Source Code
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These source-code files are part of a reconstructed copy of Comanche 44, the
initial release (though not the final mission release) of the Apollo 10
Command Module (CM) Apollo Guidance Computer (AGC) software. Subsequent releases
were Comanche 45 and Comanche 45/2 (the flown release on Apollo 10). The reconstruction
is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 44, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 51
(separately previously reconstructed from an Apollo-era listing of Comanche 55,
flown on Apollo 11). Comanche 51 source code was then modified
by undoing changes known to have been made between revisions 44 and 51. The now-reconstructed
Comanche 44 source code was verified by assembling it and checking that the assembled code had
the expected known-correct memory-bank checksums.
Note that page numbers in the reconstructed code match those on the Comanche 55 printout,
although the source code would likely have different page numbers in a contemporary
Comanche 44 listing.
Annotations that were not present in the contemporary source code have been added to the reconstructed
code to justify each change relative to Comanche 51. Here's a guide to the Apollo documentation referenced
in those annotations:
In most cases, only the titles (rather than the full texts) of PCRs are known. In addition to the
explanatory annotations, there is also
a step-by-step commentary about the reconstruction process.
Comments expected to have been present in the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
Project's GitHub repository.
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032520,000002: ## Copyright: Public domain.
032521,000003: ## Filename: P51-P53.agc
032522,000004: ## Purpose: A section of Comanche revision 044.
032523,000005: ## It is part of the reconstructed source code for the
032524,000006: ## original release of the flight software for the Command
032525,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
032526,000008: ## The code has been recreated from a copy of Comanche 055. It
032527,000009: ## has been adapted such that the resulting bugger words
032528,000010: ## exactly match those specified for Comanche 44 in NASA drawing
032529,000011: ## 2021153D, which gives relatively high confidence that the
032530,000012: ## reconstruction is correct.
032531,000013: ## Assembler: yaYUL
032532,000014: ## Contact: Ron Burkey <info@sandroid.org>.
032533,000015: ## Website: www.ibiblio.org/apollo/index.html
032534,000016: ## Mod history: 2020-12-03 MAS Created from Comanche 51.
032535,000017: ## 2020-12-05 MAS Moved a chunk from P51B to P51A, changed
032536,000018: ## R56A display logic to match Colosssus 249,
032537,000019: ## and changed STARSAV3 to STAR.
032538,000020: ## 2020-12-12 RSB Added justifying annotations for Mike's
032539,000021: ## reconstruction steps.
032540,000022:
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Page 737
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032542,000024: # PROGRAM NAME - PROG52 DATE - NOV 30, 1966
032543,000025: # MOD NO - 2 LOG SECTION - P51-P53
032544,000026: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDISK REV 30
032545,000027:
032546,000028: # FUNCTIONAL DESCRIPTION -
032547,000029:
032548,000030: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
032549,000031: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
032550,000032:
032551,000033: # (A) PREFERRED ORIENTATION
032552,000034:
032553,000035: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
032554,000036: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
032555,000037:
032556,000038: # (B) NOMINAL ORIENTATION
032557,000039:
032558,000040: # X = UNIT ( Y X Z )
032559,000041: # -SM -SM -SM
032560,000042:
032561,000043: # Y = UNIT (V X R)
032562,000044: # -SM - -
032563,000045:
032564,000046: # Z = UNIT ( -R )
032565,000047: # -SM -
032566,000048:
032567,000049: # WHERE_
032568,000050:
032569,000051: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
032570,000052: # -
032571,000053:
032572,000054: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
032573,000055: # -
032574,000056:
032575,000057: # (C) REFSMMAT ORIENTATION
032576,000058:
032577,000059: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
032578,000060: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
032579,000061: # SINCE THE LAST ALIGNMENT).
032580,000062:
032581,000063: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
032582,000064: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
032583,000065: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
032584,000066: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
032585,000067: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
032586,000068: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
032587,000069: # REQUESTED.
032588,000070:
032589,000071: # CALLING SEQUENCE -
032590,000072:
032591,000073: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
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Page 738
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032593,000075:
032594,000076: # SUBROUTINES CALLED -
032595,000077:
032596,000078: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
032597,000079: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
032598,000080: # 3. GOPERF4 9. FLAGUP
032599,000081: # 4. MATMOVE 10. R56
032600,000082: # 5. GOFLASH 11. R51
032601,000083: # 6. S52.3 12. GOPERF3
032602,000084:
032603,000085: # NORMAL EXIT MODES -
032604,000086:
032605,000087: # EXITS TO ENDOFJOB
032606,000088:
032607,000089: # ALARM OR ABORT EXIT MODES -
032608,000090:
032609,000091: # NONE
032610,000092:
032611,000093: # OUTPUT -
032612,000094:
032613,000095: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
032614,000096: # 1. IMU ORIENTATION CODE
032615,000097: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
032616,000098: # 3. TIME OF NEXT IGNITION
032617,000099: # 4. GIMBAL ANGLES
032618,000100: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
032619,000101: # 6. PLEASE PERFORM P00
032620,000102: # THE MODE DISPLAY MAY BE CHANGED TO 20
032621,000103:
032622,000104: # ERASABLE INITIALIZATION REQUIRED -
032623,000105:
032624,000106: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
032625,000107: # XSMD, YSMD, ZSMD.
032626,000108:
032627,000109: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
032628,000110:
032629,000111: # DEBRIS -
032630,000112:
032631,000113: # WORK AREA
032632,000114:
032633,000115: 21,2042 15,2000 P54 = PROG52
032634,000116: 33,3776 BANK 33
032635,000117: 15,2000 SETLOC P50S
032636,000118: 15,2000 BANK
032637,000119:
032638,000120: 15,2000 30,2000 SBANK= LOWSUPER
032639,000121: 15,2000 E5,1773 EBANK= SAC
032640,000122: 15,2000 COUNT 15/P52
032641,000123:
032642,000124: 15,2000 05412 PROG52 TC PHASCHNG
032643,000125: 15,2001 00254 OCT 00254
032644,000126: 15,2002 05560 TC DOWNFLAG
032645,000127: 15,2003 00027 ADRES UPDATFLG # BIT 7 FLAG 1
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Page 739
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032647,000129: 15,2004 05560 TC DOWNFLAG
032648,000130: 15,2005 00031 ADRES TRACKFLG # BIT 5 FLAG 1
032649,000131: 15,2006 04662 TC BANKCALL
032650,000132: 15,2007 17653 CADR R02BOTH # IMU STATUS CHECK
032651,000133: 15,2010 35014 CAF BIT4
032652,000134: 15,2011 70076 MASK STATE +2 # IS PFRATFLG SET(PREFERRED ORIENTATION)
032653,000135: 15,2012 10000 CCS A
032654,000136: 15,2013 02016 TC P52A # YES
032655,000137: 15,2014 35016 CAF BIT2 # NO
032656,000138: 15,2015 02017 TC P52A +1
032657,000139: 15,2016 35017 P52A CAF BIT1
032658,000140: 15,2017 55132 TS OPTION2
032659,000141: 15,2020 35017 P52B CAF BIT1
032660,000142: 15,2021 04662 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
032661,000143: 15,2022 21135 CADR GOPERF4R
032662,000144: 15,2023 04106 TC GOTOPOOH
032663,000145: 15,2024 02031 TC +5
032664,000146: 15,2025 02020 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
032665,000147: 15,2026 05412 TC PHASCHNG
032666,000148: 15,2027 00014 OCT 00014
032667,000149: 15,2030 05217 TC ENDOFJOB
032668,000150: 15,2031 31132 CA OPTION2
032669,000151: 15,2032 76214 MASK THREE
032670,000152: 15,2033 50000 INDEX A
032671,000153: 15,2034 02035 TC +1
032672,000154: 15,2035 02041 TC P52T # L.S.
032673,000155: 15,2036 02110 TC P52J # PREF
032674,000156: 15,2037 02041 TC P52T # NOM
032675,000157: 15,2040 12120 TCF P52C # REF
032676,000158: 15,2041 00006 P52T EXTEND
032677,000159: 15,2042 35021 DCA NEG0
032678,000160: 15,2043 53046 DXCH DSPTEM1
032679,000161: 15,2044 32157 CAF V06N34
032680,000162: 15,2045 04662 TC BANKCALL
032681,000163: 15,2046 20720 CADR GOFLASH
032682,000164: 15,2047 04106 TC GOTOPOOH
032683,000165: 15,2050 02052 TC +2
032684,000166: 15,2051 02044 TC -5
032685,000167: 15,2052 00006 EXTEND
032686,000168: 15,2053 31046 DCA DSPTEM1
032687,000169: 15,2054 00006 EXTEND
032688,000170: 15,2055 12057 BZF +2
032689,000171: 15,2056 12062 TCF +4
032690,000172:
032691,000173: 15,2057 00006 EXTEND
032692,000174: 15,2060 30025 DCA TIME2
032693,000175: 15,2061 53046 DXCH DSPTEM1
032694,000176: 15,2062 31132 CA OPTION2
032695,000177: 15,2063 75016 MASK BIT2
032696,000178: 15,2064 10000 CCS A
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Page 740
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032698,000180: 15,2065 12073 TCF +6 # NOM
032699,000181: 15,2066 06006 TC INTPRET # LS
032700,000182: 15,2067 77624 CALL
032701,000183: 15,2070 34526 P52LS
032702,000184: 15,2071 77650 GOTO
032703,000185: 15,2072 32100 P52D
032704,000186: 15,2073 06006 TC INTPRET
032705,000187: 15,2074 77745 DLOAD
032706,000188: 15,2075 01046 DSPTEM1
032707,000189: 15,2076 77624 CALL # COMPUTE NOMINAL IMU
032708,000190: 15,2077 34656 S52.3 # ORIENTATION
032709,000191: 15,2100 77624 P52D CALL # READ VEHICLE ATTITUDE AND
032710,000192: 15,2101 22331 S52.2 # COMPUTE GIMBAL ANGLES
032711,000193: 15,2102 77776 EXIT
032712,000194: 15,2103 32160 CAF VB06N22
032713,000195: 15,2104 04662 TC BANKCALL # DISPLAY GIMBAL ANGLES
032714,000196: 15,2105 20720 CADR GOFLASH
032715,000197: 15,2106 04106 TC GOTOPOOH
032716,000198: 15,2107 02161 TC COARSTYP
032717,000199: 15,2110 06006 P52J TC INTPRET # RECYCLE- VEHICLE HAS BEEN MENUEVERED
032718,000200: 15,2111 77650 GOTO
032719,000201: 15,2112 32100 P52D
032720,000202: 15,2113 06006 TC INTPRET
032721,000203: 15,2114 77624 CALL # DO COARSE ALIGN
032722,000204: 15,2115 30770 CAL53A # ROUTINE
032723,000205: 15,2116 77414 CAL53RET SET EXIT
032724,000206: 15,2117 01462 REFSMFLG
032725,000207: 15,2120 05412 P52C TC PHASCHNG
032726,000208: 15,2121 04024 OCT 04024
032727,000209: 15,2122 35025 CAF ALRM15
032728,000210: 15,2123 04662 TC BANKCALL
032729,000211: 15,2124 21045 CADR GOPERF1
032730,000212: 15,2125 04106 TC GOTOPOOH
032731,000213: 15,2126 02130 TC +2 # V33
032732,000214: 15,2127 02142 TC P52F # E
032733,000215: 15,2130 06006 TC INTPRET
032734,000216: 15,2131 43234 RTB DAD
032735,000217: 15,2132 45510 LOADTIME
032736,000218: 15,2133 32264 TSIGHT1
032737,000219: 15,2134 77624 CALL
032738,000220: 15,2135 30225 LOCSAM
032739,000221: 15,2136 77776 EXIT
032740,000222: 15,2137 04662 P52E TC BANKCALL # DO STAR SELECTION
032741,000223: 15,2140 30333 CADR PICAPAR
032742,000224: 15,2141 02147 TC P52I # 2 STARS NOT AVAILABLE
032743,000225: 15,2142 06006 P52F TC INTPRET # 2 STARS AVAILABLE
032744,000226: 15,2143 77624 CALL
032745,000227: 15,2144 30532 R51
032746,000228: 15,2145 77776 ENDP50S EXIT
032747,000229: 15,2146 04106 TC GOTOPOOH
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Page 741
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032749,000231: 15,2147 05650 P52I TC ALARM
032750,000232: 15,2150 00405 OCT 405
032751,000233: 15,2151 35050 CAF V05N09
032752,000234: 15,2152 04662 TC BANKCALL
032753,000235: 15,2153 20720 CADR GOFLASH
032754,000236: 15,2154 04106 TC GOTOPOOH
032755,000237: 15,2155 02142 TC P52F # PROCEED - DO FINE ALIGN-R51
032756,000238: 15,2156 02120 TC P52C # RECYCLE - VEHICLE HAS BEEN MANUEVERED
032757,000239: 15,2157 01442 V06N34 VN 0634
032758,000240: 15,2160 01426 VB06N22 VN 00622
032759,000241: 15,2161 35024 COARSTYP CAF OCT13
032760,000242: 15,2162 04662 TC BANKCALL
032761,000243: 15,2163 21045 CADR GOPERF1
032762,000244: 15,2164 14106 TCF GOTOPOOH # V34
032763,000245: 15,2165 12113 TCF P52J +3 # NORMAL
032764,000246: 15,2166 06006 TC INTPRET # GYRO COARSE
032765,000247: 15,2167 64375 GYCRS VLOAD MXV
032766,000248: 15,2170 00307 XSMD
032767,000249: 15,2171 01736 REFSMMAT
032768,000250: 15,2172 77656 UNIT
032769,000251: 15,2173 26714 STOVL XDC
032770,000252: 15,2174 00315 YSMD
032771,000253: 15,2175 53521 MXV UNIT
032772,000254: 15,2176 01736 REFSMMAT
032773,000255: 15,2177 26722 STOVL YDC
032774,000256: 15,2200 00323 ZSMD
032775,000257: 15,2201 53521 MXV UNIT
032776,000258: 15,2202 01736 REFSMMAT
032777,000259: 15,2203 36730 STCALL ZDC
032778,000260: 15,2204 47205 CALCGTA
032779,000261: 15,2205 43014 CLEAR CLEAR
032780,000262: 15,2206 01260 DRIFTFLG
032781,000263: 15,2207 01662 REFSMFLG
032782,000264: 15,2210 77776 EXIT
032783,000265: 15,2211 32244 CAF V16N20
032784,000266: 15,2212 04662 TC BANKCALL
032785,000267: 15,2213 20676 CADR GODSPR
032786,000268: 15,2214 32323 CA R55CDR
032787,000269: 15,2215 04662 TC BANKCALL
032788,000270: 15,2216 17206 CADR IMUPULSE
032789,000271: 15,2217 04662 TC BANKCALL
032790,000272: 15,2220 17577 CADR IMUSTALL
032791,000273: 15,2221 05751 TC CURTAINS
032792,000274: 15,2222 05412 TC PHASCHNG
032793,000275: 15,2223 04024 OCT 04024
032794,000276: 15,2224 06006 TC INTPRET
032795,000277: 15,2225 75160 AXC,1 AXC,2
032796,000278: 15,2226 00306 XSMD
032797,000279: 15,2227 01735 REFSMMAT
032798,000280: 15,2230 77624 CALL
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Page 742
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032800,000282: 15,2231 31053 MATMOVE
032801,000283: 15,2232 43014 CLEAR SET
032802,000284: 15,2233 01273 PFRATFLG
032803,000285: 15,2234 01462 REFSMFLG
032804,000286: 15,2235 77234 RTB VLOAD
032805,000287: 15,2236 31276 SET1/PDT
032806,000288: 15,2237 11563 ZEROVEC
032807,000289: 15,2240 01472 STORE GCOMP
032808,000290: 15,2241 52014 SET GOTO
032809,000291: 15,2242 01060 DRIFTFLG
032810,000292: 15,2243 30655 R51K
032811,000293: 15,2244 04024 V16N20 VN 1620
032812,000294: 15,2245 5025 ALRM15 EQUALS OCT15
032813,000295: 16,2000 SETLOC P50S2
032814,000296: 16,2000 BANK
032815,000297: 16,2525 01531 V06N89* VN 0689
032816,000298:
032817,000299: # NAME - P52LS
032818,000300:
032819,000301: # FUNCTION - TO DISPLAY THE LANDING SITE LATITUDE,
032820,000302: # LONGTITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA
032821,000303: # THE KEYBOARD. TO COMPUTE THE LANDING SITE
032822,000304: # ORIENTATION FOR P52 OR P54
032823,000305:
032824,000306: # LET:
032825,000307: # RLS = LANDING SITE VECTOR IN REF COORDINATES
032826,000308: # R = CSM POSITION VECTOR IN REF COORDINATES
032827,000309: # V = CSM VELOCITY VECTOR IN REF COORDINATES
032828,000310: # THEN THE LANDING SITE ORIENTATION IS:
032829,000311: # XSMD = UNIT(RLS)
032830,000312: # YSMD = UNIT(ZSMD*XSMD)
032831,000313: # ZSMD = UNIT((R*V)*RLS)
032832,000314:
032833,000315: # CALL - CALL
032834,000316: # P52LS
032835,000317:
032836,000318: # INPUTS- DSPTEM1 = TIME OF ALIGNMENT
032837,000319: # RLS = LANDING SITE VECTOR IN MOON FIXED COORINATES
032838,000320:
032839,000321: # OUTPUTS- XSMD, YSMD, ZSMD
032840,000322:
032841,000323: # SUBROUTINES- RP-TO-R, LAT-LONG, LLASRD, LLASRDA, CSMPREC
032842,000324:
032843,000325: # DEBRIS- VAC, SEE SUBROUTINES
032844,000326:
032845,000327: 16,2526 43020 P52LS STQ SET
032846,000328: 16,2527 00300 QMAJ
032847,000329: 16,2530 01463 LUNAFLAG
032848,000330: 16,2531 77745 DLOAD
032849,000331: 16,2532 01046 DSPTEM1
032850,000332: 16,2533 02607 STORE TSIGHT
032851,000333: 16,2534 43175 VLOAD SET
032852,000334: 16,2535 02026 RLS
032853,000335: 16,2536 00462 ERADFLAG
032854,000336: 16,2537 14001 STODL 0D
032855,000337: 16,2540 02607 TSIGHT
032856,000338: 16,2541 34007 STCALL 6D
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Page 743
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032858,000340: 16,2542 55344 RP-TO-R
032859,000341: 16,2543 77742 VSR2
032860,000342: 16,2544 16152 STODL ALPHAV
032861,000343: 16,2545 02607 TSIGHT
032862,000344: 16,2546 77624 CALL
032863,000345: 16,2547 26370 LAT-LONG
032864,000346: 16,2550 77624 CALL
032865,000347: 16,2551 62365 LLASRD
032866,000348: 16,2552 77776 EXIT
032867,000349: 16,2553 32525 LSDISP CAF V06N89*
032868,000350: 16,2554 04662 TC BANKCALL
032869,000351: 16,2555 20720 CADR GOFLASH
032870,000352: 16,2556 04106 TC GOTOPOOH
032871,000353: 16,2557 02561 TC +2
032872,000354: 16,2560 02553 TC LSDISP
032873,000355: 16,2561 06006 TC INTPRET
032874,000356: 16,2562 77624 CALL
032875,000357: 16,2563 62374 LLASRDA
032876,000358: 16,2564 45145 DLOAD CALL
032877,000359: 16,2565 02607 TSIGHT
032878,000360: 16,2566 26441 LALOTORV
032879,000361: 16,2567 53575 VLOAD UNIT
032880,000362: 16,2570 02152 ALPHAV
032881,000363: 16,2571 14307 STODL XSMD
032882,000364: 16,2572 02607 TSIGHT
032883,000365: 16,2573 34041 STCALL TDEC1
032884,000366: 16,2574 27071 CSMPREC
032885,000367: 16,2575 47375 VLOAD VXV
032886,000368: 16,2576 00001 RATT
032887,000369: 16,2577 00007 VATT
032888,000370: 16,2600 53435 VXV UNIT
032889,000371: 16,2601 00307 XSMD
032890,000372: 16,2602 00323 STORE ZSMD
032891,000373: 16,2603 53435 VXV UNIT
032892,000374: 16,2604 00307 XSMD
032893,000375: 16,2605 34315 STCALL YSMD
032894,000376: 16,2606 00300 QMAJ
032895,000377: 14,2000 SETLOC P50S1
032896,000378: 14,2000 BANK
032897,000379:
032898,000380: # NAME- AUTOMATIC OPTICS POSITIONING ROUTINE
032899,000381:
032900,000382: # FUNCTION- (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
032901,000383: # (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
032902,000384:
032903,000385: # CALLING SEQUENCE- CALL R52
032904,000386:
032905,000387: # INPUT- 1. TARG1FLG AND TARG2FLG- PRESET BY CALLER
032906,000388: # 2. RNDVZFLG AND TRACKFLG- PRESET BY CALLER
032907,000389: # 3. STAR CODE- PRESET BY CALLER. ALSO INPUT THROUGH DSKY
032908,000390: # 4. LAT, LONG AND ALT OF LANDMARK- INPUT THROUGH DSKY
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Page 744
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032910,000392: # 5. NO. OF MARKS (MARKINDX)- PRESET BY CALLER
032911,000393:
032912,000394: # OUTPUT- DRIVE SHAFT AND TRUNNION CDUS
032913,000395:
032914,000396: # SUBROUTINES- 1. FIXDELAY 7. CLEANDSP
032915,000397: # 2. GOPERF1 8. GODSPR
032916,000398: # 3. GOFLASH 9. REFLASHR
032917,000399: # 4. R53 10. R52.2
032918,000400: # 5. ALARM 11. R52.3
032919,000401: # 6. SR52.1
032920,000402:
032921,000403: 14,2011 COUNT 15/R52
032922,000404:
032923,000405: 14,2011 43020 R52 STQ CLEAR
032924,000406: 14,2012 02576 SAVQR52
032925,000407: 14,2013 04265 ADVTRK
032926,000408: 14,2014 77776 R52VRB EXIT
032927,000409: 14,2015 00006 EXTEND
032928,000410: 14,2016 30036 DCA CDUT
032929,000411: 14,2017 53161 DXCH DESOPTT
032930,000412: 14,2020 06006 TC INTPRET
032931,000413: 14,2021 43131 SSP CLEAR
032932,000414: 14,2022 01304 OPTIND
032933,000415: 14,2023 00000 0
032934,000416: 14,2024 00271 R53FLAG
032935,000417: 14,2025 77776 EXIT
032936,000418: 14,2026 06006 R52A TC INTPRET
032937,000419: 14,2027 43014 SET BON
032938,000420: 14,2030 00073 TRUNFLAG
032939,000421: 14,2031 00705 TARG1FLG
032940,000422: 14,2032 30112 R52H
032941,000423: 14,2033 77414 CLEAR EXIT
032942,000424: 14,2034 03660 TERMIFLG
032943,000425: 14,2035 31314 R52C CA SWSAMPLE # IS OPTICS MODE IN AGC
032944,000426: 14,2036 00006 EXTEND
032945,000427: 14,2037 62140 BZMF R52M # MANUAL
032946,000428: 14,2040 04662 R52D TC BANKCALL # AGC
032947,000429: 14,2041 26244 CADR SR52.1
032948,000430: 14,2042 12170 TCF R52L # GR 90 DEGREES
032949,000431: 14,2043 12133 TCF R52J # GR 50 DEGREES
032950,000432: 14,2044 05546 TC UPFLAG # LS 50 DEGREES
032951,000433: 14,2045 00013 ADRES TRUNFLAG # SET TRUNFLAG BIT 4 FLAG 0
032952,000434: 14,2046 35006 R52JA CAF BIT10 # IS THIS A LEM
032953,000435: 14,2047 70075 MASK STATE +1
032954,000436: 14,2050 10000 CCS A
032955,000437: 14,2051 02061 TC R52E # YES
032956,000438: 14,2052 35012 CAF BIT6 # NO, IS R53FLAG SET
032957,000439: 14,2053 70074 MASK STATE
032958,000440: 14,2054 10000 CCS A
032959,000441: 14,2055 12061 TCF R52E # YES
|
|
Page 745
|
032961,000443: 14,2056 32160 CAF V06N92 # NO
032962,000444: 14,2057 04662 TC BANKCALL
032963,000445: 14,2060 20676 CADR GODSPR
032964,000446: 14,2061 31314 R52E CA SWSAMPLE # IS OSS IN CMC MODE
032965,000447: 14,2062 00006 EXTEND
032966,000448: 14,2063 62074 BZMF R52F # NO
032967,000449: 14,2064 40074 CS STATE # YES- IS TRUNFLAG SET
032968,000450: 14,2065 75014 MASK BIT4
032969,000451: 14,2066 10000 CCS A
032970,000452: 14,2067 02072 TC +3 # NO
032971,000453: 14,2070 31775 CA PAC # YES
032972,000454: 14,2071 55160 TS DESOPTT
032973,000455: 14,2072 31773 CA SAC
032974,000456: 14,2073 55161 TS DESOPTS
032975,000457: 14,2074 35036 R52F CAF .5SEC # WAIT 1/2 SEC
032976,000458: 14,2075 04662 TC BANKCALL
032977,000459: 14,2076 01732 CADR DELAYJOB
032978,000460: 14,2077 35006 CAF BIT10
032979,000461: 14,2100 70075 MASK STATE +1
032980,000462: 14,2101 10000 CCS A
032981,000463: 14,2102 12113 TCF R52HA # YES, LEM
032982,000464: 14,2103 35001 CAF BIT15 # NO
032983,000465: 14,2104 70103 MASK STATE +7 # IS TERMIFLG SET
032984,000466: 14,2105 00006 EXTEND
032985,000467: 14,2106 12035 BZF R52C # NO
032986,000468: 14,2107 06006 R52Q TC INTPRET # YES
032987,000469: 14,2110 77650 GOTO
032988,000470: 14,2111 02576 SAVQR52
032989,000471: 14,2112 77776 R52H EXIT # LEM
032990,000472: 14,2113 04662 R52HA TC BANKCALL
032991,000473: 14,2114 76556 CADR R61CSM
032992,000474: 14,2115 30075 CA STATE +1
032993,000475: 14,2116 75013 MASK BIT5
032994,000476: 14,2117 00006 EXTEND # TRACKFLG
032995,000477: 14,2120 12107 BZF R52Q
032996,000478:
032997,000479: 14,2121 40075 CS STATE +1
032998,000480: 14,2122 75011 MASK BIT7 # UPDATFLG
032999,000481: 14,2123 10000 CCS A
033000,000482: 14,2124 12131 TCF R52SYNC
033001,000483:
033002,000484: 14,2125 30101 R52I CA STATE +5
033003,000485: 14,2126 75006 MASK BIT10
033004,000486: 14,2127 10000 CCS A
033005,000487: 14,2130 02040 TC R52D # PRFTRKAT = 1
033006,000488: 14,2131 32204 R52SYNC CAF 1.8SEC # MAKE UP FOR LOST TIME
033007,000489: 14,2132 12075 TCF R52F +1
033008,000490:
033009,000491: 14,2133 05560 R52J TC DOWNFLAG # CLEAR TRUNFLAG
033010,000492: 14,2134 00013 ADRES TRUNFLAG # BIT 4 FLAG 0
|
|
Page 746
|
033012,000494: 14,2135 05650 TC ALARM # SET 407 ALARM
033013,000495: 14,2136 00407 OCT 407
033014,000496: 14,2137 02046 TC R52JA
033015,000497: 14,2140 35012 R52M CAF BIT6 # IS R53FLAG SET
033016,000498: 14,2141 70074 MASK STATE
033017,000499: 14,2142 10000 CCS A
033018,000500: 14,2143 02074 TC R52F # YES
033019,000501: 14,2144 00004 INHINT # NO
033020,000502: 14,2145 37661 CAF PRIO24
033021,000503: 14,2146 05147 TC FINDVAC
033022,000504: 14,2147 E5,1773 EBANK= SAC
033023,000505: 14,2147 02153 30065 2CADR R53JOB
033024,000506:
033025,000507: 14,2151 00003 RELINT
033026,000508: 14,2152 12074 TCF R52F
033027,000509: 14,2153 06006 R53JOB TC INTPRET
033028,000510: 14,2154 77624 CALL
033029,000511: 14,2155 31301 R53
033030,000512: 14,2156 77776 ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB (R22 USES)
033031,000513: 14,2157 05217 TC ENDOFJOB
033032,000514: 14,2160 01534 V06N92 VN 00692
033033,000515: 14,2161 01531 V06N89A VN 0689
033034,000516: 14,2162 10464 12470 SHAXIS 2DEC .5376381241 B-1
033035,000517:
033036,000518: 14,2164 00000 00000 2DEC 0 B-28
033037,000519:
033038,000520: 14,2166 15373 11554 2DEC .8431766920 B-1
033039,000521:
033040,000522: 14,2170 35006 R52L CAF BIT10 # IS THIS A LEM
033041,000523: 14,2171 70075 MASK STATE +1
033042,000524: 14,2172 10000 CCS A
033043,000525: 14,2173 02133 TC R52J # YES
033044,000526: 14,2174 32203 CAF OCT404
033045,000527: 14,2175 04662 TC BANKCALL
033046,000528: 14,2176 21766 CADR PRIOLARM
033047,000529: 14,2177 12205 TCF TERM52 # TERMINATE
033048,000530: 14,2200 12074 TCF R52F # PROCEED
033049,000531: 14,2201 12074 TCF R52F # NO PROVISION FOR NEW DATA
033050,000532: 14,2202 15217 TCF ENDOFJOB
033051,000533:
033052,000534: 14,2203 00404 OCT404 OCT 404
033053,000535: 14,2204 00264 1.8SEC DEC 180 B-14
033054,000536:
033055,000537: 14,2205 05536 TERM52 TC CLEARMRK
033056,000538:
033057,000539: 14,2206 04662 TC BANKCALL # KILL MARK SYSTEM
033058,000540: 14,2207 16063 CADR MKRELEAS
033059,000541:
|
|
Page 747
|
033061,000543:
033062,000544: 14,2210 35021 CAF ZERO
033063,000545: 14,2211 55323 TS OPTCADR
033064,000546:
033065,000547: 14,2212 04662 TC BANKCALL # CLEAR OUT EXTENDED VERBS
033066,000548: 14,2213 20560 CADR KLEENEX
033067,000549:
033068,000550: 14,2214 04106 TC GOTOPOOH # NOW GO TO POO
033069,000551:
033070,000552: 14,2215 43020 ADVORB STQ SET # SETS UP ADVANCED ORBIT TRACKING
033071,000553: 14,2216 02576 SAVQR52
033072,000554: 14,2217 04065 ADVTRK
033073,000555: 14,2220 43014 SET SET
033074,000556: 14,2221 01463 LUNAFLAG
033075,000557: 14,2222 00462 ERADFLAG
033076,000558: 14,2223 77650 GOTO
033077,000559: 14,2224 30014 R52VRB
033078,000560:
|
|
Page 748
|
033080,000562: # NAME - S50 ALIAS LOCSAM
033081,000563: # NAME- LOCSAM
033082,000564:
033083,000565: # FUNCTION - TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
033084,000566: # IMU ALIGNMENT PROGRAMS
033085,000567:
033086,000568: # DEFINE:
033087,000569:
033088,000570: # RATT = POSITION VECTOR OF CM WRT PRIMARY BODY
033089,000571:
033090,000572: # VATT = VELOCITY VECTOR OF CM WRT PRIMARY BODY
033091,000573:
033092,000574: # RE = RADIUS OF EARTH
033093,000575:
033094,000576: # RM = RADIUS OF MOON
033095,000577:
033096,000578: # ECLIPOL = POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
033097,000579: # WRT TO SUN OVER THE VELOCITY OF LIGHT
033098,000580:
033099,000581: # REM = POSITION OF MOON WRT EARTH
033100,000582:
033101,000583: # RES = POSITION OF SUN WRT EARTH
033102,000584:
033103,000585: # C = VELOCITY OF LIGHT
033104,000586:
033105,000587: # EARTH IS PRIMARY MOON IS PRIMARY
033106,000588: # - -
033107,000589: # VEARTH=-1(RATT) VEARTH=-1(REM+RATT)
033108,000590: # - -
033109,000591: # VMOON = 1(REM-RATT) VMOON =-1(RATT)
033110,000592: # - -
033111,000593: # VSUN = 1(RES) VSUN = 1(RES-REM)
033112,000594: # -1
033113,000595: # CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5
033114,000596: # -1
033115,000597: # CMOON =COS 5 CMOON =COS(SIN CRM/RATT)+5)
033116,000598:
033117,000599: # CSUN =COS 15 CSUN =COS 15
033118,000600:
033119,000601: # VEL/C = VSUN X ECLIPOL + VATT/C
033120,000602:
033121,000603: # CALL - DLOAD CALL
033122,000604: # DESIRED TIME
033123,000605: # LOCSAM
033124,000606:
033125,000607: # INPUTS - MPAC = TIME
033126,000608:
033127,000609: # OUTPUTS- VEARTH, VMOON, VSUN, CEARTH, CMOON, CSUN, VEL/C
033128,000610:
033129,000611: # SUBROUTINES- LSPOS, CSMCONIC
033130,000612:
033131,000613: # DEBRIS - VAC AREA, SEE SUBROUTINES
033132,000614:
|
|
Page 749
|
033134,000616: 14,2000 SETLOC P50S1
033135,000617: 14,2000 BANK
033136,000618:
033137,000619: 14,2225 COUNT* $$/S50
033138,000620:
033139,000621: 14,2225 14,2225 LOCSAM = S50
033140,000622: 14,2225 77620 S50 STQ
033141,000623: 14,2226 00300 QMAJ
033142,000624: 14,2227 36607 STCALL TSIGHT
033143,000625: 14,2230 54110 LSPOS
033144,000626: 14,2231 26752 STOVL VMOON
033145,000627: 14,2232 00003 2D
033146,000628: 14,2233 16744 STODL VSUN
033147,000629: 14,2234 02607 TSIGHT
033148,000630: 14,2235 34041 STCALL TDEC1
033149,000631: 14,2236 27114 CSMCONIC
033150,000632: 14,2237 61131 SSP TIX,2
033151,000633: 14,2240 00052 S2
033152,000634: 14,2241 00000 0
033153,000635: 14,2242 30265 MOONCNTR
033154,000636: 14,2243 52375 EARTCNTR VLOAD VSU
033155,000637: 14,2244 02752 VMOON
033156,000638: 14,2245 00001 RATT
033157,000639: 14,2246 77656 UNIT
033158,000640: 14,2247 26752 STOVL VMOON
033159,000641: 14,2250 00001 RATT
033160,000642: 14,2251 57456 UNIT VCOMP
033161,000643: 14,2252 16736 STODL VEARTH
033162,000644: 14,2253 32250 RSUBE
033163,000645: 14,2254 77624 CALL
033164,000646: 14,2255 30325 OCCOS
033165,000647: 14,2256 14017 STODL CEARTH
033166,000648: 14,2257 32266 CSS5
033167,000649: 14,2260 24023 STOVL CMOON
033168,000650: 14,2261 02744 VSUN
033169,000651: 14,2262 77656 UNIT
033170,000652: 14,2263 36744 STCALL VSUN
033171,000653: 14,2264 30312 ENDSAM
033172,000654: 14,2265 40575 MOONCNTR VLOAD VSR8
033173,000655: 14,2266 02752 VMOON
033174,000656: 14,2267 51362 VSR1 BVSU
033175,000657: 14,2270 02744 VSUN
033176,000658: 14,2271 77656 UNIT
033177,000659: 14,2272 26744 STOVL VSUN
033178,000660: 14,2273 02752 VMOON
033179,000661: 14,2274 53455 VAD UNIT
033180,000662: 14,2275 00001 RATT
033181,000663: 14,2276 77676 VCOMP
033182,000664: 14,2277 26736 STOVL VEARTH
|
|
Page 750
|
033184,000666:
033185,000667: 14,2300 00001 RATT
033186,000668: 14,2301 57456 UNIT VCOMP
033187,000669: 14,2302 16752 STODL VMOON
033188,000670: 14,2303 32246 RSUBM
033189,000671: 14,2304 77624 CALL
033190,000672: 14,2305 30325 OCCOS
033191,000673: 14,2306 14023 STODL CMOON
033192,000674: 14,2307 32266 CSS5
033193,000675: 14,2310 24017 STOVL CEARTH
033194,000676: 14,2311 02744 VSUN
033195,000677: 14,2312 77635 ENDSAM VXV
033196,000678: 14,2313 32256 ECLIPOL
033197,000679: 14,2314 27474 STOVL VEL/C
033198,000680: 14,2315 00007 VATT
033199,000681: 14,2316 53361 VXSC VAD
033200,000682: 14,2317 32254 1/C
033201,000683: 14,2320 03474 VEL/C
033202,000684: 14,2321 17474 STODL VEL/C
033203,000685: 14,2322 32270 CSSUN
033204,000686: 14,2323 34021 STCALL CSUN
033205,000687: 14,2324 00300 QMAJ
033206,000688: 14,2325 70471 OCCOS DDV SR1
033207,000689: 14,2326 00045 36D
033208,000690: 14,2327 43336 ASIN DAD
033209,000691: 14,2330 32252 5DEGREES
033210,000692: 14,2331 70546 COS SR1
033211,000693: 14,2332 77616 RVQ
033212,000694: 15,2000 SETLOC P50S
033213,000695: 15,2000 BANK
033214,000696: 15,2245 00065 01265 RSUBM 2DEC 1738090 B-29 # MOON RADIUS IN METERS
033215,000697:
033216,000698: 15,2247 00302 24533 RSUBE 2DEC 6378166 B-29
033217,000699:
033218,000700: 15,2251 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
033219,000701:
033220,000702: 15,2253 00000 13143 1/C 2DEC .000042699 B-1 # *
033221,000703:
033222,000704: 15,2255 00000 00000 ECLIPOL 2DEC 0 B-28 # *
033223,000705:
033224,000706: 15,2257 77777 53231 2DEC -.00007896 B-1 # *
033225,000707:
033226,000708: 15,2261 00001 17570 2DEC .00018209 B-1 # * * FOR USE BY CSM ONLY
033227,000709:
033228,000710: 15,2263 00001 16700 TSIGHT1 2DEC 24000 B-28
033229,000711:
033230,000712: 15,2265 CEARTH = 14D
033231,000713: 15,2265 CSUN = 16D
033232,000714: 15,2265 CMOON = 18D
033233,000715: 15,2265 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
|
|
Page 751
|
033235,000717: 15,2267 07564 15042 CSSUN 2DEC .24148 # COS 15 /4
033236,000718:
|
|
Page 752
|
033238,000720: # PROGRAM NAME - PICAPAR DATE DEC 20 66
033239,000721: # MOD 1 LOG SECTION P51-P53
033240,000722: # ASSEMBLY SUNDISK REV40
033241,000723: # BY KEN VINCENT
033242,000724:
033243,000725: # FUNCTION
033244,000726: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
033245,000727: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
033246,000728: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
033247,000729: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
033248,000730: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
033249,000731: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
033250,000732: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
033251,000733: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66 DEGREES
033252,000734: # AND MORE THAN 40 DEGREES. THOSE PAIRS OF STARS WITH GOOD SEPARATION
033253,000735: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
033254,000736: # 33 DEGREES OF SAX). THE PAIR WITH MAXIMUM SEPARATION IS CHOSEN FROM
033255,000737: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
033256,000738:
033257,000739: # CALLING SEQUENCE
033258,000740: # L TC BANKCALL
033259,000741: # L+1 CADR PICAPAR
033260,000742: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
033261,000743: # L+3 NORMAL RETURN
033262,000744:
033263,000745: # OUTPUT
033264,000746: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
033265,000747: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
033266,000748:
033267,000749: # INITIALIZATION
033268,000750: # 1) A CALL TO LOCSAM MUST BE MADE
033269,000751: # 2) VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TOO APPROXIMATE TIME OF
033270,000752: # SIGHTINGS.
033271,000753:
033272,000754: # DEBRIS
033273,000755: # WORK AREA
033274,000756: # X,Y,ZNB
033275,000757: # SINCDU, COSCDU
033276,000758: # STARAD - STAR +5
033277,000759:
033278,000760: 15,2271 COUNT 14/PICAP
033279,000761:
033280,000762: 14,2000 SETLOC P50S1
033281,000763: 14,2000 BANK
033282,000764: 14,2333 04711 PICAPAR TC MAKECADR
033283,000765: 14,2334 55777 TS QMIN
033284,000766: 14,2335 06006 TC INTPRET
033285,000767: 14,2336 77624 CALL
033286,000768: 14,2337 47477 CDUTRIG
033287,000769: 14,2340 77624 CALL
033288,000770: 14,2341 34607 CALCSMSC
|
|
Page 753
|
033290,000772: 14,2342 77601 SETPD
033291,000773: 14,2343 00001 0
033292,000774: 14,2344 71214 SET DLOAD # VFLAG = 1
033293,000775: 14,2345 01465 VFLAG
033294,000776: 14,2346 11563 DPZERO
033295,000777: 14,2347 24303 STOVL BESTI
033296,000778: 14,2350 02714 XNB
033297,000779: 14,2351 63361 VXSC PDVL
033298,000780: 14,2352 30511 SIN33
033299,000781: 14,2353 02730 ZNB
033300,000782: 14,2354 74370 AXT,1 VXSC
033301,000783: 14,2355 00344 228D # X1 = 37 X 6 + 6
033302,000784: 14,2356 30513 COS33
033303,000785: 14,2357 77655 VAD
033304,000786: 14,2360 53505 VXM UNIT
033305,000787: 14,2361 01736 REFSMMAT
033306,000788: 14,2362 02760 STORE SAX # SAX = SHAFT AXIS
033307,000789: 14,2363 66331 SSP SSP # S1 = S2 = 6
033308,000790: 14,2364 00051 S1
033309,000791: 14,2365 00006 6
033310,000792: 14,2366 00052 S2
033311,000793: 14,2367 00006 6
033312,000794: 14,2370 52100 PIC1 TIX,1 GOTO # MAJOR STAR
033313,000795: 14,2371 30373 PIC2
033314,000796: 14,2372 30522 PICEND
033315,000797: 14,2373 45173 PIC2 VLOAD* CALL
033316,000798: 14,2374 31762 CATLOG,1
033317,000799: 14,2375 30466 OCCULT
033318,000800: 14,2376 73014 BON LXA,2
033319,000801: 14,2377 01710 CULTFLAG
033320,000802: 14,2400 30370 PIC1
033321,000803: 14,2401 00046 X1
033322,000804: 14,2402 52104 PIC3 TIX,2 GOTO
033323,000805: 14,2403 30405 PIC4
033324,000806: 14,2404 30370 PIC1
033325,000807: 14,2405 45173 PIC4 VLOAD* CALL
033326,000808: 14,2406 46015 CATLOG,2
033327,000809: 14,2407 30466 OCCULT
033328,000810: 14,2410 76614 BON VLOAD*
033329,000811: 14,2411 01710 CULTFLAG
033330,000812: 14,2412 30402 PIC3
033331,000813: 14,2413 31762 CATLOG,1
033332,000814: 14,2414 45237 DOT* DSU
033333,000815: 14,2415 46015 CATLOG,2
033334,000816: 14,2416 30515 CSS66 # SEPERATION LESS THAN 66 DEG.
033335,000817: 14,2417 43240 BMN DAD
033336,000818: 14,2420 30402 PIC3
033337,000819: 14,2421 30517 CSS6640 # SEPERATION MORE THAN 40 DEG.
033338,000820: 14,2422 77644 BPL
033339,000821: 14,2423 30402 PIC3
|
|
Page 754
|
033341,000823: 14,2424 50373 VLOAD* DOT
033342,000824: 14,2425 31762 CATLOG,1
033343,000825: 14,2426 02760 SAX
033344,000826: 14,2427 50025 DSU BMN # MAJOR STAR IN CONE
033345,000827: 14,2430 30521 CSS33
033346,000828: 14,2431 30370 PIC1
033347,000829: 14,2432 50373 VLOAD* DOT
033348,000830: 14,2433 46015 CATLOG,2
033349,000831: 14,2434 02760 SAX
033350,000832: 14,2435 51025 DSU BPL
033351,000833: 14,2436 30521 CSS33
033352,000834: 14,2437 30442 STRATGY
033353,000835: 14,2440 77650 GOTO
033354,000836: 14,2441 30402 PIC3
033355,000837: 14,2442 77614 STRATGY BONCLR
033356,000838: 14,2443 01605 VFLAG
033357,000839: 14,2444 30461 NEWPAR
033358,000840: 14,2445 65120 XCHX,1 XCHX,2
033359,000841: 14,2446 00302 BESTI
033360,000842: 14,2447 00303 BESTJ
033361,000843: 14,2450 47773 STRAT VLOAD* DOT*
033362,000844: 14,2451 31762 CATLOG,1
033363,000845: 14,2452 46015 CATLOG,2
033364,000846: 14,2453 43006 PUSH BOFINV
033365,000847: 14,2454 01545 VFLAG
033366,000848: 14,2455 30445 STRAT -3
033367,000849: 14,2456 45345 DLOAD DSU
033368,000850: 14,2457 77644 BPL
033369,000851: 14,2460 30402 PIC3
033370,000852: 14,2461 67130 NEWPAR SXA,1 SXA,2
033371,000853: 14,2462 00302 BESTI
033372,000854: 14,2463 00303 BESTJ
033373,000855: 14,2464 77650 GOTO
033374,000856: 14,2465 30402 PIC3
033375,000857: 14,2466 51321 OCCULT MXV BVSU
033376,000858: 14,2467 02736 CULTRIX
033377,000859: 14,2470 00017 CSS
033378,000860: 14,2471 77654 BZE
033379,000861: 14,2472 30505 CULTED
033380,000862: 14,2473 75240 BMN SIGN
033381,000863: 14,2474 30505 CULTED
033382,000864: 14,2475 00160 MPAC +3
033383,000865: 14,2476 75240 BMN SIGN
033384,000866: 14,2477 30505 CULTED
033385,000867: 14,2500 00162 MPAC +5
033386,000868: 14,2501 43040 BMN CLRGO
033387,000869: 14,2502 30505 CULTED
033388,000870: 14,2503 01630 CULTFLAG
033389,000871: 14,2504 00052 QPRET
033390,000872: 14,2505 77614 CULTED SETGO
|
|
Page 755
|
033392,000874: 14,2506 01430 CULTFLAG
033393,000875: 14,2507 00052 QPRET
033394,000876: 14,2510 0000016 CSS = CEARTH
033395,000877: 14,2510 21150 25157 SIN33 2DEC .5376381241
033396,000878:
033397,000879: 14,2512 32766 22713 COS33 2DEC .8431756920
033398,000880:
033399,000881: 14,2514 01736 35137 CSS66 2DEC .060480472 # (COS76)/4
033400,000882:
033401,000883: 14,2516 73003 65403 CSS6640 2DEC -.15602587 # (COS76 - COS30)/4
033402,000884:
033403,000885: 14,2520 06233 26112 CSS33 2DEC .197002688 # COS(1/2(76))/4
033404,000886:
033405,000887: 14,2522 77414 PICEND BOFF EXIT
033406,000888: 14,2523 01745 VFLAG
033407,000889: 14,2524 30526 PICGXT
033408,000890: 14,2525 02530 TC PICBXT
033409,000891: 14,2526 77776 PICGXT EXIT
033410,000892: 14,2527 25777 INCR QMIN
033411,000893: 14,2530 31777 PICBXT CA QMIN
033412,000894: 14,2531 04666 TC SWCALL
033413,000895: # V1 = 12D
033414,000896:
|
|
Page 756
|
033416,000898: # NAME - R51 FINE ALIGN
033417,000899: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
033418,000900: # CALLING SEQ - CALL R51
033419,000901: # INPUT - BESTI, BESTJ (PAIR OF STAR NO)
033420,000902: # OUTPUT - GYRO TORQUE PULSES
033421,000903: # SUBROUTINES - R52, R54, R55 (SXTNB, NBSM, AXISGEN
033422,000904:
033423,000905: 14,2532 COUNT 14/R51
033424,000906:
033425,000907: 14,2532 77776 R51 EXIT
033426,000908: 14,2533 35017 CAF BIT1
033427,000909: 14,2534 54304 TS STARIND
033428,000910: 14,2535 54301 TS MARKINDX
033429,000911: 14,2536 06006 R51.2 TC INTPRET
033430,000912: 14,2537 43014 R51.3 CLEAR CLEAR
033431,000913: 14,2540 00666 TARG2FLG
033432,000914: 14,2541 00665 TARG1FLG
033433,000915: 14,2542 77776 EXIT
033434,000916: 14,2543 05412 TC PHASCHNG
033435,000917: 14,2544 05024 OCT 05024 # RESTART GR 4 FOR R52-R53
033436,000918: 14,2545 13000 OCT 13000
033437,000919: 14,2546 50304 INDEX STARIND
033438,000920: 14,2547 30302 CA BESTI
033439,000921: 14,2550 00006 EXTEND
033440,000922: 14,2551 72713 MP 1/6TH
033441,000923: 14,2552 54735 TS STARCODE
033442,000924: 14,2553 32712 R51DSP CAF V01N70
033443,000925: 14,2554 04662 TC BANKCALL
033444,000926: 14,2555 21057 CADR GOFLASHR
033445,000927: 14,2556 04106 TC GOTOPOOH
033446,000928: 14,2557 02564 TC +5
033447,000929: 14,2560 02553 TC -5
033448,000930: 14,2561 36211 CAF SIX
033449,000931: 14,2562 05526 TC BLANKET
033450,000932: 14,2563 15217 TCF ENDOFJOB
033451,000933: 14,2564 03367 TC CHKSCODE
033452,000934: 14,2565 04400 TC FALTON
033453,000935: 14,2566 02553 TC R51DSP
033454,000936: 14,2567 06006 TC INTPRET
033455,000937: 14,2570 45034 RTB CALL
033456,000938: 14,2571 45510 LOADTIME
033457,000939: 14,2572 32340 PLANET
033458,000940: 14,2573 72131 SSP LXA,1
033459,000941: 14,2574 00051 S1
033460,000942: 14,2575 00000 0
033461,000943: 14,2576 00304 STARIND
033462,000944: 14,2577 77700 TIX,1
033463,000945: 14,2600 30603 R51ST
033464,000946: 14,2601 36617 STCALL STARSAV2 # 2ND STAR
033465,000947: 14,2602 30604 R51ST +1
033466,000948: 14,2603 02611 R51ST STORE STARSAV1 # 1ST STAR
|
|
Page 757
|
033468,000950: 14,2604 77776 EXIT
033469,000951: 14,2605 41011 CS MODREG # IS THIS P54
033470,000952: 14,2606 62711 AD OCT66
033471,000953: 14,2607 00006 EXTEND
033472,000954: 14,2610 12704 BZF R51B # YES
033473,000955: 14,2611 06006 TC INTPRET
033474,000956: 14,2612 77624 CALL
033475,000957: 14,2613 30011 R52 # AOP WILL MAKE CALLS TO SIGHTING
033476,000958: 14,2614 77624 R51A CALL # COMPUTE LOS IN SM FROM MARK DATA
033477,000959: 14,2615 36026 SXTSM
033478,000960: 14,2616 02617 STORE STARSAV2
033479,000961: 14,2617 77776 EXIT
033480,000962: 14,2620 04662 TC BANKCALL
033481,000963: 14,2621 16063 CADR MKRELEAS
033482,000964: 14,2622 06006 TC INTPRET
033483,000965: 14,2623 45145 DLOAD CALL
033484,000966: 14,2624 02607 TSIGHT
033485,000967: 14,2625 32340 PLANET
033486,000968: 14,2626 77776 EXIT
033487,000969: 14,2627 10304 CCS STARIND
033488,000970: 14,2630 02671 TC R51.4
033489,000971: 14,2631 06006 TC INTPRET
033490,000972: 14,2632 53521 MXV UNIT
033491,000973: 14,2633 01736 REFSMMAT
033492,000974: 14,2634 02736 STORE STARAD
033493,000975: 14,2635 77775 VLOAD
033494,000976: 14,2636 02617 STARSAV2
033495,000977: 14,2637 24007 STOVL 6D
033496,000978: 14,2640 02611 STARSAV1
033497,000979: 14,2641 24015 STOVL 12D
033498,000980: 14,2642 02601 PLANVEC
033499,000981: 14,2643 36744 STCALL STARAD +6
033500,000982: 14,2644 30714 R54 # STAR DATA TEST
033501,000983: 14,2645 45014 BOFF CALL
033502,000984: 14,2646 00354 FREEFLAG
033503,000985: 14,2647 30655 R51K
033504,000986: 14,2650 47401 AXISGEN
033505,000987: 14,2651 77624 CALL
033506,000988: 14,2652 32271 R55 # GYRO TORQUE
033507,000989: 14,2653 77614 CLEAR
033508,000990: 14,2654 01273 PFRATFLG
033509,000991: 14,2655 77776 R51K EXIT
033510,000992: 14,2656 35763 CAF OCT14
033511,000993: 14,2657 04662 TC BANKCALL
033512,000994: 14,2660 21045 CADR GOPERF1
033513,000995: 14,2661 04106 TC GOTOPOOH
033514,000996: 14,2662 02664 TC +2 # V33
033515,000997: 14,2663 02666 TC +3
033516,000998: 14,2664 04662 TC BANKCALL
033517,000999: 14,2665 32120 CADR P52C
|
|
Page 758
|
033519,001001: 14,2666 06006 TC INTPRET
033520,001002: 14,2667 77650 GOTO
033521,001003: 14,2670 32145 ENDP50S
033522,001004: 14,2671 06006 R51.4 TC INTPRET
033523,001005: 14,2672 53521 MXV UNIT
033524,001006: 14,2673 01736 REFSMMAT
033525,001007: 14,2674 26601 STOVL PLANVEC
033526,001008: 14,2675 02617 STARSAV2
033527,001009: 14,2676 02611 STORE STARSAV1
033528,001010: 14,2677 77731 SSP
033529,001011: 14,2700 00305 STARIND
033530,001012: 14,2701 00000 0
033531,001013: 14,2702 77650 GOTO
033532,001014: 14,2703 30537 R51.3
033533,001015: 14,2704 06006 R51B TC INTPRET
033534,001016: 14,2705 77624 CALL
033535,001017: 14,2706 36062 R56
033536,001018: 14,2707 77650 GOTO
033537,001019: 14,2710 30614 R51A
033538,001020: 14,2711 00066 OCT66 OCT 00066
033539,001021: 14,2712 00306 V01N70 VN 0170
033540,001022: 14,2713 05253 1/6TH DEC .1666667
033541,001023:
|
|
Page 759
|
033543,001025: # NAME-R55 GYRO TORQUE
033544,001026: # FUNCTION - COMPUTE AND SEND GYRO PULSES
033545,001027: # CALLING SEQ - CALL R55
033546,001028: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
033547,001029: # OUTPUT - GYRO PULSES
033548,001030: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
033549,001031:
033550,001032: 15,2000 SETLOC P50S
033551,001033: 15,2000 BANK
033552,001034: 15,2271 COUNT* $$/R55
033553,001035: 15,2271 77620 R55 STQ
033554,001036: 15,2272 02777 QMIN
033555,001037: 15,2273 77624 CALL
033556,001038: 15,2274 47205 CALCGTA
033557,001039: 15,2275 77776 PULSEM EXIT
033558,001040: 15,2276 32322 R55.1 CAF V06N93
033559,001041: 15,2277 04662 TC BANKCALL
033560,001042: 15,2300 20720 CADR GOFLASH
033561,001043: 15,2301 04106 TC GOTOPOOH
033562,001044: 15,2302 02304 TC R55.2
033563,001045: 15,2303 02317 TC R55RET
033564,001046: 15,2304 05412 R55.2 TC PHASCHNG
033565,001047: 15,2305 00314 OCT 00314
033566,001048: 15,2306 32323 CA R55CDR
033567,001049: 15,2307 04662 TC BANKCALL
033568,001050: 15,2310 17206 CADR IMUPULSE
033569,001051: 15,2311 04662 TC BANKCALL
033570,001052: 15,2312 17577 CADR IMUSTALL
033571,001053: 15,2313 05751 TC CURTAINS
033572,001054: 15,2314 05412 TC PHASCHNG
033573,001055: 15,2315 05024 OCT 05024
033574,001056: 15,2316 13000 OCT 13000
033575,001057: 15,2317 06006 R55RET TC INTPRET
033576,001058: 15,2320 77650 GOTO
033577,001059: 15,2321 02777 QMIN
033578,001060: 15,2322 01535 V06N93 VN 0693
033579,001061: 15,2323 02757 R55CDR ECADR OGC
033580,001062: 15,2324 14,2714 R54 = CHKSDATA
033581,001063:
033582,001064: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
033583,001065: # MOD NO - 0 LOG SECTION - P51-P53
033584,001066: # MODIFICATION BY - LONSKE ASSEMBLY -
033585,001067:
033586,001068: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
033587,001069: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
033588,001070: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
033589,001071: # OS1 = OBSERVED STAR 1 VECTOR
033590,001072: # OS2 = OBSERVED STAR 2 VECTOR
033591,001073: # SS1 = STORED STAR 1 VECTOR
033592,001074: # SS2 = STORED STAR 2 VECTOR
033593,001075: # A1 = ARCCOS(OS1 - OS2)
|
|
Page 760
|
033595,001077: # A2 = ARCCOS(SS1 - SS2)
033596,001078: # A = ABS(2(A1 - A2))
033597,001079:
033598,001080: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
033599,001081:
033600,001082: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
033601,001083: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
033602,001084:
033603,001085: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
033604,001086: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
033605,001087:
033606,001088: # ERASABLE INITIALIZATION REQUIRED -
033607,001089: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
033608,001090: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
033609,001091:
033610,001092: # DEBRIS -
033611,001093:
033612,001094: 14,2000 SETLOC P50S1
033613,001095: 14,2000 BANK
033614,001096: 14,2714 COUNT* $$/R50
033615,001097: 14,2714 43020 CHKSDATA STQ SET
033616,001098: 14,2715 02777 QMIN
033617,001099: 14,2716 00074 FREEFLAG
033618,001100: 14,2717 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
033619,001101: 14,2720 02735 STARAD
033620,001102:
033621,001103: 14,2721 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
033622,001104: 14,2722 00001 0,1
033623,001105: 14,2723 00007 6,1
033624,001106: 14,2724 65552 SL1 ACOS
033625,001107: 14,2725 00025 STORE THETA
033626,001108: 14,2726 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
033627,001109: 14,2727 00354 FREEFLAG
033628,001110: 14,2730 30740 CHKSD
033629,001111: 14,2731 00174 FREEFLAG # CLEAR FREEFLAG
033630,001112: 14,2732 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
033631,001113: 14,2733 00006 6D
033632,001114: 14,2734 00025 THETA
033633,001115: 14,2735 00023 STORE 18D
033634,001116: 14,2736 77650 GOTO
033635,001117: 14,2737 30721 CHKSB # RETURN TO CAL. 2ND ANGLE
033636,001118: 14,2740 45345 CHKSD DLOAD DSU
033637,001119: 14,2741 00025 THETA # COMPUTE POS DIFF
033638,001120: 14,2742 00023 18D
033639,001121: 14,2743 47046 ABS RTB
033640,001122: 14,2744 45544 SGNAGREE
033641,001123: 14,2745 01046 STORE NORMTEM1
033642,001124: 14,2746 77414 SET EXIT
033643,001125: 14,2747 00074 FREEFLAG
033644,001126: 14,2750 35021 CAF ZERO
033645,001127: 14,2751 04662 TC BANKCALL
033646,001128: 14,2752 20703 CADR CLEANDSP
033647,001129:
033648,001130: 14,2753 32767 CAF VB6N5
|
|
Page 761
|
033650,001132: 14,2754 04662 TC BANKCALL
033651,001133: 14,2755 20720 CADR GOFLASH
033652,001134: 14,2756 14106 TCF GOTOPOOH
033653,001135: 14,2757 02764 TC CHKSDA # PROCEED
033654,001136: 14,2760 06006 TC INTPRET
033655,001137: 14,2761 52014 CLEAR GOTO
033656,001138: 14,2762 00274 FREEFLAG
033657,001139: 14,2763 02777 QMIN
033658,001140: 14,2764 06006 CHKSDA TC INTPRET
033659,001141: 14,2765 77650 GOTO
033660,001142: 14,2766 02777 QMIN
033661,001143: 14,2767 01405 VB6N5 VN 605
033662,001144:
033663,001145: # NAME - CAL53A
033664,001146: # NAME - CAL53A
033665,001147: # FUNCTION - COARSE ALIGN THE IMU, IF NECESSARY.
033666,001148: # CALLING SEQUENCE - CALL CAL53A
033667,001149: # INPUT - PRESENT GIMBAL ANGLES - CDUX, CDUY, CDUZ
033668,001150: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
033669,001151: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
033670,001152: # SUBROUTINES USED - 1.IMUCOARS 2.IMUSTALL 3.CURTAINS
033671,001153:
033672,001154: 14,2770 COUNT 14/R50
033673,001155:
033674,001156: 14,2770 77624 CAL53A CALL
033675,001157: 14,2771 22331 S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES
033676,001158: 14,2772 66234 RTB SSP
033677,001159: 14,2773 32324 RDCDUS # READ CDUS
033678,001160: 14,2774 00051 S1
033679,001161: 14,2775 00001 1
033680,001162: 14,2776 40370 AXT,1 SETPD
033681,001163: 14,2777 00003 3
033682,001164: 14,3000 00005 4
033683,001165: 14,3001 70543 CALOOP DLOAD* SR1
033684,001166: 14,3002 01161 THETAD +3D,1
033685,001167: 14,3003 70523 PDDL* SR1
033686,001168: 14,3004 00005 4,1
033687,001169: 14,3005 51425 DSU ABS
033688,001170: 14,3006 45206 PUSH DSU
033689,001171: 14,3007 31066 DEGREE1
033690,001172: 14,3010 71240 BMN DLOAD
033691,001173: 14,3011 31042 CALOOP1
033692,001174: 14,3012 51025 DSU BPL
033693,001175: 14,3013 31067 DEG359
033694,001176: 14,3014 31042 CALOOP1
033695,001177: 14,3015 77776 COARFINE EXIT
033696,001178: 14,3016 05412 TC PHASCHNG
033697,001179: 14,3017 04024 OCT 04024
033698,001180: 14,3020 04662 TC BANKCALL
033699,001181: 14,3021 16663 CADR IMUCOARS # PERFORM COARSE ALIGNMENT
033700,001182: 14,3022 04662 TC BANKCALL
033701,001183: 14,3023 17577 CADR IMUSTALL # REQUEST MODE SWITCH
|
|
Page 762
|
033703,001185: 14,3024 05751 TC CURTAINS
033704,001186: 14,3025 04662 TC BANKCALL
033705,001187: 14,3026 17073 CADR IMUFIN20
033706,001188: 14,3027 04662 TC BANKCALL
033707,001189: 14,3030 17577 CADR IMUSTALL
033708,001190: 14,3031 05751 TC CURTAINS # TEST FOR MALFUNCTION
033709,001191: 14,3032 06006 TC INTPRET
033710,001192: 14,3033 77234 RTB VLOAD
033711,001193: 14,3034 31276 SET1/PDT
033712,001194: 14,3035 11563 ZEROVEC
033713,001195: 14,3036 01472 STORE GCOMP
033714,001196: 14,3037 52014 SET GOTO
033715,001197: 14,3040 01060 DRIFTFLG
033716,001198: 14,3041 31044 FINEONLY
033717,001199: 14,3042 77700 CALOOP1 TIX,1
033718,001200: 14,3043 31001 CALOOP
033719,001201: 14,3044 75160 FINEONLY AXC,1 AXC,2
033720,001202: 14,3045 02671 XSM
033721,001203: 14,3046 01735 REFSMMAT
033722,001204: 14,3047 77624 CALL
033723,001205: 14,3050 31053 MATMOVE
033724,001206: 14,3051 77650 GOTO
033725,001207: 14,3052 32116 CAL53RET
033726,001208: 14,3053 77773 MATMOVE VLOAD* # TRANSFER MATRIX
033727,001209: 14,3054 00001 0,1
033728,001210: 14,3055 10001 STORE 0,2
033729,001211: 14,3056 77773 VLOAD*
033730,001212: 14,3057 00007 6D,1
033731,001213: 14,3060 10007 STORE 6D,2
033732,001214: 14,3061 77773 VLOAD*
033733,001215: 14,3062 00015 12D,1
033734,001216: 14,3063 10015 STORE 12D,2
033735,001217: 14,3064 77616 RVQ
033736,001218: 14,3065 00056 DEGREE1 DEC 46 B-14
033737,001219: 14,3066 37722 DEG359 DEC 16338 B-14
033738,001220: 15,2000 SETLOC P50S
033739,001221: 15,2000 BANK
033740,001222: 15,2324 00004 RDCDUS INHINT # READ CDUS
033741,001223: 15,2325 30032 CA CDUX
033742,001224: 15,2326 50120 INDEX FIXLOC
033743,001225: 15,2327 54001 TS 1
033744,001226: 15,2330 30033 CA CDUY
033745,001227: 15,2331 50120 INDEX FIXLOC
033746,001228: 15,2332 54002 TS 2
033747,001229: 15,2333 30034 CA CDUZ
033748,001230: 15,2334 50120 INDEX FIXLOC
033749,001231: 15,2335 54003 TS 3
033750,001232: 15,2336 00003 RELINT
033751,001233: 15,2337 06030 TC DANZIG # +
033752,001234:
033753,001235:
033754,001236: # NAME - GIMB
|
|
Page 763
|
033756,001238:
033757,001239: # FUNCTION - DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT.
033758,001240:
033759,001241: # CALLING SEQUENCE - CALL GIMB
033760,001242:
033761,001243: # INPUT - DESIRED IMU INERTIAL ORIENTATION VECTORS-XSMD, YSMD, ZSMD
033762,001244:
033763,001245: # OUTPUT -GIMBAL ANGLES LEFT IN THETAD, +1, +2 +
033764,001246:
033765,001247: # SUBROUTINES USED - 1.CDUTRIG 2.CALCSMSC 3.CALCGA
033766,001248:
033767,001249: 16,2000 SETLOC P50S2
033768,001250: 16,2000 BANK
033769,001251: 16,2607 COUNT 14/INFLT
033770,001252:
033771,001253: 16,2607 41345 CALCSMSC DLOAD DMP
033772,001254: 16,2610 00737 SINCDUY
033773,001255: 16,2611 00747 COSCDUZ
033774,001256: 16,2612 77676 DCOMP
033775,001257: 16,2613 70525 PDDL SR1
033776,001258: 16,2614 00741 SINCDUZ
033777,001259: 16,2615 41325 PDDL DMP
033778,001260: 16,2616 00745 COSCDUY
033779,001261: 16,2617 00747 COSCDUZ
033780,001262: 16,2620 76466 VDEF VSL1
033781,001263: 16,2621 02714 STORE XNB
033782,001264: 16,2622 41345 DLOAD DMP
033783,001265: 16,2623 00743 SINCDUX
033784,001266: 16,2624 00741 SINCDUZ
033785,001267: 16,2625 77752 SL1
033786,001268: 16,2626 00033 STORE 26D
033787,001269: 16,2627 77605 DMP
033788,001270: 16,2630 00737 SINCDUY
033789,001271: 16,2631 41325 PDDL DMP
033790,001272: 16,2632 00751 COSCDUX
033791,001273: 16,2633 00745 COSCDUY
033792,001274: 16,2634 77625 DSU
033793,001275: 16,2635 41325 PDDL DMP
033794,001276: 16,2636 00743 SINCDUX
033795,001277: 16,2637 00747 COSCDUZ
033796,001278: 16,2640 77676 DCOMP
033797,001279: 16,2641 41325 PDDL DMP
033798,001280: 16,2642 00751 COSCDUX
033799,001281: 16,2643 00737 SINCDUY
033800,001282: 16,2644 41325 PDDL DMP
033801,001283: 16,2645 00745 COSCDUY
033802,001284: 16,2646 00033 26D
033803,001285: 16,2647 55415 DAD VDEF
033804,001286: 16,2650 77772 VSL1
033805,001287: 16,2651 02730 STORE ZNB
033806,001288: 16,2652 76435 VXV VSL1
033807,001289: 16,2653 02714 XNB
033808,001290: 16,2654 02722 STORE YNB
033809,001291: 16,2655 77616 RVQ
033810,001292:
033811,001293: # NAME - P51 - IMU ORIENTATION DETERMINATION
033812,001294: # MOD. NO. 2 21 DEC 66 LOG SECTION - P51-P53
|
|
Page 764
|
033814,001296: # MOD BY STURLAUGSON ASSEMBLY SUNDISK REV15
033815,001297:
033816,001298: # FUNCTIONAL DESCRIPTION
033817,001299: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
033818,001300: # ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
033819,001301: # THEN PROCESSED AS FOLLOWS.
033820,001302:
033821,001303: # 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
033822,001304: # TRUNNION ANGLES, RESPECTIVELY. THEN,
033823,001305: # -
033824,001306: # V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR)
033825,001307: # NB
033826,001308: # THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
033827,001309:
033828,001310: # 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
033829,001311: # - T T T -
033830,001312: # V = Q *Q *Q *V , WHERE
033831,001313: # 1 2 3 NB
033832,001314:
033833,001315: # ( COS(IG) 0 -SIN(IG) )
033834,001316: # ( ) THE GIMBAL ANGLES ARE COMPUTED FROM
033835,001317: # Q = ( 0 1 0 ), IG= INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS-
033836,001318: # 1 ( ) ROT AND CDULOGIC)
033837,001319: # ( SIN(IG) 0 COS(IG) )
033838,001320:
033839,001321: # ( COS(MG) SIN(MG) 0 )
033840,001322: # ( )
033841,001323: # Q = (-SIN(MG) COS(MG) 0 ), MG= MIDDLE GIMBAL ANGLE
033842,001324: # 2 ( )
033843,001325: # ( 0 0 1 )
033844,001326:
033845,001327: # ( 1 0 0 )
033846,001328: # ( )
033847,001329: # Q = ( 0 COS(OG) SIN(OG) ), OG= OUTER GIMBAL ANGLE
033848,001330: # 3 ( )
033849,001331: # ( 0 -SIN(OG) COS(OG) )
033850,001332:
033851,001333: # 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
033852,001334:
033853,001335: # 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
033854,001336:
033855,001337: # 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
033856,001338: # - -
033857,001339: # LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS, A AND B (BASIC AND STABLE MEMBER).
033858,001340: # 1 2
|
|
Page 765
|
033860,001342: # DEFINE, - -
033861,001343: # U = S
033862,001344: # A A1
033863,001345: # - - -
033864,001346: # V = UNIT(S X S )
033865,001347: # A A1 A2
033866,001348: # - - -
033867,001349: # W = U X V
033868,001350: # A A A
033869,001351:
033870,001352: # AND
033871,001353: # - -
033872,001354: # U = S
033873,001355: # B B1
033874,001356: # - - -
033875,001357: # V = UNIT(S X S )
033876,001358: # B B1 B2
033877,001359: # - - -
033878,001360: # W = U X V
033879,001361: # B B B
033880,001362:
033881,001363: # THEN - - - -
033882,001364: # X = U *U + V *V + W *W
033883,001365: # B1 A B1 A B1 A
033884,001366: # - - - - (REFSMMAT)
033885,001367: # Y = U *U + V *V + W *W
033886,001368: # B2 A B2 A B2 A
033887,001369: # - - - -
033888,001370: # Z = U *U + V *V + W *W
033889,001371: # B3 A B3 A B3 A
033890,001372:
033891,001373: # THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
033892,001374: # -
033893,001375: # S IN 6-11 OF THE VAC AREA
033894,001376: # A1
033895,001377: # -
033896,001378: # S IN 12-17 OF THE VAC AREA
033897,001379: # A2
033898,001380: # -
033899,001381: # S IN STARAD
033900,001382: # B1
|
|
Page 766
|
033902,001384: # -
033903,001385: # S IN STARAD +6
033904,001386: # B2
033905,001387:
033906,001388: # CALLING SEQUENCE
033907,001389:
033908,001390: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
033909,001391:
033910,001392: # SUBROUTINES CALLED.
033911,001393:
033912,001394: # GOPERF3
033913,001395: # GOPERF1R
033914,001396: # GODSPR
033915,001397: # IMUCOARS
033916,001398: # IMUFIN20
033917,001399: # R53
033918,001400: # SXTNB
033919,001401: # NBSM
033920,001402: # MKRELEAS
033921,001403: # CHKSDATA
033922,001404: # MATMOVE
033923,001405:
033924,001406: # ALARMS
033925,001407:
033926,001408: # NONE.
033927,001409:
033928,001410: # ERASABLE INITIALIZATION
033929,001411:
033930,001412: # IMU ZERO FLAG SHOULD BE SET.
033931,001413:
033932,001414: # OUTPUT
033933,001415:
033934,001416: # REFSMMAT
033935,001417: # REFSMFLG
033936,001418:
033937,001419: # DEBRIS
033938,001420:
033939,001421: # WORK AREA
033940,001422: # STARAD
033941,001423: # STARIND
033942,001424: # BESTI
033943,001425: # BESTJ
033944,001426:
033945,001427: 14,2000 SETLOC P50S1
033946,001428: 14,2000 BANK
033947,001429: 14,3067 COUNT 14/P5153
033948,001430:
033949,001431: 14,3067 14,3067 P53 EQUALS P51
033950,001432: 14,3067 41320 P51 CS IMODES30
033951,001433: 14,3070 75007 MASK BIT9
033952,001434: 14,3071 10000 CCS A
|
|
Page 767
|
033954,001436: 14,3072 03076 TC P51A
033955,001437: 14,3073 05650 TC ALARM
033956,001438: 14,3074 00210 OCT 210
033957,001439: 14,3075 04106 TC GOTOPOOH
033958,001440: 14,3076 04662 P51A TC BANKCALL
033959,001441: 14,3077 17667 CADR R02ZERO
033960,001442:
033961,001443: 14,3100 35025 P51AA CAF PRFMSTAQ
033962,001444: 14,3101 04662 TC BANKCALL
033963,001445: 14,3102 21045 CADR GOPERF1
033964,001446: 14,3103 04106 TC GOTOPOOH # TERM.
033965,001447: 14,3104 03147 TC P51B # V33
033966,001448: 14,3105 05412 TC PHASCHNG
033967,001449: 14,3106 05024 OCT 05024
033968,001450: 14,3107 13000 OCT 13000
033969,001451: 14,3110 35021 CAF P51ZERO
033970,001452: 14,3111 55155 TS THETAD # ZERO THE GIMBALS
033971,001453: 14,3112 55156 TS THETAD +1
033972,001454: 14,3113 55157 TS THETAD +2
033973,001455: 14,3114 33274 CAF V6N22
033974,001456: 14,3115 04662 TC BANKCALL
033975,001457: 14,3116 20673 CADR GODSPRET
033976,001458: 14,3117 33275 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
033977,001459: 14,3120 04662 TC BANKCALL
033978,001460: 14,3121 20673 CADR GODSPRET
033979,001461: 14,3122 04662 TC BANKCALL
033980,001462: 14,3123 16663 CADR IMUCOARS
033981,001463: 14,3124 04662 TC BANKCALL
033982,001464: 14,3125 17577 CADR IMUSTALL
033983,001465: 14,3126 05751 TC CURTAINS # CAGING OR BAD END
033984,001466: 14,3127 04662 TC BANKCALL # SCHEDULE IFAILOK AND IMUFINED TASKS, IN 5
033985,001467: 14,3130 17073 CADR IMUFIN20 # AND 20 SECS. DIRECT RETURN AND NO STALL,
033986,001468: 14,3131 04662 TC BANKCALL # IF CAGING, BUT T4 WILL ZERO C/A ENABLE.
033987,001469: 14,3132 17577 CADR IMUSTALL # IF PUT TO SLEEP, IMUFINED WILL WAKE US
033988,001470: 14,3133 05751 TC CURTAINS # UP.
|
|
Reconstruction: The following block of instructions, down to the terminating
annotation below, was removed from Comanche 51, but has been restored from Colossus 249
(Apollo 9) source code. The position of the removal is given by
Programmed Guidance Equations for Colossus 2, p. INFA-1.
|
033994,001476: 14,3134 06006 TC INTPRET
033995,001477: 14,3135 77234 RTB VLOAD
033996,001478: 14,3136 31276 SET1/PDT
033997,001479: 14,3137 11563 ZEROVEC
033998,001480: 14,3140 01472 STORE GCOMP
033999,001481: 14,3141 77414 SET EXIT
034000,001482: 14,3142 01060 DRIFTFLG
|
|
Reconstruction: Termination of instruction block. See the annotation above.
|
034002,001484: 14,3143 05412 TC PHASCHNG
034003,001485: 14,3144 05024 OCT 05024
034004,001486: 14,3145 13000 OCT 13000
034005,001487: 14,3146 13100 TCF P51AA # COARSE ALIGN DONE - RECYCLE FOR FINE
034006,001488:
|
|
Page 768
|
034008,001490: # DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
034009,001491: 14,3147 05412 P51B TC PHASCHNG
034010,001492: 14,3150 00014 OCT 00014
034011,001493: 14,3151 06006 TC INTPRET
034012,001494: 14,3152 40331 SSP SETPD
034013,001495: 14,3153 00305 STARIND # INDEX - STAR 1 OR 2
034014,001496: 14,3154 00000 0
034015,001497: 14,3155 00001 0
|
|
Reconstruction: In Comanche 51, the two instructions immediately following
this annotation are replaced by this block of instructions:
RTB VLOAD
SET1/PDT
ZEROVEC
STORE GCOMP
SET CLEAR
DRIFTFLG
TARG2FLG
EXIT
This change is indicated by
Programmed Guidance Equations for Colossus 2, p. INFA-2.
In Comanche 44, we've simply reverted to Colossus 249 (Apollo 9) source code here.
|
034032,001514: 14,3156 77414 CLEAR EXIT
034033,001515: 14,3157 00666 TARG2FLG # SHOW STAR MARK-NOT LAND MARK
034034,001516: 14,3160 35017 CAF BIT1
034035,001517: 14,3161 54301 TS MARKINDX # INITIALIZE FOR ONE MARK
034036,001518:
034037,001519: 14,3162 05412 P51C TC PHASCHNG
034038,001520: 14,3163 05024 OCT 05024
034039,001521: 14,3164 13000 OCT 13000
034040,001522: 14,3165 05364 TC CHECKMM
034041,001523: 14,3166 00065 MM 53 B-14 # BACKUP PROGRAM
034042,001524: 14,3167 13175 TCF P51C.1 # NOT P53
034043,001525: 14,3170 06006 TC INTPRET
034044,001526: 14,3171 77624 CALL
034045,001527: 14,3172 36062 R56
034046,001528: 14,3173 77650 GOTO
034047,001529: 14,3174 31200 P51C.2
034048,001530: 14,3175 06006 P51C.1 TC INTPRET
034049,001531: 14,3176 77624 CALL
034050,001532: 14,3177 31301 R53 # SIGHTING ROUTINE
034051,001533: 14,3200 77624 P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA
034052,001534: 14,3201 36026 SXTSM
034053,001535: 14,3202 77606 PUSH
034054,001536: 14,3203 53135 SLOAD BZE
034055,001537: 14,3204 00305 STARIND
034056,001538: 14,3205 31212 P51D
034057,001539: 14,3206 45575 VLOAD STADR
034058,001540: 14,3207 75160 STORE STARSAV2 # DOWNLINK
034059,001541: 14,3210 77650 GOTO
034060,001542: 14,3211 31220 P51E
034061,001543: 14,3212 45575 P51D VLOAD STADR
034062,001544: 14,3213 61166 STODL STARSAV1
034063,001545: 14,3214 02607 TSIGHT
034064,001546: 14,3215 77624 CALL
034065,001547: 14,3216 32340 PLANET
034066,001548: 14,3217 02601 STORE PLANVEC
|
|
Page 769
|
034068,001550: 14,3220 77776 P51E EXIT
034069,001551: 14,3221 05412 TC PHASCHNG
034070,001552: 14,3222 05024 OCT 05024
034071,001553: 14,3223 13000 OCT 13000
034072,001554: 14,3224 04662 TC BANKCALL
034073,001555: 14,3225 16063 CADR MKRELEAS # ZERO MARKSTAT
034074,001556: 14,3226 10304 CCS STARIND
034075,001557: 14,3227 13236 TCF P51F # STAR 2
034076,001558: 14,3230 05412 TC PHASCHNG
034077,001559: 14,3231 05024 OCT 05024
034078,001560: 14,3232 13000 OCT 13000
034079,001561: 14,3233 35017 CAF BIT1
034080,001562: 14,3234 54304 TS STARIND
034081,001563: 14,3235 13162 TCF P51C # GO DO SECOND STAR
034082,001564: 14,3236 05412 P51F TC PHASCHNG
034083,001565: 14,3237 05024 OCT 05024
034084,001566: 14,3240 13000 OCT 13000
034085,001567: 14,3241 06006 TC INTPRET
034086,001568: 14,3242 45145 DLOAD CALL
034087,001569: 14,3243 02607 TSIGHT
034088,001570: 14,3244 32340 PLANET
034089,001571: 14,3245 24015 STOVL 12D
034090,001572: 14,3246 02601 PLANVEC
034091,001573: 14,3247 24007 STOVL 6D
034092,001574: 14,3250 02611 STARSAV1
034093,001575: 14,3251 26736 STOVL STARAD
034094,001576: 14,3252 02617 STARSAV2
034095,001577: 14,3253 36744 STCALL STARAD +6
034096,001578: 14,3254 30714 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
034097,001579: 14,3255 77414 BON EXIT
034098,001580: 14,3256 00314 FREEFLAG
034099,001581: 14,3257 31261 P51G
034100,001582: 14,3260 03100 TC P51AA
034101,001583: 14,3261 77624 P51G CALL
034102,001584: 14,3262 47401 AXISGEN # COME BACK WITH REFSMMAT IN XDC
034103,001585: 14,3263 75160 AXC,1 AXC,2
034104,001586: 14,3264 02713 XDC
034105,001587: 14,3265 01735 REFSMMAT
034106,001588: 14,3266 45014 CLEAR CALL
034107,001589: 14,3267 01662 REFSMFLG
034108,001590: 14,3270 31053 MATMOVE
034109,001591: 14,3271 52014 SET GOTO
034110,001592: 14,3272 01462 REFSMFLG
034111,001593: 14,3273 32145 ENDP50S
034112,001594: 14,3274 5025 PRFMSTAQ = OCT15
034113,001595: 14,3274 5021 P51ZERO = ZERO
034114,001596: 14,3274 5022 P51FIVE = FIVE
034115,001597: 14,3274 01426 V6N22 VN 0622
034116,001598: 14,3275 12200 V41K VN 4100
034117,001599: 14,3276 30025 SET1/PDT CA TIME1
|
|
Page 770
|
034119,001601: 14,3277 55074 TS 1/PIPADT
034120,001602: 14,3300 16030 TCF DANZIG
034121,001603:
|
|
Page 771
|
034123,001605: # SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
034124,001606:
034125,001607: 17,2000 SETLOC P50S3
034126,001608: 17,2000 BANK
034127,001609: 17,2026 77620 SXTSM STQ
034128,001610: 17,2027 00300 QMAJ
034129,001611: 17,2030 70740 LXC,1 DLOAD*
034130,001612: 17,2031 01330 MARKSTAT
034131,001613: 17,2032 00001 0D,1
034132,001614: 17,2033 02607 STORE TSIGHT
034133,001615: 17,2034 66744 LXC,2 SLOAD*
034134,001616: 17,2035 00304 STARIND
034135,001617: 17,2036 41716 MKDNCDR,2
034136,001618: 17,2037 76744 LXC,2 VLOAD*
034137,001619: 17,2040 00154 MPAC
034138,001620: 17,2041 00001 0,1
034139,001621: 17,2042 10001 STORE 0,2
034140,001622: 17,2043 77743 DLOAD*
034141,001623: 17,2044 00006 5,1
034142,001624: 17,2045 10006 STORE 5,2
034143,001625: 17,2046 77624 CALL
034144,001626: 17,2047 46000 SXTNB # COMPUTE LOS VECTOR FROM OCDU IN MKVAC
034145,001627: 17,2050 62150 LXA,1 INCR,1
034146,001628: 17,2051 01330 MARKSTAT
034147,001629: 17,2052 00002 2 # INCREMENT TO BASE ADR OF ICDU
034148,001630: 17,2053 45130 SXA,1 CALL
034149,001631: 17,2054 00050 S1
034150,001632: 17,2055 47606 NBSM # TRANSFORM LOS TO SM
034151,001633: 17,2056 77650 GOTO
034152,001634: 17,2057 00300 QMAJ
034153,001635: 17,2060 03674 MKDNCDR ECADR MARKDOWN
034154,001636: 17,2061 03502 ECADR MARK2DWN
034155,001637:
|
|
Page 772
|
034157,001639: # PROGRAM DESCRIPTION - R53 - SIGHTING MARK ROUTINE
034158,001640: # MOD. NO. 2 21 DEC 66
034159,001641: # MOD BY STURLAUGSON
034160,001642:
034161,001643: # FUNCTIONAL DESCRIPTION
034162,001644:
034163,001645: # TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
034164,001646: # CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
034165,001647: # OCDUS) AND THE TIME OF THE MARK.
034166,001648:
034167,001649: # CALLING SEQUENCE
034168,001650:
034169,001651: # R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
034170,001652: # THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
034171,001653:
034172,001654: # SUBROUTINES CALLED
034173,001655: #
034174,001656: # SXTMARK
034175,001657: # OPTSTALL
034176,001658: # GOFLASH
034177,001659:
034178,001660: # ERASABLE INITIALIZATION
034179,001661:
034180,001662: # TARGET FLAG - STAR OR LANDMARK
034181,001663: # MARKINDX - NUMBER OF MARKS WANTED
034182,001664: # STARIND - INDEX TO BESTI OR BESTJ (STAR NUMBER)
034183,001665:
034184,001666: # OUTPUT
034185,001667:
034186,001668: # MARKSTAT CONTAINS INDEX TO VACANT AREA WHERE MARK DATA IS STORED
034187,001669: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED
034188,001670:
034189,001671: # DEBRIS
034190,001672:
034191,001673: # MARKINDX CONTAINS NUMBER OF MARKS DESIRED
034192,001674:
034193,001675: 14,2000 SETLOC RT53
034194,001676: 14,2000 BANK
034195,001677:
034196,001678: 14,3301 COUNT 14/R53
034197,001679:
034198,001680: 14,3301 43020 R53 STQ SET # SET SIGHTING MARK FLAG
034199,001681: 14,3302 03501 R53EXIT
034200,001682: 14,3303 00071 R53FLAG
034201,001683: 14,3304 77776 EXIT
034202,001684: 14,3305 30301 R53A CA MARKINDX # NUMBER OF MARKS
034203,001685: 14,3306 75023 MASK LOW3
034204,001686: 14,3307 04662 TC BANKCALL
034205,001687: 14,3310 16002 CADR SXTMARK
034206,001688: 14,3311 04662 TC BANKCALL
034207,001689: 14,3312 17573 CADR OPTSTALL
034208,001690: 14,3313 05751 TC CURTAINS
034209,001691: 14,3314 51330 INDEX MARKSTAT
034210,001692: 14,3315 10052 CCS QPRET # NUMBER OF MARKS ACTUALLY DONE
034211,001693: 14,3316 13327 TCF R53B
034212,001694: 14,3317 13321 TCF +2 # ZERO
034213,001695: 14,3320 13321 TCF +1 # CCS HOLE
034214,001696: 14,3321 35021 CAF ZERO # HOUSEKEEP VAC AREA SAVE
034215,001697: 14,3322 57330 XCH MARKSTAT # AND MARKSTAT
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|
Page 773
|
034217,001699: 14,3323 10000 CCS A
034218,001700: 14,3324 50000 INDEX A
034219,001701: 14,3325 54000 TS 0
034220,001702: 14,3326 13305 TCF R53A
034221,001703: 14,3327 05364 R53B TC CHECKMM
034222,001704: 14,3330 00026 MM 22 B-14
034223,001705: 14,3331 13333 TCF +2
034224,001706: 14,3332 13362 TCF R53D
034225,001707: 14,3333 05364 TC CHECKMM
034226,001708: 14,3334 00027 MM 23 B-14
034227,001709: 14,3335 13337 TCF R53C1
034228,001710: 14,3336 13362 TCF R53D
034229,001711: 14,3337 35021 R53C1 CAF ZERO
034230,001712: 14,3340 04662 TC BANKCALL
034231,001713: 14,3341 20703 CADR CLEANDSP
034232,001714: 14,3342 33366 R53C CAF V01N71
034233,001715: 14,3343 04662 TC BANKCALL
034234,001716: 14,3344 20720 CADR GOFLASH
034235,001717: 14,3345 04106 TC GOTOPOOH # TERM.
034236,001718: 14,3346 13350 TCF R53Z
034237,001719: 14,3347 03342 TC R53C # RECYCLE
034238,001720: 14,3350 03367 R53Z TC CHKSCODE
034239,001721: 14,3351 04400 TC FALTON
034240,001722: 14,3352 03342 TC R53C
034241,001723: 14,3353 47713 CS HIGH9
034242,001724: 14,3354 70735 MASK STARCODE
034243,001725: 14,3355 00006 EXTEND
034244,001726: 14,3356 76211 MP SIGHTSIX
034245,001727: 14,3357 56001 XCH L
034246,001728: 14,3360 50304 INDEX STARIND
034247,001729: 14,3361 54302 TS BESTI
034248,001730: 14,3362 06006 R53D TC INTPRET
034249,001731: 14,3363 77614 R53OUT SETGO
034250,001732: 14,3364 03420 TERMIFLG # SET TERMINATE FOR R52
034251,001733: 14,3365 03501 R53EXIT
034252,001734: 14,3366 6211 SIGHTSIX = SIX
034253,001735: 14,3366 00307 V01N71 VN 0171
034254,001736:
034255,001737: # ****** KEEP IN SAME BANK AS R51 AND R53 *********
034256,001738: 14,3367 10735 CHKSCODE CCS STARCODE
034257,001739: 14,3370 63377 AD NEG47
034258,001740: 14,3371 10000 CCS A
034259,001741: 14,3372 00002 TC Q # SC < 0 OR SC > 50
034260,001742: 14,3373 13375 TCF +2 # SC = + OR - 0
034261,001743: 14,3374 13375 TCF +1 # 0 <= SC< 50
034262,001744: 14,3375 50002 INDEX Q # SC = 50
034263,001745: 14,3376 00002 TC 00002
034264,001746: 14,3377 77730 NEG47 OCT 77730
034265,001747:
|
|
Page 774
|
034267,001749: # NAME - S52.2
034268,001750: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
034269,001751: # CALL - CALL S52.2
034270,001752: # INPUT - X,Y,ZSMD
034271,001753: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
034272,001754: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
034273,001755:
034274,001756: 11,2000 SETLOC S52/2
034275,001757: 11,2000 BANK
034276,001758:
034277,001759: 11,2331 COUNT 13/S52.2
034278,001760: 11,2331 77620 S52.2 STQ
034279,001761: 11,2332 00300 QMAJ
034280,001762: 11,2333 77624 CALL
034281,001763: 11,2334 47477 CDUTRIG
034282,001764: 11,2335 77624 CALL
034283,001765: 11,2336 34607 CALCSMSC
034284,001766: 11,2337 66370 AXT,1 SSP
034285,001767: 11,2340 00022 18D
034286,001768: 11,2341 00051 S1
034287,001769: 11,2342 00006 6D
034288,001770: 11,2343 61373 S52.2A VLOAD* VXM
034289,001771: 11,2344 02736 XNB +18D,1
034290,001772: 11,2345 01736 REFSMMAT
034291,001773: 11,2346 77656 UNIT
034292,001774: 11,2347 06736 STORE XNB +18D,1
034293,001775: 11,2350 77700 TIX,1
034294,001776: 11,2351 22343 S52.2A
034295,001777: 11,2352 75160 S52.2.1 AXC,1 AXC,2
034296,001778: 11,2353 00306 XSMD
034297,001779: 11,2354 02671 XSM
034298,001780: 11,2355 77624 CALL
034299,001781: 11,2356 31053 MATMOVE
034300,001782: 11,2357 77624 CALL
034301,001783: 11,2360 47311 CALCGA
034302,001784: 11,2361 77650 GOTO
034303,001785: 11,2362 00300 QMAJ
034304,001786:
|
|
Page 775
|
034306,001788: # PROGRAM NAME - SR52.1 DATE DEC 20 66
034307,001789: # MOD 1 LOG SEC P51-P53
034308,001790: # BY KEN VINCENT ASSEMBLY SUNDISK REV 40
034309,001791:
034310,001792: # FUNCTION
034311,001793:
034312,001794: # TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
034313,001795: # LEM, STAR OR LANDMARK. IN CASE OF LEM OR LMK, THE PRESENT TIME PLUS
034314,001796: # 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD, +1). IF THE LEM IS
034315,001797: # THE TARGET THEN CONIC UPDATES OF THE CSM AND LEM ARE MADE TO
034316,001798: # THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
034317,001799: # POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE
034318,001800: # COMMON PART OF THIS PROGRAM.
034319,001801:
034320,001802: # IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
034321,001803: # VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
034322,001804: # FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
034323,001805: # THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
034324,001806: # VECTOR FOR THE COMMON PART OF THIS ROUTINE.
034325,001807:
034326,001808: # IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
034327,001809: # AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
034328,001810:
034329,001811: # THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING
034330,001812: # VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
034331,001813: # THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
034332,001814: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG OR 38DEG.
034333,001815: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
034334,001816:
034335,001817: # CALLING SEQUENCE
034336,001818:
034337,001819: # L+4 RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5 DEG OF DESIRED
034338,001820: # L TC BANKCALL
034339,001821: # L+1 CADR SR52.1
034340,001822: # L+2 ERROR RETURN TRUNNION GREATER THAN 90 DEG
034341,001823: # L&3 ERROR RETURN TRUNNION GREATER THAN 50 DEG
034342,001824: # L+4 NORMAL RETURN
034343,001825:
034344,001826: # OUTPUT
034345,001827:
034346,001828: # SAC -SINGLE PREC, 2S COMP, SCALED AT HALF REVS - SHAFT ANGLE DESIRED
034347,001829: # PAC -SINGLE PREC, 2S COMP SCALED AT EIGTH REVS - TRUNNION ANGLE DESIRED
034348,001830:
034349,001831: # INITIALIZATION
034350,001832:
034351,001833: # IF TARG1FLG =1 THEN TARGET IS LEM - NO OTHER INPUT REQUIRED
034352,001834:
034353,001835: # IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
034354,001836: # 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
034355,001837: # ARE 6 TIMES STAR NUMBER.
034356,001838:
034357,001839: # IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SEE ROUTINE
034358,001840: # LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
034359,001841: # RADIUS
034360,001842:
034361,001843: # DEBRIS
034362,001844:
034363,001845: # WORK AREA
034364,001846: # STARAD - STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
034365,001847:
034366,001848: 11,2363 COUNT* $$/SR521
|
|
Page 776
|
034368,001850: 13,2000 SETLOC SR52/1
034369,001851: 13,2000 BANK
034370,001852:
034371,001853: 13,2244 04711 SR52.1 TC MAKECADR
034372,001854: 13,2245 55777 TS QMIN
034373,001855: 13,2246 06006 TC INTPRET
034374,001856: 13,2247 43234 RTB DAD
034375,001857: 13,2250 45510 LOADTIME
034376,001858: 13,2251 26365 1.3SECDP
034377,001859: 13,2252 02356 STORE AOPTIME
034378,001860: 13,2253 43014 BON BON
034379,001861: 13,2254 00705 TARG1FLG
034380,001862: 13,2255 26262 LEM52
034381,001863: 13,2256 00706 TARG2FLG
034382,001864: 13,2257 26272 LMK52
034383,001865: 13,2260 77650 GOTO
034384,001866: 13,2261 26313 STAR52
034385,001867: 13,2262 77745 LEM52 DLOAD
034386,001868: 13,2263 02356 AOPTIME
034387,001869: 13,2264 34041 STCALL TDEC1
034388,001870: 13,2265 27126 LEMCONIC
034389,001871: 13,2266 77775 VLOAD
034390,001872: 13,2267 00001 RATT
034391,001873: 13,2270 77650 GOTO
034392,001874: 13,2271 26302 LMKLMCOM
034393,001875: 13,2272 71214 LMK52 BON DLOAD
034394,001876: 13,2273 04305 ADVTRK
034395,001877: 13,2274 54000 ADVTRACK
034396,001878: 13,2275 02356 AOPTIME
034397,001879: 13,2276 77624 CALL
034398,001880: 13,2277 26441 LALOTORV
034399,001881: 13,2300 77775 VLOAD
034400,001882: 13,2301 02152 ALPHAV
034401,001883: 13,2302 16766 LMKLMCOM STODL STAR
034402,001884: 13,2303 02356 AOPTIME
034403,001885: 13,2304 34041 STCALL TDEC1
034404,001886: 13,2305 27114 CSMCONIC
034405,001887: 13,2306 52375 VLOAD VSU
034406,001888: 13,2307 02766 STAR
034407,001889: 13,2310 00001 RATT
034408,001890: 13,2311 52056 UNIT GOTO
034409,001891: 13,2312 26326 COM52
034410,001892: 13,2313 72131 STAR52 SSP LXA,1
034411,001893: 13,2314 00051 S1
034412,001894: 13,2315 00000 0
034413,001895: 13,2316 00304 STARIND
034414,001896: 13,2317 77700 TIX,1
034415,001897: 13,2320 26324 ST52ST
034416,001898: 13,2321 52175 VLOAD GOTO
034417,001899: 13,2322 02617 STARSAV2
|
|
Page 777
|
034419,001901: 13,2323 26326 COM52
034420,001902: 13,2324 77775 ST52ST VLOAD
034421,001903: 13,2325 02611 STARSAV1
034422,001904: 13,2326 53521 COM52 MXV UNIT
034423,001905: 13,2327 01736 REFSMMAT
034424,001906: 13,2330 02766 STORE STAR
034425,001907: 13,2331 45001 SETPD CALL
034426,001908: 13,2332 00001 0
034427,001909: 13,2333 47477 CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA
034428,001910: 13,2334 77624 CALL # NOW EXPECT TO SEE THE CDU ANGLES.
034429,001911: 13,2335 46034 CALCSXA
034430,001912: 13,2336 77414 BOFF EXIT
034431,001913: 13,2337 01750 CULTFLAG
034432,001914: 13,2340 26342 TRUN38
034433,001915: 13,2341 02360 TC SR52E1
034434,001916: 13,2342 45345 TRUN38 DLOAD DSU
034435,001917: 13,2343 02776 PAC
034436,001918: 13,2344 26363 38TRDEG
034437,001919: 13,2345 71244 BPL DLOAD
034438,001920: 13,2346 26353 SR52E22
034439,001921: 13,2347 02776 PAC
034440,001922: 13,2350 51025 DSU BPL
034441,001923: 13,2351 26367 20DEGSMN
034442,001924: 13,2352 26355 SR52E3
034443,001925: 13,2353 77776 SR52E22 EXIT
034444,001926: 13,2354 02357 TC SR52E2
034445,001927: 13,2355 77776 SR52E3 EXIT
034446,001928: 13,2356 25777 INCR QMIN
034447,001929: 13,2357 25777 SR52E2 INCR QMIN
034448,001930: 13,2360 31777 SR52E1 CA QMIN
034449,001931: 13,2361 04666 TC SWCALL
034450,001932: 13,2362 25252 25254 38TRDEG 2DEC .66666667 # CORESPONDS TO 50 DEGS IN TRUNION
034451,001933:
034452,001934: 13,2364 00000 00202 1.3SECDP 2DEC 130 B-28
034453,001935:
034454,001936: 13,2366 61740 20DEGSMN DEC -07199 B-14
034455,001937: 13,2367 77777 DEC -0 B-14
034456,001938:
|
|
Page 778
|
034458,001940: # THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO
034459,001941: # A POINT ON THE GROUND TRACK 60 DEGRESS FORWARD OF THE LOCAL VERTICAL
034460,001942: # OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW
034461,001943:
034462,001944: 26,2000 SETLOC 26P50S
034463,001945: 26,2000 BANK
034464,001946: 26,2000 77601 ADVTRACK SETPD
034465,001947: 26,2001 00001 0
034466,001948: 26,2002 41575 VLOAD PUSH # INITIALIZE FOR RP-TO-R
034467,001949: 26,2003 15327 UNITZ # UZ VEC IN PD 0-5
034468,001950: 26,2004 41434 RTB PUSH # TIME IN PD 6-7
034469,001951: 26,2005 45510 LOADTIME
034470,001952: 26,2006 36356 STCALL AOPTIME # TIME ALSO IN AOPTIME FOR CSMCONIC
034471,001953: 26,2007 55344 RP-TO-R # GET MOON ROTATION VEC IN REF
034472,001954: 26,2010 16766 STODL STAR
034473,001955: 26,2011 02356 AOPTIME # PICK UP TIME
034474,001956: 26,2012 34041 STCALL TDEC1 # UPDATE STATE TO TIME
034475,001957: 26,2013 27114 CSMCONIC
034476,001958: 26,2014 47375 VLOAD VXV
034477,001959: 26,2015 00007 VATT
034478,001960: 26,2016 00001 RATT
034479,001961: 26,2017 77656 UNIT
034480,001962: 26,2020 24031 STOVL 24D # SAVE -UNIT(V X R) FOR 2ND ROTATION
034481,001963: 26,2021 00001 RATT
034482,001964: 26,2022 57456 UNIT VCOMP
034483,001965: 26,2023 41401 SETPD PUSH # PUSH LOS=-UNIT(RVEC) PD 0-5
034484,001966: 26,2024 00001 0
034485,001967: 26,2025 77776 EXIT
034486,001968: 26,2026 31751 CA LANDMARK
034487,001969: 26,2027 75023 MASK SEVEN # GET NUMBER OF ADVANCE PERIODS
034488,001970: 26,2030 00006 EXTEND
034489,001971: 26,2031 75005 MP BIT11 # GET N/16
034490,001972: 26,2032 56001 XCH L
034491,001973: 26,2033 50120 INDEX FIXLOC
034492,001974: 26,2034 54036 TS 30D # TEMP STORE N/16
034493,001975: 26,2035 06006 TC INTPRET
034494,001976: 26,2036 41335 SLOAD DMP
034495,001977: 26,2037 00037 30D
034496,001978: 26,2040 14107 MPERIOD
034497,001979: 26,2041 36356 STCALL AOPTIME # ROTATE ANG ABOUT UR
034498,001980: 26,2042 54057 ROTA
034499,001981: 26,2043 77775 VLOAD
034500,001982: 26,2044 00031 24D # PICK UP 2ND ROTATION AXIS
034501,001983: 26,2045 16766 STODL STAR
034502,001984: 26,2046 14105 DP1/6
034503,001985: 26,2047 77625 DSU
034504,001986: 26,2050 02356 AOPTIME # 2ND RAT ANGLE = 60 - A
034505,001987: 26,2051 36356 STCALL AOPTIME
034506,001988: 26,2052 54057 ROTA # GO ROTATE 2ND TIME
034507,001989: 26,2053 77775 VLOAD
|
|
Page 779
|
034509,001991: 26,2054 00001 0
034510,001992: 26,2055 36766 STCALL STAR # STORE FINAL LOS IN STAR
034511,001993: 26,2056 26326 COM52 # RETURN TO SR52.1
034512,001994:
034513,001995: 26,2057 73545 ROTA DLOAD SIN
034514,001996: 26,2060 02356 AOPTIME
034515,001997: 26,2061 47315 PDVL VXV # PUSH 1/2SIN(A) PD 6-7
034516,001998: 26,2062 02766 STAR # UR VEC
034517,001999: 26,2063 00001 0 # LOS
034518,002000: 26,2064 72561 VXSC VSL2 # 1/2SIN(A)(URXLOS) PD 6-11
034519,002001: 26,2065 50315 PDVL DOT
034520,002002: 26,2066 02766 STAR
034521,002003: 26,2067 00001 0
034522,002004: 26,2070 72561 VXSC VSL2
034523,002005: 26,2071 02766 STAR
034524,002006: 26,2072 71525 PDDL COS # 1/2(UR . LOS)UR 12-17
034525,002007: 26,2073 02356 AOPTIME
034526,002008: 26,2074 51315 PDVL BVSU # PUSH 1/2COS(A) 18-19
034527,002009: 26,2075 00015 12D
034528,002010: 26,2076 00001 0
034529,002011: 26,2077 76561 VXSC VSL1 # UP 18-19
034530,002012: 26,2100 53255 VAD VAD # UP 12-17 UP 6-11
034531,002013: 26,2101 40256 UNIT SETPD
034532,002014: 26,2102 00001 0
034533,002015: 26,2103 43406 PUSH RVQ
034534,002016:
034535,002017: 26,2104 05252 25251 DP1/6 2DEC .16666666
034536,002018:
034537,002019: 26,2106 01414 06044 MPERIOD 2DEC .047619 # APPROX LUNAR ROT ANG IN 2HRS X 16
034538,002020:
|
|
Page 780
|
034540,002022: # NAME - S52.3
034541,002023: # FUNCTION - XSMD= UNIT(YSMD X ZSMD)
034542,002024: # YSMD= UNIT(V X R)
034543,002025: # ZSMD= UNIT(-R)
034544,002026: # CALL DLOAD CALL
034545,002027: # TALIGN
034546,002028: # S52.3
034547,002029: # INPUT - TIME OF ALIGNMENT IN MPAC
034548,002030: # OUTPUT - X,Y,ZSMD
034549,002031: # SUBROUTINES - CSMCONIC
034550,002032:
034551,002033: 16,2000 SETLOC P50S2
034552,002034: 16,2000 BANK
034553,002035:
034554,002036: 16,2656 COUNT 15/S52.3
034555,002037: 16,2656 77620 S52.3 STQ
034556,002038: 16,2657 00300 QMAJ
034557,002039: 16,2660 34041 STCALL TDEC1
034558,002040: 16,2661 27071 CSMPREC
034559,002041: 16,2662 77601 SETPD
034560,002042: 16,2663 00001 0
034561,002043: 16,2664 57575 VLOAD VCOMP
034562,002044: 16,2665 00001 RATT
034563,002045: 16,2666 77656 UNIT
034564,002046: 16,2667 24323 STOVL ZSMD
034565,002047: 16,2670 00007 VATT
034566,002048: 16,2671 53435 VXV UNIT
034567,002049: 16,2672 00001 RATT
034568,002050: 16,2673 00315 STORE YSMD
034569,002051: 16,2674 53435 VXV UNIT
034570,002052: 16,2675 00323 ZSMD
034571,002053: 16,2676 34307 STCALL XSMD
034572,002054: 16,2677 00300 QMAJ
034573,002055:
|
|
Page 781
|
034575,002057: # PROGRAM DESCRIPTION - R56 - ALTERNATE LOS SIGHTING MARK ROUTINE
034576,002058:
034577,002059: # FUNCTIONAL DESCRIPTION
034578,002060:
034579,002061: # TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOWS THE
034580,002062: # COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE ASTRONAUT KEYS IN
034581,002063: # ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
034582,002064: # IN N92.
034583,002065:
034584,002066: # CALLING SEQUENCE
034585,002067:
034586,002068: # CALL
034587,002069: # R56
034588,002070:
034589,002071: # SUBROUTINES CALLED
034590,002072:
034591,002073: # A PORTION OF SXTMARK (VAC.AREA SEARCH)
034592,002074: # GOFLASH
034593,002075: # GOPERF1
034594,002076:
034595,002077: # ERASABLE INITIALIZATION
034596,002078:
034597,002079: # STARIND-INDEX TO STAR NUMBER
034598,002080:
034599,002081: # OUTPUT
034600,002082:
034601,002083: # MARKSTAT-INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
034602,002084: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
034603,002085: # ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS-
034604,002086: # VAC +2 CDUY
034605,002087: # VAC +3 CDUS
034606,002088: # VAC +4 CDUZ
034607,002089: # VAC +5 CDUT
034608,002090: # VAC +6 CDUX
034609,002091:
034610,002092: 16,2700 COUNT* $$/R56
034611,002093: 17,2000 SETLOC P50S3
034612,002094: 17,2000 BANK
034613,002095: 17,2062 77420 R56 STQ EXIT
034614,002096: 17,2063 03501 R53EXIT
034615,002097: 17,2064 32152 CAF V06N94B
034616,002098: 17,2065 04662 TC BANKCALL
034617,002099: 17,2066 20720 CADR GOFLASH
034618,002100: 17,2067 04106 TC GOTOPOOH # TERM.
034619,002101: 17,2070 02072 TC R56A # PROCEED - ANGLES OK
034620,002102: 17,2071 02064 TC -5 # ENTER - NEW ANGLES
034621,002103: 17,2072 04662 R56A TC BANKCALL
034622,002104: 17,2073 16004 CADR SXTMARK +2 # INHIBIR EXT VB ACT AND FIND VAC AREA
034623,002105:
034624,002106: 17,2074 35021 CAF ZERO
034625,002107: 17,2075 04662 TC BANKCALL
034626,002108: 17,2076 20703 CADR CLEANDSP
034627,002109:
|
|
Reconstruction: At this point in Comanche 51, a program label
R56A1 has been added to the following line, and the jump at the next
annotation below is TCF R56A1 rather than TCF R56A +2. I.e., the jump
is to the 6th instruction of R56A in Comanche 51, but only to the
2nd instruction of R56A in Comanche 44. The latter is the same behavior
as in Colossus 249 (Apollo 9).
Programmed Guidance Equations for Colossus 2, p. OPTC-19
marks the pseudocode positions corresponding to these two annotations
with change bars, although without giving any details as to what the changes may be.
|
034638,002120: 17,2077 32151 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK
034639,002121: 17,2100 04662 TC BANKCALL
|
|
Page 782
|
034641,002123: 17,2101 20564 CADR GOMARK2
034642,002124: 17,2102 14106 TCF GOTOPOOH # V34-TERMINATE
|
|
Reconstruction: See the preceding annotation.
|
034644,002126: 17,2103 12074 TCF R56A +2 # V33-DONT PROCEED - JUST ENTER TO MARK
034645,002127: 17,2104 06006 TC INTPRET
034646,002128: 17,2105 77745 DLOAD
034647,002129: 17,2106 03731 MRKBUF1 +3
034648,002130: 17,2107 16774 STODL SAC
034649,002131: 17,2110 03733 MRKBUF1 +5
034650,002132: 17,2111 02776 STORE PAC
034651,002133: 17,2112 77776 EXIT
034652,002134: 17,2113 00004 INHINT
034653,002135: 17,2114 00006 EXTEND
034654,002136: 17,2115 30025 DCA TIME2
034655,002137: 17,2116 51330 INDEX MARKSTAT
034656,002138: 17,2117 52001 DXCH 0
034657,002139: 17,2120 30033 CA CDUY # ENTER-THIS IS A BACKUP SYSTEM MARK
034658,002140: 17,2121 51330 INDEX MARKSTAT
034659,002141: 17,2122 54002 TS 2
034660,002142: 17,2123 31773 CA SAC
034661,002143: 17,2124 51330 INDEX MARKSTAT
034662,002144: 17,2125 54003 TS 3
034663,002145: 17,2126 30034 CA CDUZ
034664,002146: 17,2127 51330 INDEX MARKSTAT
034665,002147: 17,2130 54004 TS 4
034666,002148: 17,2131 31775 CA PAC
034667,002149: 17,2132 51330 INDEX MARKSTAT
034668,002150: 17,2133 54005 TS 5
034669,002151: 17,2134 30032 CA CDUX
034670,002152: 17,2135 51330 INDEX MARKSTAT
034671,002153: 17,2136 54006 TS 6
034672,002154: 17,2137 00003 RELINT
034673,002155: 17,2140 05536 TC CLEARMRK # ENABLE EXTENDED VERBS
034674,002156: 17,2141 34333 CAF OCT16
034675,002157: 17,2142 04662 TC BANKCALL
034676,002158: 17,2143 21045 CADR GOPERF1
034677,002159: 17,2144 04106 TC GOTOPOOH # TERM.
034678,002160: 17,2145 12147 TCF R56B # PROCEED-MARK COMPLETED
|
|
Reconstruction: There is no code difference between Comanche 44 and
Comanche 51 at this point, but I'd like to make a comment on something that
confused me (RSB) when I was writing these annotations, and thus may
confuse you as well. If in the annotations immediately preceding this one
you had continued to read a little farther in the Programmed Guidance
Equations, at this point in the code you'd have come to pseudocode
reading
Proceed to "GOPERF1": if terminate, proceed to "GOTOPOOH"
if proceed, proceed
otherwise, proceed to 5th line of "R56"
The final line above appears to be a veiled reference to the Comanche 51
program label R56A1 mentioned above, and yet it must be incorrect (since R56A1
would be the 14th line of R56 or the 6th line of R56A). Further confusing
the matter, the actual
assembly code in Comanche 55 is the same as the Comanche 44 line below, which
is not R56A1. Nor is the pseudocode accompanied by a change bar. What
in the world could be going on?
The answer is that when the pseudocode says something like "5th line of R56",
it isn't referring to lines of assembly code, but rather to lines of pseudocode.
Program label R56A1 would indeed appear at the "5th line of R56" using that
method of reckoning.
|
034703,002185: 17,2146 12074 TCF R56A +2 # RECYCLE-DO ANOTHER MARK - LIKE REJECT
034704,002186: 17,2147 04662 R56B TC BANKCALL
034705,002187: 17,2150 31337 CADR R53C1
034706,002188: 17,2151 15200 VB53 VN 05300 # ALTERNATE MARK VERB
034707,002189: 17,2152 01536 V06N94B VN 00694
034708,002190: 15,2000 SETLOC P50S
034709,002191: 15,2000 BANK
034710,002192:
034711,002193: 15,2340 02607 PLANET STORE TSIGHT
034712,002194: 15,2341 45020 STQ CALL
034713,002195: 15,2342 02777 QMIN
034714,002196: 15,2343 30225 LOCSAM
034715,002197: 15,2344 77775 VLOAD
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|
Page 783
|
034717,002199: 15,2345 02736 VEARTH
034718,002200: 15,2346 24001 STOVL 0D
034719,002201: 15,2347 02744 VSUN
034720,002202: 15,2350 26736 STOVL VEARTH
034721,002203: 15,2351 00001 0D
034722,002204: 15,2352 02744 STORE VSUN
034723,002205: 15,2353 77776 NOSAM EXIT
034724,002206: 15,2354 47713 CS HIGH9
034725,002207: 15,2355 70735 MASK STARCODE
034726,002208: 15,2356 00006 EXTEND
034727,002209: 15,2357 76211 MP SIGHTSIX
034728,002210: 15,2360 56001 XCH L
034729,002211: 15,2361 50304 INDEX STARIND
034730,002212: 15,2362 54302 TS BESTI
034731,002213: 15,2363 10000 CCS A
034732,002214: 15,2364 12401 TCF NOTPLAN
034733,002215: 15,2365 32431 CAF VNPLANV
034734,002216: 15,2366 04662 TC BANKCALL
034735,002217: 15,2367 20720 CADR GOFLASH
034736,002218: 15,2370 04106 TC GOTOPOOH
034737,002219: 15,2371 02373 TC +2
034738,002220: 15,2372 02365 TC -5
034739,002221: 15,2373 06006 TC INTPRET
034740,002222: 15,2374 74375 VLOAD VXSC
|
|
Reconstruction: In Comanche 51, the variable STARSAV3 is used rather
than the STAR of Comanche 44. This relates to the Comanche 51 pseudocode
TS = unit( unit(Kldsqr3 STARSAV3) + VELdC)
from
Programmed Guidance Equations for Colossus 2, p. INFA-8.
The pseudocode is admittedly difficult to relate to this specific code change;
but it should be noted that Comanche 51's STARSAV3 is changed to STAR
throughout the entire Comanche 44 source code — for example,
here —
so that makes the specific change at this point in the code seem more natural.
|
034754,002236: 15,2375 02766 STAR
034755,002237: 15,2376 32433 1/SQR3
034756,002238: 15,2377 52056 UNIT GOTO
034757,002239: 15,2400 32424 CORPLAN
034758,002240: 15,2401 40000 NOTPLAN CS A
034759,002241: 15,2402 62430 AD DEC227
034760,002242: 15,2403 00006 EXTEND
034761,002243: 15,2404 62415 BZMF CALSAM1
034762,002244: 15,2405 50304 INDEX STARIND
034763,002245: 15,2406 30302 CA BESTI
034764,002246: 15,2407 50120 INDEX FIXLOC
034765,002247: 15,2410 54046 TS X1
034766,002248: 15,2411 06006 TC INTPRET
034767,002249: 15,2412 52173 VLOAD* GOTO
034768,002250: 15,2413 31762 CATLOG,1
034769,002251: 15,2414 32424 CORPLAN
034770,002252: 15,2415 06006 CALSAM1 TC INTPRET
034771,002253: 15,2416 70740 LXC,1 DLOAD*
034772,002254: 15,2417 00304 STARIND
034773,002255: 15,2420 00303 BESTI,1
034774,002256: 15,2421 76740 LXC,1 VLOAD*
034775,002257: 15,2422 00154 MPAC
034776,002258: 15,2423 02372 STARAD -228D,1
034777,002259: 15,2424 53455 CORPLAN VAD UNIT
034778,002260: 15,2425 03474 VEL/C
034779,002261: 15,2426 77650 GOTO
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|
Page 784
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034781,002263: 15,2427 02777 QMIN
034782,002264: 15,2430 00343 DEC227 DEC 227 B-14
034783,002265: 15,2431 01530 VNPLANV VN 0688
034784,002266: 15,2432 22363 11623 1/SQR3 2DEC .57735021
034785,002267:
034786,002268:
End of include-file P51-P53.agc. Parent file is MAIN.agc