SAC
032267,001968: 15,2313 51330 INDEX MARKSTAT
032268,001969: 15,2314 54003 TS 3
032269,001970: 15,2315 30034 CA CDUZ
032270,001971: 15,2316 51330 INDEX MARKSTAT
032271,001972: 15,2317 54004 TS 4
032272,001973: 15,2320 31775 CA PAC
032273,001974: 15,2321 51330 INDEX MARKSTAT
032274,001975: 15,2322 54005 TS 5
032275,001976: 15,2323 30032 CA CDUX
032276,001977: 15,2324 51330 INDEX MARKSTAT
032277,001978: 15,2325 54006 TS 6
032278,001979: 15,2326 00003 RELINT
032279,001980: 15,2327 05425 TC CLEARMRK # ENABLE EXTENDED VERBS
032280,001981: 15,2330 34333 CAF OCT16
032281,001982: 15,2331 04555 TC BANKCALL
032282,001983: 15,2332 20751 CADR GOPERF1
032283,001984: 15,2333 04106 TC GOTOPOOH # TERM.
032284,001985: 15,2334 12336 TCF R56B # PROCEED-MARK COMPLETED
032285,001986: 15,2335 12263 TCF R56A +2 # RECYCLE - DO ANOTHER MARK - LIKE REJECT
032286,001987: 15,2336 34714 R56B CAF ZERO
032287,001988: 15,2337 04555 TC BANKCALL
032288,001989: 15,2340 20607 CADR CLEANDSP
032289,001990:
032290,001991: 15,2341 32361 CAF V01N71B
032291,001992: 15,2342 04555 TC BANKCALL
032292,001993: 15,2343 20624 CADR GOFLASH
032293,001994: 15,2344 04106 TC GOTOPOOH
032294,001995: 15,2345 02347 TC +2
032295,001996: 15,2346 12336 TCF R56B # RECYCLE
032296,001997: 15,2347 47713 CS HIGH9
032297,001998: 15,2350 70735 MASK STARCODE
032298,001999: 15,2351 00006 EXTEND
|
|
Page 734 |
032300,002001: 15,2352 76211 MP SIX
032301,002002: 15,2353 56001 XCH L
032302,002003: 15,2354 50304 INDEX STARIND
032303,002004: 15,2355 54302 TS BESTI
032304,002005: 15,2356 06006 TC INTPRET
032305,002006: 15,2357 77616 RVQ
032306,002007: 15,2360 15200 VB53 VN 05300 # ALTERNATE MARK VERB
032307,002008: 15,2361 00307 V01N71B VN 00171
032308,002009: 15,2362 01536 V06N94B VN 00694
032309,002010: 15,2363 02607 PLANET STORE TSIGHT
032310,002011: 15,2364 45020 STQ CALL
032311,002012: 15,2365 02777 QMIN
032312,002013: 15,2366 30216 LOCSAM
032313,002014: 15,2367 77775 VLOAD
032314,002015: 15,2370 02736 VEARTH
032315,002016: 15,2371 24001 STOVL 0D
032316,002017: 15,2372 02744 VSUN
032317,002018: 15,2373 26736 STOVL VEARTH
032318,002019: 15,2374 00001 0D
032319,002020: 15,2375 02744 STORE VSUN
032320,002021: 15,2376 77776 NOSAM EXIT
032321,002022: 15,2377 47713 CS HIGH9
032322,002023: 15,2400 70735 MASK STARCODE
032323,002024: 15,2401 00006 EXTEND
032324,002025: 15,2402 76211 MP SIGHTSIX
032325,002026: 15,2403 56001 XCH L
032326,002027: 15,2404 50304 INDEX STARIND
032327,002028: 15,2405 54302 TS BESTI
032328,002029: 15,2406 10000 CCS A
032329,002030: 15,2407 12423 TCF NOTPLAN
032330,002031: 15,2410 32453 CAF VNPLANV
032331,002032: 15,2411 04555 TC BANKCALL
032332,002033: 15,2412 20624 CADR GOFLASH
032333,002034: 15,2413 04106 TC GOTOPOOH
032334,002035: 15,2414 02416 TC +2
032335,002036: 15,2415 02410 TC -5
032336,002037: 15,2416 06006 TC INTPRET
032337,002038: 15,2417 53575 VLOAD UNIT
032338,002039: 15,2420 02766 STAR
032339,002040: 15,2421 77650 GOTO
032340,002041: 15,2422 32446 CORPLAN
032341,002042: 15,2423 40000 NOTPLAN CS A
032342,002043: 15,2424 62452 AD DEC227
032343,002044: 15,2425 00006 EXTEND
032344,002045: 15,2426 62437 BZMF CALSAM1
032345,002046: 15,2427 50304 INDEX STARIND
032346,002047: 15,2430 30302 CA BESTI
032347,002048: 15,2431 50120 INDEX FIXLOC
032348,002049: 15,2432 54046 TS X1
032349,002050: 15,2433 06006 TC INTPRET
|
|
Page 735 |
032351,002052: 15,2434 52173 VLOAD* GOTO
032352,002053: 15,2435 31751 CATLOG,1
032353,002054: 15,2436 32446 CORPLAN
032354,002055: 15,2437 06006 CALSAM1 TC INTPRET
032355,002056: 15,2440 70740 LXC,1 DLOAD*
032356,002057: 15,2441 00304 STARIND
032357,002058: 15,2442 00303 BESTI,1
032358,002059: 15,2443 76740 LXC,1 VLOAD*
032359,002060: 15,2444 00154 MPAC
032360,002061: 15,2445 02372 STARAD -228D,1
032361,002062: 15,2446 53455 CORPLAN VAD UNIT
032362,002063: 15,2447 03474 VEL/C
032363,002064: 15,2450 77650 GOTO
032364,002065: 15,2451 02777 QMIN
032365,002066: 15,2452 00343 DEC227 DEC 227 B-14
032366,002067: 15,2453 01530 VNPLANV VN 0688
End of include-file P51-P53.agc. Parent file is MAIN.agc