Source Code
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These source-code files are part of a reconstructed copy of LM131 revision 1,
the final release of the Apollo 13 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The source reconstruction began with source code of Luminary 131 previously
transcribed from a digitized copy of that program. A dump of the flight spare
core rope memory module B5, part number 2010802-171, serial number RAY 411,
was obtained. This module is the only module different between Luminary 131
and LM131 revision 1. The dump was disassembled and all changes were incorporated
into these source files. Note that page numbers in the reconstructed code match
those on the Luminary 131 printout, although the changed code would likely have
changed page numbers for a real LM131 revision 1 listing.
Comments from 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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039504,000002: ## Copyright: Public domain.
039505,000003: ## Filename: P51-P53.agc
039506,000004: ## Purpose: A section of LM131 revision 1.
039507,000005: ## It is part of the reconstructed source code for the final
039508,000006: ## release of the flight software for the Lunar Module's (LM)
039509,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
039510,000008: ## been reconstructed from a listing of Luminary 131 and a dump
039511,000009: ## of a core rope memory module B5, part number 2010802-171,
039512,000010: ## which is the only module different between LM131 revision 1
039513,000011: ## and Luminary 131. The executable generated from this source
039514,000012: ## has been verified against the module dump, so while the names,
039515,000013: ## comments, and ordering may not be exactly correct, the
039516,000014: ## resulting binary is.
039517,000015: ## Reference: pp. 921-977
039518,000016: ## Assembler: yaYUL
039519,000017: ## Contact: Ron Burkey <info@sandroid.org>.
039520,000018: ## Website: www.ibiblio.org/apollo/index.html
039521,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
039522,000020:
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Page 921
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039524,000022: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039525,000023: # MOD NO - 0 LOG SECTION - P51-P53
039526,000024: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039527,000025:
039528,000026: # FUNCTIONAL DESCRIPTION -
039529,000027:
039530,000028: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039531,000029: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039532,000030:
039533,000031: # (A) PREFERRED ORIENTATION
039534,000032:
039535,000033: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039536,000034: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039537,000035:
039538,000036: # (B) NOMINAL ORIENTATION
039539,000037:
039540,000038: # X = UNIT ( R )
039541,000039: # -SM
039542,000040:
039543,000041: # Y = UNIT (V X R)
039544,000042: # SM
039545,000043:
039546,000044: # Z = UNIT (X X Y )
039547,000045: # SM SM SM
039548,000046:
039549,000047: # WHERE_
039550,000048: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039551,000049: # -
039552,000050:
039553,000051: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039554,000052: # -
039555,000053:
039556,000054: # (C) REFSMMAT ORIENTATION
039557,000055:
039558,000056: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039559,000057:
039560,000058: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039561,000059: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039562,000060: # SINCE THE LAST ALIGNMENT).
039563,000061:
039564,000062: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039565,000063: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039566,000064: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039567,000065: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039568,000066: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039569,000067: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039570,000068: # REQUESTED.
039571,000069:
039572,000070: # CALLING SEQUENCE -
039573,000071:
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Page 922
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039575,000073: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039576,000074:
039577,000075: # SUBROUTINES CALLED -
039578,000076:
039579,000077: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039580,000078: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039581,000079: # 3. GOPERF4 9. FLAGUP
039582,000080: # 4. MATMOVE 10. R56
039583,000081: # 5. GOFLASH 11. R51
039584,000082: # 6. S52.3 12. GOPERF3
039585,000083:
039586,000084: # NORMAL EXIT MODES -
039587,000085:
039588,000086: # EXITS TO ENDOFJOB
039589,000087:
039590,000088: # ALARM OR ABORT EXIT MODES -
039591,000089:
039592,000090: # NONE
039593,000091:
039594,000092: # OUTPUT -
039595,000093:
039596,000094: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039597,000095: # 1. IMU ORIENTATION CODE
039598,000096: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039599,000097: # 3. TIME OF NEXT IGNITION
039600,000098: # 4. GIMBAL ANGLES
039601,000099: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039602,000100: # 6. PLEASE PERFORM P00
039603,000101: # THE MODE DISPLAY MAY BE CHANGED TO 20
039604,000102:
039605,000103: # ERASABLE INITIALIZATION REQUIRED -
039606,000104:
039607,000105: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039608,000106: # XSMD, YSMD, ZSMD.
039609,000107:
039610,000108: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039611,000109:
039612,000110: # DEBRIS -
039613,000111:
039614,000112: # WORKAREA
039615,000113:
039616,000114: 33,3771 BANK 33
039617,000115: 15,2000 SETLOC P50S
039618,000116: 15,2000 BANK
039619,000117:
039620,000118: 15,2050 E5,1755 EBANK= BESTI
039621,000119: 15,2050 COUNT* $$/P52
039622,000120: 15,2050 04616 PROG52 TC BANKCALL
039623,000121: 15,2051 11233 CADR R02BOTH # IMU STATUS CHECK
039624,000122: 15,2052 34750 CAF PFRATBIT
039625,000123: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039626,000124: 15,2054 10000 CCS A
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Page 923
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039628,000126: 15,2055 02060 TC P52A # YES
039629,000127: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039630,000128: 15,2057 02061 TC P52A +1
039631,000129: 15,2060 34753 P52A CAF BIT1
039632,000130: 15,2061 55144 TS OPTION2
039633,000131: 15,2062 34753 P52B CAF BIT1
039634,000132: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039635,000133: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039636,000134: 15,2065 06001 TC GOTOPOOH
039637,000135: 15,2066 12073 TCF +5 # V33 - PROCEED
039638,000136: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039639,000137: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039640,000138: 15,2071 00014 OCT 00014
039641,000139: 15,2072 05155 TC ENDOFJOB
039642,000140:
039643,000141: 15,2073 31144 CA OPTION2
039644,000142: 15,2074 76250 MASK THREE
039645,000143: 15,2075 50000 INDEX A
039646,000144: 15,2076 02077 TC +1
039647,000145: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039648,000146: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039649,000147: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039650,000148: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039651,000149: 15,2103 77650 GOTO
039652,000150: 15,2104 32164 P52F # GO DO R51
039653,000151:
039654,000152: 15,2105 00006 OPT4 EXTEND
039655,000153: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039656,000154: 15,2107 12112 TCF P52T +2
039657,000155:
039658,000156: 15,2110 00006 P52T EXTEND
039659,000157: 15,2111 34755 DCA NEG0
039660,000158: 15,2112 53045 DXCH DSPTEM1
039661,000159: 15,2113 32170 CAF V06N34*
039662,000160: 15,2114 04616 TC BANKCALL
039663,000161: 15,2115 20477 CADR GOFLASH
039664,000162: 15,2116 06001 TC GOTOPOOH
039665,000163: 15,2117 02121 TC +2
039666,000164: 15,2120 02113 TC -5
039667,000165: 15,2121 53045 DXCH DSPTEM1
039668,000166: 15,2122 00006 EXTEND
039669,000167: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039670,000168: 15,2124 12127 TCF +3
039671,000169: 15,2125 00006 EXTEND
039672,000170: 15,2126 30025 DCA TIME2
039673,000171: 15,2127 53775 DXCH TALIGN
039674,000172: 15,2130 31144 P52V CA OPTION2
039675,000173: 15,2131 74752 MASK BIT2
039676,000174: 15,2132 10000 CCS A
039677,000175: 15,2133 02137 TC P52W
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Page 924
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039679,000177: 15,2134 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039680,000178: 15,2135 77650 GOTO
039681,000179: 15,2136 32220 P52LS
039682,000180:
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Page 925
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039684,000182: # START ALIGNMENT
039685,000183:
039686,000184: 15,2137 06042 P52W TC INTPRET
039687,000185: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039688,000186: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039689,000187: 15,2142 31651 S52.3 # ORIENTATION
039690,000188: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039691,000189: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039692,000190: 15,2145 77776 EXIT
039693,000191: 15,2146 35010 CAF V06N22
039694,000192: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039695,000193: 15,2150 20477 CADR GOFLASH
039696,000194: 15,2151 06001 TC GOTOPOOH
039697,000195: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039698,000196: 15,2153 06042 P52H TC INTPRET
039699,000197: 15,2154 77650 GOTO
039700,000198: 15,2155 32143 P52D
039701,000199: 15,2156 06042 REGCOARS TC INTPRET
039702,000200: 15,2157 77624 CALL # DO COARSE ALIGN
039703,000201: 15,2160 31321 CAL53A # ROUTINE
039704,000202: 15,2161 43014 COARSRET SET CLEAR
039705,000203: 15,2162 01462 REFSMFLG
039706,000204: 15,2163 01273 PFRATFLG
039707,000205: 15,2164 77624 P52F CALL
039708,000206: 15,2165 31007 R51
039709,000207: 15,2166 77776 P52OUT EXIT
039710,000208: 15,2167 06001 TC GOTOPOOH
039711,000209: 15,2170 5006 VB05N09 = V05N09
039712,000210: 15,2170 01442 V06N34* VN 634
039713,000211:
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Page 926
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039715,000213: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039716,000214:
039717,000215: 15,2171 32217 COARSTYP CAF OCT13
039718,000216: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039719,000217: 15,2173 20624 CADR GOPERF1
039720,000218: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039721,000219: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039722,000220: 15,2176 06042 TC INTPRET # V32 - GYRO TORQUE COARSE
039723,000221: 15,2177 64375 VLOAD MXV
039724,000222: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039725,000223: 15,2201 01734 REFSMMAT
039726,000224: 15,2202 77656 UNIT
039727,000225: 15,2203 26665 STOVL XDC
039728,000226: 15,2204 03615 YSMD
039729,000227: 15,2205 53521 MXV UNIT
039730,000228: 15,2206 01734 REFSMMAT
039731,000229: 15,2207 26673 STOVL YDC
039732,000230: 15,2210 03623 ZSMD
039733,000231: 15,2211 53521 MXV UNIT
039734,000232: 15,2212 01734 REFSMMAT
039735,000233: 15,2213 36701 STCALL ZDC
039736,000234: 15,2214 31156 GYCOARS
039737,000235: 15,2215 77650 GOTO
039738,000236: 15,2216 32166 P52OUT
039739,000237: 15,2217 00013 OCT13 OCT 13
039740,000238:
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Page 927
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039742,000240: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039743,000241:
039744,000242: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039745,000243: 15,2221 01463 LUNAFLAG
039746,000244: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039747,000245: 15,2223 77201 SETPD VLOAD
039748,000246: 15,2224 00001 0
039749,000247: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039750,000248: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039751,000249: 15,2227 02775 TALIGN
039752,000250: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039753,000251: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039754,000252: 15,2232 77742 VSR2
039755,000253: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039756,000254: 15,2234 02775 TALIGN
039757,000255: 15,2235 77624 CALL
039758,000256: 15,2236 30440 N89DISP
039759,000257: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
039760,000258: 15,2240 02032 ALPHAV
039761,000259: 15,2241 37607 STCALL XSMD
039762,000260: 15,2242 10757 LSORIENT
039763,000261: 15,2243 77650 GOTO
039764,000262: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
039765,000263:
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Page 928
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039767,000265: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039768,000266:
039769,000267: 14,2000 SETLOC P50S1
039770,000268: 14,2000 BANK
039771,000269: 14,2440 E5,1642 EBANK= XSM
039772,000270:
039773,000271: 14,2440 77620 N89DISP STQ
039774,000272: 14,2441 02746 QMAJ
039775,000273: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
039776,000274: 14,2443 26347 LAT-LONG
039777,000275: 14,2444 70545 DLOAD SR1
039778,000276: 14,2445 01122 LONG
039779,000277: 14,2446 16711 STODL LANDLONG
039780,000278: 14,2447 01124 ALT
039781,000279: 14,2450 16713 STODL LANDALT
039782,000280: 14,2451 01120 LAT
039783,000281: 14,2452 02707 STORE LANDLAT
039784,000282: 14,2453 77776 EXIT
039785,000283:
039786,000284: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
039787,000285: 14,2455 04616 TC BANKCALL
039788,000286: 14,2456 20477 CADR GOFLASH
039789,000287: 14,2457 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
039790,000288: 14,2460 12462 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
039791,000289: 14,2461 12454 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
039792,000290:
039793,000291: 14,2462 06042 TC INTPRET
039794,000292: 14,2463 72545 DLOAD SL1
039795,000293: 14,2464 02711 LANDLONG
039796,000294: 14,2465 15122 STODL LONG
039797,000295: 14,2466 02713 LANDALT
039798,000296: 14,2467 15124 STODL ALT
039799,000297: 14,2470 02707 LANDLAT
039800,000298: 14,2471 15120 STODL LAT
039801,000299: 14,2472 01242 GDT/2 +4 # PICK UP TIME
039802,000300: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
039803,000301: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
039804,000302: 14,2475 77650 GOTO
039805,000303: 14,2476 02746 QMAJ
039806,000304: 14,2477 01531 V06N89* VN 689
039807,000305:
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Page 929
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039809,000307: # NAME - S50 ALIAS LOCSAM
039810,000308: # BY
039811,000309: # VINCENT
039812,000310:
039813,000311: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
039814,000312:
039815,000313: # DEFINE
039816,000314:
039817,000315: # U = UNIT( SUN WRT EARTH )
039818,000316: # ES
039819,000317:
039820,000318: # U = UNIT( MOON WRT EARTH )
039821,000319: # EM
039822,000320:
039823,000321: # R = POSITION VECTOR OF LEM
039824,000322: # L
039825,000323:
039826,000324: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039827,000325: # EM
039828,000326:
039829,000327: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
039830,000328: # EM
039831,000329:
039832,000330: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
039833,000331: # E
039834,000332:
039835,000333: # LOCSAM COMPUTES IN EARTH INFLUENCE
039836,000334:
039837,000335: # VSUN = U
039838,000336: # ES
039839,000337:
039840,000338: # VEARTH = -UNIT( R )
039841,000339: # L
039842,000340:
039843,000341: # VMOON = UNIT(R .U - R )
039844,000342: # EM EM L
039845,000343:
039846,000344: # CSUN = COS 90
039847,000345:
039848,000346: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039849,000347: # E L
039850,000348:
039851,000349: # CMOON = COS 5
039852,000350:
039853,000351: # INPUT - TIME IN MPAC
039854,000352:
039855,000353: # OUTPUT - LISTED ABOVE
039856,000354:
039857,000355: # SUBROUTINES - LSPOS, LEMPREC
039858,000356:
039859,000357: # DEBRIS - VAC AREA, TSIGHT
039860,000358:
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Page 930
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039862,000360: 14,2500 COUNT* $$/LOSAM
039863,000361:
039864,000362: 14,2500 14,2500 S50 = LOCSAM
039865,000363: 14,2500 77620 LOCSAM STQ
039866,000364: 14,2501 02745 QMIN
039867,000365: 14,2502 37562 STCALL TSIGHT
039868,000366: 14,2503 33647 LSPOS
039869,000367: 14,2504 77745 DLOAD
039870,000368: 14,2505 03562 TSIGHT
039871,000369: 14,2506 34041 STCALL TDEC1
039872,000370: 14,2507 27056 LEMPREC
039873,000371: 14,2510 61131 SSP TIX,2
039874,000372: 14,2511 00052 S2
039875,000373: 14,2512 00000 0
039876,000374: 14,2513 30535 MOONCNTR
039877,000375: 14,2514 74375 EARTCNTR VLOAD VXSC
039878,000376: 14,2515 02723 VMOON
039879,000377: 14,2516 30001 RSUBEM
039880,000378: 14,2517 52372 VSL1 VSU
039881,000379: 14,2520 00001 RATT
039882,000380: 14,2521 77656 UNIT
039883,000381: 14,2522 26723 STOVL VMOON
039884,000382: 14,2523 00001 RATT
039885,000383: 14,2524 57456 UNIT VCOMP
039886,000384: 14,2525 16707 STODL VEARTH
039887,000385: 14,2526 30005 RSUBE
039888,000386: 14,2527 77624 CALL
039889,000387: 14,2530 30567 OCCOS
039890,000388: 14,2531 14017 STODL CEARTH
039891,000389: 14,2532 30576 CSS5
039892,000390: 14,2533 34023 STCALL CMOON
039893,000391: 14,2534 30562 ENDSAM
039894,000392: 14,2535 74375 MOONCNTR VLOAD VXSC
039895,000393: 14,2536 02723 VMOON
039896,000394: 14,2537 30007 ROE
039897,000395: 14,2540 53445 BVSU UNIT
039898,000396: 14,2541 02715 VSUN
039899,000397: 14,2542 26715 STOVL VSUN
039900,000398: 14,2543 02723 VMOON
039901,000399: 14,2544 53361 VXSC VAD
039902,000400: 14,2545 30001 RSUBEM
039903,000401: 14,2546 00001 RATT
039904,000402: 14,2547 57456 UNIT VCOMP
039905,000403: 14,2550 26707 STOVL VEARTH
039906,000404: 14,2551 00001 RATT
039907,000405: 14,2552 57456 UNIT VCOMP
039908,000406: 14,2553 16723 STODL VMOON
039909,000407: 14,2554 30003 RSUBM
039910,000408: 14,2555 77624 CALL
039911,000409: 14,2556 30567 OCCOS
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Page 931
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039913,000411: 14,2557 14023 STODL CMOON
039914,000412: 14,2560 30576 CSS5
039915,000413: 14,2561 00017 STORE CEARTH
039916,000414: 14,2562 77745 ENDSAM DLOAD
039917,000415: 14,2563 30600 CSSUN
039918,000416: 14,2564 00021 STORE CSUN
039919,000417: 14,2565 77650 GOTO
039920,000418: 14,2566 02745 QMIN
039921,000419: 14,2567 70471 OCCOS DDV SR1
039922,000420: 14,2570 00045 36D
039923,000421: 14,2571 43336 ASIN DAD
039924,000422: 14,2572 30602 5DEGREES
039925,000423: 14,2573 70546 COS SR1
039926,000424: 14,2574 77616 RVQ
039927,000425: 14,2575 CEARTH = 14D
039928,000426: 14,2575 CSUN = 16D
039929,000427: 14,2575 CMOON = 18D
039930,000428: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
039931,000429: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
039932,000430: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
039933,000431:
|
|
Page 932
|
039935,000433: # PROGRAM NAME - R56 DATE DEC 20 66
039936,000434: # MOD 1 LOG SECTION P51-P53
039937,000435: # ASSEMBLY SUNDISK REV40
039938,000436: # BY KEN VINCENT
039939,000437:
039940,000438: # FUNCTION
039941,000439: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
039942,000440: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
039943,000441: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
039944,000442: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
039945,000443: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
039946,000444: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
039947,000445: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
039948,000446: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
039949,000447: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
039950,000448: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
039951,000449: # 50 DEGREESOF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
039952,000450: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
039953,000451:
039954,000452: # CALLING SEQUENCE
039955,000453: # L TC BANKCALL
039956,000454: # L+1 CADR R56
039957,000455: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
039958,000456: # L+3 NORMAL RETURN
039959,000457:
039960,000458: # OUTPUT
039961,000459: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
039962,000460: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
039963,000461:
039964,000462: # INITIALIZATION
039965,000463: # 1) A CALL TO LOCSAM MUST BE MADE
039966,000464:
039967,000465: # DEBRIS
039968,000466: # WORKAREA
039969,000467: # X,Y,ZNB
039970,000468: # SINCDU, COSCDU
039971,000469: # STARAD - STAR +5
039972,000470:
039973,000471: 14,2603 14,2603 R56 = PICAPAR
039974,000472: 14,2603 COUNT* $$/R56
039975,000473: 14,2603 04645 PICAPAR TC MAKECADR
039976,000474: 14,2604 55745 TS QMIN
039977,000475: 14,2605 06042 TC INTPRET
039978,000476: 14,2606 77624 CALL
039979,000477: 14,2607 47541 CDUTRIG
039980,000478: 14,2610 77624 CALL
039981,000479: 14,2611 20030 CALCSMSC
039982,000480: 14,2612 77601 SETPD
039983,000481: 14,2613 00001 0
039984,000482: 14,2614 71214 SET DLOAD # VFLAG = 1
039985,000483: 14,2615 01465 VFLAG
|
|
Page 933
|
039987,000485: 14,2616 24007 DPZERO
039988,000486: 14,2617 26756 STOVL BESTI
039989,000487: 14,2620 02665 XNB
039990,000488: 14,2621 63361 VXSC PDVL
039991,000489: 14,2622 24005 HALFDP
039992,000490: 14,2623 02701 ZNB
039993,000491: 14,2624 74370 AXT,1 VXSC
039994,000492: 14,2625 00344 228D # X1 = 37 X 6 + 6
039995,000493: 14,2626 24005 HALFDP
039996,000494: 14,2627 77655 VAD
039997,000495: 14,2630 53505 VXM UNIT
039998,000496: 14,2631 01734 REFSMMAT
039999,000497: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040000,000498: 14,2633 66331 SSP SSP # S1 = S2 = 6
040001,000499: 14,2634 00051 S1
040002,000500: 14,2635 00006 6
040003,000501: 14,2636 00052 S2
040004,000502: 14,2637 00006 6
040005,000503: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040006,000504: 14,2641 30643 PIC2
040007,000505: 14,2642 30760 PICEND
040008,000506: 14,2643 50373 PIC2 VLOAD* DOT
040009,000507: 14,2644 30347 CATLOG,1
040010,000508: 14,2645 02731 SAX
040011,000509: 14,2646 50025 DSU BMN
040012,000510: 14,2647 30757 CSS33
040013,000511: 14,2650 30640 PIC1
040014,000512: 14,2651 77754 LXA,2
040015,000513: 14,2652 00046 X1
040016,000514: 14,2653 52104 PIC3 TIX,2 GOTO
040017,000515: 14,2654 30656 PIC4
040018,000516: 14,2655 30640 PIC1
040019,000517: 14,2656 50373 PIC4 VLOAD* DOT
040020,000518: 14,2657 47430 CATLOG,2
040021,000519: 14,2660 02731 SAX
040022,000520: 14,2661 50025 DSU BMN
040023,000521: 14,2662 30757 CSS33
040024,000522: 14,2663 30653 PIC3
040025,000523: 14,2664 47773 VLOAD* DOT*
040026,000524: 14,2665 30347 CATLOG,1
040027,000525: 14,2666 47430 CATLOG,2
040028,000526: 14,2667 51025 DSU BPL
040029,000527: 14,2670 30755 CSS40
040030,000528: 14,2671 30653 PIC3
040031,000529: 14,2672 45173 VLOAD* CALL
040032,000530: 14,2673 30347 CATLOG,1
040033,000531: 14,2674 30732 OCCULT
040034,000532: 14,2675 77614 BON
040035,000533: 14,2676 01710 CULTFLAG
040036,000534: 14,2677 30640 PIC1
|
|
Page 934
|
040038,000536: 14,2700 45173 VLOAD* CALL
040039,000537: 14,2701 47430 CATLOG,2
040040,000538: 14,2702 30732 OCCULT
040041,000539: 14,2703 77614 BON
040042,000540: 14,2704 01710 CULTFLAG
040043,000541: 14,2705 30653 PIC3
040044,000542: 14,2706 77614 STRATGY BONCLR
040045,000543: 14,2707 01605 VFLAG
040046,000544: 14,2710 30725 NEWPAR
040047,000545: 14,2711 65120 XCHX,1 XCHX,2
040048,000546: 14,2712 02755 BESTI
040049,000547: 14,2713 02756 BESTJ
040050,000548: 14,2714 47773 STRAT VLOAD* DOT*
040051,000549: 14,2715 30347 CATLOG,1
040052,000550: 14,2716 47430 CATLOG,2
040053,000551: 14,2717 43006 PUSH BOFINV
040054,000552: 14,2720 01545 VFLAG
040055,000553: 14,2721 30711 STRAT -3
040056,000554: 14,2722 45345 DLOAD DSU
040057,000555: 14,2723 77644 BPL
040058,000556: 14,2724 30653 PIC3
040059,000557: 14,2725 67130 NEWPAR SXA,1 SXA,2
040060,000558: 14,2726 02755 BESTI
040061,000559: 14,2727 02756 BESTJ
040062,000560: 14,2730 77650 GOTO
040063,000561: 14,2731 30653 PIC3
040064,000562: 14,2732 51321 OCCULT MXV BVSU
040065,000563: 14,2733 02707 CULTRIX
040066,000564: 14,2734 00017 CSS
040067,000565: 14,2735 77654 BZE
040068,000566: 14,2736 30751 CULTED
040069,000567: 14,2737 75240 BMN SIGN
040070,000568: 14,2740 30751 CULTED
040071,000569: 14,2741 00160 MPAC +3
040072,000570: 14,2742 75240 BMN SIGN
040073,000571: 14,2743 30751 CULTED
040074,000572: 14,2744 00162 MPAC +5
040075,000573: 14,2745 43040 BMN CLRGO
040076,000574: 14,2746 30751 CULTED
040077,000575: 14,2747 01630 CULTFLAG
040078,000576: 14,2750 00052 QPRET
040079,000577: 14,2751 77614 CULTED SETGO
040080,000578: 14,2752 01430 CULTFLAG
040081,000579: 14,2753 00052 QPRET
040082,000580: 14,2754 0000016 CSS = CEARTH
040083,000581: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040084,000582: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040085,000583: 14,2760 77414 PICEND BOFF EXIT
040086,000584:
|
|
Page 935
|
040088,000586: 14,2761 01745 VFLAG
040089,000587: 14,2762 30764 PICGXT
040090,000588: 14,2763 03005 TC PICBXT
040091,000589: 14,2764 73150 PICGXT LXA,1 LXA,2
040092,000590: 14,2765 02755 BESTI
040093,000591: 14,2766 02756 BESTJ
040094,000592: 14,2767 47775 VLOAD DOT*
040095,000593: 14,2770 02731 SAX
040096,000594: 14,2771 30347 CATLOG,1
040097,000595: 14,2772 47715 PDVL DOT*
040098,000596: 14,2773 02731 SAX
040099,000597: 14,2774 47430 CATLOG,2
040100,000598: 14,2775 77625 DSU
040101,000599: 14,2776 66044 BPL SXA,1
040102,000600: 14,2777 31003 PICNSWP
040103,000601: 14,3000 02756 BESTJ
040104,000602: 14,3001 77734 SXA,2
040105,000603: 14,3002 02755 BESTI
040106,000604: 14,3003 77776 PICNSWP EXIT
040107,000605: 14,3004 25745 INCR QMIN
040108,000606: 14,3005 31745 PICBXT CA QMIN
040109,000607: 14,3006 04622 TC SWCALL
040110,000608: 14,3007 VPD = 0D
040111,000609: 14,3007 V0 = 6D
040112,000610: 14,3007 V1 = 12D
040113,000611: 14,3007 V2 = 18D
040114,000612: 14,3007 V3 = 24D
040115,000613: 14,3007 DP0 = 30D
040116,000614: 14,3007 DP1 = 32D
040117,000615:
|
|
Page 936
|
040119,000617: # NAME - R51 FINE ALIGN
040120,000618: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040121,000619: # CALLING SEQ - CALL R51
040122,000620: # INPUT - REFSMMAT
040123,000621: # OUTPUT - GYRO TORQUE PULSES
040124,000622: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040125,000623:
040126,000624: 14,3007 COUNT* $$/R51
040127,000625: 14,3007 77620 R51 STQ
040128,000626: 14,3010 02746 QMAJ
040129,000627: 14,3011 77776 R51.1 EXIT
040130,000628: 14,3012 05353 TC PHASCHNG
040131,000629: 14,3013 04024 OCT 04024
040132,000630:
040133,000631: 14,3014 34761 R51C CAF OCT15
040134,000632: 14,3015 04616 TC BANKCALL
040135,000633: 14,3016 20624 CADR GOPERF1
040136,000634: 14,3017 06001 TC GOTOPOOH
040137,000635: 14,3020 03022 TC +2 # V33E
040138,000636: 14,3021 03045 TC R51E # ENTER
040139,000637: 14,3022 06042 TC INTPRET
040140,000638: 14,3023 43234 RTB DAD
040141,000639: 14,3024 21574 LOADTIME
040142,000640: 14,3025 31155 TSIGHT1
040143,000641: 14,3026 77624 CALL
040144,000642: 14,3027 30500 LOCSAM
040145,000643: 14,3030 77776 EXIT
040146,000644: 14,3031 04616 TC BANKCALL
040147,000645: 14,3032 30603 CADR R56
040148,000646: 14,3033 03035 TC R51I
040149,000647: 14,3034 03045 R51F TC R51E
040150,000648: 14,3035 05567 R51I TC ALARM
040151,000649: 14,3036 00405 OCT 405
040152,000650: 14,3037 35006 CAF VB05N09
040153,000651: 14,3040 04616 TC BANKCALL
040154,000652: 14,3041 20477 CADR GOFLASH
040155,000653: 14,3042 06001 TC GOTOPOOH
040156,000654: 14,3043 03045 TC R51E
040157,000655: 14,3044 03014 TC R51C
040158,000656: 14,3045 34755 R51E CAF ZERO
040159,000657: 14,3046 55757 TS STARIND
040160,000658: 14,3047 06042 R51.2 TC INTPRET
040161,000659: 14,3050 77776 R51.3 EXIT
040162,000660: 14,3051 05353 TC PHASCHNG
040163,000661: 14,3052 04024 OCT 04024
040164,000662:
040165,000663: 14,3053 06042 TC INTPRET
040166,000664: 14,3054 77624 CALL
040167,000665: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040168,000666: 14,3056 77776 EXIT
040169,000667: 14,3057 04616 TC BANKCALL
|
|
Page 937
|
040171,000669: 14,3060 16000 CADR AOTMARK
040172,000670: 14,3061 04616 TC BANKCALL
040173,000671: 14,3062 17703 CADR OPTSTALL
040174,000672: 14,3063 05701 TC CURTAINS
040175,000673: 14,3064 11757 CCS STARIND
040176,000674: 14,3065 13067 TCF +2
040177,000675: 14,3066 03137 TC R51.4
040178,000676: 14,3067 06042 TC INTPRET
040179,000677: 14,3070 77775 VLOAD
040180,000678: 14,3071 02715 STARAD +6
040181,000679: 14,3072 02767 STORE STARSAV2
040182,000680: 14,3073 77776 EXIT
040183,000681: 14,3074 05353 TC PHASCHNG
040184,000682: 14,3075 04024 OCT 04024
040185,000683:
040186,000684: 14,3076 06042 TC INTPRET
040187,000685: 14,3077 45145 DLOAD CALL
040188,000686: 14,3100 03562 TSIGHT
040189,000687: 14,3101 32472 PLANET
040190,000688: 14,3102 53521 MXV UNIT
040191,000689: 14,3103 01734 REFSMMAT
040192,000690: 14,3104 26715 STOVL STARAD +6
040193,000691: 14,3105 03554 PLANVEC
040194,000692: 14,3106 53521 MXV UNIT
040195,000693: 14,3107 01734 REFSMMAT
040196,000694: 14,3110 26707 STOVL STARAD
040197,000695: 14,3111 02761 STARSAV1
040198,000696: 14,3112 24007 STOVL 6D
040199,000697: 14,3113 02767 STARSAV2
040200,000698: 14,3114 34015 STCALL 12D
040201,000699: 14,3115 31250 R54 # STAR DATA TEST
040202,000700: 14,3116 45014 BOFF CALL
040203,000701: 14,3117 00354 FREEFLAG
040204,000702: 14,3120 31126 R51K
040205,000703: 14,3121 47443 AXISGEN
040206,000704: 14,3122 77624 CALL
040207,000705: 14,3123 31216 R55 # GYRO TORQUE
040208,000706: 14,3124 77614 CLEAR
040209,000707: 14,3125 01273 PFRATFLG
040210,000708: 14,3126 77776 R51K EXIT
040211,000709: 14,3127 35741 R51P63 CAF OCT14
040212,000710: 14,3130 04616 TC BANKCALL
040213,000711: 14,3131 20624 CADR GOPERF1
040214,000712: 14,3132 06001 TC GOTOPOOH
040215,000713: 14,3133 03014 TC R51C
040216,000714: 14,3134 06042 TC INTPRET
040217,000715: 14,3135 77650 GOTO
040218,000716: 14,3136 02746 QMAJ
040219,000717: 14,3137 06042 R51.4 TC INTPRET
040220,000718: 14,3140 77775 VLOAD
|
|
Page 938
|
040222,000720: 14,3141 02715 STARAD +6
040223,000721: 14,3142 02761 STORE STARSAV1
040224,000722: 14,3143 45145 DLOAD CALL
040225,000723: 14,3144 03562 TSIGHT
040226,000724: 14,3145 32472 PLANET
040227,000725: 14,3146 03554 STORE PLANVEC
040228,000726: 14,3147 77731 SSP
040229,000727: 14,3150 02760 STARIND
040230,000728: 14,3151 00001 1
040231,000729: 14,3152 77650 GOTO
040232,000730: 14,3153 31050 R51.3
040233,000731: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040234,000732:
|
|
Page 939
|
040236,000734: # GYRO TORQUE COARSE ALIGNMENT
040237,000735:
040238,000736: 14,3156 45020 GYCOARS STQ CALL
040239,000737: 14,3157 02746 QMAJ
040240,000738: 14,3160 47251 CALCGTA
040241,000739: 14,3161 43014 CLEAR CLEAR
040242,000740: 14,3162 01260 DRIFTFLG
040243,000741: 14,3163 01662 REFSMFLG
040244,000742: 14,3164 77776 EXIT
040245,000743: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040246,000744: 14,3166 04616 TC BANKCALL
040247,000745: 14,3167 20452 CADR GODSPR
040248,000746: 14,3170 33247 CA R55CDR
040249,000747: 14,3171 04616 TC BANKCALL
040250,000748: 14,3172 17314 CADR IMUPULSE
040251,000749: 14,3173 04616 TC BANKCALL
040252,000750: 14,3174 17707 CADR IMUSTALL
040253,000751: 14,3175 05701 TC CURTAINS
040254,000752: 14,3176 05353 TC PHASCHNG
040255,000753: 14,3177 04024 OCT 04024
040256,000754:
040257,000755: 14,3200 06042 TC INTPRET
040258,000756: 14,3201 75160 AXC,1 AXC,2
040259,000757: 14,3202 03606 XSMD
040260,000758: 14,3203 01733 REFSMMAT
040261,000759: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040262,000760: 14,3205 31371 MATMOVE
040263,000761: 14,3206 43014 CLEAR SET
040264,000762: 14,3207 01273 PFRATFLG
040265,000763: 14,3210 01462 REFSMFLG
040266,000764: 14,3211 77624 CALL
040267,000765: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040268,000766: 14,3213 77650 GOTO
040269,000767: 14,3214 31126 R51K
040270,000768: 14,3215 04024 V16N20 VN 1620
040271,000769:
|
|
Page 940
|
040273,000771: # R55 GYROTORQUE
040274,000772: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040275,000773: # CALLING SEQ - CALL R55
040276,000774: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040277,000775: # OUTPUT - GYRO PULSES
040278,000776: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040279,000777:
040280,000778: 14,3216 COUNT* $$/R55
040281,000779: 14,3216 77620 R55 STQ
040282,000780: 14,3217 02745 QMIN
040283,000781: 14,3220 77624 CALL
040284,000782: 14,3221 47251 CALCGTA
040285,000783: 14,3222 77776 PULSEM EXIT
040286,000784: 14,3223 33246 R55.1 CAF V06N93
040287,000785: 14,3224 04616 TC BANKCALL
040288,000786: 14,3225 20477 CADR GOFLASH
040289,000787: 14,3226 06001 TC GOTOPOOH
040290,000788: 14,3227 03231 TC R55.2
040291,000789: 14,3230 03243 TC R55RET
040292,000790: 14,3231 05353 R55.2 TC PHASCHNG
040293,000791: 14,3232 00214 OCT 00214
040294,000792: 14,3233 33247 CA R55CDR
040295,000793: 14,3234 04616 TC BANKCALL
040296,000794: 14,3235 17314 CADR IMUPULSE
040297,000795: 14,3236 04616 TC BANKCALL
040298,000796: 14,3237 17707 CADR IMUSTALL
040299,000797: 14,3240 05701 TC CURTAINS
040300,000798: 14,3241 05353 TC PHASCHNG
040301,000799: 14,3242 04024 OCT 04024
040302,000800:
040303,000801: 14,3243 06042 R55RET TC INTPRET
040304,000802: 14,3244 77650 GOTO
040305,000803: 14,3245 02745 QMIN
040306,000804: 14,3246 01535 V06N93 VN 0693
040307,000805: 14,3247 02737 R55CDR ECADR OGC
040308,000806: 14,3250 14,3250 R54 = CHKSDATA
040309,000807:
040310,000808: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040311,000809: # MOD NO - 0 LOG SECTION - P51-P53
040312,000810: # MODIFICATION BY - LONSKE ASSEMBLY -
040313,000811:
040314,000812: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040315,000813: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040316,000814: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040317,000815: # OS1 = OBSERVED STAR 1 VECTOR
040318,000816: # OS2 = OBSERVED STAR 2 VECTOR
040319,000817: # SS1 = STORED STAR 1 VECTOR
040320,000818: # SS2 = STORED STAR 2 VECTOR
040321,000819: # A1 = ARCCOS(OS1 - OS2)
040322,000820: # A2 = ARCCOS(SS1 - SS2)
040323,000821: # A = ABS(2(A1 - A2))
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|
Page 941
|
040325,000823: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040326,000824:
040327,000825: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040328,000826: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040329,000827: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040330,000828: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040331,000829:
040332,000830: # ERASABLE INITIALIZATION REQUIRED -
040333,000831: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040334,000832: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040335,000833:
040336,000834: # DEBRIS -
040337,000835:
040338,000836: 14,3250 COUNT* $$/R54
040339,000837: 14,3250 43020 CHKSDATA STQ SET
040340,000838: 14,3251 02745 QMIN
040341,000839: 14,3252 00074 FREEFLAG
040342,000840: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040343,000841: 14,3254 02706 STARAD
040344,000842:
040345,000843: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040346,000844: 14,3256 00001 0,1
040347,000845: 14,3257 00007 6,1
040348,000846: 14,3260 65552 SL1 ACOS
040349,000847: 14,3261 00025 STORE THETA
040350,000848: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040351,000849: 14,3263 00354 FREEFLAG
040352,000850: 14,3264 31274 CHKSD
040353,000851: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040354,000852: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040355,000853: 14,3267 00006 6D
040356,000854: 14,3270 00025 THETA
040357,000855: 14,3271 00023 STORE 18D
040358,000856: 14,3272 77650 GOTO
040359,000857: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040360,000858: 14,3274 45345 CHKSD DLOAD DSU
040361,000859: 14,3275 00025 THETA
040362,000860: 14,3276 00023 18D
040363,000861: 14,3277 77634 RTB # COMPUTE POS DIFF
040364,000862: 14,3300 21613 SGNAGREE
040365,000863: 14,3301 01045 STORE NORMTEM1
040366,000864: 14,3302 77414 SET EXIT
040367,000865: 14,3303 00074 FREEFLAG
040368,000866: 14,3304 33320 CAF VB6N5
040369,000867: 14,3305 04616 TC BANKCALL
040370,000868: 14,3306 20477 CADR GOFLASH
040371,000869: 14,3307 16001 TCF GOTOPOOH
040372,000870: 14,3310 03315 TC CHKSDA # PROCEED
040373,000871: 14,3311 06042 TC INTPRET
040374,000872: 14,3312 52014 CLEAR GOTO
040375,000873: 14,3313 00274 FREEFLAG
040376,000874: 14,3314 02745 QMIN
040377,000875: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 942
|
040379,000877: 14,3316 77650 GOTO
040380,000878: 14,3317 02745 QMIN
040381,000879: 14,3320 01405 VB6N5 VN 605
040382,000880:
040383,000881: # NAME - CAL53A
040384,000882: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040385,000883: # CALLING SEQUENCE - CALL CAL53A
040386,000884: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040387,000885: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040388,000886: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
|
|
The printout appears to say "IMUGOARSE" in the line below, but many other
AGC versions have an identical card reading "IMUCOARSE", so I believe there
is a smudge on the paper that merely makes the 'C' appear to be a 'G'
— RSB 2017.
|
040393,000891: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040394,000892:
040395,000893: 14,3321 COUNT* $$/R50
040396,000894: 14,3321 77624 CAL53A CALL
040397,000895: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040398,000896: 14,3323 66234 RTB SSP
040399,000897: 14,3324 31405 RDCDUS # READ CDUS
040400,000898: 14,3325 00051 S1
040401,000899: 14,3326 00001 1
040402,000900: 14,3327 40370 AXT,1 SETPD
040403,000901: 14,3330 00003 3
040404,000902: 14,3331 00005 4
040405,000903: 14,3332 70543 CALOOP DLOAD* SR1
040406,000904: 14,3333 00325 THETAD +3D,1
040407,000905: 14,3334 70523 PDDL* SR1
040408,000906: 14,3335 00005 4,1
040409,000907: 14,3336 51425 DSU ABS
040410,000908: 14,3337 45206 PUSH DSU
040411,000909: 14,3340 31404 DEGREE1
040412,000910: 14,3341 71240 BMN DLOAD
040413,000911: 14,3342 31360 CALOOP1
040414,000912: 14,3343 51025 DSU BPL
040415,000913: 14,3344 31405 DEG359
040416,000914: 14,3345 31360 CALOOP1
040417,000915: 14,3346 77776 EXIT
040418,000916: 14,3347 05353 TC PHASCHNG
040419,000917: 14,3350 04024 OCT 04024
040420,000918:
040421,000919: 14,3351 06042 TC INTPRET
040422,000920: 14,3352 77624 COARFINE CALL
040423,000921: 14,3353 31557 COARSE
040424,000922: 14,3354 77624 CALL
040425,000923: 14,3355 31603 NCOARSE
040426,000924: 14,3356 77650 GOTO
040427,000925: 14,3357 31362 FINEONLY
040428,000926: 14,3360 77700 CALOOP1 TIX,1
040429,000927: 14,3361 31332 CALOOP
040430,000928: 14,3362 75160 FINEONLY AXC,1 AXC,2
040431,000929: 14,3363 02642 XSM
040432,000930: 14,3364 01733 REFSMMAT
040433,000931: 14,3365 77624 CALL
040434,000932: 14,3366 31371 MATMOVE
|
|
Page 943
|
040436,000934: 14,3367 77650 GOTO
040437,000935: 14,3370 32161 COARSRET
040438,000936: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040439,000937: 14,3372 00001 0,1
040440,000938: 14,3373 10001 STORE 0,2
040441,000939: 14,3374 77773 VLOAD*
040442,000940: 14,3375 00007 6D,1
040443,000941: 14,3376 10007 STORE 6D,2
040444,000942: 14,3377 77773 VLOAD*
040445,000943: 14,3400 00015 12D,1
040446,000944: 14,3401 10015 STORE 12D,2
040447,000945: 14,3402 77616 RVQ
040448,000946: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040449,000947: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040450,000948: 14,3405 00004 RDCDUS INHINT # READ CDUS
040451,000949: 14,3406 30032 CA CDUX
040452,000950: 14,3407 50120 INDEX FIXLOC
040453,000951: 14,3410 54001 TS 1
040454,000952: 14,3411 30033 CA CDUY
040455,000953: 14,3412 50120 INDEX FIXLOC
040456,000954: 14,3413 54002 TS 2
040457,000955: 14,3414 30034 CA CDUZ
040458,000956: 14,3415 50120 INDEX FIXLOC
040459,000957: 14,3416 54003 TS 3
040460,000958: 14,3417 00003 RELINT
040461,000959: 14,3420 06064 TC DANZIG # +
040462,000960: 14,3421 COUNT* $$/INFLT
040463,000961:
|
|
Page 944
|
040465,000963: # NAME - P51 - IMU ORIENTATION DETERMINATION
040466,000964: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040467,000965: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040468,000966:
040469,000967: # FUNCTIONAL DESCRIPTION
040470,000968: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040471,000969: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040472,000970: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040473,000971: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040474,000972:
040475,000973: # CALLING SEQUENCE
040476,000974: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040477,000975:
040478,000976: # SUBROUTINES CALLED.
040479,000977: # GOPERF3
040480,000978: # GOPERF1
040481,000979: # GODSPR
040482,000980: # IMUCOARS
040483,000981: # IMUFIN20
040484,000982: # AOTMARK (R53)
040485,000983: # CHKSDATA (R54)
040486,000984: # MKRELEAS
040487,000985: # AXISGEN
040488,000986: # MATMOVE
040489,000987:
040490,000988: # ALARMS
040491,000989: # NONE.
040492,000990:
040493,000991: # ERASABLE INITIALIZATION
040494,000992: # IMU ZERO FLAG SHOULD BE SET.
040495,000993:
040496,000994: # OUTPUT
040497,000995: # REFSMMAT
040498,000996: # REFSMFLG
040499,000997:
040500,000998: # DEBRIS
040501,000999: # WORK AREA
040502,001000: # STARAD
040503,001001: # STARIND
040504,001002: # BESTI
040505,001003: # BESTJ
040506,001004:
040507,001005: 14,3421 COUNT* $$/P51
|
|
Page 945
|
040509,001007: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040510,001008: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040511,001009:
040512,001010: 14,3423 34761 CAF OCT15
040513,001011: 14,3424 04616 TC BANKCALL
040514,001012: 14,3425 20624 CADR GOPERF1
040515,001013: 14,3426 06001 TC GOTOPOOH # TERM.
040516,001014: 14,3427 13453 TCF P51B # V33
040517,001015: 14,3430 05353 TC PHASCHNG
040518,001016: 14,3431 04024 OCT 04024
040519,001017:
040520,001018: 14,3432 34755 CAF ZERO
040521,001019: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040522,001020: 14,3434 54322 TS THETAD +1
040523,001021: 14,3435 54323 TS THETAD +2
040524,001022: 14,3436 35010 CAF V06N22
040525,001023: 14,3437 04616 TC BANKCALL
040526,001024: 14,3440 20447 CADR GODSPRET
040527,001025: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040528,001026: 14,3442 04616 TC BANKCALL
040529,001027: 14,3443 20447 CADR GODSPRET
040530,001028: 14,3444 06042 TC INTPRET
040531,001029: 14,3445 77624 CALL
040532,001030: 14,3446 31557 COARSE
040533,001031: 14,3447 77776 EXIT
040534,001032: 14,3450 05353 TC PHASCHNG
040535,001033: 14,3451 04024 OCT 04024
040536,001034: 14,3452 13423 TCF P51 +2
040537,001035:
040538,001036: 14,3453 05353 P51B TC PHASCHNG
040539,001037: 14,3454 00014 OCT 00014
040540,001038: 14,3455 06042 TC INTPRET
040541,001039: 14,3456 77624 CALL
040542,001040: 14,3457 31603 NCOARSE
040543,001041: 14,3460 40331 SSP SETPD
040544,001042: 14,3461 02760 STARIND # INDEX - STAR 1 OR 2
040545,001043: 14,3462 00000 0
040546,001044: 14,3463 00001 0
040547,001045: 14,3464 77776 P51C EXIT
040548,001046: 14,3465 05353 TC PHASCHNG
040549,001047: 14,3466 04024 OCT 04024
040550,001048:
040551,001049: 14,3467 04616 TC BANKCALL
040552,001050: 14,3470 16000 CADR AOTMARK # R53
040553,001051: 14,3471 04616 TC BANKCALL
040554,001052: 14,3472 17703 CADR AOTSTALL
040555,001053: 14,3473 05701 TC CURTAINS
040556,001054: 14,3474 11757 CCS STARIND
040557,001055: 14,3475 13503 TCF P51D +1
040558,001056: 14,3476 06042 TC INTPRET
|
|
Page 946
|
040560,001058: 14,3477 77775 VLOAD
040561,001059: 14,3500 02715 STARAD +6
040562,001060: 14,3501 02761 STORE STARSAV1
040563,001061: 14,3502 77776 P51D EXIT
040564,001062: 14,3503 05353 TC PHASCHNG
040565,001063: 14,3504 04024 OCT 04024
040566,001064:
040567,001065: 14,3505 11757 CCS STARIND
040568,001066: 14,3506 13522 TCF P51E
040569,001067: 14,3507 05353 TC PHASCHNG
040570,001068: 14,3510 04024 OCT 04024
040571,001069:
040572,001070: 14,3511 06042 TC INTPRET
040573,001071: 14,3512 45145 DLOAD CALL
040574,001072: 14,3513 03562 TSIGHT
040575,001073: 14,3514 32472 PLANET
040576,001074: 14,3515 03554 STORE PLANVEC
040577,001075: 14,3516 77776 EXIT
040578,001076: 14,3517 34753 CAF BIT1
040579,001077: 14,3520 55757 TS STARIND
040580,001078: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040581,001079: 14,3522 05353 P51E TC PHASCHNG
040582,001080: 14,3523 04024 OCT 04024
040583,001081:
040584,001082: 14,3524 06042 TC INTPRET
040585,001083: 14,3525 45145 DLOAD CALL
040586,001084: 14,3526 03562 TSIGHT
040587,001085: 14,3527 32472 PLANET
040588,001086: 14,3530 24015 STOVL 12D
040589,001087: 14,3531 03554 PLANVEC
040590,001088: 14,3532 24007 STOVL 6D
040591,001089: 14,3533 02761 STARSAV1
040592,001090: 14,3534 26707 STOVL STARAD
040593,001091: 14,3535 02767 STARSAV2
040594,001092: 14,3536 36715 STCALL STARAD +6
040595,001093: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040596,001094: 14,3540 77414 BON EXIT
040597,001095: 14,3541 00314 FREEFLAG
040598,001096: 14,3542 31544 P51G
040599,001097: 14,3543 03423 TC P51 +2
040600,001098: 14,3544 77624 P51G CALL
040601,001099: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040602,001100: 14,3546 75160 AXC,1 AXC,2
040603,001101: 14,3547 02664 XDC
040604,001102: 14,3550 01733 REFSMMAT
040605,001103: 14,3551 77624 CALL
040606,001104: 14,3552 31371 MATMOVE
040607,001105: 14,3553 77414 SET EXIT
040608,001106: 14,3554 01462 REFSMFLG
040609,001107: 14,3555 06001 TC GOTOPOOH # FINIS
|
|
Page 947
|
040611,001109: 14,3556 12200 V41K VN 4100
040612,001110: 14,3557 77776 COARSE EXIT
040613,001111: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040614,001112: 14,3561 00006 EXTEND
040615,001113: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040616,001114: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040617,001115: 14,3564 04616 TC BANKCALL
040618,001116: 14,3565 01736 CADR DELAYJOB
040619,001117: 14,3566 13560 TCF COARSE +1
040620,001118: 14,3567 04616 DOCORS TC BANKCALL
040621,001119: 14,3570 16771 CADR IMUCOARS
040622,001120: 14,3571 04616 TC BANKCALL
040623,001121: 14,3572 17707 CADR IMUSTALL
040624,001122: 14,3573 05701 TC CURTAINS
040625,001123: 14,3574 04616 TC BANKCALL
040626,001124: 14,3575 17201 CADR IMUFINE
040627,001125: 14,3576 04616 TC BANKCALL
040628,001126: 14,3577 17707 CADR IMUSTALL
040629,001127: 14,3600 05701 TC CURTAINS
040630,001128: 14,3601 06042 TC INTPRET
040631,001129: 14,3602 77616 RVQ
040632,001130: 14,3603 77776 NCOARSE EXIT
040633,001131: 14,3604 30025 CA TIME1
040634,001132: 14,3605 55074 TS 1/PIPADT
040635,001133: 14,3606 44755 CS ZERO
040636,001134: 14,3607 54037 TS PIPAX
040637,001135: 14,3610 54040 TS PIPAY
040638,001136: 14,3611 54041 TS PIPAZ
040639,001137: 14,3612 06042 TC INTPRET
040640,001138: 14,3613 77775 VLOAD
040641,001139: 14,3614 24007 ZEROVEC
040642,001140: 14,3615 01472 STORE GCOMP
040643,001141: 14,3616 43414 SET RVQ
040644,001142: 14,3617 01060 DRIFTFLG
040645,001143:
|
|
Page 948
|
040647,001145: # NAME - S52.2
040648,001146: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040649,001147: # CALL - CALL S52.2
040650,001148: # INPUT - X,Y,ZSMD
040651,001149: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040652,001150: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040653,001151:
040654,001152: 14,3620 COUNT* $$/S52.1
040655,001153: 14,3620 45020 S52.2 STQ CALL
040656,001154: 14,3621 02746 QMAJ
040657,001155: 14,3622 47541 CDUTRIG
040658,001156: 14,3623 77624 CALL
040659,001157: 14,3624 20030 CALCSMSC
040660,001158: 14,3625 66370 AXT,1 SSP
040661,001159: 14,3626 00022 18D
040662,001160: 14,3627 00051 S1
040663,001161: 14,3630 00006 6D
040664,001162: 14,3631 61373 S52.2A VLOAD* VXM
040665,001163: 14,3632 02707 XNB +18D,1
040666,001164: 14,3633 01734 REFSMMAT
040667,001165: 14,3634 77656 UNIT
040668,001166: 14,3635 06707 STORE XNB +18D,1
040669,001167: 14,3636 77700 TIX,1
040670,001168: 14,3637 31631 S52.2A
040671,001169: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040672,001170: 14,3641 03606 XSMD
040673,001171: 14,3642 02642 XSM
040674,001172: 14,3643 77624 CALL
040675,001173: 14,3644 31371 MATMOVE
040676,001174: 14,3645 77624 CALL
040677,001175: 14,3646 47355 CALCGA
040678,001176: 14,3647 77650 GOTO
040679,001177: 14,3650 02746 QMAJ
040680,001178:
|
|
Page 949
|
040682,001180: # NAME - S52.3
040683,001181: # FUNCTION XSMD= UNIT R
040684,001182: # YSMD= UNIT(V X R)
040685,001183: # ZSMD= UNIT(XSMD X YSMD)
040686,001184: # CALL DLOAD CALL
040687,001185: # TALIGN
040688,001186: # S52.3
040689,001187: # INPUT - TIME OF ALIGNMENT IN MPAC
040690,001188: # OUTPUT - X,Y,ZSMD
040691,001189: # SUBROUTINES - CSMCONIC
040692,001190:
040693,001191: 14,3651 COUNT* $$/S52.3
040694,001192: 14,3651 77620 S52.3 STQ
040695,001193: 14,3652 02746 QMAJ
040696,001194: 14,3653 34041 STCALL TDEC1
040697,001195: 14,3654 27077 LEMCONIC
040698,001196: 14,3655 53575 VLOAD UNIT
040699,001197: 14,3656 00001 RATT
040700,001198: 14,3657 27607 STOVL XSMD
040701,001199: 14,3660 00007 VATT
040702,001200: 14,3661 53435 VXV UNIT
040703,001201: 14,3662 00001 RATT
040704,001202: 14,3663 27615 STOVL YSMD
040705,001203: 14,3664 03607 XSMD
040706,001204: 14,3665 53435 VXV UNIT
040707,001205: 14,3666 03615 YSMD
040708,001206: 14,3667 37623 STCALL ZSMD
040709,001207: 14,3670 02746 QMAJ
040710,001208:
|
|
Page 950
|
040712,001210: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040713,001211:
040714,001212: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040715,001213: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040716,001214:
040717,001215: # CALLING - CALL R52
040718,001216:
040719,001217: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040720,001218:
040721,001219: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040722,001220: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040723,001221: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040724,001222: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040725,001223:
040726,001224: # SUBROUT - R60LEM
040727,001225:
040728,001226: 14,3671 COUNT* $$/R52
040729,001227: 14,3671 77420 R52 STQ EXIT
040730,001228: 14,3672 03665 SAVQR52
040731,001229: 14,3673 51757 INDEX STARIND
040732,001230: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040733,001231: 14,3675 00006 EXTEND
040734,001232: 14,3676 73772 MP 1/6TH
040735,001233: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
040736,001234: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
040737,001235:
040738,001236: 14,3701 33773 R52A CAF V01N70
040739,001237: 14,3702 04616 TC BANKCALL
040740,001238: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040741,001239: 14,3704 06001 TC GOTOPOOH # V34 - TERMINATE
040742,001240: 14,3705 13707 TCF R52B # V33 - PROCEED TO ORIENT LEM
040743,001241: 14,3706 13701 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040744,001242:
040745,001243: 14,3707 05516 R52B TC DOWNFLAG
040746,001244: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040747,001245: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
040748,001246: 14,3712 77747 MASK HIGH9
040749,001247: 14,3713 00006 EXTEND
040750,001248: 14,3714 74743 MP BIT9
040751,001249: 14,3715 54001 TS L # TEMP STORE DETENT
040752,001250:
040753,001251: 14,3716 00006 EXTEND
040754,001252: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040755,001253:
040756,001254: 14,3720 65650 AD NEG7
040757,001255: 14,3721 00006 EXTEND
040758,001256: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
040759,001257:
040760,001258: 14,3723 E7,1551 EBANK= XYMARK
040761,001259: 14,3723 35016 CA EBANK7
040762,001260: 14,3724 54003 TS EBANK
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|
Page 951
|
040764,001262: 14,3725 50001 INDEX L
040765,001263: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
040766,001264: 14,3727 54001 TS L
040767,001265: 14,3730 E5,1642 EBANK= XSM
040768,001266: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
040769,001267: 14,3731 54003 TS EBANK
040770,001268: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
040771,001269: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040772,001270: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
040773,001271:
040774,001272: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
040775,001273: 14,3736 04616 TC BANKCALL
040776,001274: 14,3737 20477 CADR GOFLASH
040777,001275: 14,3740 06001 TC GOTOPOOH # V34 - TERMINATE
040778,001276: 14,3741 13743 TCF +2 # PROCEED - CALC OPTIC AXIS
040779,001277: 14,3742 13735 TCF GETAZEL # ENTER - RECYCLE
040780,001278:
040781,001279: 14,3743 00006 EXTEND
040782,001280: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
040783,001281: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
040784,001282: 14,3746 52011 DXCH 8D
040785,001283: 14,3747 06042 TC INTPRET
040786,001284: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
040787,001285: 14,3751 10522 OANB # SCAXIS IN NB COORDS
040788,001286: 14,3752 45034 RTB CALL
040789,001287: 14,3753 21574 LOADTIME
040790,001288: 14,3754 32472 PLANET
040791,001289: 14,3755 53521 MXV UNIT
040792,001290: 14,3756 01734 REFSMMAT
040793,001291: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
040794,001292:
040795,001293: 14,3760 77776 EXIT
040796,001294: 14,3761 04616 TC BANKCALL
040797,001295: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
040798,001296:
040799,001297: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
040800,001298: 14,3764 70734 MASK STARCODE
040801,001299: 14,3765 00006 EXTEND
040802,001300: 14,3766 13701 BZF R52A
040803,001301:
040804,001302: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
040805,001303: 14,3770 77650 GOTO
040806,001304: 14,3771 03665 SAVQR52 # RETURN TO CALLER
040807,001305:
040808,001306: 14,3772 05253 1/6TH DEC .1666667
040809,001307: 14,3773 00306 V01N70 VN 0170
040810,001308: 14,3774 01527 V06N87 VN 687
040811,001309:
|
|
Page 952
|
040813,001311: # LUNAR SURFACE STAR AQUISITION
040814,001312:
040815,001313: 15,2245 BANK 15
040816,001314: 15,2000 SETLOC P50S
040817,001315: 15,2000 BANK
040818,001316: 15,2245 COUNT* $$/R59
040819,001317:
040820,001318: 15,2245 40077 R59 CS FLAGWRD3
040821,001319: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
040822,001320: 15,2247 10000 CCS A
040823,001321: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
040824,001322:
040825,001323: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
040826,001324: 15,2252 04616 TC BANKCALL
040827,001325: 15,2253 20477 CADR GOFLASH
040828,001326: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
040829,001327: 15,2255 12257 TCF R59A # V33 - PROCEED
040830,001328: 15,2256 12245 TCF R59 # V32 - RECYCLE
040831,001329:
040832,001330: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
040833,001331: 15,2260 70734 MASK AOTCODE
040834,001332: 15,2261 00006 EXTEND
040835,001333: 15,2262 76245 MP REVCNT # JUST 6
040836,001334: 15,2263 56001 XCH L
040837,001335: 15,2264 51757 INDEX STARIND
040838,001336: 15,2265 55755 TS BESTI
040839,001337: 15,2266 50120 INDEX FIXLOC
040840,001338: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
040841,001339: 15,2270 00006 EXTEND
040842,001340: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
040843,001341: 15,2272 40000 COM
040844,001342: 15,2273 62557 AD DEC227
040845,001343: 15,2274 00006 EXTEND
040846,001344: 15,2275 62455 BZMF R59OUT
040847,001345:
040848,001346: 15,2276 06042 TC INTPRET
040849,001347: 15,2277 64373 VLOAD* MXV
040850,001348: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
040851,001349: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
040852,001350: 15,2302 45056 UNIT CALL
040853,001351: 15,2303 47650 CDU*SMNB
040854,001352: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
040855,001353: 15,2305 77776 EXIT
040856,001354:
040857,001355: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
040858,001356: 15,2307 55241 TS POSCODE
040859,001357:
040860,001358: 15,2310 E7,1551 EBANK= XYMARK
040861,001359: 15,2310 35016 INCAZ CA EBANK7
040862,001360: 15,2311 54003 TS EBANK
040863,001361:
|
|
Page 953
|
040865,001363: 15,2312 51241 INDEX POSCODE
040866,001364: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
040867,001365: 15,2314 54001 TS L
040868,001366:
040869,001367: 15,2315 E5,1642 EBANK= XSM
040870,001368: 15,2315 35014 CA EBANK5
040871,001369: 15,2316 54003 TS EBANK
040872,001370:
040873,001371: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
040874,001372: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040875,001373: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
040876,001374: 15,2322 50120 INDEX FIXLOC
040877,001375: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
040878,001376:
040879,001377: 15,2324 06042 TC INTPRET
040880,001378: 15,2325 77624 CALL
040881,001379: 15,2326 10522 OANB # GO CALC OPTIC AXIS WRT NB
040882,001380: 15,2327 50375 VLOAD DOT
040883,001381: 15,2330 02731 STAR # DOT STAR WITH OA
040884,001382: 15,2331 03765 SCAXIS
040885,001383: 15,2332 65552 SL1 ARCCOS
040886,001384: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
040887,001385:
040888,001386: 15,2334 51025 DSU BPL
040889,001387: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
040890,001388: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
040891,001389: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
040892,001390: 15,2340 00031 24D
040893,001391: 15,2341 32470 DEG.5
040894,001392: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
040895,001393: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
040896,001394: 15,2344 00031 24D # GET SPIRAL
040897,001395: 15,2345 42405 DMP SL4
040898,001396: 15,2346 11220 3/4 # 12 SCALED AT 16
040899,001397: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
040900,001398:
040901,001399: 15,2350 03765 SCAXIS # OA
040902,001400: 15,2351 53435 VXV UNIT
040903,001401: 15,2352 24005 XUNIT
040904,001402: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
040905,001403: 15,2354 03765 SCAXIS
040906,001404: 15,2355 77676 VCOMP
040907,001405: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
040908,001406: 15,2357 03765 SCAXIS
040909,001407: 15,2360 53435 VXV UNIT
040910,001408: 15,2361 02731 STAR
040911,001409: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
040912,001410: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
040913,001411: 15,2364 65552 SL1 ARCCOS
040914,001412: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
|
|
Page 954
|
040916,001414: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
040917,001415: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
040918,001416: 15,2370 32375 R59D
040919,001417: 15,2371 32047 ABOUTONE
040920,001418: 15,2372 77625 DSU
040921,001419: 15,2373 00033 26D
040922,001420: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
040923,001421:
040924,001422: 15,2375 70535 R59D SLOAD SR1
040925,001423: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
040926,001424: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
040927,001425: 15,2400 00033 26D
040928,001426: 15,2401 77634 RTB
040929,001427: 15,2402 21615 1STO2S
040930,001428: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
040931,001429: 15,2404 00031 24D # LOAD SROT IN REVS
040932,001430: 15,2405 77615 DAD # 12(SEP) + YROT
040933,001431: 15,2406 77634 RTB
040934,001432: 15,2407 21615 1STO2S
040935,001433: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
040936,001434: 15,2411 77776 EXIT
040937,001435: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
040938,001436:
040939,001437: 15,2413 77776 ZSPCR EXIT
040940,001438: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
040941,001439: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
040942,001440: 15,2416 55237 TS SPIRAL
040943,001441: 15,2417 12437 TCF 79DISP
040944,001442:
040945,001443: 15,2420 77776 NXAX EXIT
040946,001444: 15,2421 25241 INCR POSCODE
040947,001445: 15,2422 41241 CS POSCODE
040948,001446: 15,2423 64757 AD SEVEN
040949,001447: 15,2424 00006 EXTEND
040950,001448: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
040951,001449: 15,2426 12310 TCF INCAZ
040952,001450:
040953,001451: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
040954,001452: 15,2430 00404 OCT 404
040955,001453: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
040956,001454: 15,2432 04616 TC BANKCALL
040957,001455: 15,2433 20477 CADR GOFLASH
040958,001456: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
040959,001457: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
040960,001458: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
040961,001459:
040962,001460: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
040963,001461: 15,2440 04616 TC BANKCALL
040964,001462: 15,2441 20477 CADR GOFLASH
040965,001463: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 955
|
040967,001465: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
040968,001466: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
040969,001467:
040970,001468: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
040971,001469: 15,2446 71241 MASK POSCODE
040972,001470: 15,2447 00006 EXTEND
040973,001471: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
040974,001472: 15,2451 47747 CS HIGH9
040975,001473: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
040976,001474: 15,2453 60001 AD L
040977,001475: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
040978,001476:
040979,001477: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
040980,001478: 15,2456 16000 CADR AOTMARK
040981,001479: 15,2457 04616 TC BANKCALL
040982,001480: 15,2460 17703 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
040983,001481: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
040984,001482: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
040985,001483:
040986,001484: 15,2463 00306 V01N70* VN 170
040987,001485: 15,2464 01517 V06N79 VN 679
040988,001486: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
040989,001487: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
040990,001488: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
040991,001489: 15,2472 1235 CURSOR EQUALS GDT/2
040992,001490: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
040993,001491: 15,2472 1241 POSCODE EQUALS GDT/2 +4
040994,001492:
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|
Page 956
|
040996,001494: # NAME - PLANET
040997,001495: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
040998,001496: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
040999,001497: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041000,001498: # BY DSDY INPUT
041001,001499: # CALL - CALL
041002,001500: # PLANET
041003,001501: # INPUT - TIME IN MPAC
041004,001502: # OUTPUT - VECTOR IN MPAC
041005,001503: # SUBROUTINES - LOCSAM
041006,001504: # DEBRIS - VAC, STARAD - STARAD +17
041007,001505:
041008,001506: 15,2000 SETLOC P50S
041009,001507: 15,2000 BANK
041010,001508: 15,2472 COUNT* $$/P51
041011,001509:
041012,001510: 15,2472 03562 PLANET STORE TSIGHT
041013,001511: 15,2473 77420 STQ EXIT
041014,001512: 15,2474 02736 GCTR
041015,001513: 15,2475 47747 CS HIGH9
041016,001514: 15,2476 70734 MASK AOTCODE
041017,001515: 15,2477 00006 EXTEND
041018,001516: 15,2500 76245 MP REVCNT
041019,001517: 15,2501 56001 XCH L
041020,001518: 15,2502 51757 INDEX STARIND
041021,001519: 15,2503 55755 TS BESTI
041022,001520: 15,2504 10000 CCS A
041023,001521: 15,2505 12521 TCF NOTPLAN
041024,001522: 15,2506 32560 CAF VNPLANV
041025,001523: 15,2507 04616 TC BANKCALL
041026,001524: 15,2510 20477 CADR GOFLASH
041027,001525: 15,2511 02506 TC -3
041028,001526: 15,2512 02514 TC +2
041029,001527: 15,2513 02506 TC -5
041030,001528: 15,2514 06042 TC INTPRET
041031,001529: 15,2515 53575 VLOAD UNIT
041032,001530: 15,2516 02707 STARAD
041033,001531: 15,2517 77650 GOTO
041034,001532: 15,2520 02736 GCTR
041035,001533: 15,2521 40000 NOTPLAN CS A
041036,001534: 15,2522 62557 AD DEC227
041037,001535: 15,2523 00006 EXTEND
041038,001536: 15,2524 62535 BZMF CALSAM1
041039,001537: 15,2525 51757 INDEX STARIND
041040,001538: 15,2526 31755 CA BESTI
041041,001539: 15,2527 50120 INDEX FIXLOC
041042,001540: 15,2530 54046 TS X1
041043,001541: 15,2531 06042 TC INTPRET
041044,001542: 15,2532 52173 VLOAD* GOTO
041045,001543: 15,2533 30347 CATLOG,1
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|
Page 957
|
041047,001545: 15,2534 02736 GCTR
041048,001546: 15,2535 06042 CALSAM1 TC INTPRET
041049,001547: 15,2536 45145 CALSAM DLOAD CALL
041050,001548: 15,2537 03562 TSIGHT
041051,001549: 15,2540 30500 LOCSAM
041052,001550: 15,2541 77340 LXC,1 VLOAD
041053,001551: 15,2542 02757 STARIND
041054,001552: 15,2543 02707 VEARTH
041055,001553: 15,2544 24001 STOVL 0D
041056,001554: 15,2545 02715 VSUN
041057,001555: 15,2546 26707 STOVL VEARTH
041058,001556: 15,2547 00001 0D
041059,001557: 15,2550 02715 STORE VSUN
041060,001558: 15,2551 70143 DLOAD* LXC,1
041061,001559: 15,2552 02756 BESTI,1
041062,001560: 15,2553 00154 MPAC
041063,001561: 15,2554 52173 VLOAD* GOTO
041064,001562: 15,2555 02343 STARAD -228D,1
041065,001563: 15,2556 02736 GCTR
041066,001564: 15,2557 00343 DEC227 DEC 227 B-14
041067,001565: 15,2560 01530 VNPLANV VN 0688
041068,001566: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041069,001567:
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|
Page 958
|
041071,001569: # GRAVITY VECTOR DETERMINATION ROUTINE
041072,001570: # BY KEN VINCENT
041073,001571:
041074,001572: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041075,001573: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041076,001574: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041077,001575: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041078,001576: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041079,001577: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041080,001578: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041081,001579: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041082,001580: # READINGS.
041083,001581:
041084,001582: # CALL -
041085,001583: # TC BANKCALL
041086,001584: # CADR GVDETER
041087,001585:
041088,001586: # INPUTS -
041089,001587: # PIPAS, CDUS
041090,001588:
041091,001589: # OUTPUTS -
041092,001590: # STARSAV1 = UNIT GRAVITY
041093,001591: # GSAV = DITTO
041094,001592: # GRAVBIT = 1
041095,001593:
041096,001594: # SUBROUTINES -
041097,001595: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041098,001596: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041099,001597:
041100,001598: # DEBRIS -
041101,001599: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041102,001600:
041103,001601: 15,2561 32762 GVDETER CAF 42DEG
041104,001602: 15,2562 54321 TS THETAD
041105,001603: 15,2563 40000 COM
041106,001604: 15,2564 54322 TS THETAD +1
041107,001605: 15,2565 32763 CAF 35DEG
041108,001606: 15,2566 54323 TS THETAD +2
041109,001607: 15,2567 06042 TC INTPRET
041110,001608: 15,2570 45014 CLEAR CALL
041111,001609: 15,2571 01662 REFSMFLG
041112,001610: 15,2572 32666 LUNG
041113,001611:
041114,001612: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041115,001613:
041116,001614: # DEFINE G COOR SYS
041117,001615: # -
041118,001616: # X UNIT G
041119,001617: # * - -
041120,001618: # M = Y = UNITEZSM * X )
041121,001619: # - - -
041122,001620: # Z UNIT( X * Y )
041123,001621:
041124,001622: # THEN ROTATED SM WRT PRESENT IS
041125,001623:
041126,001624: # 1, 0 , 0
041127,001625: # * *T * * *
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|
Page 959
|
041129,001627: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041130,001628: # I J
041131,001629: # 0 , 0 ,-1
041132,001630:
041133,001631: # ALSO NB WRT PRES SM IS
041134,001632:
041135,001633: # * * *
041136,001634: # XNB = NBSM I
041137,001635:
041138,001636: # * *
041139,001637: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041140,001638:
041141,001639: 15,2000 SETLOC P50S
041142,001640: 15,2000 BANK
041143,001641: 15,2573 COUNT* $$/P57
041144,001642: 15,2573 66370 AXT,1 SSP # X1=18
041145,001643: 15,2574 00022 18D # S1=6
041146,001644: 15,2575 00051 S1 # X2, -2
041147,001645: 15,2576 00006 6D
041148,001646: 15,2577 77744 LXC,2
041149,001647: 15,2600 00050 S1
041150,001648: 15,2601 45173 GRAVEL VLOAD* CALL
041151,001649: 15,2602 54000 XUNIT -6,2
041152,001650: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
041153,001651: 15,2604 06707 STORE XNB +18D,1
041154,001652: 15,2605 77775 VLOAD
041155,001653: 15,2606 02731 STAR
041156,001654: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041157,001655: 15,2610 00047 X2
041158,001656: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
041159,001657: 15,2612 71152 VSL2 LXC,2
041160,001658: 15,2613 00047 X2
041161,001659: 15,2614 63047 VSU* INCR,2
041162,001660: 15,2615 54000 XUNIT -6,2
041163,001661: 15,2616 00002 2D
041164,001662: 15,2617 06665 STORE XSM +18D,1
041165,001663: 15,2620 45100 TIX,1 CALL
041166,001664: 15,2621 32601 GRAVEL
041167,001665: 15,2622 47355 CALCGA
041168,001666: 15,2623 74575 VLOAD VSR1
041169,001667: 15,2624 02715 GOUT
041170,001668: 15,2625 36723 STCALL STARAD +12D
041171,001669: 15,2626 32666 LUNG
041172,001670: 15,2627 74575 VLOAD VSR1
041173,001671: 15,2630 02715 GOUT
041174,001672: 15,2631 53455 VAD UNIT
041175,001673: 15,2632 02723 STARAD +12D
041176,001674: 15,2633 02761 STORE STARSAV1
041177,001675: 15,2634 77641 DOT
041178,001676: 15,2635 02231 GSAV
041179,001677: 15,2636 65552 SL1 ACOS
|
|
Page 960
|
041181,001679: 15,2637 01045 STORE DSPTEM1
041182,001680: 15,2640 77776 EXIT
041183,001681: 15,2641 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041184,001682: 15,2642 00014 ADRES FREEFLAG
041185,001683:
041186,001684: 15,2643 32761 CA DISGRVER
041187,001685: 15,2644 04616 TC BANKCALL
041188,001686: 15,2645 20477 CADR GOFLASH
041189,001687: 15,2646 06001 TC GOTOPOOH
041190,001688: 15,2647 12652 TCF PROGRAV # VB33 - PROCEED
041191,001689: 15,2650 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041192,001690: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041193,001691:
041194,001692: 15,2652 05353 PROGRAV TC PHASCHNG
041195,001693: 15,2653 04024 OCT 04024
041196,001694:
041197,001695: 15,2654 06042 TC INTPRET
041198,001696: 15,2655 77775 VLOAD
041199,001697: 15,2656 02761 STARSAV1
041200,001698: 15,2657 02231 STORE GSAV
041201,001699: 15,2660 77776 EXIT
041202,001700: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041203,001701: 15,2662 70074 MASK FLAGWRD0
041204,001702: 15,2663 10000 CCS A
041205,001703: 15,2664 12561 TCF GVDETER # SET
041206,001704: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
041207,001705:
041208,001706: 15,2666 77220 LUNG STQ VLOAD
041209,001707: 15,2667 02745 QMIN
041210,001708: 15,2670 24007 ZEROVEC
041211,001709: 15,2671 02707 STORE GACC
041212,001710: 15,2672 77776 EXIT
041213,001711: 15,2673 05353 TC PHASCHNG
041214,001712: 15,2674 04024 OCT 04024
041215,001713:
041216,001714: 15,2675 06042 TC INTPRET
041217,001715: 15,2676 77624 CALL
041218,001716: 15,2677 31557 COARSE
041219,001717: 15,2700 77776 EXIT
041220,001718: 15,2701 32760 CA T/2SEC
041221,001719: 15,2702 55736 TS GCTR
041222,001720: 15,2703 37721 CA PRIO31
041223,001721: 15,2704 55074 TS 1/PIPADT
041224,001722: 15,2705 04616 TC BANKCALL
041225,001723: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041226,001724: 15,2707 05353 TC PHASCHNG
041227,001725: 15,2710 04024 OCT 04024
041228,001726:
041229,001727: 15,2711 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041230,001728: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 961
|
041232,001730: 15,2713 06042 TC INTPRET
041233,001731: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041234,001732: 15,2715 35000 CAF 2SECS
041235,001733: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041236,001734: 15,2717 02721 ADRES GRABGRAV
041237,001735:
041238,001736: 15,2720 05155 TC ENDOFJOB
041239,001737:
041240,001738: 15,2721 04674 GRABGRAV TC IBNKCALL
041241,001739: 15,2722 77541 CADR PIPSRINE
041242,001740: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041243,001741: 15,2724 05105 TC FINDVAC
041244,001742: 15,2725 E5,1706 EBANK= STARAD
041245,001743: 15,2725 02730 32065 2CADR ADDGRAV
041246,001744:
041247,001745: 15,2727 05261 TC TASKOVER
041248,001746:
041249,001747: 15,2730 04616 ADDGRAV TC BANKCALL
041250,001748: 15,2731 15271 CADR 1/PIPA
041251,001749: 15,2732 25736 INCR GCTR
041252,001750: 15,2733 06042 TC INTPRET
041253,001751: 15,2734 53375 VLOAD VAD
041254,001752: 15,2735 00325 DELV
041255,001753: 15,2736 02707 GACC
041256,001754: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
041257,001755: 15,2740 50135 SLOAD BMN
041258,001756: 15,2741 02737 GCTR
041259,001757: 15,2742 32714 GREED
041260,001758: 15,2743 53575 VLOAD UNIT
041261,001759: 15,2744 02707 GACC
041262,001760: 15,2745 36731 STCALL STAR
041263,001761: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041264,001762: 15,2747 77624 CALL # IN OUTPUT
041265,001763: 15,2750 47673 *SMNB*
041266,001764: 15,2751 02715 STORE GOUT
041267,001765: 15,2752 77776 EXIT
041268,001766: 15,2753 05353 TC PHASCHNG
041269,001767: 15,2754 04024 OCT 04024
041270,001768:
041271,001769: 15,2755 06042 QMINEXIT TC INTPRET
041272,001770: 15,2756 77650 GOTO
041273,001771: 15,2757 02745 QMIN
041274,001772: 15,2760 77753 T/2SEC DEC -20 B-14
041275,001773: 15,2761 01404 DISGRVER VN 0604
041276,001774: 15,2762 07357 42DEG OCT 07357
041277,001775: 15,2763 06211 35DEG OCT 06211
041278,001776:
|
|
Page 962
|
041280,001778: # NAME GYROTRIM
041281,001779:
041282,001780: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041283,001781: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041284,001782: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041285,001783:
041286,001784: # CALL CALL
041287,001785: # GYROTRIM
041288,001786:
041289,001787: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041290,001788: # CDUX,CDUY,CDUZ
041291,001789:
041292,001790: # OUTPUT - GYRO TORQUE PULSES
041293,001791:
041294,001792: # SUBROUTINES- TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041295,001793: # IMPULSE, IMUSTALL
041296,001794: # - - - * * -
041297,001795: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041298,001796:
041299,001797: 15,2764 COUNT* $$/P57
041300,001798: 15,2764 71220 GYROTRIM STQ DLOAD
041301,001799: 15,2765 02745 QMIN
041302,001800: 15,2766 00322 THETAD
041303,001801: 15,2767 65325 PDDL PDDL
041304,001802: 15,2770 00324 THETAD +2
041305,001803: 15,2771 00323 THETAD +1
041306,001804: 15,2772 77666 VDEF
041307,001805: 15,2773 24766 STOVL CDUSPOT
041308,001806: 15,2774 24005 XUNIT
041309,001807: 15,2775 77624 CALL
041310,001808: 15,2776 47666 TRG*NBSM
041311,001809: 15,2777 26707 STOVL STARAD
041312,001810: 15,3000 24003 YUNIT
041313,001811: 15,3001 77624 CALL
041314,001812: 15,3002 47675 *NBSM*
041315,001813: 15,3003 36715 STCALL STARAD +6
041316,001814: 15,3004 47541 CDUTRIG
041317,001815: 15,3005 77624 CALL
041318,001816: 15,3006 20030 CALCSMSC
041319,001817: 15,3007 77775 VLOAD
041320,001818: 15,3010 02665 XNB
041321,001819: 15,3011 24007 STOVL 6D
041322,001820: 15,3012 02673 YNB
041323,001821: 15,3013 34015 STCALL 12D
041324,001822: 15,3014 47443 AXISGEN
041325,001823: 15,3015 77624 CALL
041326,001824: 15,3016 47251 CALCGTA
041327,001825: 15,3017 77776 JUSTTRIM EXIT
041328,001826: 15,3020 33027 CA GYRCDR
041329,001827: 15,3021 04616 TC BANKCALL
041330,001828: 15,3022 17314 CADR IMUPULSE
|
|
Page 963
|
041332,001830: 15,3023 04616 TC BANKCALL
041333,001831: 15,3024 17707 CADR IMUSTALL
041334,001832: 15,3025 05701 TC CURTAINS
041335,001833: 15,3026 12755 TCF QMINEXIT
041336,001834:
041337,001835: 15,3027 02737 GYRCDR ECADR OGC
041338,001836:
|
|
Page 964
|
041340,001838: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041341,001839:
041342,001840: 15,3030 34755 2STARS CAF ZERO # INITALIZE STARIND
041343,001841: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041344,001842: 15,3032 34753 1STAR CAF BIT1
041345,001843: 15,3033 55757 TS STARIND
041346,001844:
041347,001845: 15,3034 05353 TC PHASCHNG
041348,001846: 15,3035 04024 OCT 04024
041349,001847:
041350,001848: 15,3036 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041351,001849:
041352,001850: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041353,001851: 15,3040 00006 EXTEND
041354,001852: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
041355,001853:
041356,001854: 15,3042 05353 TC PHASCHNG
041357,001855: 15,3043 04024 OCT 04024
041358,001856:
041359,001857: 15,3044 06042 TC INTPRET
041360,001858: 15,3045 45145 DLOAD CALL
041361,001859: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
041362,001860: 15,3047 32472 PLANET
041363,001861: 15,3050 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041364,001862: 15,3051 33064 SURFLINE
041365,001863:
041366,001864: 15,3052 06042 ASTAR TC INTPRET
041367,001865: 15,3053 77775 VLOAD
041368,001866: 15,3054 02715 STARAD +6
041369,001867: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041370,001868: 15,3056 45145 DLOAD CALL
041371,001869: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
041372,001870: 15,3060 32472 PLANET
041373,001871: 15,3061 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041374,001872: 15,3062 77776 EXIT
041375,001873: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
041376,001874:
|
|
Page 965
|
041378,001876: # DO FINE OR COARSE ALIGNMENT OF IMU
041379,001877:
041380,001878: 15,3064 77131 SURFLINE SSP AXT,2
041381,001879: 15,3065 00052 S2
041382,001880: 15,3066 00006 6
041383,001881: 15,3067 00014 12D
041384,001882: 15,3070 64373 WRTDESIR VLOAD* MXV
041385,001883: 15,3071 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041386,001884: 15,3072 03607 XSMD
041387,001885: 15,3073 77656 UNIT
041388,001886: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
041389,001887: 15,3075 77773 VLOAD*
041390,001888: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041391,001889: 15,3077 10023 STORE 18D,2
041392,001890: 15,3100 43104 TIX,2 BON
041393,001891: 15,3101 33070 WRTDESIR
041394,001892: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041395,001893: 15,3103 33111 INITBY
041396,001894: 15,3104 77624 DOALIGN CALL
041397,001895: 15,3105 31250 R54 # DO CHKSDATA
041398,001896: 15,3106 77614 BOFF
041399,001897: 15,3107 00354 FREEFLAG
041400,001898: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041401,001899: 15,3111 77624 INITBY CALL
041402,001900: 15,3112 47443 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041403,001901: 15,3113 77624 CALL
041404,001902: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041405,001903: 15,3115 77776 EXIT
041406,001904: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041407,001905: 15,3117 70104 MASK FLAGWRD8
041408,001906: 15,3120 10000 CCS A
041409,001907: 15,3121 13130 TCF 5DEGTEST
041410,001908: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041411,001909: 15,3123 04616 TC BANKCALL
041412,001910: 15,3124 20477 CADR GOFLASH
041413,001911: 15,3125 06001 TC GOTOPOOH # V34 - TERMINATE
041414,001912: 15,3126 13130 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041415,001913: 15,3127 13172 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041416,001914:
041417,001915: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041418,001916: 15,3131 40175 VLOAD BOV
041419,001917: 15,3132 02740 OGC
041420,001918: 15,3133 33134 SURFSUP
041421,001919: 15,3134 02750 SURFSUP STORE OGCT
041422,001920: 15,3135 40141 V/SC BOV
041423,001921: 15,3136 30602 5DEGREES
041424,001922: 15,3137 33237 COATRIM
041425,001923: 15,3140 52131 SSP GOTO
041426,001924: 15,3141 02746 QMIN
041427,001925: 15,3142 33144 SURFDISP
|
|
Page 966
|
041429,001927: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041430,001928:
041431,001929: 15,3144 77776 SURFDISP EXIT
041432,001930: 15,3145 05353 TC PHASCHNG
041433,001931: 15,3146 04024 OCT 04024
041434,001932:
041435,001933: 15,3147 06042 TC INTPRET
041436,001934: 15,3150 75160 AXC,1 AXC,2
041437,001935: 15,3151 03606 XSMD
041438,001936: 15,3152 01733 REFSMMAT
041439,001937: 15,3153 45014 SET CALL
041440,001938: 15,3154 01462 REFSMFLG
041441,001939: 15,3155 31371 MATMOVE
041442,001940: 15,3156 77776 EXIT
041443,001941: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041444,001942: 15,3160 13162 TCF B2F8
041445,001943: 15,3161 13172 TCF P57POST +1
041446,001944:
041447,001945: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041448,001946: 15,3163 70104 MASK FLAGWRD8
041449,001947: 15,3164 10000 CCS A
041450,001948: 15,3165 13544 TCF P57JUMP # ITS SET
041451,001949: 15,3166 06042 TC INTPRET
041452,001950: 15,3167 77624 CALL
041453,001951: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041454,001952: 15,3171 77776 P57POST EXIT
041455,001953: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041456,001954: 15,3173 04616 TC BANKCALL
041457,001955: 15,3174 20624 CADR GOPERF1
041458,001956: 15,3175 16001 TCF GOTOPOOH # VB34 - TERMINATE
041459,001957: 15,3176 13544 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041460,001958: 15,3177 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041461,001959: 15,3200 61144 AD OPTION2
041462,001960: 15,3201 00006 EXTEND
041463,001961: 15,3202 13204 BZF +2 # YES - GO CALCULATE LANDING SITE
041464,001962: 15,3203 16001 TCF GOTOPOOH # NO - EXIT P57
041465,001963: 15,3204 05353 TC PHASCHNG # RESTART PLACE
041466,001964: 15,3205 04024 OCT 04024
041467,001965: 15,3206 06042 TC INTPRET
041468,001966: 15,3207 45175 VLOAD CALL # USE GNB
041469,001967: 15,3210 02231 GSAV
041470,001968: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
041471,001969: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
041472,001970: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041473,001971: 15,3214 01463 LUNAFLAG
041474,001972: 15,3215 51515 PDVL ABVAL
041475,001973: 15,3216 02023 RLS
041476,001974: 15,3217 45561 VXSC STADR
041477,001975: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041478,001976: 15,3221 47014 CLEAR RTB
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|
Page 967
|
041480,001978: 15,3222 00662 ERADFLAG
041481,001979: 15,3223 21574 LOADTIME
041482,001980: 15,3224 77624 CALL
041483,001981: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041484,001982: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
041485,001983: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041486,001984: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041487,001985: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
041488,001986: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041489,001987: 15,3233 51700 R-TO-RP
041490,001988: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041491,001989: 15,3235 77776 EXIT
041492,001990: 15,3236 16001 TCF GOTOPOOH # EXIT P57
041493,001991:
|
|
Page 968
|
041495,001993: # COARSE AND FINE ALIGN IMU
041496,001994:
041497,001995: 15,3237 75160 COATRIM AXC,1 AXC,2
041498,001996: 15,3240 02664 XDC
041499,001997: 15,3241 02642 XSM
041500,001998: 15,3242 77624 CALL
041501,001999: 15,3243 31371 MATMOVE
041502,002000: 15,3244 77624 CALL
041503,002001: 15,3245 47541 CDUTRIG
041504,002002: 15,3246 77624 CALL
041505,002003: 15,3247 20030 CALCSMSC
041506,002004: 15,3250 77624 CALL
041507,002005: 15,3251 47355 CALCGA
041508,002006: 15,3252 77414 BOFF EXIT
041509,002007: 15,3253 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041510,002008: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041511,002009: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041512,002010: 15,3256 04616 TC BANKCALL
041513,002011: 15,3257 20477 CADR GOFLASH
041514,002012: 15,3260 06001 TC GOTOPOOH
041515,002013: 15,3261 13263 TCF +2
041516,002014: 15,3262 13255 TCF -5
041517,002015: 15,3263 05353 TC PHASCHNG
041518,002016: 15,3264 04024 OCT 04024
041519,002017:
041520,002018: 15,3265 06042 TC INTPRET
041521,002019: 15,3266 77624 CORSIT CALL
041522,002020: 15,3267 31557 COARSE
041523,002021: 15,3270 77624 CALL
041524,002022: 15,3271 31603 NCOARSE
041525,002023: 15,3272 77624 CALL
041526,002024: 15,3273 32764 GYROTRIM
041527,002025: 15,3274 77650 GOTO
041528,002026: 15,3275 33144 SURFDISP
041529,002027: 15,3276 01535 DISPGYRO VN 0693
041530,002028:
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|
Page 969
|
041532,002030: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041533,002031:
041534,002032: 15,3277 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041535,002033: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041536,002034:
041537,002035: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041538,002036: 15,3302 55144 TS OPTION2
041539,002037: 15,3303 34753 P57OPT CAF BIT1
041540,002038: 15,3304 04616 TC BANKCALL
041541,002039: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041542,002040: 15,3306 06001 TC GOTOPOOH # V34 TERMINATE
041543,002041: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041544,002042: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041545,002043:
041546,002044: 15,3311 05353 TC PHASCHNG
041547,002045: 15,3312 00014 OCT 00014
041548,002046: 15,3313 05155 TC ENDOFJOB
041549,002047:
041550,002048: 15,3314 31144 ALIGNOPT CA OPTION2
041551,002049: 15,3315 76250 MASK THREE
041552,002050: 15,3316 50000 INDEX A
041553,002051: 15,3317 13320 TCF +1
041554,002052: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041555,002053: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041556,002054: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041557,002055: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041558,002056: 15,3324 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041559,002057: 15,3325 01733 REFSMMAT
041560,002058: 15,3326 03606 XSMD
041561,002059: 15,3327 77624 CALL
041562,002060: 15,3330 31371 MATMOVE
041563,002061: 15,3331 77650 GOTO
041564,002062: 15,3332 33373 PACKOPTN -1
041565,002063:
041566,002064: 15,3333 06042 TDISP TC INTPRET
041567,002065: 15,3334 77745 DLOAD
041568,002066: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041569,002067: 15,3336 01045 P57A STORE DSPTEM1
041570,002068: 15,3337 77776 EXIT
041571,002069: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041572,002070: 15,3341 04616 TC BANKCALL
041573,002071: 15,3342 20477 CADR GOFLASH
041574,002072: 15,3343 16001 TCF GOTOPOOH # V34 - TERMINATE
041575,002073: 15,3344 13346 TCF +2
041576,002074: 15,3345 13340 TCF P57AA # VB32 - RECYCLE
041577,002075:
041578,002076: 15,3346 06042 TC INTPRET
041579,002077: 15,3347 65234 RTB PDDL
041580,002078: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041581,002079: 15,3351 01045 DSPTEM1
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|
Page 970
|
041583,002081: 15,3352 65254 BZE PDDL
041584,002082: 15,3353 33363 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041585,002083: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041586,002084: 15,3355 01045 DSPTEM1
041587,002085: 15,3356 33363 P57C
041588,002086: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041589,002087: 15,3360 74335 STORE TIG # STORE IT IN TIG
041590,002088: 15,3361 36775 STCALL TALIGN
041591,002089: 15,3362 33365 P57D
041592,002090: 15,3363 45545 P57C DLOAD STADR
041593,002091: 15,3364 75002 STORE TALIGN
041594,002092: 15,3365 34041 P57D STCALL TDEC1
041595,002093: 15,3366 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041596,002094: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041597,002095: 15,3370 00001 RATT
041598,002096: 15,3371 37607 STCALL XSMD
041599,002097: 15,3372 10757 LSORIENT
041600,002098: 15,3373 77776 EXIT
041601,002099: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041602,002100: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041603,002101: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041604,002102: 15,3377 34737 CAF REFSMBIT
041605,002103: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041606,002104: 15,3401 10000 CCS A
041607,002105: 15,3402 34745 CAF BIT7 # SET
041608,002106: 15,3403 27145 ADS OPTION1 +2 # CLEAR - JUST ZERO
041609,002107: 15,3404 34753 CAF ATTFLBIT
041610,002108: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041611,002109: 15,3406 10000 CCS A
041612,002110: 15,3407 34750 CAF BIT4 # SET
041613,002111: 15,3410 27145 ADS OPTION1 +2 # CLEAR - ZERO IN A
041614,002112: 15,3411 34750 CAF BIT4
041615,002113: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041616,002114:
041617,002115: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041618,002116: 15,3414 04616 TC BANKCALL
041619,002117: 15,3415 20477 CADR GOFLASH
041620,002118: 15,3416 16001 TCF GOTOPOOH # VB34 - TERMINATE
041621,002119: 15,3417 13421 TCF +2 # V33 - PROCEED
041622,002120: 15,3420 13413 TCF DSPOPTN # V32 - RECYCLE
041623,002121:
041624,002122: 15,3421 34737 CAF REFSMBIT
041625,002123: 15,3422 70077 MASK FLAGWRD3
041626,002124: 15,3423 10000 CCS A
041627,002125: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041628,002126: 15,3425 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041629,002127: 15,3426 70102 MASK FLAGWRD6
041630,002128: 15,3427 10000 CCS A
041631,002129: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041632,002130: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
|
|
Page 971
|
041634,002132: 15,3432 71144 MASK OPTION2
041635,002133: 15,3433 10000 CCS A
041636,002134: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041637,002135: 15,3435 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041638,002136: 15,3436 00701 OCT 701
041639,002137: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041640,002138: 15,3440 04616 TC BANKCALL
041641,002139: 15,3441 20477 CADR GOFLASH
041642,002140: 15,3442 16001 TCF GOTOPOOH # VB34-TERMINATE
041643,002141: 15,3443 13413 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
041644,002142: 15,3444 13413 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
041645,002143:
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|
Page 972
|
041647,002145: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041648,002146:
041649,002147: 15,3445 40220 MFREF STQ SETPD
041650,002148: 15,3446 02746 QMAJ
041651,002149: 15,3447 00001 0
041652,002150: 15,3450 77634 RTB
041653,002151: 15,3451 21574 LOADTIME
041654,002152: 15,3452 27562 STOVL TSIGHT
041655,002153: 15,3453 03246 VEC1
041656,002154: 15,3454 41525 PDDL PUSH
041657,002155: 15,3455 03562 TSIGHT
041658,002156: 15,3456 77624 CALL
041659,002157: 15,3457 55716 RP-TO-R
041660,002158: 15,3460 27246 STOVL VEC1
041661,002159: 15,3461 03254 VEC2
041662,002160: 15,3462 65201 SETPD PDDL
041663,002161: 15,3463 00001 0
041664,002162: 15,3464 03562 TSIGHT
041665,002163: 15,3465 45006 PUSH CALL
041666,002164: 15,3466 55716 RP-TO-R
041667,002165: 15,3467 37254 STCALL VEC2
041668,002166: 15,3470 02746 QMAJ
041669,002167:
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|
Page 973
|
041671,002169: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041672,002170: # STORE IN YNBSAV AND ZNBSAV
041673,002171:
041674,002172: 15,3471 45020 REFMF STQ CALL
041675,002173: 15,3472 02746 QMAJ
041676,002174: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041677,002175: 15,3474 40234 RTB SETPD
041678,002176: 15,3475 21574 LOADTIME
041679,002177: 15,3476 00001 0
041680,002178: 15,3477 37562 STCALL TSIGHT
041681,002179: 15,3500 20030 CALCSMSC # GET YNB IN SM
041682,002180: 15,3501 61375 VLOAD VXM
041683,002181: 15,3502 02673 YNB
041684,002182: 15,3503 01734 REFSMMAT # YNB TO REF
041685,002183: 15,3504 65256 UNIT PDDL
041686,002184: 15,3505 03562 TSIGHT
041687,002185: 15,3506 45006 PUSH CALL
041688,002186: 15,3507 51700 R-TO-RP
041689,002187: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041690,002188: 15,3511 02701 ZNB
041691,002189: 15,3512 53505 VXM UNIT
041692,002190: 15,3513 01734 REFSMMAT # ZNB TO REF
041693,002191: 15,3514 41525 PDDL PUSH
041694,002192: 15,3515 03562 TSIGHT
041695,002193: 15,3516 77624 CALL
041696,002194: 15,3517 51700 R-TO-RP # ZNB TO MF
041697,002195: 15,3520 02245 STORE ZNBSAV
041698,002196: 15,3521 77614 SETGO
041699,002197: 15,3522 03036 ATTFLAG
041700,002198: 15,3523 02746 QMAJ
041701,002199:
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|
Page 974
|
041703,002201: # BRANCH TO ALIGNMENT OPTION
041704,002202:
041705,002203: 15,3524 06042 GETLMATT TC INTPRET
041706,002204: 15,3525 77624 CALL
041707,002205: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041708,002206: 15,3527 77776 EXIT
041709,002207:
041710,002208: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041711,002209: 15,3531 00205 ADRES INITALGN
041712,002210: 15,3532 34753 CAF BIT1
041713,002211: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041714,002212: 15,3534 10000 CCS A
041715,002213: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041716,002214:
041717,002215: 15,3536 05353 ATTCHK TC PHASCHNG
041718,002216: 15,3537 04024 OCT 04024
041719,002217:
041720,002218: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041721,002219: 15,3541 70102 MASK FLAGWRD6
041722,002220: 15,3542 10000 CCS A
041723,002221: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041724,002222: 15,3544 05353 P57JUMP TC PHASCHNG
041725,002223: 15,3545 04024 OCT 04024
041726,002224:
041727,002225: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041728,002226: 15,3547 00205 ADRES INITALGN
041729,002227: 15,3550 36250 CAF THREE
041730,002228: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
041731,002229: 15,3552 50000 INDEX A
041732,002230: 15,3553 13554 TCF +1
041733,002231: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
041734,002232: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
041735,002233: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
041736,002234: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
041737,002235:
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|
Page 975
|
041739,002237: # OPTION 0, GET TWO ATTITUDE VECS
041740,002238:
041741,002239: 15,3560 06042 P57OPT0 TC INTPRET
041742,002240: 15,3561 77775 VLOAD
041743,002241: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041744,002242: 15,3563 27246 STOVL VEC1
041745,002243: 15,3564 02245 ZNBSAV
041746,002244: 15,3565 37254 STCALL VEC2
041747,002245: 15,3566 47541 CDUTRIG
041748,002246: 15,3567 77624 CALL
041749,002247: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041750,002248: 15,3571 77775 VLOAD
041751,002249: 15,3572 02673 YNB
041752,002250: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041753,002251: 15,3574 02701 ZNB
041754,002252: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041755,002253: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041756,002254: 15,3577 77650 GOTO
041757,002255: 15,3600 33064 SURFLINE
041758,002256:
041759,002257: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041760,002258:
041761,002259: 15,3601 06042 P57OPT1 TC INTPRET
041762,002260: 15,3602 53575 VLOAD UNIT
041763,002261: 15,3603 02023 RLS # LANDING SITE VEC
041764,002262: 15,3604 27246 STOVL VEC1
041765,002263: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
041766,002264: 15,3606 37254 STCALL VEC2
041767,002265: 15,3607 47541 CDUTRIG
041768,002266: 15,3610 77624 CALL
041769,002267: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
041770,002268: 15,3612 45175 VLOAD CALL
041771,002269: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
041772,002270: 15,3614 47663 CDU*NBSM
041773,002271: 15,3615 77650 GOTO
041774,002272: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
041775,002273:
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|
Page 976
|
041777,002275: # OPTION 2, GET TWO STAR SIGHTINGS
041778,002276:
041779,002277: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
041780,002278:
041781,002279: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041782,002280:
041783,002281: 15,3620 06042 P57OPT3 TC INTPRET
041784,002282: 15,3621 53575 VLOAD UNIT
041785,002283: 15,3622 02023 RLS # LANDING SITE VEC
041786,002284: 15,3623 03246 STORE VEC1
041787,002285: 15,3624 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
041788,002286: 15,3625 02231 GSAV # GRAVITY VEC NB
041789,002287: 15,3626 77624 CALL
041790,002288: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
041791,002289: 15,3630 36761 STCALL STARSAV1
041792,002290: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
041793,002291: 15,3632 77776 EXIT
041794,002292: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
041795,002293:
041796,002294: 15,3634 01206 VB05N06 VN 506
041797,002295:
|
|
Page 977
|
041799,002297: # CHECK IMODES30 TO VARIFY IMU IS ON
041800,002298:
041801,002299: 15,3635 41277 IMUCHK CS IMODES30
041802,002300: 15,3636 74743 MASK BIT9
041803,002301: 15,3637 10000 CCS A # IS IMU ON
041804,002302: 15,3640 13644 TCF +4 # YES
041805,002303:
041806,002304: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
041807,002305: 15,3642 00210 OCT 210
041808,002306: 15,3643 06001 TC GOTOPOOH
041809,002307:
041810,002308: 15,3644 05504 TC UPFLAG
041811,002309: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
041812,002310:
041813,002311: 15,3646 04631 TC SWRETURN
041814,002312:
041815,002313: 04,2757 BANK 04
041816,002314: 04,2000 SETLOC AOTMARK2
041817,002315: 04,2000 BANK
041818,002316: 04,2757 COUNT* $$/P57
041819,002317:
041820,002318: 04,2757 77220 LSORIENT STQ VLOAD
041821,002319: 04,2760 02746 QMAJ
041822,002320: 04,2761 01555 RRECTCSM
041823,002321: 04,2762 47235 VXV VXV
041824,002322: 04,2763 01563 VRECTCSM
041825,002323: 04,2764 03607 XSMD
041826,002324: 04,2765 77656 UNIT
041827,002325: 04,2766 03623 STORE ZSMD
041828,002326: 04,2767 53435 VXV UNIT
041829,002327: 04,2770 03607 XSMD
041830,002328: 04,2771 37615 STCALL YSMD
041831,002329: 04,2772 02746 QMAJ
041832,002330:
End of include-file P51-P53.agc. Parent file is MAIN.agc