Source Code
|
This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release
of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 97.
A bug (which had been around since at least Apollo 10, Luminary 69) was
discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute
revision into Rev 1,
which is what actually flew rather than
the Rev 0 presented here. A hardcopy of Rev 0 is known to
exist — it belonged to AGC developer Allan Klumpp for many years — but
unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus
the code you see here had been reconstructed (we believe accurately) rather than
transcribed. The first step of the reconstruction of the Rev 0 source code was
the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection.
The process of reverting the active portion of the source code (i.e., other than
program comments) from Rev 1 to Rev 0 was very minor, consisting
only of moving the position of the STARTSB1 label in
FRESH START AND RESTART. Allan had previously given
us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums
identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read,
in part:GAP: ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051 A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here. |
041270,000002: ## Copyright: Public domain.
041271,000003: ## Filename: P51-P53.agc
041272,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
041273,000005: ## otherwise known as Luminary Rev 99, the third release
041274,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
041275,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
041276,000008: ## placement of a single label. The corrections shown here have
041277,000009: ## been verified to have the same bank checksums as AGC developer
041278,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
041279,000011: ## to be accurate. This file is intended to be a faithful
041280,000012: ## recreation, except that the code format has been changed to
041281,000013: ## conform to the requirements of the yaYUL assembler rather than
041282,000014: ## the original YUL assembler.
041283,000015: ##
041284,000016: ## Assembler: yaYUL
041285,000017: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
041286,000018: ## Website: www.ibiblio.org/apollo.
041287,000019: ## Pages: 926-983
041288,000020: ## Mod history: 2009-05-31 HG Transcribed from page images.
041289,000021: ## 2009-06-07 RSB Corrected a typo.
041290,000022: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
041291,000023: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
041292,000024: ## and corrected the errors found.
041293,000025: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
041294,000026: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
041295,000027: ## side-by-side diff of Luminary 69/99/116/131/210.
041296,000028: ## 2017-08-01 MAS Created from LMY99 Rev 1.
041297,000029:
041298,000030: ## This source code has been transcribed or otherwise adapted from
041299,000031: ## digitized images of a hardcopy from the MIT Museum. The digitization
041300,000032: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
041301,000033: ## the Museum. Many thanks to both. The images (with suitable reduction
041302,000034: ## in storage size and consequent reduction in image quality as well) are
041303,000035: ## available online at www.ibiblio.org/apollo. If for some reason you
041304,000036: ## find that the images are illegible, contact me at info@sandroid.org
041305,000037: ## about getting access to the (much) higher-quality images which Paul
041306,000038: ## actually created.
041307,000039: ##
041308,000040: ## The code has been modified to match LMY99 Revision 0, otherwise
041309,000041: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
041310,000042: ## the listing from which it was transcribed. It has been verified to
041311,000043: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
041312,000044: ## of Luminary Revision 99 (for which we do not have scans).
041313,000045: ##
041314,000046: ## Notations on Allan Klumpp's listing read, in part:
041315,000047: ##
041316,000048: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
041317,000049:
|
|
Page 926 |
041319,000051: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
041320,000052: # MOD NO - 0 LOG SECTION - P51-P53
041321,000053: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
041322,000054:
041323,000055: # FUNCTIONAL DESCRIPTION -
041324,000056:
041325,000057: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041326,000058: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041327,000059:
041328,000060: # (A) PREFERRED ORIENTATION
041329,000061:
041330,000062: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041331,000063: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
041332,000064:
041333,000065: # (B) NOMINAL ORIENTATION
041334,000066:
041335,000067: # X = UNIT ( R )
041336,000068: # -SM
041337,000069:
041338,000070: # Y = UNIT (V X R)
041339,000071: # SM
041340,000072:
041341,000073: # Z = UNIT (X X Y )
041342,000074: # SM SM SM
041343,000075:
041344,000076: # WHERE_
041345,000077:
041346,000078: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041347,000079: # -
041348,000080:
041349,000081: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041350,000082: # -
041351,000083:
041352,000084: # (C) REFSMMAT ORIENTATION
041353,000085:
041354,000086: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041355,000087:
041356,000088: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041357,000089: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041358,000090: # SINCE THE LAST ALIGNMENT).
041359,000091:
041360,000092: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041361,000093: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041362,000094: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041363,000095: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041364,000096: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041365,000097: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041366,000098: # REQUESTED.
041367,000099:
041368,000100: # CALLING SEQUENCE -
041369,000101:
|
|
Page 927 |
041371,000103: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041372,000104:
041373,000105: # SUBROUTINES CALLED -
041374,000106:
041375,000107: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
041376,000108: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
041377,000109: # 3. GOPERF4 9. FLAGUP
041378,000110: # 4. MATMOVE 10. R56
041379,000111: # 5. GOFLASH 11. R51
041380,000112: # 6. S52.3 12. GOPERF3
041381,000113:
041382,000114: # NORMAL EXIT MODES -
041383,000115:
041384,000116: # EXITS TO ENDOFJOB
041385,000117:
041386,000118: # ALARM OR ABORT EXIT MODES -
041387,000119:
041388,000120: # NONE
041389,000121:
041390,000122: # OUTPUT -
041391,000123:
041392,000124: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
041393,000125: # 1. IMU ORIENTATION CODE
041394,000126: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
041395,000127: # 3. TIME OF NEXT IGNITION
041396,000128: # 4. GIMBAL ANGLES
041397,000129: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
041398,000130: # 6. PLEASE PERFORM P00
041399,000131: # THE MODE DISPLAY MAY BE CHANGED TO 20
041400,000132:
041401,000133: # ERASABLE INITIALIZATION REQUIRED -
041402,000134:
041403,000135: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
041404,000136: # XSMD, YSMD, ZSMD.
041405,000137:
041406,000138: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041407,000139:
041408,000140: # DEBRIS -
041409,000141:
041410,000142: # WORK AREA
041411,000143:
041412,000144: 33,3777 BANK 33
041413,000145: 15,2000 SETLOC P50S
041414,000146: 15,2000 BANK
041415,000147:
041416,000148: 15,2050 E5,1755 EBANK= BESTI
041417,000149: 15,2050 COUNT* $$/P52
041418,000150: 15,2050 04616 PROG52 TC BANKCALL
041419,000151: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
041420,000152: 15,2052 34750 CAF PFRATBIT
041421,000153: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
041422,000154: 15,2054 10000 CCS A
|
|
Page 928 |
041424,000156: 15,2055 02060 TC P52A # YES
041425,000157: 15,2056 34752 CAF BIT2 # NO
041426,000158: 15,2057 02061 TC P52A +1
041427,000159: 15,2060 34753 P52A CAF BIT1
041428,000160: 15,2061 55145 TS OPTION2
041429,000161: 15,2062 34753 P52B CAF BIT1
041430,000162: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
041431,000163: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
041432,000164: 15,2065 06001 TC GOTOPOOH
041433,000165: 15,2066 12073 TCF +5 # V33 - PROCEED
041434,000166: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
041435,000167: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
041436,000168: 15,2071 00014 OCT 00014
041437,000169: 15,2072 05155 TC ENDOFJOB
041438,000170:
041439,000171: 15,2073 31145 CA OPTION2
041440,000172: 15,2074 76245 MASK THREE
041441,000173: 15,2075 50000 INDEX A
041442,000174: 15,2076 02077 TC +1
041443,000175: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
041444,000176: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
041445,000177: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
041446,000178: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
041447,000179: 15,2103 77650 GOTO
041448,000180: 15,2104 32164 P52F # GO DO R51
041449,000181:
041450,000182: 15,2105 00006 OPT4 EXTEND
041451,000183: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
041452,000184: 15,2107 12112 TCF P52T +2
041453,000185:
041454,000186: 15,2110 00006 P52T EXTEND
041455,000187: 15,2111 34755 DCA NEG0
041456,000188: 15,2112 53046 DXCH DSPTEM1
041457,000189: 15,2113 32170 CAF V06N34*
041458,000190: 15,2114 04616 TC BANKCALL
041459,000191: 15,2115 20476 CADR GOFLASH
041460,000192: 15,2116 06001 TC GOTOPOOH
041461,000193: 15,2117 02121 TC +2
041462,000194: 15,2120 02113 TC -5
041463,000195: 15,2121 53046 DXCH DSPTEM1
041464,000196: 15,2122 00006 EXTEND
041465,000197: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
041466,000198: 15,2124 12127 TCF +3
041467,000199: 15,2125 00006 EXTEND
041468,000200: 15,2126 30025 DCA TIME2
041469,000201: 15,2127 53775 DXCH TALIGN
041470,000202: 15,2130 31145 P52V CA OPTION2
041471,000203: 15,2131 74752 MASK BIT2
041472,000204: 15,2132 10000 CCS A
041473,000205: 15,2133 02137 TC P52W
|
|
Page 929 |
041475,000207: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
041476,000208: 15,2135 77650 GOTO
041477,000209: 15,2136 32220 P52LS
041478,000210:
|
|
Page 930 |
041480,000212: # START ALIGNMENT
041481,000213:
041482,000214: 15,2137 06037 P52W TC INTPRET
041483,000215: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
041484,000216: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
041485,000217: 15,2142 31650 S52.3 # ORIENTATION
041486,000218: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
041487,000219: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
041488,000220: 15,2145 77776 EXIT
041489,000221: 15,2146 35010 CAF V06N22
041490,000222: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
041491,000223: 15,2150 20476 CADR GOFLASH
041492,000224: 15,2151 06001 TC GOTOPOOH
041493,000225: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
041494,000226: 15,2153 06037 P52H TC INTPRET
041495,000227: 15,2154 77650 GOTO
041496,000228: 15,2155 32143 P52D
041497,000229: 15,2156 06037 REGCOARS TC INTPRET
041498,000230: 15,2157 77624 CALL # DO COARSE ALIGN
041499,000231: 15,2160 31327 CAL53A # ROUTINE
041500,000232: 15,2161 43014 COARSRET SET CLEAR
041501,000233: 15,2162 01462 REFSMFLG
041502,000234: 15,2163 01273 PFRATFLG
041503,000235: 15,2164 77624 P52F CALL
041504,000236: 15,2165 31015 R51
041505,000237: 15,2166 77776 P52OUT EXIT
041506,000238: 15,2167 06001 TC GOTOPOOH
041507,000239: 15,2170 5006 VB05N09 = V05N09
041508,000240: 15,2170 01442 V06N34* VN 634
041509,000241:
|
|
Page 931 |
041511,000243: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041512,000244:
041513,000245: 15,2171 32217 COARSTYP CAF OCT13
041514,000246: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041515,000247: 15,2173 20623 CADR GOPERF1
041516,000248: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
041517,000249: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
041518,000250: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
041519,000251: 15,2177 64375 VLOAD MXV
041520,000252: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
041521,000253: 15,2201 01734 REFSMMAT
041522,000254: 15,2202 77656 UNIT
041523,000255: 15,2203 26665 STOVL XDC
041524,000256: 15,2204 03615 YSMD
041525,000257: 15,2205 53521 MXV UNIT
041526,000258: 15,2206 01734 REFSMMAT
041527,000259: 15,2207 26673 STOVL YDC
041528,000260: 15,2210 03623 ZSMD
041529,000261: 15,2211 53521 MXV UNIT
041530,000262: 15,2212 01734 REFSMMAT
041531,000263: 15,2213 36701 STCALL ZDC
041532,000264: 15,2214 31164 GYCOARS
041533,000265: 15,2215 77650 GOTO
041534,000266: 15,2216 32166 P52OUT
041535,000267: 15,2217 00013 OCT13 OCT 13
041536,000268:
|
|
Page 932 |
041538,000270: # COMPUTE LANDING ORIENTATION FOR OPTION 4
041539,000271:
041540,000272: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
041541,000273: 15,2221 01463 LUNAFLAG
041542,000274: 15,2222 00662 ERADFLAG # TO PICK UP RLS
041543,000275: 15,2223 77201 SETPD VLOAD
041544,000276: 15,2224 00001 0
041545,000277: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
041546,000278: 15,2226 41525 PDDL PUSH # RLS PD 0-5
041547,000279: 15,2227 02775 TALIGN
041548,000280: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
041549,000281: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
041550,000282: 15,2232 77742 VSR2
041551,000283: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
041552,000284: 15,2234 02775 TALIGN
041553,000285: 15,2235 77624 CALL
041554,000286: 15,2236 30446 N89DISP
041555,000287: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
041556,000288: 15,2240 02032 ALPHAV
041557,000289: 15,2241 37607 STCALL XSMD
041558,000290: 15,2242 11013 LSORIENT
041559,000291: 15,2243 77650 GOTO
041560,000292: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
041561,000293:
|
|
Page 933 |
041563,000295: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
041564,000296:
041565,000297: 14,2000 SETLOC P50S1
041566,000298: 14,2000 BANK
041567,000299: 14,2446 E5,1642 EBANK= XSM
041568,000300:
041569,000301: 14,2446 77620 N89DISP STQ
041570,000302: 14,2447 02746 QMAJ
041571,000303: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
041572,000304: 14,2451 26351 LAT-LONG
041573,000305: 14,2452 70545 DLOAD SR1
041574,000306: 14,2453 01123 LONG
041575,000307: 14,2454 16711 STODL LANDLONG
041576,000308: 14,2455 01125 ALT
041577,000309: 14,2456 16713 STODL LANDALT
041578,000310: 14,2457 01121 LAT
041579,000311: 14,2460 16707 STODL LANDLAT
041580,000312: 14,2461 77776 EXIT
041581,000313:
041582,000314: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
041583,000315: 14,2463 04616 TC BANKCALL
041584,000316: 14,2464 20476 CADR GOFLASH
041585,000317: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
041586,000318: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
041587,000319: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
041588,000320:
041589,000321: 14,2470 06037 TC INTPRET
041590,000322: 14,2471 72545 DLOAD SL1
041591,000323: 14,2472 02711 LANDLONG
041592,000324: 14,2473 15123 STODL LONG
041593,000325: 14,2474 02713 LANDALT
041594,000326: 14,2475 15125 STODL ALT
041595,000327: 14,2476 02707 LANDLAT
041596,000328: 14,2477 15121 STODL LAT
041597,000329: 14,2500 01243 GDT/2 +4 # PICK UP TIME
041598,000330: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
041599,000331: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
041600,000332: 14,2503 77650 GOTO
041601,000333: 14,2504 02746 QMAJ
041602,000334: 14,2505 01531 V06N89* VN 689
041603,000335:
|
|
Page 934 |
041605,000337: # NAME - S50 ALIAS LOCSAM
041606,000338: # BY
041607,000339: # VINCENT
041608,000340:
041609,000341: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
041610,000342:
041611,000343: # DEFINE
041612,000344:
041613,000345: # U = UNIT( SUN WRT EARTH )
041614,000346: # ES
041615,000347:
041616,000348: # U = UNIT( MOON WRT EARTH )
041617,000349: # EM
041618,000350:
041619,000351: # R = POSITION VECTOR OF LEM
041620,000352: # L
041621,000353:
041622,000354: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041623,000355: # EM
041624,000356:
041625,000357: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
041626,000358: # EM
041627,000359:
041628,000360: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041629,000361: # E
041630,000362:
041631,000363: # LOCSAM COMPUTES IN EARTH INFLUENCE
041632,000364:
041633,000365: # VSUN = U
041634,000366: # ES
041635,000367:
041636,000368: # VEARTH = -UNIT( R )
041637,000369: # L
041638,000370:
041639,000371: # VMOON = UNIT(R .U - R )
041640,000372: # EM EM L
041641,000373:
041642,000374: # CSUN = COS 90
041643,000375:
041644,000376: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041645,000377: # E L
041646,000378:
041647,000379: # CMOON = COS 5
041648,000380:
041649,000381: # INPUT - TIME IN MPAC
041650,000382:
041651,000383: # OUTPUT - LISTED ABOVE
041652,000384:
041653,000385: # SUBROUTINES - LSPOS, LEMPREC
041654,000386:
041655,000387: # DEBRIS - VAC AREA, TSIGHT
041656,000388:
|
|
Page 935 |
041658,000390: 14,2506 COUNT* $$/LOSAM
041659,000391:
041660,000392: 14,2506 14,2506 S50 = LOCSAM
041661,000393: 14,2506 77620 LOCSAM STQ
041662,000394: 14,2507 02745 QMIN
041663,000395: 14,2510 37562 STCALL TSIGHT
041664,000396: 14,2511 33664 LSPOS
041665,000397: 14,2512 77745 DLOAD
041666,000398: 14,2513 03562 TSIGHT
041667,000399: 14,2514 34041 STCALL TDEC1
041668,000400: 14,2515 27057 LEMPREC
041669,000401: 14,2516 61131 SSP TIX,2
041670,000402: 14,2517 00052 S2
041671,000403: 14,2520 00000 0
041672,000404: 14,2521 30543 MOONCNTR
041673,000405: 14,2522 74375 EARTCNTR VLOAD VXSC
041674,000406: 14,2523 02723 VMOON
041675,000407: 14,2524 30001 RSUBEM
041676,000408: 14,2525 52372 VSL1 VSU
041677,000409: 14,2526 00001 RATT
041678,000410: 14,2527 77656 UNIT
041679,000411: 14,2530 26723 STOVL VMOON
041680,000412: 14,2531 00001 RATT
041681,000413: 14,2532 57456 UNIT VCOMP
041682,000414: 14,2533 16707 STODL VEARTH
041683,000415: 14,2534 30005 RSUBE
041684,000416: 14,2535 77624 CALL
041685,000417: 14,2536 30575 OCCOS
041686,000418: 14,2537 14017 STODL CEARTH
041687,000419: 14,2540 30604 CSS5
041688,000420: 14,2541 34023 STCALL CMOON
041689,000421: 14,2542 30570 ENDSAM
041690,000422: 14,2543 74375 MOONCNTR VLOAD VXSC
041691,000423: 14,2544 02723 VMOON
041692,000424: 14,2545 30007 ROE
041693,000425: 14,2546 53445 BVSU UNIT
041694,000426: 14,2547 02715 VSUN
041695,000427: 14,2550 26715 STOVL VSUN
041696,000428: 14,2551 02723 VMOON
041697,000429: 14,2552 53361 VXSC VAD
041698,000430: 14,2553 30001 RSUBEM
041699,000431: 14,2554 00001 RATT
041700,000432: 14,2555 57456 UNIT VCOMP
041701,000433: 14,2556 26707 STOVL VEARTH
041702,000434: 14,2557 00001 RATT
041703,000435: 14,2560 57456 UNIT VCOMP
041704,000436: 14,2561 16723 STODL VMOON
041705,000437: 14,2562 30003 RSUBM
041706,000438: 14,2563 77624 CALL
041707,000439: 14,2564 30575 OCCOS
|
|
Page 936 |
041709,000441: 14,2565 14023 STODL CMOON
041710,000442: 14,2566 30604 CSS5
041711,000443: 14,2567 00017 STORE CEARTH
041712,000444: 14,2570 77745 ENDSAM DLOAD
041713,000445: 14,2571 30606 CSSUN
041714,000446: 14,2572 00021 STORE CSUN
041715,000447: 14,2573 77650 GOTO
041716,000448: 14,2574 02745 QMIN
041717,000449: 14,2575 70471 OCCOS DDV SR1
041718,000450: 14,2576 00045 36D
041719,000451: 14,2577 43336 ASIN DAD
041720,000452: 14,2600 30610 5DEGREES
041721,000453: 14,2601 70546 COS SR1
041722,000454: 14,2602 77616 RVQ
041723,000455: 14,2603 CEARTH = 14D
041724,000456: 14,2603 CSUN = 16D
041725,000457: 14,2603 CMOON = 18D
041726,000458: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041727,000459: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
041728,000460: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041729,000461:
|
|
Page 937 |
041731,000463: # PROGRAM NAME - R56 DATE DEC 20 66
041732,000464: # MOD 1 LOG SECTION P51-P53
041733,000465: # ASSEMBLY SUNDISK REV40
041734,000466: # BY KEN VINCENT
041735,000467:
041736,000468: # FUNCTION
041737,000469: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041738,000470: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041739,000471: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041740,000472: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
041741,000473: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041742,000474: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041743,000475: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
041744,000476: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041745,000477: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041746,000478: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
041747,000479: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041748,000480: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
041749,000481:
041750,000482: # CALLING SEQUENCE
041751,000483: # L TC BANKCALL
041752,000484: # L+1 CADR R56
041753,000485: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041754,000486: # L+3 NORMAL RETURN
041755,000487:
041756,000488: # OUTPUT
041757,000489: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
041758,000490: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041759,000491:
041760,000492: # INITIALIZATION
041761,000493: # 1) A CALL TO LOCSAM MUST BE MADE
041762,000494:
041763,000495: # DEBRIS
041764,000496: # WORKAREA
041765,000497: # X,Y,ZNB
041766,000498: # SINCDU, COSCDU
041767,000499: # STARAD - STAR +5
041768,000500:
041769,000501: 14,2611 14,2611 R56 = PICAPAR
041770,000502: 14,2611 COUNT* $$/R56
041771,000503: 14,2611 04645 PICAPAR TC MAKECADR
041772,000504: 14,2612 55745 TS QMIN
041773,000505: 14,2613 06037 TC INTPRET
041774,000506: 14,2614 77624 CALL
041775,000507: 14,2615 47537 CDUTRIG
041776,000508: 14,2616 77624 CALL
041777,000509: 14,2617 20030 CALCSMSC
041778,000510: 14,2620 77601 SETPD
041779,000511: 14,2621 00001 0
041780,000512: 14,2622 71214 SET DLOAD # VFLAG = 1
041781,000513: 14,2623 01465 VFLAG
|
|
Page 938 |
041783,000515: 14,2624 24007 DPZERO
041784,000516: 14,2625 26756 STOVL BESTI
041785,000517: 14,2626 02665 XNB
041786,000518: 14,2627 63361 VXSC PDVL
041787,000519: 14,2630 24005 HALFDP
041788,000520: 14,2631 02701 ZNB
041789,000521: 14,2632 74370 AXT,1 VXSC
041790,000522: 14,2633 00344 228D # X1 = 37 X 6 + 6
041791,000523: 14,2634 24005 HALFDP
041792,000524: 14,2635 77655 VAD
041793,000525: 14,2636 53505 VXM UNIT
041794,000526: 14,2637 01734 REFSMMAT
041795,000527: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
041796,000528: 14,2641 66331 SSP SSP # S1 = S2 = 6
041797,000529: 14,2642 00051 S1
041798,000530: 14,2643 00006 6
041799,000531: 14,2644 00052 S2
041800,000532: 14,2645 00006 6
041801,000533: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041802,000534: 14,2647 30651 PIC2
041803,000535: 14,2650 30766 PICEND
041804,000536: 14,2651 50373 PIC2 VLOAD* DOT
041805,000537: 14,2652 30347 CATLOG,1
041806,000538: 14,2653 02731 SAX
041807,000539: 14,2654 50025 DSU BMN
041808,000540: 14,2655 30765 CSS33
041809,000541: 14,2656 30646 PIC1
041810,000542: 14,2657 77754 LXA,2
041811,000543: 14,2660 00046 X1
041812,000544: 14,2661 52104 PIC3 TIX,2 GOTO
041813,000545: 14,2662 30664 PIC4
041814,000546: 14,2663 30646 PIC1
041815,000547: 14,2664 50373 PIC4 VLOAD* DOT
041816,000548: 14,2665 47430 CATLOG,2
041817,000549: 14,2666 02731 SAX
041818,000550: 14,2667 50025 DSU BMN
041819,000551: 14,2670 30765 CSS33
041820,000552: 14,2671 30661 PIC3
041821,000553: 14,2672 47773 VLOAD* DOT*
041822,000554: 14,2673 30347 CATLOG,1
041823,000555: 14,2674 47430 CATLOG,2
041824,000556: 14,2675 51025 DSU BPL
041825,000557: 14,2676 30763 CSS40
041826,000558: 14,2677 30661 PIC3
041827,000559: 14,2700 45173 VLOAD* CALL
041828,000560: 14,2701 30347 CATLOG,1
041829,000561: 14,2702 30740 OCCULT
041830,000562: 14,2703 77614 BON
041831,000563: 14,2704 01710 CULTFLAG
041832,000564: 14,2705 30646 PIC1
|
|
Page 939 |
041834,000566: 14,2706 45173 VLOAD* CALL
041835,000567: 14,2707 47430 CATLOG,2
041836,000568: 14,2710 30740 OCCULT
041837,000569: 14,2711 77614 BON
041838,000570: 14,2712 01710 CULTFLAG
041839,000571: 14,2713 30661 PIC3
041840,000572: 14,2714 77614 STRATGY BONCLR
041841,000573: 14,2715 01605 VFLAG
041842,000574: 14,2716 30733 NEWPAR
041843,000575: 14,2717 65120 XCHX,1 XCHX,2
041844,000576: 14,2720 02755 BESTI
041845,000577: 14,2721 02756 BESTJ
041846,000578: 14,2722 47773 STRAT VLOAD* DOT*
041847,000579: 14,2723 30347 CATLOG,1
041848,000580: 14,2724 47430 CATLOG,2
041849,000581: 14,2725 43006 PUSH BOFINV
041850,000582: 14,2726 01545 VFLAG
041851,000583: 14,2727 30717 STRAT -3
041852,000584: 14,2730 45345 DLOAD DSU
041853,000585: 14,2731 77644 BPL
041854,000586: 14,2732 30661 PIC3
041855,000587: 14,2733 67130 NEWPAR SXA,1 SXA,2
041856,000588: 14,2734 02755 BESTI
041857,000589: 14,2735 02756 BESTJ
041858,000590: 14,2736 77650 GOTO
041859,000591: 14,2737 30661 PIC3
041860,000592: 14,2740 51321 OCCULT MXV BVSU
041861,000593: 14,2741 02707 CULTRIX
041862,000594: 14,2742 00017 CSS
041863,000595: 14,2743 77654 BZE
041864,000596: 14,2744 30757 CULTED
041865,000597: 14,2745 75240 BMN SIGN
041866,000598: 14,2746 30757 CULTED
041867,000599: 14,2747 00160 MPAC +3
041868,000600: 14,2750 75240 BMN SIGN
041869,000601: 14,2751 30757 CULTED
041870,000602: 14,2752 00162 MPAC +5
041871,000603: 14,2753 43040 BMN CLRGO
041872,000604: 14,2754 30757 CULTED
041873,000605: 14,2755 01630 CULTFLAG
041874,000606: 14,2756 00052 QPRET
041875,000607: 14,2757 77614 CULTED SETGO
041876,000608: 14,2760 01430 CULTFLAG
041877,000609: 14,2761 00052 QPRET
041878,000610: 14,2762 0000016 CSS = CEARTH
041879,000611: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041880,000612: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041881,000613: 14,2766 77414 PICEND BOFF EXIT
041882,000614:
|
|
Page 940 |
041884,000616: 14,2767 01745 VFLAG
041885,000617: 14,2770 30772 PICGXT
041886,000618: 14,2771 03013 TC PICBXT
041887,000619: 14,2772 73150 PICGXT LXA,1 LXA,2
041888,000620: 14,2773 02755 BESTI
041889,000621: 14,2774 02756 BESTJ
041890,000622: 14,2775 47775 VLOAD DOT*
041891,000623: 14,2776 02731 SAX
041892,000624: 14,2777 30347 CATLOG,1
041893,000625: 14,3000 47715 PDVL DOT*
041894,000626: 14,3001 02731 SAX
041895,000627: 14,3002 47430 CATLOG,2
041896,000628: 14,3003 77625 DSU
041897,000629: 14,3004 66044 BPL SXA,1
041898,000630: 14,3005 31011 PICNSWP
041899,000631: 14,3006 02756 BESTJ
041900,000632: 14,3007 77734 SXA,2
041901,000633: 14,3010 02755 BESTI
041902,000634: 14,3011 77776 PICNSWP EXIT
041903,000635: 14,3012 25745 INCR QMIN
041904,000636: 14,3013 31745 PICBXT CA QMIN
041905,000637: 14,3014 04622 TC SWCALL
041906,000638: 14,3015 VPD = 0D
041907,000639: 14,3015 V0 = 6D
041908,000640: 14,3015 V1 = 12D
041909,000641: 14,3015 V2 = 18D
041910,000642: 14,3015 V3 = 24D
041911,000643: 14,3015 DP0 = 30D
041912,000644: 14,3015 DP1 = 32D
041913,000645:
|
|
Page 941 |
041915,000647: # NAME - R51 FINE ALIGN
041916,000648: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
041917,000649: # CALLING SEQ - CALL R51
041918,000650: # INPUT - REFSMMAT
041919,000651: # OUTPUT - GYRO TORQUE PULSES
041920,000652: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
041921,000653:
041922,000654: 14,3015 COUNT* $$/R51
041923,000655: 14,3015 77620 R51 STQ
041924,000656: 14,3016 02746 QMAJ
041925,000657: 14,3017 77776 R51.1 EXIT
041926,000658: 14,3020 05353 TC PHASCHNG
041927,000659: 14,3021 04024 OCT 04024
041928,000660:
041929,000661: 14,3022 34761 R51C CAF OCT15
041930,000662: 14,3023 04616 TC BANKCALL
041931,000663: 14,3024 20623 CADR GOPERF1
041932,000664: 14,3025 06001 TC GOTOPOOH
041933,000665: 14,3026 03030 TC +2 # V33E
041934,000666: 14,3027 03053 TC R51E # ENTER
041935,000667: 14,3030 06037 TC INTPRET
041936,000668: 14,3031 43234 RTB DAD
041937,000669: 14,3032 21573 LOADTIME
041938,000670: 14,3033 31163 TSIGHT1
041939,000671: 14,3034 77624 CALL
041940,000672: 14,3035 30506 LOCSAM
041941,000673: 14,3036 77776 EXIT
041942,000674: 14,3037 04616 TC BANKCALL
041943,000675: 14,3040 30611 CADR R56
041944,000676: 14,3041 03043 TC R51I
041945,000677: 14,3042 03053 R51F TC R51E
041946,000678: 14,3043 05567 R51I TC ALARM
041947,000679: 14,3044 00405 OCT 405
041948,000680: 14,3045 35006 CAF VB05N09
041949,000681: 14,3046 04616 TC BANKCALL
041950,000682: 14,3047 20476 CADR GOFLASH
041951,000683: 14,3050 06001 TC GOTOPOOH
041952,000684: 14,3051 03053 TC R51E
041953,000685: 14,3052 03022 TC R51C
041954,000686: 14,3053 34755 R51E CAF ZERO
041955,000687: 14,3054 55757 TS STARIND
041956,000688: 14,3055 06037 R51.2 TC INTPRET
041957,000689: 14,3056 77776 R51.3 EXIT
041958,000690: 14,3057 05353 TC PHASCHNG
041959,000691: 14,3060 04024 OCT 04024
041960,000692:
041961,000693: 14,3061 06037 TC INTPRET
041962,000694: 14,3062 77624 CALL
041963,000695: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
041964,000696: 14,3064 77776 EXIT
041965,000697: 14,3065 04616 TC BANKCALL
|
|
Page 942 |
041967,000699: 14,3066 16000 CADR AOTMARK
041968,000700: 14,3067 04616 TC BANKCALL
041969,000701: 14,3070 17712 CADR OPTSTALL
041970,000702: 14,3071 05711 TC CURTAINS
041971,000703: 14,3072 11757 CCS STARIND
041972,000704: 14,3073 13075 TCF +2
041973,000705: 14,3074 03145 TC R51.4
041974,000706: 14,3075 06037 TC INTPRET
041975,000707: 14,3076 77775 VLOAD
041976,000708: 14,3077 02715 STARAD +6
041977,000709: 14,3100 02767 STORE STARSAV2
041978,000710: 14,3101 77776 EXIT
041979,000711: 14,3102 05353 TC PHASCHNG
041980,000712: 14,3103 04024 OCT 04024
041981,000713:
041982,000714: 14,3104 06037 TC INTPRET
041983,000715: 14,3105 45145 DLOAD CALL
041984,000716: 14,3106 03562 TSIGHT
041985,000717: 14,3107 32472 PLANET
041986,000718: 14,3110 53521 MXV UNIT
041987,000719: 14,3111 01734 REFSMMAT
041988,000720: 14,3112 26715 STOVL STARAD +6
041989,000721: 14,3113 03554 PLANVEC
041990,000722: 14,3114 53521 MXV UNIT
041991,000723: 14,3115 01734 REFSMMAT
041992,000724: 14,3116 26707 STOVL STARAD
041993,000725: 14,3117 02761 STARSAV1
041994,000726: 14,3120 24007 STOVL 6D
041995,000727: 14,3121 02767 STARSAV2
041996,000728: 14,3122 34015 STCALL 12D
041997,000729: 14,3123 31256 R54 # STAR DATA TEST
041998,000730: 14,3124 45014 BOFF CALL
041999,000731: 14,3125 00354 FREEFLAG
042000,000732: 14,3126 31134 R51K
042001,000733: 14,3127 47441 AXISGEN
042002,000734: 14,3130 77624 CALL
042003,000735: 14,3131 31224 R55 # GYRO TORQUE
042004,000736: 14,3132 77614 CLEAR
042005,000737: 14,3133 01273 PFRATFLG
042006,000738: 14,3134 77776 R51K EXIT
042007,000739: 14,3135 35751 R51P63 CAF OCT14
042008,000740: 14,3136 04616 TC BANKCALL
042009,000741: 14,3137 20623 CADR GOPERF1
042010,000742: 14,3140 06001 TC GOTOPOOH
042011,000743: 14,3141 03022 TC R51C
042012,000744: 14,3142 06037 TC INTPRET
042013,000745: 14,3143 77650 GOTO
042014,000746: 14,3144 02746 QMAJ
042015,000747: 14,3145 06037 R51.4 TC INTPRET
042016,000748: 14,3146 77775 VLOAD
|
|
Page 943 |
042018,000750: 14,3147 02715 STARAD +6
042019,000751: 14,3150 02761 STORE STARSAV1
042020,000752: 14,3151 45145 DLOAD CALL
042021,000753: 14,3152 03562 TSIGHT
042022,000754: 14,3153 32472 PLANET
042023,000755: 14,3154 03554 STORE PLANVEC
042024,000756: 14,3155 77731 SSP
042025,000757: 14,3156 02760 STARIND
042026,000758: 14,3157 00001 1
042027,000759: 14,3160 77650 GOTO
042028,000760: 14,3161 31056 R51.3
042029,000761: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
042030,000762:
|
|
Page 944 |
042032,000764: # GYRO TORQUE COARSE ALIGNMENT
042033,000765:
042034,000766: 14,3164 45020 GYCOARS STQ CALL
042035,000767: 14,3165 02746 QMAJ
042036,000768: 14,3166 47247 CALCGTA
042037,000769: 14,3167 43014 CLEAR CLEAR
042038,000770: 14,3170 01260 DRIFTFLG
042039,000771: 14,3171 01662 REFSMFLG
042040,000772: 14,3172 77776 EXIT
042041,000773: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
042042,000774: 14,3174 04616 TC BANKCALL
042043,000775: 14,3175 20451 CADR GODSPR
042044,000776: 14,3176 33255 CA R55CDR
042045,000777: 14,3177 04616 TC BANKCALL
042046,000778: 14,3200 17323 CADR IMUPULSE
042047,000779: 14,3201 04616 TC BANKCALL
042048,000780: 14,3202 17716 CADR IMUSTALL
042049,000781: 14,3203 05711 TC CURTAINS
042050,000782: 14,3204 05353 TC PHASCHNG
042051,000783: 14,3205 04024 OCT 04024
042052,000784:
042053,000785: 14,3206 06037 TC INTPRET
042054,000786: 14,3207 75160 AXC,1 AXC,2
042055,000787: 14,3210 03606 XSMD
042056,000788: 14,3211 01733 REFSMMAT
042057,000789: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
042058,000790: 14,3213 31377 MATMOVE
042059,000791: 14,3214 43014 CLEAR SET
042060,000792: 14,3215 01273 PFRATFLG
042061,000793: 14,3216 01462 REFSMFLG
042062,000794: 14,3217 77624 CALL
042063,000795: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
042064,000796: 14,3221 77650 GOTO
042065,000797: 14,3222 31134 R51K
042066,000798: 14,3223 04024 V16N20 VN 1620
042067,000799:
|
|
Page 945 |
042069,000801: # R55 GYRO TORQUE
042070,000802: # FUNCTION - COMPUTE AND SEND GYRO PULSES
042071,000803: # CALLING SEQ - CALL R55
042072,000804: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
042073,000805: # OUTPUT - GYRO PULSES
042074,000806: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
042075,000807:
042076,000808: 14,3224 COUNT* $$/R55
042077,000809: 14,3224 77620 R55 STQ
042078,000810: 14,3225 02745 QMIN
042079,000811: 14,3226 77624 CALL
042080,000812: 14,3227 47247 CALCGTA
042081,000813: 14,3230 77776 PULSEM EXIT
042082,000814: 14,3231 33254 R55.1 CAF V06N93
042083,000815: 14,3232 04616 TC BANKCALL
042084,000816: 14,3233 20476 CADR GOFLASH
042085,000817: 14,3234 06001 TC GOTOPOOH
042086,000818: 14,3235 03237 TC R55.2
042087,000819: 14,3236 03251 TC R55RET
042088,000820: 14,3237 05353 R55.2 TC PHASCHNG
042089,000821: 14,3240 00214 OCT 00214
042090,000822: 14,3241 33255 CA R55CDR
042091,000823: 14,3242 04616 TC BANKCALL
042092,000824: 14,3243 17323 CADR IMUPULSE
042093,000825: 14,3244 04616 TC BANKCALL
042094,000826: 14,3245 17716 CADR IMUSTALL
042095,000827: 14,3246 05711 TC CURTAINS
042096,000828: 14,3247 05353 TC PHASCHNG
042097,000829: 14,3250 04024 OCT 04024
042098,000830:
042099,000831: 14,3251 06037 R55RET TC INTPRET
042100,000832: 14,3252 77650 GOTO
042101,000833: 14,3253 02745 QMIN
042102,000834: 14,3254 01535 V06N93 VN 0693
042103,000835: 14,3255 02737 R55CDR ECADR OGC
042104,000836: 14,3256 14,3256 R54 = CHKSDATA
042105,000837:
042106,000838: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
042107,000839: # MOD NO - 0 LOG SECTION - P51-P53
042108,000840: # MODIFICATION BY - LONSKE ASSEMBLY -
042109,000841:
042110,000842: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
042111,000843: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
042112,000844: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
042113,000845: # OS1 = OBSERVED STAR 1 VECTOR
042114,000846: # OS2 = OBSERVED STAR 2 VECTOR
042115,000847: # SS1 = STORED STAR 1 VECTOR
042116,000848: # SS2 = STORED STAR 2 VECTOR
042117,000849: # A1 = ARCCOS(OS1 - OS2)
042118,000850: # A2 = ARCCOS(SS1 - SS2)
042119,000851: # A = ABS(2(A1 - A2))
|
|
Page 946 |
042121,000853: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
042122,000854:
042123,000855: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
042124,000856: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
042125,000857:
042126,000858: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
042127,000859: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
042128,000860:
042129,000861: # ERASABLE INITIALIZATION REQUIRED -
042130,000862: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
042131,000863: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
042132,000864:
042133,000865: # DEBRIS -
042134,000866:
042135,000867: 14,3256 COUNT* $$/R54
042136,000868: 14,3256 43020 CHKSDATA STQ SET
042137,000869: 14,3257 02745 QMIN
042138,000870: 14,3260 00074 FREEFLAG
042139,000871: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
042140,000872: 14,3262 02706 STARAD
042141,000873:
042142,000874: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
042143,000875: 14,3264 00001 0,1
042144,000876: 14,3265 00007 6,1
042145,000877: 14,3266 65552 SL1 ACOS
042146,000878: 14,3267 00025 STORE THETA
042147,000879: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
042148,000880: 14,3271 00354 FREEFLAG
042149,000881: 14,3272 31302 CHKSD
042150,000882: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
042151,000883: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
042152,000884: 14,3275 00006 6D
042153,000885: 14,3276 00025 THETA
042154,000886: 14,3277 00023 STORE 18D
042155,000887: 14,3300 77650 GOTO
042156,000888: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
042157,000889: 14,3302 45345 CHKSD DLOAD DSU
042158,000890: 14,3303 00025 THETA
042159,000891: 14,3304 00023 18D
042160,000892: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
042161,000893: 14,3306 21612 SGNAGREE
042162,000894: 14,3307 01046 STORE NORMTEM1
042163,000895: 14,3310 77414 SET EXIT
042164,000896: 14,3311 00074 FREEFLAG
042165,000897: 14,3312 33326 CAF VB6N5
042166,000898: 14,3313 04616 TC BANKCALL
042167,000899: 14,3314 20476 CADR GOFLASH
042168,000900: 14,3315 16001 TCF GOTOPOOH
042169,000901: 14,3316 03323 TC CHKSDA # PROCEED
042170,000902: 14,3317 06037 TC INTPRET
042171,000903: 14,3320 52014 CLEAR GOTO
042172,000904: 14,3321 00274 FREEFLAG
042173,000905: 14,3322 02745 QMIN
042174,000906: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947 |
042176,000908: 14,3324 77650 GOTO
042177,000909: 14,3325 02745 QMIN
042178,000910: 14,3326 01405 VB6N5 VN 605
042179,000911:
042180,000912: # NAME - CAL53A
042181,000913: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
042182,000914: # CALLING SEQUENCE - CALL CAL53A
042183,000915: # INPUT - X,Y,ZSMD, CDUX,Y,Z
042184,000916: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
042185,000917: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
042186,000918: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
042187,000919:
042188,000920: 14,3327 COUNT* $$/R50
042189,000921: 14,3327 77624 CAL53A CALL
042190,000922: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
042191,000923: 14,3331 66234 RTB SSP
042192,000924: 14,3332 31413 RDCDUS # READ CDUS
042193,000925: 14,3333 00051 S1
042194,000926: 14,3334 00001 1
042195,000927: 14,3335 40370 AXT,1 SETPD
042196,000928: 14,3336 00003 3
042197,000929: 14,3337 00005 4
042198,000930: 14,3340 70543 CALOOP DLOAD* SR1
042199,000931: 14,3341 00325 THETAD +3D,1
042200,000932: 14,3342 70523 PDDL* SR1
042201,000933: 14,3343 00005 4,1
042202,000934: 14,3344 51425 DSU ABS
042203,000935: 14,3345 45206 PUSH DSU
042204,000936: 14,3346 31412 DEGREE1
042205,000937: 14,3347 71240 BMN DLOAD
042206,000938: 14,3350 31366 CALOOP1
042207,000939: 14,3351 51025 DSU BPL
042208,000940: 14,3352 31413 DEG359
042209,000941: 14,3353 31366 CALOOP1
042210,000942: 14,3354 77776 EXIT
042211,000943: 14,3355 05353 TC PHASCHNG
042212,000944: 14,3356 04024 OCT 04024
042213,000945:
042214,000946: 14,3357 06037 TC INTPRET
042215,000947: 14,3360 77624 COARFINE CALL
042216,000948: 14,3361 31565 COARSE
042217,000949: 14,3362 77624 CALL
042218,000950: 14,3363 31602 NCOARSE
042219,000951: 14,3364 77650 GOTO
042220,000952: 14,3365 31370 FINEONLY
042221,000953: 14,3366 77700 CALOOP1 TIX,1
042222,000954: 14,3367 31340 CALOOP
042223,000955: 14,3370 75160 FINEONLY AXC,1 AXC,2
042224,000956: 14,3371 02642 XSM
042225,000957: 14,3372 01733 REFSMMAT
042226,000958: 14,3373 77624 CALL
042227,000959: 14,3374 31377 MATMOVE
|
|
Page 948 |
042229,000961: 14,3375 77650 GOTO
042230,000962: 14,3376 32161 COARSRET
042231,000963: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
042232,000964: 14,3400 00001 0,1
042233,000965: 14,3401 10001 STORE 0,2
042234,000966: 14,3402 77773 VLOAD*
042235,000967: 14,3403 00007 6D,1
042236,000968: 14,3404 10007 STORE 6D,2
042237,000969: 14,3405 77773 VLOAD*
042238,000970: 14,3406 00015 12D,1
042239,000971: 14,3407 10015 STORE 12D,2
042240,000972: 14,3410 77616 RVQ
042241,000973: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
042242,000974: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
042243,000975: 14,3413 00004 RDCDUS INHINT # READ CDUS
042244,000976: 14,3414 30032 CA CDUX
042245,000977: 14,3415 50120 INDEX FIXLOC
042246,000978: 14,3416 54001 TS 1
042247,000979: 14,3417 30033 CA CDUY
042248,000980: 14,3420 50120 INDEX FIXLOC
042249,000981: 14,3421 54002 TS 2
042250,000982: 14,3422 30034 CA CDUZ
042251,000983: 14,3423 50120 INDEX FIXLOC
042252,000984: 14,3424 54003 TS 3
042253,000985: 14,3425 00003 RELINT
042254,000986: 14,3426 06061 TC DANZIG # +
042255,000987: 14,3427 COUNT* $$/INFLT
042256,000988:
|
|
Page 949 |
042258,000990: # NAME - P51 - IMU ORIENTATION DETERMINATION
042259,000991: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
042260,000992: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
042261,000993:
042262,000994: # FUNCTIONAL DESCRIPTION
042263,000995: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
042264,000996: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
042265,000997: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
042266,000998: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
042267,000999:
042268,001000: # CALLING SEQUENCE
042269,001001: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
042270,001002:
042271,001003: # SUBROUTINES CALLED.
042272,001004: # GOPERF3
042273,001005: # GOPERF1
042274,001006: # GODSPR
042275,001007: # IMUCOARS
042276,001008: # IMUFIN20
042277,001009: # AOTMARK (R53)
042278,001010: # CHKSDATA (R54)
042279,001011: # MKRELEAS
042280,001012: # AXISGEN
042281,001013: # MATMOVE
042282,001014:
042283,001015: # ALARMS
042284,001016: # NONE.
042285,001017:
042286,001018: # ERASABLE INITIALIZATION
042287,001019: # IMU ZERO FLAG SHOULD BE SET.
042288,001020:
042289,001021: # OUTPUT
042290,001022: # REFSMMAT
042291,001023: # REFSMFLG
042292,001024:
042293,001025: # DEBRIS
042294,001026: # WORK AREA
042295,001027: # STARAD
042296,001028: # STARIND
042297,001029: # BESTI
042298,001030: # BESTJ
042299,001031:
042300,001032: 14,3427 COUNT* $$/P51
|
|
Page 950 |
042302,001034: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042303,001035: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042304,001036:
042305,001037: 14,3431 34761 CAF OCT15
042306,001038: 14,3432 04616 TC BANKCALL
042307,001039: 14,3433 20623 CADR GOPERF1
042308,001040: 14,3434 06001 TC GOTOPOOH # TERM.
042309,001041: 14,3435 13461 TCF P51B # V33
042310,001042: 14,3436 05353 TC PHASCHNG
042311,001043: 14,3437 04024 OCT 04024
042312,001044:
042313,001045: 14,3440 34755 CAF ZERO
042314,001046: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
042315,001047: 14,3442 54322 TS THETAD +1
042316,001048: 14,3443 54323 TS THETAD +2
042317,001049: 14,3444 35010 CAF V06N22
042318,001050: 14,3445 04616 TC BANKCALL
042319,001051: 14,3446 20446 CADR GODSPRET
042320,001052: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
042321,001053: 14,3450 04616 TC BANKCALL
042322,001054: 14,3451 20446 CADR GODSPRET
042323,001055: 14,3452 06037 TC INTPRET
042324,001056: 14,3453 77624 CALL
042325,001057: 14,3454 31565 COARSE
042326,001058: 14,3455 77776 EXIT
042327,001059: 14,3456 05353 TC PHASCHNG
042328,001060: 14,3457 04024 OCT 04024
042329,001061: 14,3460 13431 TCF P51 +2
042330,001062:
042331,001063: 14,3461 05353 P51B TC PHASCHNG
042332,001064: 14,3462 00014 OCT 00014
042333,001065: 14,3463 06037 TC INTPRET
042334,001066: 14,3464 77624 CALL
042335,001067: 14,3465 31602 NCOARSE
042336,001068: 14,3466 40331 SSP SETPD
042337,001069: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
042338,001070: 14,3470 00000 0
042339,001071: 14,3471 00001 0
042340,001072: 14,3472 77776 P51C EXIT
042341,001073: 14,3473 05353 TC PHASCHNG
042342,001074: 14,3474 04024 OCT 04024
042343,001075:
042344,001076: 14,3475 04616 TC BANKCALL
042345,001077: 14,3476 16000 CADR AOTMARK # R53
042346,001078: 14,3477 04616 TC BANKCALL
042347,001079: 14,3500 17712 CADR AOTSTALL
042348,001080: 14,3501 05711 TC CURTAINS
042349,001081: 14,3502 11757 CCS STARIND
042350,001082: 14,3503 13511 TCF P51D +1
042351,001083: 14,3504 06037 TC INTPRET
|
|
Page 951 |
042353,001085: 14,3505 77775 VLOAD
042354,001086: 14,3506 02715 STARAD +6
042355,001087: 14,3507 02761 STORE STARSAV1
042356,001088: 14,3510 77776 P51D EXIT
042357,001089: 14,3511 05353 TC PHASCHNG
042358,001090: 14,3512 04024 OCT 04024
042359,001091:
042360,001092: 14,3513 11757 CCS STARIND
042361,001093: 14,3514 13530 TCF P51E
042362,001094: 14,3515 05353 TC PHASCHNG
042363,001095: 14,3516 04024 OCT 04024
042364,001096:
042365,001097: 14,3517 06037 TC INTPRET
042366,001098: 14,3520 45145 DLOAD CALL
042367,001099: 14,3521 03562 TSIGHT
042368,001100: 14,3522 32472 PLANET
042369,001101: 14,3523 03554 STORE PLANVEC
042370,001102: 14,3524 77776 EXIT
042371,001103: 14,3525 34753 CAF BIT1
042372,001104: 14,3526 55757 TS STARIND
042373,001105: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
042374,001106: 14,3530 05353 P51E TC PHASCHNG
042375,001107: 14,3531 04024 OCT 04024
042376,001108:
042377,001109: 14,3532 06037 TC INTPRET
042378,001110: 14,3533 45145 DLOAD CALL
042379,001111: 14,3534 03562 TSIGHT
042380,001112: 14,3535 32472 PLANET
042381,001113: 14,3536 24015 STOVL 12D
042382,001114: 14,3537 03554 PLANVEC
042383,001115: 14,3540 24007 STOVL 6D
042384,001116: 14,3541 02761 STARSAV1
042385,001117: 14,3542 26707 STOVL STARAD
042386,001118: 14,3543 02767 STARSAV2
042387,001119: 14,3544 36715 STCALL STARAD +6
042388,001120: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
042389,001121: 14,3546 77414 BON EXIT
042390,001122: 14,3547 00314 FREEFLAG
042391,001123: 14,3550 31552 P51G
042392,001124: 14,3551 03431 TC P51 +2
042393,001125: 14,3552 77624 P51G CALL
042394,001126: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
042395,001127: 14,3554 75160 AXC,1 AXC,2
042396,001128: 14,3555 02664 XDC
042397,001129: 14,3556 01733 REFSMMAT
042398,001130: 14,3557 77624 CALL
042399,001131: 14,3560 31377 MATMOVE
042400,001132: 14,3561 77414 SET EXIT
042401,001133: 14,3562 01462 REFSMFLG
042402,001134: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952 |
042404,001136: 14,3564 12200 V41K VN 4100
042405,001137: 14,3565 77776 COARSE EXIT
042406,001138: 14,3566 04616 TC BANKCALL
042407,001139: 14,3567 17000 CADR IMUCOARS
042408,001140: 14,3570 04616 TC BANKCALL
042409,001141: 14,3571 17716 CADR IMUSTALL
042410,001142: 14,3572 05711 TC CURTAINS
042411,001143: 14,3573 04616 TC BANKCALL
042412,001144: 14,3574 17210 CADR IMUFINE
042413,001145: 14,3575 04616 TC BANKCALL
042414,001146: 14,3576 17716 CADR IMUSTALL
042415,001147: 14,3577 05711 TC CURTAINS
042416,001148: 14,3600 06037 TC INTPRET
042417,001149: 14,3601 77616 RVQ
042418,001150: 14,3602 77776 NCOARSE EXIT
042419,001151: 14,3603 30025 CA TIME1
042420,001152: 14,3604 55075 TS 1/PIPADT
042421,001153: 14,3605 44755 CS ZERO
042422,001154: 14,3606 54037 TS PIPAX
042423,001155: 14,3607 54040 TS PIPAY
042424,001156: 14,3610 54041 TS PIPAZ
042425,001157: 14,3611 06037 TC INTPRET
042426,001158: 14,3612 77775 VLOAD
042427,001159: 14,3613 24007 ZEROVEC
042428,001160: 14,3614 01472 STORE GCOMP
042429,001161: 14,3615 43414 SET RVQ
042430,001162: 14,3616 01060 DRIFTFLG
042431,001163:
|
|
Page 953 |
042433,001165: # NAME - S52.2
042434,001166: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042435,001167: # CALL - CALL S52.2
042436,001168: # INPUT - X,Y,ZSMD
042437,001169: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
042438,001170: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
042439,001171:
042440,001172: 14,3617 COUNT* $$/S52.1
042441,001173: 14,3617 45020 S52.2 STQ CALL
042442,001174: 14,3620 02746 QMAJ
042443,001175: 14,3621 47537 CDUTRIG
042444,001176: 14,3622 77624 CALL
042445,001177: 14,3623 20030 CALCSMSC
042446,001178: 14,3624 66370 AXT,1 SSP
042447,001179: 14,3625 00022 18D
042448,001180: 14,3626 00051 S1
042449,001181: 14,3627 00006 6D
042450,001182: 14,3630 61373 S52.2A VLOAD* VXM
042451,001183: 14,3631 02707 XNB +18D,1
042452,001184: 14,3632 01734 REFSMMAT
042453,001185: 14,3633 77656 UNIT
042454,001186: 14,3634 06707 STORE XNB +18D,1
042455,001187: 14,3635 77700 TIX,1
042456,001188: 14,3636 31630 S52.2A
042457,001189: 14,3637 75160 S52.2.1 AXC,1 AXC,2
042458,001190: 14,3640 03606 XSMD
042459,001191: 14,3641 02642 XSM
042460,001192: 14,3642 77624 CALL
042461,001193: 14,3643 31377 MATMOVE
042462,001194: 14,3644 77624 CALL
042463,001195: 14,3645 47353 CALCGA
042464,001196: 14,3646 77650 GOTO
042465,001197: 14,3647 02746 QMAJ
042466,001198:
|
|
Page 954 |
042468,001200: # NAME - S52.3
042469,001201: # FUNCTION XSMD= UNIT R
042470,001202: # YSMD= UNIT(V X R)
042471,001203: # ZSMD= UNIT(XSMD X YSMD)
042472,001204: # CALL DLOAD CALL
042473,001205: # TALIGN
042474,001206: # S52.3
042475,001207: # INPUT - TIME OF ALIGNMENT IN MPAC
042476,001208: # OUTPUT - X,Y,ZSMD
042477,001209: # SUBROUTINES - CSMCONIC
042478,001210:
042479,001211: 14,3650 COUNT* $$/S52.3
042480,001212: 14,3650 77620 S52.3 STQ
042481,001213: 14,3651 02746 QMAJ
042482,001214: 14,3652 34041 STCALL TDEC1
042483,001215: 14,3653 27100 LEMCONIC
042484,001216: 14,3654 53575 VLOAD UNIT
042485,001217: 14,3655 00001 RATT
042486,001218: 14,3656 27607 STOVL XSMD
042487,001219: 14,3657 00007 VATT
042488,001220: 14,3660 53435 VXV UNIT
042489,001221: 14,3661 00001 RATT
042490,001222: 14,3662 27615 STOVL YSMD
042491,001223: 14,3663 03607 XSMD
042492,001224: 14,3664 53435 VXV UNIT
042493,001225: 14,3665 03615 YSMD
042494,001226: 14,3666 37623 STCALL ZSMD
042495,001227: 14,3667 02746 QMAJ
042496,001228:
|
|
Page 955 |
042498,001230: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042499,001231:
042500,001232: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042501,001233: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042502,001234:
042503,001235: # CALLING - CALL R52
042504,001236:
042505,001237: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
042506,001238:
042507,001239: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
042508,001240: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
042509,001241: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042510,001242: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042511,001243:
042512,001244: # SUBROUT - R60LEM
042513,001245:
042514,001246: 14,3670 COUNT* $$/R52
042515,001247: 14,3670 77420 R52 STQ EXIT
042516,001248: 14,3671 03665 SAVQR52
042517,001249: 14,3672 51757 INDEX STARIND
042518,001250: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
042519,001251: 14,3674 00006 EXTEND
042520,001252: 14,3675 73771 MP 1/6TH
042521,001253: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
042522,001254: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
042523,001255:
042524,001256: 14,3700 33772 R52A CAF V01N70
042525,001257: 14,3701 04616 TC BANKCALL
042526,001258: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
042527,001259: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
042528,001260: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
042529,001261: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
042530,001262:
042531,001263: 14,3706 05516 R52B TC DOWNFLAG
042532,001264: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042533,001265: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
042534,001266: 14,3711 77744 MASK HIGH9
042535,001267: 14,3712 00006 EXTEND
042536,001268: 14,3713 74743 MP BIT9
042537,001269: 14,3714 54001 TS L # TEMP STORE DETENT
042538,001270:
042539,001271: 14,3715 00006 EXTEND
042540,001272: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
042541,001273:
042542,001274: 14,3717 65660 AD NEG7
042543,001275: 14,3720 00006 EXTEND
042544,001276: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
042545,001277:
042546,001278: 14,3722 E7,1551 EBANK= XYMARK
042547,001279: 14,3722 35016 CA EBANK7
042548,001280: 14,3723 54003 TS EBANK
|
|
Page 956 |
042550,001282: 14,3724 50001 INDEX L
042551,001283: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
042552,001284: 14,3726 54001 TS L
042553,001285: 14,3727 E5,1642 EBANK= XSM
042554,001286: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
042555,001287: 14,3730 54003 TS EBANK
042556,001288: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
042557,001289: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042558,001290: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
042559,001291:
042560,001292: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
042561,001293: 14,3735 04616 TC BANKCALL
042562,001294: 14,3736 20476 CADR GOFLASH
042563,001295: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
042564,001296: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
042565,001297: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
042566,001298:
042567,001299: 14,3742 00006 EXTEND
042568,001300: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
042569,001301: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
042570,001302: 14,3745 52011 DXCH 8D
042571,001303: 14,3746 06037 TC INTPRET
042572,001304: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
042573,001305: 14,3750 10536 OANB # SCAXIS IN NB COORDS
042574,001306: 14,3751 45034 RTB CALL
042575,001307: 14,3752 21573 LOADTIME
042576,001308: 14,3753 32472 PLANET
042577,001309: 14,3754 53521 MXV UNIT
042578,001310: 14,3755 01734 REFSMMAT
042579,001311: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
042580,001312:
042581,001313: 14,3757 77776 EXIT
042582,001314: 14,3760 04616 TC BANKCALL
042583,001315: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
042584,001316:
042585,001317: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
042586,001318: 14,3763 70735 MASK STARCODE
042587,001319: 14,3764 00006 EXTEND
042588,001320: 14,3765 13700 BZF R52A
042589,001321:
042590,001322: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
042591,001323: 14,3767 77650 GOTO
042592,001324: 14,3770 03665 SAVQR52 # RETURN TO CALLER
042593,001325:
042594,001326: 14,3771 05253 1/6TH DEC .1666667
042595,001327: 14,3772 00306 V01N70 VN 0170
042596,001328: 14,3773 01527 V06N87 VN 687
042597,001329:
|
|
Page 957 |
042599,001331: # LUNAR SURFACE STAR AQUISITION
042600,001332:
042601,001333: 15,2245 BANK 15
042602,001334: 15,2000 SETLOC P50S
042603,001335: 15,2000 BANK
042604,001336: 15,2245 COUNT* $$/R59
042605,001337:
042606,001338: 15,2245 40077 R59 CS FLAGWRD3
042607,001339: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042608,001340: 15,2247 10000 CCS A
042609,001341: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042610,001342:
042611,001343: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042612,001344: 15,2252 04616 TC BANKCALL
042613,001345: 15,2253 20476 CADR GOFLASH
042614,001346: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
042615,001347: 15,2255 12257 TCF R59A # V33 - PROCEED
042616,001348: 15,2256 12245 TCF R59 # V32 - RECYCLE
042617,001349:
042618,001350: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
042619,001351: 15,2260 70735 MASK AOTCODE
042620,001352: 15,2261 00006 EXTEND
042621,001353: 15,2262 76242 MP REVCNT # JUST 6
042622,001354: 15,2263 56001 XCH L
042623,001355: 15,2264 51757 INDEX STARIND
042624,001356: 15,2265 55755 TS BESTI
042625,001357: 15,2266 50120 INDEX FIXLOC
042626,001358: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
042627,001359: 15,2270 00006 EXTEND
042628,001360: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
042629,001361: 15,2272 40000 COM
042630,001362: 15,2273 62561 AD DEC227
042631,001363: 15,2274 00006 EXTEND
042632,001364: 15,2275 62455 BZMF R59OUT
042633,001365:
042634,001366: 15,2276 06037 TC INTPRET
042635,001367: 15,2277 64373 VLOAD* MXV
042636,001368: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
042637,001369: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
042638,001370: 15,2302 45056 UNIT CALL
042639,001371: 15,2303 47646 CDU*SMNB
042640,001372: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042641,001373: 15,2305 77776 EXIT
042642,001374:
042643,001375: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
042644,001376: 15,2307 55242 TS POSCODE
042645,001377:
042646,001378: 15,2310 E7,1551 EBANK= XYMARK
042647,001379: 15,2310 35016 INCAZ CA EBANK7
042648,001380: 15,2311 54003 TS EBANK
042649,001381:
|
|
Page 958 |
042651,001383: 15,2312 51242 INDEX POSCODE
042652,001384: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
042653,001385: 15,2314 54001 TS L
042654,001386:
042655,001387: 15,2315 E5,1642 EBANK= XSM
042656,001388: 15,2315 35014 CA EBANK5
042657,001389: 15,2316 54003 TS EBANK
042658,001390:
042659,001391: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
042660,001392: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042661,001393: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
042662,001394: 15,2322 50120 INDEX FIXLOC
042663,001395: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042664,001396:
042665,001397: 15,2324 06037 TC INTPRET
042666,001398: 15,2325 77624 CALL
042667,001399: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
042668,001400: 15,2327 50375 VLOAD DOT
042669,001401: 15,2330 02731 STAR # DOT STAR WITH OA
042670,001402: 15,2331 03765 SCAXIS
042671,001403: 15,2332 65552 SL1 ARCCOS
042672,001404: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042673,001405:
042674,001406: 15,2334 51025 DSU BPL
042675,001407: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042676,001408: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
042677,001409: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042678,001410: 15,2340 00031 24D
042679,001411: 15,2341 32470 DEG.5
042680,001412: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042681,001413: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
042682,001414: 15,2344 00031 24D # GET SPIRAL
042683,001415: 15,2345 42405 DMP SL4
042684,001416: 15,2346 25764 3/4 # 12 SCALED AT 16
042685,001417: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042686,001418:
042687,001419: 15,2350 03765 SCAXIS # OA
042688,001420: 15,2351 53435 VXV UNIT
042689,001421: 15,2352 24005 XUNIT
042690,001422: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
042691,001423: 15,2354 03765 SCAXIS
042692,001424: 15,2355 77676 VCOMP
042693,001425: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
042694,001426: 15,2357 03765 SCAXIS
042695,001427: 15,2360 53435 VXV UNIT
042696,001428: 15,2361 02731 STAR
042697,001429: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042698,001430: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042699,001431: 15,2364 65552 SL1 ARCCOS
042700,001432: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
|
|
Page 959 |
042702,001434: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
042703,001435: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
042704,001436: 15,2370 32375 R59D
042705,001437: 15,2371 32047 ABOUTONE
042706,001438: 15,2372 77625 DSU
042707,001439: 15,2373 00033 26D
042708,001440: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
042709,001441:
042710,001442: 15,2375 70535 R59D SLOAD SR1
042711,001443: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
042712,001444: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042713,001445: 15,2400 00033 26D
042714,001446: 15,2401 77634 RTB
042715,001447: 15,2402 21614 1STO2S
042716,001448: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
042717,001449: 15,2404 00031 24D # LOAD SROT IN REVS
042718,001450: 15,2405 77615 DAD # 12(SEP) + YROT
042719,001451: 15,2406 77634 RTB
042720,001452: 15,2407 21614 1STO2S
042721,001453: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
042722,001454: 15,2411 77776 EXIT
042723,001455: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042724,001456:
042725,001457: 15,2413 77776 ZSPCR EXIT
042726,001458: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
042727,001459: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
042728,001460: 15,2416 55240 TS SPIRAL
042729,001461: 15,2417 12437 TCF 79DISP
042730,001462:
042731,001463: 15,2420 77776 NXAX EXIT
042732,001464: 15,2421 25242 INCR POSCODE
042733,001465: 15,2422 41242 CS POSCODE
042734,001466: 15,2423 64757 AD SEVEN
042735,001467: 15,2424 00006 EXTEND
042736,001468: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042737,001469: 15,2426 12310 TCF INCAZ
042738,001470:
042739,001471: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042740,001472: 15,2430 00404 OCT 404
042741,001473: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
042742,001474: 15,2432 04616 TC BANKCALL
042743,001475: 15,2433 20476 CADR GOFLASH
042744,001476: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
042745,001477: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
042746,001478: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
042747,001479:
042748,001480: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042749,001481: 15,2440 04616 TC BANKCALL
042750,001482: 15,2441 20476 CADR GOFLASH
042751,001483: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
|
|
Page 960 |
042753,001485: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
042754,001486: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
042755,001487:
042756,001488: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
042757,001489: 15,2446 71242 MASK POSCODE
042758,001490: 15,2447 00006 EXTEND
042759,001491: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
042760,001492: 15,2451 47744 CS HIGH9
042761,001493: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
042762,001494: 15,2453 60001 AD L
042763,001495: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
042764,001496:
042765,001497: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
042766,001498: 15,2456 16000 CADR AOTMARK
042767,001499: 15,2457 04616 TC BANKCALL
042768,001500: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042769,001501: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
042770,001502: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042771,001503:
042772,001504: 15,2463 00306 V01N70* VN 170
042773,001505: 15,2464 01517 V06N79 VN 679
042774,001506: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042775,001507: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042776,001508: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042777,001509: 15,2472 1236 CURSOR EQUALS GDT/2
042778,001510: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
042779,001511: 15,2472 1242 POSCODE EQUALS GDT/2 +4
042780,001512:
|
|
Page 961 |
042782,001514: # NAME - PLANET
042783,001515: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042784,001516: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
042785,001517: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
042786,001518: # BY DSDY INPUT
042787,001519: # CALL - CALL
042788,001520: # PLANET
042789,001521: # INPUT - TIME IN MPAC
042790,001522: # OUTPUT - VECTOR IN MPAC
042791,001523: # SUBROUTINES - LOCSAM
042792,001524: # DEBRIS - VAC, STARAD - STARAD +17
042793,001525:
042794,001526: 15,2000 SETLOC P50S
042795,001527: 15,2000 BANK
042796,001528: 15,2472 COUNT* $$/P51
042797,001529:
042798,001530: 15,2472 27562 PLANET STOVL TSIGHT
042799,001531: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
042800,001532: 15,2474 02707 STORE STARAD
042801,001533: 15,2475 77420 STQ EXIT
042802,001534: 15,2476 02736 GCTR
042803,001535: 15,2477 47744 CS HIGH9
042804,001536: 15,2500 70735 MASK AOTCODE
042805,001537: 15,2501 00006 EXTEND
042806,001538: 15,2502 76242 MP REVCNT
042807,001539: 15,2503 56001 XCH L
042808,001540: 15,2504 51757 INDEX STARIND
042809,001541: 15,2505 55755 TS BESTI
042810,001542: 15,2506 10000 CCS A
042811,001543: 15,2507 12523 TCF NOTPLAN
042812,001544: 15,2510 32562 CAF VNPLANV
042813,001545: 15,2511 04616 TC BANKCALL
042814,001546: 15,2512 20476 CADR GOFLASH
042815,001547: 15,2513 02510 TC -3
042816,001548: 15,2514 02516 TC +2
042817,001549: 15,2515 02510 TC -5
042818,001550: 15,2516 06037 TC INTPRET
042819,001551: 15,2517 53575 VLOAD UNIT
042820,001552: 15,2520 02707 STARAD
042821,001553: 15,2521 77650 GOTO
042822,001554: 15,2522 02736 GCTR
042823,001555: 15,2523 40000 NOTPLAN CS A
042824,001556: 15,2524 62561 AD DEC227
042825,001557: 15,2525 00006 EXTEND
042826,001558: 15,2526 62537 BZMF CALSAM1
042827,001559: 15,2527 51757 INDEX STARIND
042828,001560: 15,2530 31755 CA BESTI
042829,001561: 15,2531 50120 INDEX FIXLOC
042830,001562: 15,2532 54046 TS X1
042831,001563: 15,2533 06037 TC INTPRET
|
|
Page 962 |
042833,001565: 15,2534 52173 VLOAD* GOTO
042834,001566: 15,2535 30347 CATLOG,1
042835,001567: 15,2536 02736 GCTR
042836,001568: 15,2537 06037 CALSAM1 TC INTPRET
042837,001569: 15,2540 45145 CALSAM DLOAD CALL
042838,001570: 15,2541 03562 TSIGHT
042839,001571: 15,2542 30506 LOCSAM
042840,001572: 15,2543 77340 LXC,1 VLOAD
042841,001573: 15,2544 02757 STARIND
042842,001574: 15,2545 02707 VEARTH
042843,001575: 15,2546 24001 STOVL 0D
042844,001576: 15,2547 02715 VSUN
042845,001577: 15,2550 26707 STOVL VEARTH
042846,001578: 15,2551 00001 0D
042847,001579: 15,2552 02715 STORE VSUN
042848,001580: 15,2553 70143 DLOAD* LXC,1
042849,001581: 15,2554 02756 BESTI,1
042850,001582: 15,2555 00154 MPAC
042851,001583: 15,2556 52173 VLOAD* GOTO
042852,001584: 15,2557 02343 STARAD -228D,1
042853,001585: 15,2560 02736 GCTR
042854,001586: 15,2561 00343 DEC227 DEC 227 B-14
042855,001587: 15,2562 01530 VNPLANV VN 0688
042856,001588: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042857,001589:
|
|
Page 963 |
042859,001591: # GRAVITY VECTOR DETERMINATION ROUTINE
042860,001592: # BY KEN VINCENT
042861,001593:
042862,001594: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042863,001595:
042864,001596: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042865,001597: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042866,001598: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042867,001599: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042868,001600: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042869,001601: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042870,001602: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042871,001603: # READINGS.
042872,001604:
042873,001605: # CALL -
042874,001606: # TC BANKCALL
042875,001607: # CADR GVDETER
042876,001608:
042877,001609: # INPUTS -
042878,001610: # PIPAS, CDUS
042879,001611:
042880,001612: # OUTPUTS -
042881,001613: # STARSAV1 = UNIT GRAVITY
042882,001614: # GSAV = DITTO
042883,001615: # GRAVBIT = 1
042884,001616:
042885,001617: # SUBROUTINES -
042886,001618: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
042887,001619: # *NBSM*, *SNMB*, CALCGA, FOFLASH
042888,001620:
042889,001621: # DEBRIS -
042890,001622: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
042891,001623:
042892,001624: 15,2563 32772 GVDETER CAF 42DEG
042893,001625: 15,2564 54321 TS THETAD
042894,001626: 15,2565 40000 COM
042895,001627: 15,2566 54322 TS THETAD +1
042896,001628: 15,2567 32773 CAF 35DEG
042897,001629: 15,2570 54323 TS THETAD +2
042898,001630: 15,2571 06037 TC INTPRET
042899,001631: 15,2572 45014 CLEAR CALL
042900,001632: 15,2573 01662 REFSMFLG
042901,001633: 15,2574 32670 LUNG
042902,001634:
042903,001635: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
042904,001636:
042905,001637: # DEFINE G COOR SYS
042906,001638: # -
042907,001639: # X UNIT G
042908,001640: # * - -
042909,001641: # M = Y = UNITEZSM * X )
042910,001642: # - - -
042911,001643: # Z UNIT(X * Y )
042912,001644:
042913,001645: # THEN ROTATED SM WRT PRESENT IS
042914,001646:
042915,001647: # 1, 0, 0
042916,001648: # * *T * * *
|
|
Page 964 |
042918,001650: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
042919,001651: # I J
042920,001652: # 0, 0, -1
042921,001653:
042922,001654: # ALSO NB WRT PRES SM IS
042923,001655:
042924,001656: # * * *
042925,001657: # XNB = NBSM I
042926,001658: # * *
042927,001659: # GIMBAL ANGLES = CALCGA( XSM, XNB )
042928,001660:
042929,001661: 15,2000 SETLOC P50S
042930,001662: 15,2000 BANK
042931,001663: 15,2575 COUNT* $$/P57
042932,001664: 15,2575 66370 AXT,1 SSP # X1=18
042933,001665: 15,2576 00022 18D # S1=6
042934,001666: 15,2577 00051 S1 # X2, -2
042935,001667: 15,2600 00006 6D
042936,001668: 15,2601 77744 LXC,2
042937,001669: 15,2602 00050 S1
042938,001670: 15,2603 45173 GRAVEL VLOAD* CALL
042939,001671: 15,2604 54000 XUNIT -6,2
042940,001672: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
042941,001673: 15,2606 06707 STORE XNB +18D,1
042942,001674: 15,2607 77775 VLOAD
042943,001675: 15,2610 02731 STAR
042944,001676: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
042945,001677: 15,2612 00047 X2
042946,001678: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
042947,001679: 15,2614 71152 VSL2 LXC,2
042948,001680: 15,2615 00047 X2
042949,001681: 15,2616 63047 VSU* INCR,2
042950,001682: 15,2617 54000 XUNIT -6,2
042951,001683: 15,2620 00002 2D
042952,001684: 15,2621 06665 STORE XSM +18D,1
042953,001685: 15,2622 45100 TIX,1 CALL
042954,001686: 15,2623 32603 GRAVEL
042955,001687: 15,2624 47353 CALCGA
042956,001688: 15,2625 74575 VLOAD VSR1
042957,001689: 15,2626 02715 GOUT
042958,001690: 15,2627 36723 STCALL STARAD +12D
042959,001691: 15,2630 32670 LUNG
042960,001692: 15,2631 74575 VLOAD VSR1
042961,001693: 15,2632 02715 GOUT
042962,001694: 15,2633 53455 VAD UNIT
042963,001695: 15,2634 02723 STARAD +12D
042964,001696: 15,2635 02761 STORE STARSAV1
042965,001697: 15,2636 77641 DOT
042966,001698: 15,2637 02231 GSAV
042967,001699: 15,2640 65552 SL1 ACOS
|
|
Page 965 |
042969,001701: 15,2641 01046 STORE DSPTEM1
042970,001702: 15,2642 77776 EXIT
042971,001703: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042972,001704: 15,2644 00014 ADRES FREEFLAG
042973,001705:
042974,001706: 15,2645 32771 CA DISGRVER
042975,001707: 15,2646 04616 TC BANKCALL
042976,001708: 15,2647 20476 CADR GOFLASH
042977,001709: 15,2650 06001 TC GOTOPOOH
042978,001710: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
042979,001711: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
042980,001712: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042981,001713:
042982,001714: 15,2654 05353 PROGRAV TC PHASCHNG
042983,001715: 15,2655 04024 OCT 04024
042984,001716:
042985,001717: 15,2656 06037 TC INTPRET
042986,001718: 15,2657 77775 VLOAD
042987,001719: 15,2660 02761 STARSAV1
042988,001720: 15,2661 02231 STORE GSAV
042989,001721: 15,2662 77776 EXIT
042990,001722: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042991,001723: 15,2664 70074 MASK FLAGWRD0
042992,001724: 15,2665 10000 CCS A
042993,001725: 15,2666 12563 TCF GVDETER # SET
042994,001726: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
042995,001727:
042996,001728: 15,2670 77220 LUNG STQ VLOAD
042997,001729: 15,2671 02745 QMIN
042998,001730: 15,2672 24007 ZEROVEC
042999,001731: 15,2673 02707 STORE GACC
043000,001732: 15,2674 77776 EXIT
043001,001733: 15,2675 05353 TC PHASCHNG
043002,001734: 15,2676 04024 OCT 04024
043003,001735:
043004,001736: 15,2677 04616 TC BANKCALL
043005,001737: 15,2700 17000 CADR IMUCOARS
043006,001738: 15,2701 04616 TC BANKCALL
043007,001739: 15,2702 17716 CADR IMUSTALL
043008,001740: 15,2703 05711 TC CURTAINS
043009,001741: 15,2704 04616 TC BANKCALL
043010,001742: 15,2705 17210 CADR IMUFINE
043011,001743: 15,2706 04616 TC BANKCALL
043012,001744: 15,2707 17716 CADR IMUSTALL
043013,001745: 15,2710 05711 TC CURTAINS
043014,001746: 15,2711 32770 CA T/2SEC
043015,001747: 15,2712 55736 TS GCTR
043016,001748: 15,2713 37716 CA PRIO31
043017,001749: 15,2714 55075 TS 1/PIPADT
043018,001750: 15,2715 04616 TC BANKCALL
|
|
Page 966 |
043020,001752: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
043021,001753: 15,2717 05353 TC PHASCHNG
043022,001754: 15,2720 04024 OCT 04024
043023,001755:
043024,001756: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
043025,001757: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
043026,001758: 15,2723 06037 TC INTPRET
043027,001759: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
043028,001760: 15,2725 35000 CAF 2SECS
043029,001761: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
043030,001762: 15,2727 02731 ADRES GRABGRAV
043031,001763:
043032,001764: 15,2730 05155 TC ENDOFJOB
043033,001765:
043034,001766: 15,2731 04674 GRABGRAV TC IBNKCALL
043035,001767: 15,2732 77544 CADR PIPSRINE
043036,001768: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
043037,001769: 15,2734 05105 TC FINDVAC
043038,001770: 15,2735 E5,1706 EBANK= STARAD
043039,001771: 15,2735 02740 32065 2CADR ADDGRAV
043040,001772:
043041,001773: 15,2737 05261 TC TASKOVER
043042,001774:
043043,001775: 15,2740 04616 ADDGRAV TC BANKCALL
043044,001776: 15,2741 15263 CADR 1/PIPA
043045,001777: 15,2742 25736 INCR GCTR
043046,001778: 15,2743 06037 TC INTPRET
043047,001779: 15,2744 53375 VLOAD VAD
043048,001780: 15,2745 00325 DELV
043049,001781: 15,2746 02707 GACC
043050,001782: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
043051,001783: 15,2750 50135 SLOAD BMN
043052,001784: 15,2751 02737 GCTR
043053,001785: 15,2752 32724 GREED
043054,001786: 15,2753 53575 VLOAD UNIT
043055,001787: 15,2754 02707 GACC
043056,001788: 15,2755 36731 STCALL STAR
043057,001789: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
043058,001790: 15,2757 77624 CALL # IN OUTPUT
043059,001791: 15,2760 47671 *SMNB*
043060,001792: 15,2761 02715 STORE GOUT
043061,001793: 15,2762 77776 EXIT
043062,001794: 15,2763 05353 TC PHASCHNG
043063,001795: 15,2764 04024 OCT 04024
043064,001796:
043065,001797: 15,2765 06037 QMINEXIT TC INTPRET
043066,001798: 15,2766 77650 GOTO
043067,001799: 15,2767 02745 QMIN
043068,001800: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967 |
043070,001802: 15,2771 01404 DISGRVER VN 0604
043071,001803: 15,2772 07357 42DEG OCT 07357
043072,001804: 15,2773 06211 35DEG OCT 06211
043073,001805:
|
|
Page 968 |
043075,001807: # NAME GYROTRIM
043076,001808:
043077,001809: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
043078,001810: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
043079,001811: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
043080,001812:
043081,001813: # CALL CALL
043082,001814: # GYROTRIM
043083,001815:
043084,001816: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
043085,001817: # CDUX,CDUY,CDUZ
043086,001818:
043087,001819: # OUTPUT - GYRO TORQUE PULSES
043088,001820:
043089,001821: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
043090,001822: # IMPULSE, IMUSTALL
043091,001823: # - - - * * -
043092,001824: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
043093,001825:
043094,001826: 15,2774 COUNT* $$/P57
043095,001827: 15,2774 71220 GYROTRIM STQ DLOAD
043096,001828: 15,2775 02745 QMIN
043097,001829: 15,2776 00322 THETAD
043098,001830: 15,2777 65325 PDDL PDDL
043099,001831: 15,3000 00324 THETAD +2
043100,001832: 15,3001 00323 THETAD +1
043101,001833: 15,3002 77666 VDEF
043102,001834: 15,3003 24767 STOVL CDUSPOT
043103,001835: 15,3004 24005 XUNIT
043104,001836: 15,3005 77624 CALL
043105,001837: 15,3006 47664 TRG*NBSM
043106,001838: 15,3007 26707 STOVL STARAD
043107,001839: 15,3010 24003 YUNIT
043108,001840: 15,3011 77624 CALL
043109,001841: 15,3012 47673 *NBSM*
043110,001842: 15,3013 36715 STCALL STARAD +6
043111,001843: 15,3014 47537 CDUTRIG
043112,001844: 15,3015 77624 CALL
043113,001845: 15,3016 20030 CALCSMSC
043114,001846: 15,3017 77775 VLOAD
043115,001847: 15,3020 02665 XNB
043116,001848: 15,3021 24007 STOVL 6D
043117,001849: 15,3022 02673 YNB
043118,001850: 15,3023 34015 STCALL 12D
043119,001851: 15,3024 47441 AXISGEN
043120,001852: 15,3025 77624 CALL
043121,001853: 15,3026 47247 CALCGTA
043122,001854: 15,3027 77776 JUSTTRIM EXIT
043123,001855: 15,3030 04616 TC BANKCALL
043124,001856: 15,3031 17210 CADR IMUFINE
043125,001857: 15,3032 04616 TC BANKCALL
|
|
Page 969 |
043127,001859: 15,3033 17716 CADR IMUSTALL
043128,001860: 15,3034 05711 TC CURTAINS
043129,001861: 15,3035 33044 CA GYRCDR
043130,001862: 15,3036 04616 TC BANKCALL
043131,001863: 15,3037 17323 CADR IMUPULSE
043132,001864: 15,3040 04616 TC BANKCALL
043133,001865: 15,3041 17716 CADR IMUSTALL
043134,001866: 15,3042 05711 TC CURTAINS
043135,001867: 15,3043 12765 TCF QMINEXIT
043136,001868:
043137,001869: 15,3044 02737 GYRCDR ECADR OGC
043138,001870:
|
|
Page 970 |
043140,001872: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
043141,001873:
043142,001874: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
043143,001875: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
043144,001876: 15,3047 34753 1STAR CAF BIT1
043145,001877: 15,3050 55757 TS STARIND
043146,001878:
043147,001879: 15,3051 05353 TC PHASCHNG
043148,001880: 15,3052 04024 OCT 04024
043149,001881:
043150,001882: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
043151,001883:
043152,001884: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
043153,001885: 15,3055 00006 EXTEND
043154,001886: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
043155,001887:
043156,001888: 15,3057 05353 TC PHASCHNG
043157,001889: 15,3060 04024 OCT 04024
043158,001890:
043159,001891: 15,3061 06037 TC INTPRET
043160,001892: 15,3062 45145 DLOAD CALL
043161,001893: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
043162,001894: 15,3064 32472 PLANET
043163,001895: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
043164,001896: 15,3066 33101 SURFLINE
043165,001897:
043166,001898: 15,3067 06037 ASTAR TC INTPRET
043167,001899: 15,3070 77775 VLOAD
043168,001900: 15,3071 02715 STARAD +6
043169,001901: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
043170,001902: 15,3073 45145 DLOAD CALL
043171,001903: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
043172,001904: 15,3075 32472 PLANET
043173,001905: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
043174,001906: 15,3077 77776 EXIT
043175,001907: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
043176,001908:
|
|
Page 971 |
043178,001910: # DO FINE OR COARSE ALIGNMENT OF IMU
043179,001911:
043180,001912: 15,3101 77131 SURFLINE SSP AXT,2
043181,001913: 15,3102 00052 S2
043182,001914: 15,3103 00006 6
043183,001915: 15,3104 00014 12D
043184,001916: 15,3105 64373 WRTDESIR VLOAD* MXV
043185,001917: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
043186,001918: 15,3107 03607 XSMD
043187,001919: 15,3110 77656 UNIT
043188,001920: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
043189,001921: 15,3112 77773 VLOAD*
043190,001922: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
043191,001923: 15,3114 10023 STORE 18D,2
043192,001924: 15,3115 43104 TIX,2 BON
043193,001925: 15,3116 33105 WRTDESIR
043194,001926: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
043195,001927: 15,3120 33126 INITBY
043196,001928: 15,3121 77624 DOALIGN CALL
043197,001929: 15,3122 31256 R54 # DO CHKSDATA
043198,001930: 15,3123 77614 BOFF
043199,001931: 15,3124 00354 FREEFLAG
043200,001932: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
043201,001933: 15,3126 77624 INITBY CALL
043202,001934: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
043203,001935: 15,3130 77624 CALL
043204,001936: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
043205,001937: 15,3132 77776 EXIT
043206,001938: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
043207,001939: 15,3134 70104 MASK FLAGWRD8
043208,001940: 15,3135 10000 CCS A
043209,001941: 15,3136 13145 TCF 5DEGTEST
043210,001942: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
043211,001943: 15,3140 04616 TC BANKCALL
043212,001944: 15,3141 20476 CADR GOFLASH
043213,001945: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
043214,001946: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
043215,001947: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
043216,001948:
043217,001949: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
043218,001950: 15,3146 40175 VLOAD BOV
043219,001951: 15,3147 02740 OGC
043220,001952: 15,3150 33151 SURFSUP
043221,001953: 15,3151 02750 SURFSUP STORE OGCT
043222,001954: 15,3152 40141 V/SC BOV
043223,001955: 15,3153 30610 5DEGREES
043224,001956: 15,3154 33254 COATRIM
043225,001957: 15,3155 52131 SSP GOTO
043226,001958: 15,3156 02746 QMIN
043227,001959: 15,3157 33161 SURFDISP
|
|
Page 972 |
043229,001961: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
043230,001962:
043231,001963: 15,3161 77776 SURFDISP EXIT
043232,001964: 15,3162 05353 TC PHASCHNG
043233,001965: 15,3163 04024 OCT 04024
043234,001966:
043235,001967: 15,3164 06037 TC INTPRET
043236,001968: 15,3165 75160 AXC,1 AXC,2
043237,001969: 15,3166 03606 XSMD
043238,001970: 15,3167 01733 REFSMMAT
043239,001971: 15,3170 45014 SET CALL
043240,001972: 15,3171 01462 REFSMFLG
043241,001973: 15,3172 31377 MATMOVE
043242,001974: 15,3173 77776 EXIT
043243,001975: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
043244,001976: 15,3175 13177 TCF B2F8
043245,001977: 15,3176 13207 TCF P57POST +1
043246,001978:
043247,001979: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
043248,001980: 15,3200 70104 MASK FLAGWRD8
043249,001981: 15,3201 10000 CCS A
043250,001982: 15,3202 13561 TCF P57JUMP # ITS SET
043251,001983: 15,3203 06037 TC INTPRET
043252,001984: 15,3204 77624 CALL
043253,001985: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
043254,001986: 15,3206 77776 P57POST EXIT
043255,001987: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
043256,001988: 15,3210 04616 TC BANKCALL
043257,001989: 15,3211 20623 CADR GOPERF1
043258,001990: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
043259,001991: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
043260,001992: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
043261,001993: 15,3215 61145 AD OPTION2
043262,001994: 15,3216 00006 EXTEND
043263,001995: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
043264,001996: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
043265,001997: 15,3221 05353 TC PHASCHNG # RESTART PLACE
043266,001998: 15,3222 04024 OCT 04024
043267,001999: 15,3223 06037 TC INTPRET
043268,002000: 15,3224 45175 VLOAD CALL # USE GNB
043269,002001: 15,3225 02231 GSAV
043270,002002: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
043271,002003: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
043272,002004: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
043273,002005: 15,3231 01463 LUNAFLAG
043274,002006: 15,3232 51515 PDVL ABVAL
043275,002007: 15,3233 02023 RLS
043276,002008: 15,3234 45561 VXSC STADR
043277,002009: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
043278,002010: 15,3236 47014 CLEAR RTB
|
|
Page 973 |
043280,002012: 15,3237 00662 ERADFLAG
043281,002013: 15,3240 21573 LOADTIME
043282,002014: 15,3241 77624 CALL
043283,002015: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
043284,002016: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
043285,002017: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
043286,002018: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
043287,002019: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
043288,002020: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
043289,002021: 15,3250 51670 R-TO-RP
043290,002022: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
043291,002023: 15,3252 77776 EXIT
043292,002024: 15,3253 16001 TCF GOTOPOOH # EXIT P57
043293,002025:
|
|
Page 974 |
043295,002027: # COARSE AND FINE ALIGN IMU
043296,002028:
043297,002029: 15,3254 75160 COATRIM AXC,1 AXC,2
043298,002030: 15,3255 02664 XDC
043299,002031: 15,3256 02642 XSM
043300,002032: 15,3257 77624 CALL
043301,002033: 15,3260 31377 MATMOVE
043302,002034: 15,3261 77624 CALL
043303,002035: 15,3262 47537 CDUTRIG
043304,002036: 15,3263 77624 CALL
043305,002037: 15,3264 20030 CALCSMSC
043306,002038: 15,3265 77624 CALL
043307,002039: 15,3266 47353 CALCGA
043308,002040: 15,3267 77414 BOFF EXIT
043309,002041: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
043310,002042: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
043311,002043: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
043312,002044: 15,3273 04616 TC BANKCALL
043313,002045: 15,3274 20476 CADR GOFLASH
043314,002046: 15,3275 06001 TC GOTOPOOH
043315,002047: 15,3276 13300 TCF +2
043316,002048: 15,3277 13272 TCF -5
043317,002049: 15,3300 05353 TC PHASCHNG
043318,002050: 15,3301 04024 OCT 04024
043319,002051:
043320,002052: 15,3302 06037 TC INTPRET
043321,002053: 15,3303 77624 CORSIT CALL
043322,002054: 15,3304 31565 COARSE
043323,002055: 15,3305 77624 CALL
043324,002056: 15,3306 31602 NCOARSE
043325,002057: 15,3307 77624 CALL
043326,002058: 15,3310 32774 GYROTRIM
043327,002059: 15,3311 77650 GOTO
043328,002060: 15,3312 33161 SURFDISP
043329,002061: 15,3313 01535 DISPGYRO VN 0693
043330,002062:
|
|
Page 975 |
043332,002064: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
043333,002065:
043334,002066: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
043335,002067: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
043336,002068:
043337,002069: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
043338,002070: 15,3317 55145 TS OPTION2
043339,002071: 15,3320 34753 P57OPT CAF BIT1
043340,002072: 15,3321 04616 TC BANKCALL
043341,002073: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
043342,002074: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
043343,002075: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
043344,002076: 15,3325 13320 TCF P57OPT # V32 RECYCLE
043345,002077:
043346,002078: 15,3326 05353 TC PHASCHNG
043347,002079: 15,3327 00014 OCT 00014
043348,002080: 15,3330 05155 TC ENDOFJOB
043349,002081:
043350,002082: 15,3331 31145 ALIGNOPT CA OPTION2
043351,002083: 15,3332 76245 MASK THREE
043352,002084: 15,3333 50000 INDEX A
043353,002085: 15,3334 13335 TCF +1
043354,002086: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
043355,002087: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
043356,002088: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
043357,002089: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
043358,002090: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
043359,002091: 15,3342 01733 REFSMMAT
043360,002092: 15,3343 03606 XSMD
043361,002093: 15,3344 77624 CALL
043362,002094: 15,3345 31377 MATMOVE
043363,002095: 15,3346 77650 GOTO
043364,002096: 15,3347 33410 PACKOPTN -1
043365,002097:
043366,002098: 15,3350 06037 TDISP TC INTPRET
043367,002099: 15,3351 77745 DLOAD
043368,002100: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
043369,002101: 15,3353 01046 P57A STORE DSPTEM1
043370,002102: 15,3354 77776 EXIT
043371,002103: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
043372,002104: 15,3356 04616 TC BANKCALL
043373,002105: 15,3357 20476 CADR GOFLASH
043374,002106: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
043375,002107: 15,3361 13363 TCF +2
043376,002108: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
043377,002109:
043378,002110: 15,3363 06037 TC INTPRET
043379,002111: 15,3364 65234 RTB PDDL
043380,002112: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
043381,002113: 15,3366 01046 DSPTEM1
|
|
Page 976 |
043383,002115: 15,3367 65254 BZE PDDL
043384,002116: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
043385,002117: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043386,002118: 15,3372 01046 DSPTEM1
043387,002119: 15,3373 33400 P57C
043388,002120: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
043389,002121: 15,3375 74335 STORE TIG # STORE IT IN TIG
043390,002122: 15,3376 36775 STCALL TALIGN
043391,002123: 15,3377 33402 P57D
043392,002124: 15,3400 45545 P57C DLOAD STADR
043393,002125: 15,3401 75002 STORE TALIGN
043394,002126: 15,3402 34041 P57D STCALL TDEC1
043395,002127: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
043396,002128: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
043397,002129: 15,3405 00001 RATT
043398,002130: 15,3406 37607 STCALL XSMD
043399,002131: 15,3407 11013 LSORIENT
043400,002132: 15,3410 77776 EXIT
043401,002133: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
043402,002134: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
043403,002135: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
043404,002136: 15,3414 34737 CAF REFSMBIT
043405,002137: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
043406,002138: 15,3416 10000 CCS A
043407,002139: 15,3417 34745 CAF BIT7 # SET
043408,002140: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
043409,002141: 15,3421 34753 CAF ATTFLBIT
043410,002142: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
043411,002143: 15,3423 10000 CCS A
043412,002144: 15,3424 34750 CAF BIT4 # SET
043413,002145: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
043414,002146: 15,3426 34750 CAF BIT4
043415,002147: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
043416,002148:
043417,002149: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
043418,002150: 15,3431 04616 TC BANKCALL
043419,002151: 15,3432 20476 CADR GOFLASH
043420,002152: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
043421,002153: 15,3434 13436 TCF +2 # V33 - PROCEED
043422,002154: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
043423,002155:
043424,002156: 15,3436 34737 CAF REFSMBIT
043425,002157: 15,3437 70077 MASK FLAGWRD3
043426,002158: 15,3440 10000 CCS A
043427,002159: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
043428,002160: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
043429,002161: 15,3443 70102 MASK FLAGWRD6
043430,002162: 15,3444 10000 CCS A
043431,002163: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043432,002164: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
|
|
Page 977 |
043434,002166: 15,3447 71145 MASK OPTION2
043435,002167: 15,3450 10000 CCS A
043436,002168: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043437,002169: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
043438,002170: 15,3453 00701 OCT 701
043439,002171: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
043440,002172: 15,3455 04616 TC BANKCALL
043441,002173: 15,3456 20476 CADR GOFLASH
043442,002174: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
043443,002175: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
043444,002176: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
043445,002177:
|
|
Page 978 |
043447,002179: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043448,002180:
043449,002181: 15,3462 40220 MFREF STQ SETPD
043450,002182: 15,3463 02746 QMAJ
043451,002183: 15,3464 00001 0
043452,002184: 15,3465 77634 RTB
043453,002185: 15,3466 21573 LOADTIME
043454,002186: 15,3467 27562 STOVL TSIGHT
043455,002187: 15,3470 02723 VEC1
043456,002188: 15,3471 41525 PDDL PUSH
043457,002189: 15,3472 03562 TSIGHT
043458,002190: 15,3473 77624 CALL
043459,002191: 15,3474 55716 RP-TO-R
043460,002192: 15,3475 26723 STOVL VEC1
043461,002193: 15,3476 02731 VEC2
043462,002194: 15,3477 65201 SETPD PDDL
043463,002195: 15,3500 00001 0
043464,002196: 15,3501 03562 TSIGHT
043465,002197: 15,3502 45006 PUSH CALL
043466,002198: 15,3503 55716 RP-TO-R
043467,002199: 15,3504 36731 STCALL VEC2
043468,002200: 15,3505 02746 QMAJ
043469,002201:
|
|
Page 979 |
043471,002203: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043472,002204: # STORE IN YNBSAV AND ZNBSAV
043473,002205:
043474,002206: 15,3506 45020 REFMF STQ CALL
043475,002207: 15,3507 02746 QMAJ
043476,002208: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
043477,002209: 15,3511 40234 RTB SETPD
043478,002210: 15,3512 21573 LOADTIME
043479,002211: 15,3513 00001 0
043480,002212: 15,3514 37562 STCALL TSIGHT
043481,002213: 15,3515 20030 CALCSMSC # GET YNB IN SM
043482,002214: 15,3516 61375 VLOAD VXM
043483,002215: 15,3517 02673 YNB
043484,002216: 15,3520 01734 REFSMMAT # YNB TO REF
043485,002217: 15,3521 65256 UNIT PDDL
043486,002218: 15,3522 03562 TSIGHT
043487,002219: 15,3523 45006 PUSH CALL
043488,002220: 15,3524 51670 R-TO-RP
043489,002221: 15,3525 26237 STOVL YNBSAV # YNB TO MF
043490,002222: 15,3526 02701 ZNB
043491,002223: 15,3527 53505 VXM UNIT
043492,002224: 15,3530 01734 REFSMMAT # ZNB TO REF
043493,002225: 15,3531 41525 PDDL PUSH
043494,002226: 15,3532 03562 TSIGHT
043495,002227: 15,3533 77624 CALL
043496,002228: 15,3534 51670 R-TO-RP # ZNB TO MF
043497,002229: 15,3535 02245 STORE ZNBSAV
043498,002230: 15,3536 77614 SETGO
043499,002231: 15,3537 03036 ATTFLAG
043500,002232: 15,3540 02746 QMAJ
043501,002233:
|
|
Page 980 |
043503,002235: # BRANCH TO ALIGNMENT OPTION
043504,002236:
043505,002237: 15,3541 06037 GETLMATT TC INTPRET
043506,002238: 15,3542 77624 CALL
043507,002239: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
043508,002240: 15,3544 77776 EXIT
043509,002241:
043510,002242: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
043511,002243: 15,3546 00205 ADRES INITALGN
043512,002244: 15,3547 34753 CAF BIT1
043513,002245: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
043514,002246: 15,3551 10000 CCS A
043515,002247: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
043516,002248:
043517,002249: 15,3553 05353 ATTCHK TC PHASCHNG
043518,002250: 15,3554 04024 OCT 04024
043519,002251:
043520,002252: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
043521,002253: 15,3556 70102 MASK FLAGWRD6
043522,002254: 15,3557 10000 CCS A
043523,002255: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
043524,002256: 15,3561 05353 P57JUMP TC PHASCHNG
043525,002257: 15,3562 04024 OCT 04024
043526,002258:
043527,002259: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
043528,002260: 15,3564 00205 ADRES INITALGN
043529,002261: 15,3565 36245 CAF THREE
043530,002262: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
043531,002263: 15,3567 50000 INDEX A
043532,002264: 15,3570 13571 TCF +1
043533,002265: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
043534,002266: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
043535,002267: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
043536,002268: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
043537,002269:
|
|
Page 981 |
043539,002271: # OPTION 0, GET TWO ATTITUDE VECS
043540,002272:
043541,002273: 15,3575 06037 P57OPT0 TC INTPRET
043542,002274: 15,3576 77775 VLOAD
043543,002275: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
043544,002276: 15,3600 26723 STOVL VEC1
043545,002277: 15,3601 02245 ZNBSAV
043546,002278: 15,3602 36731 STCALL VEC2
043547,002279: 15,3603 47537 CDUTRIG
043548,002280: 15,3604 77624 CALL
043549,002281: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
043550,002282: 15,3606 77775 VLOAD
043551,002283: 15,3607 02673 YNB
043552,002284: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
043553,002285: 15,3611 02701 ZNB
043554,002286: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
043555,002287: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
043556,002288: 15,3614 77650 GOTO
043557,002289: 15,3615 33101 SURFLINE
043558,002290:
043559,002291: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043560,002292:
043561,002293: 15,3616 06037 P57OPT1 TC INTPRET
043562,002294: 15,3617 53575 VLOAD UNIT
043563,002295: 15,3620 02023 RLS # LANDING SITE VEC
043564,002296: 15,3621 26723 STOVL VEC1
043565,002297: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
043566,002298: 15,3623 36731 STCALL VEC2
043567,002299: 15,3624 47537 CDUTRIG
043568,002300: 15,3625 77624 CALL
043569,002301: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
043570,002302: 15,3627 45175 VLOAD CALL
043571,002303: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
043572,002304: 15,3631 47661 CDU*NBSM
043573,002305: 15,3632 77650 GOTO
043574,002306: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
043575,002307:
|
|
Page 982 |
043577,002309: # OPTION 2, GET TWO STAR SIGHTINGS
043578,002310:
043579,002311: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
043580,002312:
043581,002313: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043582,002314:
043583,002315: 15,3635 06037 P57OPT3 TC INTPRET
043584,002316: 15,3636 53575 VLOAD UNIT
043585,002317: 15,3637 02023 RLS # LANDING SITE VEC
043586,002318: 15,3640 02723 STORE VEC1
043587,002319: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
043588,002320: 15,3642 02231 GSAV # GRAVITY VEC NB
043589,002321: 15,3643 77624 CALL
043590,002322: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
043591,002323: 15,3645 36761 STCALL STARSAV1
043592,002324: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
043593,002325: 15,3647 77776 EXIT
043594,002326: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
043595,002327:
043596,002328: 15,3651 01206 VB05N06 VN 506
043597,002329:
|
|
Page 983 |
043599,002331: # CHECK IMODES30 TO VARIFY IMU IS ON
043600,002332:
043601,002333: 15,3652 41302 IMUCHK CS IMODES30
043602,002334: 15,3653 74743 MASK BIT9
043603,002335: 15,3654 10000 CCS A # IS IMU ON
043604,002336: 15,3655 13661 TCF +4 # YES
043605,002337:
043606,002338: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
043607,002339: 15,3657 00210 OCT 210
043608,002340: 15,3660 06001 TC GOTOPOOH
043609,002341:
043610,002342: 15,3661 05504 TC UPFLAG
043611,002343: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
043612,002344:
043613,002345: 15,3663 04631 TC SWRETURN
043614,002346:
043615,002347: 04,3013 BANK 04
043616,002348: 04,2000 SETLOC AOTMARK2
043617,002349: 04,2000 BANK
043618,002350: 04,3013 COUNT* $$/P57
043619,002351:
043620,002352: 04,3013 77220 LSORIENT STQ VLOAD
043621,002353: 04,3014 02746 QMAJ
043622,002354: 04,3015 01555 RRECTCSM
043623,002355: 04,3016 47235 VXV VXV
043624,002356: 04,3017 01563 VRECTCSM
043625,002357: 04,3020 03607 XSMD
043626,002358: 04,3021 77656 UNIT
043627,002359: 04,3022 03623 STORE ZSMD
043628,002360: 04,3023 53435 VXV UNIT
043629,002361: 04,3024 03607 XSMD
043630,002362: 04,3025 37615 STCALL YSMD
043631,002363: 04,3026 02746 QMAJ
043632,002364:
End of include-file P51-P53.agc. Parent file is MAIN.agc