Source Code
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These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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040745,000002: ## Copyright: Public domain.
040746,000003: ## Filename: P51-P53.agc
040747,000004: ## Purpose: A section of LUM69 revision 2.
040748,000005: ## It is part of the reconstructed source code for the flown
040749,000006: ## version of the flight software for the Lunar Module's (LM)
040750,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
040751,000008: ## been recreated from a copy of Luminary revsion 069, using
040752,000009: ## changes present in Luminary 099 which were described in
040753,000010: ## Luminary memos 75 and 78. The code has been adapted such
040754,000011: ## that the resulting bugger words exactly match those specified
040755,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
040756,000013: ## relatively high confidence that the reconstruction is correct.
040757,000014: ## Reference: pp. 925-978
040758,000015: ## Assembler: yaYUL
040759,000016: ## Contact: Ron Burkey <info@sandroid.org>.
040760,000017: ## Website: www.ibiblio.org/apollo/index.html
040761,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
040762,000019:
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Page 925
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040764,000021: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
040765,000022: # MOD NO- 0 LOG SECTION- P51-P53
040766,000023: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
040767,000024:
040768,000025: # FUNCTIONAL DESCRIPTION-
040769,000026:
040770,000027: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040771,000028: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
040772,000029:
040773,000030: # (A) PREFERRED ORIENTATION
040774,000031:
040775,000032: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
040776,000033: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040777,000034:
040778,000035: # (B) NOMINAL ORIENTATION
040779,000036:
040780,000037: # X = UNIT ( R )
040781,000038: # -SM
040782,000039:
040783,000040: # Y = UNIT (V X R)
040784,000041: # SM
040785,000042:
040786,000043: # Z = UNIT (X X Y )
040787,000044: # SM SM SM
040788,000045:
040789,000046: # WHERE_
040790,000047: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040791,000048: # -
040792,000049:
040793,000050: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040794,000051: # -
040795,000052:
040796,000053: # (C) REFSMMAT ORIENTATION
040797,000054:
040798,000055: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040799,000056:
040800,000057: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040801,000058: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040802,000059: # SINCE THE LAST ALIGNMENT).
040803,000060:
040804,000061: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040805,000062: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040806,000063: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040807,000064: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040808,000065: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040809,000066: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040810,000067: # REQUESTED.
040811,000068:
040812,000069: # CALLING SEQUENCE-
040813,000070:
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Page 926
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040815,000072: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040816,000073:
040817,000074: # SUBROUTINES CALLED-
040818,000075:
040819,000076: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040820,000077: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040821,000078: # 3. GOPERF4 9. FLAGUP
040822,000079: # 4. MATMOVE 10. R56
040823,000080: # 5. GOFLASH 11. R51
040824,000081: # 6. S52.3 12. GOPERF3
040825,000082:
040826,000083: # NORMAL EXIT MODES-
040827,000084:
040828,000085: # EXITS TO ENDOFJOB
040829,000086:
040830,000087: # ALARM OR ABORT EXIT MODES-
040831,000088:
040832,000089: # NONE
040833,000090:
040834,000091: # OUTPUT-
040835,000092:
040836,000093: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040837,000094: # 1. IMU ORIENTATION CODE
040838,000095: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
040839,000096: # 3. TIME OF NEXT IGNITION
040840,000097: # 4. GIMBAL ANGLES
040841,000098: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
040842,000099: # 6. PLEASE PERFORM P00
040843,000100: # THE MODE DISPLAY MAY BE CHANGED TO 20
040844,000101:
040845,000102: # ERASABLE INITIALIZATION REQUIRED-
040846,000103:
040847,000104: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
040848,000105: # XSMD,YSMD,ZSMD.
040849,000106: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040850,000107:
040851,000108: # DEBRIS-
040852,000109:
040853,000110: # WORK AREA
040854,000111: 33,3755 BANK 33
040855,000112: 15,2000 SETLOC P50S
040856,000113: 15,2000 BANK
040857,000114:
040858,000115: 15,2050 E5,1755 EBANK= BESTI
040859,000116: 15,2050 COUNT* $$/P52
040860,000117: 15,2050 04616 PROG52 TC BANKCALL
040861,000118: 15,2051 11175 CADR R02BOTH # IMU STATUS CHECK
040862,000119: 15,2052 34750 CAF PFRATBIT
040863,000120: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040864,000121: 15,2054 10000 CCS A
040865,000122:
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Page 927
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040867,000124: 15,2055 02060 TC P52A # YES
040868,000125: 15,2056 34752 CAF BIT2 # NO
040869,000126: 15,2057 02061 TC P52A +1
040870,000127: 15,2060 34753 P52A CAF BIT1
040871,000128: 15,2061 55145 TS OPTION2
040872,000129: 15,2062 34753 P52B CAF BIT1
040873,000130: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040874,000131: 15,2064 20566 CADR GOPERF4R # FLASH V04N06
040875,000132: 15,2065 06001 TC GOTOPOOH
040876,000133: 15,2066 12073 TCF +5 # V33-PROCEED
040877,000134: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040878,000135: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
040879,000136: 15,2071 00014 OCT 00014
040880,000137: 15,2072 05155 TC ENDOFJOB
040881,000138:
040882,000139: 15,2073 31145 CA OPTION2
040883,000140: 15,2074 76244 MASK THREE
040884,000141: 15,2075 50000 INDEX A
040885,000142: 15,2076 02077 TC +1
040886,000143: 15,2077 02105 TC P52T
040887,000144: 15,2100 02166 TC P52H
040888,000145: 15,2101 02105 TC P52T
040889,000146: 15,2102 06036 P52E TC INTPRET
040890,000147: 15,2103 77650 GOTO
040891,000148: 15,2104 32162 P52F
040892,000149: 15,2105 00006 P52T EXTEND
040893,000150: 15,2106 34755 DCA NEG0
040894,000151: 15,2107 53046 DXCH DSPTEM1
040895,000152: 15,2110 32172 CAF V06N34*
040896,000153: 15,2111 04616 TC BANKCALL
040897,000154: 15,2112 20351 CADR GOFLASH
040898,000155: 15,2113 06001 TC GOTOPOOH
040899,000156: 15,2114 02116 TC +2
040900,000157: 15,2115 02110 TC -5
040901,000158: 15,2116 53046 DXCH DSPTEM1
040902,000159: 15,2117 00006 EXTEND
040903,000160: 15,2120 62122 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040904,000161: 15,2121 12124 TCF +3
040905,000162: 15,2122 00006 EXTEND
040906,000163: 15,2123 30025 DCA TIME2
040907,000164: 15,2124 53775 DXCH TALIGN
040908,000165: 15,2125 31145 P52V CA OPTION2
040909,000166: 15,2126 74752 MASK BIT2
040910,000167: 15,2127 10000 CCS A
040911,000168: 15,2130 02134 TC P52W
040912,000169: 15,2131 06036 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040913,000170: 15,2132 77650 GOTO
040914,000171: 15,2133 32223 P52LS
040915,000172:
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Page 928
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040917,000174: # START ALIGNMENT
040918,000175:
040919,000176: 15,2134 06036 P52W TC INTPRET
040920,000177: 15,2135 77745 DLOAD
040921,000178: 15,2136 02775 TALIGN # PICK UP ALIGN TIME
040922,000179: 15,2137 77624 CALL # COMPUTE NOMINAL IMU
040923,000180: 15,2140 31566 S52.3 # ORIENTATION
040924,000181: 15,2141 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040925,000182: 15,2142 31534 S52.2 # COMPUTE GIMBAL ANGLES
040926,000183: 15,2143 77776 EXIT
040927,000184: 15,2144 32171 CAF V06N22*
040928,000185: 15,2145 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040929,000186: 15,2146 20351 CADR GOFLASH
040930,000187: 15,2147 06001 TC GOTOPOOH
040931,000188: 15,2150 12174 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
040932,000189: 15,2151 06036 TC INTPRET # RECYCLE - VEHICLE HAS BEEN MANUEVERED
040933,000190: 15,2152 77650 GOTO
040934,000191: 15,2153 32141 P52D
040935,000192: 15,2154 06036 REGCOARS TC INTPRET
040936,000193: 15,2155 77624 CALL # DO COARSE ALIGN
040937,000194: 15,2156 31172 CAL53A # ROUTINE
040938,000195: 15,2157 43014 SET CLEAR
040939,000196: 15,2160 01462 REFSMFLG
040940,000197: 15,2161 01273 PFRATFLG
040941,000198: 15,2162 77624 P52F CALL
040942,000199: 15,2163 30656 R51
040943,000200: 15,2164 77776 P52OUT EXIT
040944,000201: 15,2165 06001 TC GOTOPOOH
040945,000202: 15,2166 06036 P52H TC INTPRET # PREFERRED OPTION, GO COMPUTE GIMBALS
040946,000203: 15,2167 77650 GOTO
040947,000204: 15,2170 32141 P52D
040948,000205:
040949,000206: 15,2171 5006 VB05N09 = V05N09
040950,000207: 15,2171 01426 V06N22* VN 00622
040951,000208: 15,2172 01442 V06N34* VN 634
040952,000209:
040953,000210: 15,2173 01531 V06N89* VN 0689
040954,000211:
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Page 929
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040956,000213: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040957,000214: 15,2174 32222 COARSTYP CAF OCT13
040958,000215: 15,2175 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040959,000216: 15,2176 20476 CADR GOPERF1
040960,000217: 15,2177 16001 TCF GOTOPOOH # V34-TERMIN&OE
040961,000218: 15,2200 12154 TCF REGCOARS # V33-NORMAL COARSE
040962,000219: 15,2201 06036 TC INTPRET # V32-GYRO TORQUE COARSE
040963,000220: 15,2202 64375 VLOAD MXV
040964,000221: 15,2203 03605 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040965,000222: 15,2204 01734 REFSMMAT
040966,000223: 15,2205 77656 UNIT
040967,000224: 15,2206 26665 STOVL XDC
040968,000225: 15,2207 03613 YSMD
040969,000226: 15,2210 53521 MXV UNIT
040970,000227: 15,2211 01734 REFSMMAT
040971,000228: 15,2212 26673 STOVL YDC
040972,000229: 15,2213 03621 ZSMD
040973,000230: 15,2214 53521 MXV UNIT
040974,000231: 15,2215 01734 REFSMMAT
040975,000232: 15,2216 36701 STCALL ZDC
040976,000233: 15,2217 31025 GYCOARS
040977,000234: 15,2220 77650 GOTO
040978,000235: 15,2221 32164 P52OUT
040979,000236: 15,2222 00013 OCT13 OCT 13
040980,000237:
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Page 930
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040982,000239: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040983,000240: 15,2223 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040984,000241: 15,2224 01463 LUNAFLAG
040985,000242: 15,2225 00662 ERADFLAG # TO PICK UP RLS
040986,000243: 15,2226 77201 SETPD VLOAD
040987,000244: 15,2227 00001 0
040988,000245: 15,2230 02023 RLS # PICK UP LANDING SITE VEC IN MF
040989,000246: 15,2231 41525 PDDL PUSH # RLS PD 0-5
040990,000247: 15,2232 02775 TALIGN
040991,000248: 15,2233 77624 CALL
040992,000249: 15,2234 51504 RP-TO-R # TRANS RLS TO REF
040993,000250: 15,2235 77742 VSR2
040994,000251: 15,2236 16032 STODL ALPHAV # INPUT TO LAT-LONG
040995,000252: 15,2237 02775 TALIGN
040996,000253: 15,2240 77624 CALL
040997,000254: 15,2241 26351 LAT-LONG # GET LAT, LONG, AND ALT
040998,000255: 15,2242 70545 DLOAD SR1 # RESCALE LONG TO DEGREES/2
040999,000256: 15,2243 01123 LONG
041000,000257: 15,2244 16711 STODL LANDLONG
041001,000258: 15,2245 01125 ALT
041002,000259: 15,2246 16713 STODL LANDALT # ALT ALREADY AT 2(29) METERS
041003,000260: 15,2247 01121 LAT
041004,000261: 15,2250 02707 STORE LANDLAT
041005,000262: 15,2251 77776 EXIT
041006,000263:
041007,000264: 15,2252 32173 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2, ALT
041008,000265: 15,2253 04616 TC BANKCALL
041009,000266: 15,2254 20351 CADR GOFLASH
041010,000267: 15,2255 16001 TCF GOTOPOOH # VB34 TERMINATE
041011,000268: 15,2256 12260 TCF +2 # VB33 PROCEED
041012,000269: 15,2257 12252 TCF LSDISP # VB32 RECYCLE
041013,000270:
041014,000271: 15,2260 06036 TC INTPRET
041015,000272: 15,2261 72545 DLOAD SL1
041016,000273: 15,2262 02711 LANDLONG
041017,000274: 15,2263 15123 STODL LONG
041018,000275: 15,2264 02713 LANDALT
041019,000276: 15,2265 15125 STODL ALT
041020,000277: 15,2266 02707 LANDLAT
041021,000278: 15,2267 15121 STODL LAT
041022,000279: 15,2270 02775 TALIGN
041023,000280: 15,2271 77624 CALL
041024,000281: 15,2272 26422 LALOTORV
041025,000282: 15,2273 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
041026,000283: 15,2274 02032 ALPHAV
041027,000284: 15,2275 37605 STCALL XSMD
041028,000285: 15,2276 33647 LSORIENT
041029,000286: 15,2277 77650 GOTO
041030,000287: 15,2300 32141 P52D # NOW GO COMPUTE GIMBAL ANGLES
041031,000288:
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Page 931
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041033,000290: # NAME -S50 ALIAS LOCSAM
041034,000291: # BY
041035,000292: # VINCENT
041036,000293: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
041037,000294:
041038,000295: # DEFINE
041039,000296:
041040,000297:
041041,000298: # U = UNIT( SUN WRT EARTH)
041042,000299: # ES
041043,000300:
041044,000301: # U =UNIT( MOON WRT EARTH)
041045,000302: # EM
041046,000303:
041047,000304: # R =POSITION VECTOR OF LEM
041048,000305: # L
041049,000306:
041050,000307: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041051,000308: # EM
041052,000309:
041053,000310: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
041054,000311: # EM
041055,000312:
041056,000313: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041057,000314: # E
041058,000315:
041059,000316: # LOCSAM COMPUTES IN EARTH INFLUENCE
041060,000317:
041061,000318:
041062,000319: # VSUN = U
041063,000320: # ES
041064,000321:
041065,000322: # VEARTH = -UNIT( R )
041066,000323: # L
041067,000324:
041068,000325: # VMOON = UNIT(R .U - R )
041069,000326: # EM EM L
041070,000327:
041071,000328: # CSUN = COS 90
041072,000329:
041073,000330: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041074,000331: # E L
041075,000332:
041076,000333: # CMOON = COS 5
041077,000334:
041078,000335:
041079,000336: # INPUT - TIME IN MPAC
041080,000337: # OUTPUT - LISTED ABOVE
041081,000338: # SUBROUTINES -LSPOS,LEMPREC
041082,000339: # DEBRIS - VAC AREA ,TSIGHT
041083,000340:
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Page 932
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041085,000342: 14,2000 SETLOC P50S1
041086,000343: 14,2000 BANK
041087,000344: 14,2347 E5,1642 EBANK= XSM
041088,000345:
041089,000346: 14,2347 COUNT* $$/LOSAM
041090,000347:
041091,000348: 14,2347 14,2347 S50 = LOCSAM
041092,000349: 14,2347 77620 LOCSAM STQ
041093,000350: 14,2350 02745 QMIN
041094,000351: 14,2351 37560 STCALL TSIGHT
041095,000352: 14,2352 33663 LSPOS
041096,000353: 14,2353 77745 DLOAD
041097,000354: 14,2354 03560 TSIGHT
041098,000355: 14,2355 34041 STCALL TDEC1
041099,000356: 14,2356 27057 LEMPREC
041100,000357: 14,2357 61131 SSP TIX,2
041101,000358: 14,2360 00052 S2
041102,000359: 14,2361 00000 0
041103,000360: 14,2362 30404 MOONCNTR
041104,000361: 14,2363 74375 EARTCNTR VLOAD VXSC
041105,000362: 14,2364 02723 VMOON
041106,000363: 14,2365 30001 RSUBEM
041107,000364: 14,2366 52372 VSL1 VSU
041108,000365: 14,2367 00001 RATT
041109,000366: 14,2370 77656 UNIT
041110,000367: 14,2371 26723 STOVL VMOON
041111,000368: 14,2372 00001 RATT
041112,000369: 14,2373 57456 UNIT VCOMP
041113,000370: 14,2374 16707 STODL VEARTH
041114,000371: 14,2375 30005 RSUBE
041115,000372: 14,2376 77624 CALL
041116,000373: 14,2377 30436 OCCOS
041117,000374: 14,2400 14017 STODL CEARTH
041118,000375: 14,2401 30445 CSS5
041119,000376: 14,2402 34023 STCALL CMOON
041120,000377: 14,2403 30431 ENDSAM
041121,000378: 14,2404 74375 MOONCNTR VLOAD VXSC
041122,000379: 14,2405 02723 VMOON
041123,000380: 14,2406 30007 ROE
041124,000381: 14,2407 53445 BVSU UNIT
041125,000382: 14,2410 02715 VSUN
041126,000383: 14,2411 26715 STOVL VSUN
041127,000384: 14,2412 02723 VMOON
041128,000385: 14,2413 53361 VXSC VAD
041129,000386: 14,2414 30001 RSUBEM
041130,000387: 14,2415 00001 RATT
041131,000388: 14,2416 57456 UNIT VCOMP
041132,000389: 14,2417 26707 STOVL VEARTH
041133,000390: 14,2420 00001 RATT
041134,000391: 14,2421 57456 UNIT VCOMP
041135,000392:
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Page 933
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041137,000394: 14,2422 16723 STODL VMOON
041138,000395: 14,2423 30003 RSUBM
041139,000396: 14,2424 77624 CALL
041140,000397: 14,2425 30436 OCCOS
041141,000398: 14,2426 14023 STODL CMOON
041142,000399: 14,2427 30445 CSS5
041143,000400: 14,2430 00017 STORE CEARTH
041144,000401: 14,2431 77745 ENDSAM DLOAD
041145,000402: 14,2432 30447 CSSUN
041146,000403: 14,2433 00021 STORE CSUN
041147,000404: 14,2434 77650 GOTO
041148,000405: 14,2435 02745 QMIN
041149,000406: 14,2436 70471 OCCOS DDV SR1
041150,000407: 14,2437 00045 36D
041151,000408: 14,2440 43336 ASIN DAD
041152,000409: 14,2441 30451 5DEGREES
041153,000410: 14,2442 70546 COS SR1
041154,000411: 14,2443 77616 RVQ
041155,000412: 14,2444 CEARTH = 14D
041156,000413: 14,2444 CSUN = 16D
041157,000414: 14,2444 CMOON = 18D
041158,000415: 14,2444 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041159,000416: 14,2446 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
041160,000417: 14,2450 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041161,000418:
|
|
Page 934
|
041163,000420: # PROGRAM NAME - R56 DATE DEC 20 66
041164,000421: # MOD 1 LOG SECTION P51-P53
041165,000422: # ASSEMBLY SUNDISK REV40
041166,000423: # BY KEN VINCENT
041167,000424:
041168,000425: # FUNCTION
041169,000426: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041170,000427: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041171,000428: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041172,000429: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041173,000430: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041174,000431: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041175,000432: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041176,000433: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041177,000434: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041178,000435: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041179,000436: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041180,000437: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
041181,000438:
041182,000439: # CALLING SEQUENCE
041183,000440: # L TC BANKCALL
041184,000441: # L+1 CADR R56
041185,000442: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041186,000443: # L+3 NORMAL RETURN
041187,000444:
041188,000445: # OUTPUT
041189,000446: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041190,000447: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041191,000448:
041192,000449: # INITIALIZATION
041193,000450: # 1)A CALL TO LOCSAM MUST BE MADE
041194,000451:
041195,000452: # DEBRIS
041196,000453: # WORK AREA
041197,000454: # X,Y,ZNB
041198,000455: # SINCDU,COSCDU
041199,000456: # STARAD - STAR +5
041200,000457: 14,2452 14,2452 R56 = PICAPAR
041201,000458: 14,2452 COUNT* $$/R56
041202,000459: 14,2452 04645 PICAPAR TC MAKECADR
041203,000460: 14,2453 55745 TS QMIN
041204,000461: 14,2454 06036 TC INTPRET
041205,000462: 14,2455 77624 CALL
041206,000463: 14,2456 47443 CDUTRIG
041207,000464: 14,2457 77624 CALL
041208,000465: 14,2460 31267 CALCSMSC
041209,000466: 14,2461 77601 SETPD
041210,000467: 14,2462 00001 0
041211,000468: 14,2463 71214 SET DLOAD # VFLAG = 1
041212,000469: 14,2464 01465 VFLAG
041213,000470:
|
|
Page 935
|
041215,000472: 14,2465 22275 DPZERO
041216,000473: 14,2466 26756 STOVL BESTI
041217,000474: 14,2467 02665 XNB
041218,000475: 14,2470 63361 VXSC PDVL
041219,000476: 14,2471 22273 HALFDP
041220,000477: 14,2472 02701 ZNB
041221,000478: 14,2473 74370 AXT,1 VXSC
041222,000479: 14,2474 00344 228D # X1 = 37 X 6 + 6
041223,000480: 14,2475 22273 HALFDP
041224,000481: 14,2476 77655 VAD
041225,000482: 14,2477 53505 VXM UNIT
041226,000483: 14,2500 01734 REFSMMAT
041227,000484: 14,2501 02731 STORE SAX # SAX = SHAFT AXIS
041228,000485: 14,2502 66331 SSP SSP # S1=S2=6
041229,000486: 14,2503 00051 S1
041230,000487: 14,2504 00006 6
041231,000488: 14,2505 00052 S2
041232,000489: 14,2506 00006 6
041233,000490: 14,2507 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041234,000491: 14,2510 30512 PIC2
041235,000492: 14,2511 30627 PICEND
041236,000493: 14,2512 50373 PIC2 VLOAD* DOT
041237,000494: 14,2513 30347 CATLOG,1
041238,000495: 14,2514 02731 SAX
041239,000496: 14,2515 50025 DSU BMN
041240,000497: 14,2516 30626 CSS33
041241,000498: 14,2517 30507 PIC1
041242,000499: 14,2520 77754 LXA,2
041243,000500: 14,2521 00046 X1
041244,000501: 14,2522 52104 PIC3 TIX,2 GOTO
041245,000502: 14,2523 30525 PIC4
041246,000503: 14,2524 30507 PIC1
041247,000504: 14,2525 50373 PIC4 VLOAD* DOT
041248,000505: 14,2526 47430 CATLOG,2
041249,000506: 14,2527 02731 SAX
041250,000507: 14,2530 50025 DSU BMN
041251,000508: 14,2531 30626 CSS33
041252,000509: 14,2532 30522 PIC3
041253,000510: 14,2533 47773 VLOAD* DOT*
041254,000511: 14,2534 30347 CATLOG,1
041255,000512: 14,2535 47430 CATLOG,2
041256,000513: 14,2536 51025 DSU BPL
041257,000514: 14,2537 30624 CSS40
041258,000515: 14,2540 30522 PIC3
041259,000516: 14,2541 45173 VLOAD* CALL
041260,000517: 14,2542 30347 CATLOG,1
041261,000518: 14,2543 30601 OCCULT
041262,000519: 14,2544 77614 BON
041263,000520: 14,2545 01710 CULTFLAG
041264,000521: 14,2546 30507 PIC1
041265,000522:
|
|
Page 936
|
041267,000524: 14,2547 45173 VLOAD* CALL
041268,000525: 14,2550 47430 CATLOG,2
041269,000526: 14,2551 30601 OCCULT
041270,000527: 14,2552 77614 BON
041271,000528: 14,2553 01710 CULTFLAG
041272,000529: 14,2554 30522 PIC3
041273,000530: 14,2555 77614 STRATGY BONCLR
041274,000531: 14,2556 01605 VFLAG
041275,000532: 14,2557 30574 NEWPAR
041276,000533: 14,2560 65120 XCHX,1 XCHX,2
041277,000534: 14,2561 02755 BESTI
041278,000535: 14,2562 02756 BESTJ
041279,000536: 14,2563 47773 STRAT VLOAD* DOT*
041280,000537: 14,2564 30347 CATLOG,1
041281,000538: 14,2565 47430 CATLOG,2
041282,000539: 14,2566 43006 PUSH BOFINV
041283,000540: 14,2567 01545 VFLAG
041284,000541: 14,2570 30560 STRAT -3
041285,000542: 14,2571 45345 DLOAD DSU
041286,000543: 14,2572 77644 BPL
041287,000544: 14,2573 30522 PIC3
041288,000545: 14,2574 67130 NEWPAR SXA,1 SXA,2
041289,000546: 14,2575 02755 BESTI
041290,000547: 14,2576 02756 BESTJ
041291,000548: 14,2577 77650 GOTO
041292,000549: 14,2600 30522 PIC3
041293,000550: 14,2601 51321 OCCULT MXV BVSU
041294,000551: 14,2602 02707 CULTRIX
041295,000552: 14,2603 00017 CSS
041296,000553: 14,2604 77654 BZE
041297,000554: 14,2605 30620 CULTED
041298,000555: 14,2606 75240 BMN SIGN
041299,000556: 14,2607 30620 CULTED
041300,000557: 14,2610 00160 MPAC +3
041301,000558: 14,2611 75240 BMN SIGN
041302,000559: 14,2612 30620 CULTED
041303,000560: 14,2613 00162 MPAC +5
041304,000561: 14,2614 43040 BMN CLRGO
041305,000562: 14,2615 30620 CULTED
041306,000563: 14,2616 01630 CULTFLAG
041307,000564: 14,2617 00052 QPRET
041308,000565: 14,2620 77614 CULTED SETGO
041309,000566: 14,2621 01430 CULTFLAG
041310,000567: 14,2622 00052 QPRET
041311,000568: 14,2623 0000016 CSS = CEARTH
041312,000569: 14,2623 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041313,000570: 14,2625 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041314,000571: 14,2627 77414 PICEND BOFF EXIT
041315,000572:
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|
Page 937
|
041317,000574: 14,2630 01745 VFLAG
041318,000575: 14,2631 30633 PICGXT
041319,000576: 14,2632 02654 TC PICBXT
041320,000577: 14,2633 73150 PICGXT LXA,1 LXA,2
041321,000578: 14,2634 02755 BESTI
041322,000579: 14,2635 02756 BESTJ
041323,000580: 14,2636 47775 VLOAD DOT*
041324,000581: 14,2637 02731 SAX
041325,000582: 14,2640 30347 CATLOG,1
041326,000583: 14,2641 47715 PDVL DOT*
041327,000584: 14,2642 02731 SAX
041328,000585: 14,2643 47430 CATLOG,2
041329,000586: 14,2644 77625 DSU
041330,000587: 14,2645 66044 BPL SXA,1
041331,000588: 14,2646 30652 PICNSWP
041332,000589: 14,2647 02756 BESTJ
041333,000590: 14,2650 77734 SXA,2
041334,000591: 14,2651 02755 BESTI
041335,000592: 14,2652 77776 PICNSWP EXIT
041336,000593: 14,2653 25745 INCR QMIN
041337,000594: 14,2654 31745 PICBXT CA QMIN
041338,000595: 14,2655 04622 TC SWCALL
041339,000596: 14,2656 VPD = 0D
041340,000597: 14,2656 V0 = 6D
041341,000598: 14,2656 V1 = 12D
041342,000599: 14,2656 V2 = 18D
041343,000600: 14,2656 V3 = 24D
041344,000601: 14,2656 DP0 = 30D
041345,000602: 14,2656 DP1 = 32D
041346,000603:
|
|
Page 938
|
041348,000605: # NAME-R51 FINE ALIGN
041349,000606: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041350,000607: # CALLING SEQ- CALL R51
041351,000608: # INPUT - REFSMMAT
041352,000609: # OUTPUT- GYRO TORQUE PULSES
041353,000610: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041354,000611: 14,2656 COUNT* $$/R51
041355,000612: 14,2656 77620 R51 STQ
041356,000613: 14,2657 02746 QMAJ
041357,000614: 14,2660 77776 R51.1 EXIT
041358,000615: 14,2661 34761 R51C CAF OCT15
041359,000616: 14,2662 04616 TC BANKCALL
041360,000617: 14,2663 20476 CADR GOPERF1
041361,000618: 14,2664 06001 TC GOTOPOOH
041362,000619: 14,2665 02667 TC +2 # V33E
041363,000620: 14,2666 02712 TC R51E # ENTER
041364,000621: 14,2667 06036 TC INTPRET
041365,000622: 14,2670 43234 RTB DAD
041366,000623: 14,2671 21462 LOADTIME
041367,000624: 14,2672 31024 TSIGHT1
041368,000625: 14,2673 77624 CALL
041369,000626: 14,2674 30347 LOCSAM
041370,000627: 14,2675 77776 EXIT
041371,000628: 14,2676 04616 TC BANKCALL
041372,000629: 14,2677 30452 CADR R56
041373,000630: 14,2700 02702 TC R51I
041374,000631: 14,2701 02712 R51F TC R51E
041375,000632: 14,2702 05567 R51I TC ALARM
041376,000633: 14,2703 00405 OCT 405
041377,000634: 14,2704 35006 CAF VB05N09
041378,000635: 14,2705 04616 TC BANKCALL
041379,000636: 14,2706 20351 CADR GOFLASH
041380,000637: 14,2707 06001 TC GOTOPOOH
041381,000638: 14,2710 02712 TC R51E
041382,000639: 14,2711 02661 TC R51C
041383,000640: 14,2712 34755 R51E CAF ZERO
041384,000641: 14,2713 55757 TS STARIND
041385,000642: 14,2714 06036 R51.2 TC INTPRET
041386,000643: 14,2715 77776 R51.3 EXIT
041387,000644: 14,2716 05353 TC PHASCHNG
041388,000645: 14,2717 05024 OCT 05024
041389,000646: 14,2720 13000 OCT 13000
041390,000647: 14,2721 06036 TC INTPRET
041391,000648: 14,2722 77624 CALL
041392,000649: 14,2723 31610 R52 # AOP WILL MAKE CALLS TO SIGHTING
041393,000650: 14,2724 77776 EXIT
041394,000651: 14,2725 04616 TC BANKCALL
041395,000652: 14,2726 16000 CADR AOTMARK
041396,000653: 14,2727 04616 TC BANKCALL
041397,000654: 14,2730 17665 CADR OPTSTALL
041398,000655:
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|
Page 939
|
041400,000657: 14,2731 05703 TC CURTAINS
041401,000658: 14,2732 11757 CCS STARIND
041402,000659: 14,2733 12735 TCF +2
041403,000660: 14,2734 03006 TC R51.4
041404,000661: 14,2735 06036 TC INTPRET
041405,000662: 14,2736 77775 VLOAD
041406,000663: 14,2737 02715 STARAD +6
041407,000664: 14,2740 02767 STORE STARSAV2
041408,000665: 14,2741 77776 EXIT
041409,000666: 14,2742 05353 TC PHASCHNG
041410,000667: 14,2743 05024 OCT 05024
041411,000668: 14,2744 13000 OCT 13000
041412,000669: 14,2745 06036 TC INTPRET
041413,000670: 14,2746 45145 DLOAD CALL
041414,000671: 14,2747 03560 TSIGHT
041415,000672: 14,2750 32540 PLANET
041416,000673: 14,2751 53521 MXV UNIT
041417,000674: 14,2752 01734 REFSMMAT
041418,000675: 14,2753 26715 STOVL STARAD +6
041419,000676: 14,2754 03552 PLANVEC
041420,000677: 14,2755 53521 MXV UNIT
041421,000678: 14,2756 01734 REFSMMAT
041422,000679: 14,2757 26707 STOVL STARAD
041423,000680: 14,2760 02761 STARSAV1
041424,000681: 14,2761 24007 STOVL 6D
041425,000682: 14,2762 02767 STARSAV2
041426,000683: 14,2763 34015 STCALL 12D
041427,000684: 14,2764 31121 R54 # STAR DATA TEST
041428,000685: 14,2765 45014 BOFF CALL
041429,000686: 14,2766 00354 FREEFLAG
041430,000687: 14,2767 30775 R51K
041431,000688: 14,2770 47345 AXISGEN
041432,000689: 14,2771 77624 CALL
041433,000690: 14,2772 31066 R55 # GYRO TORQUE
041434,000691: 14,2773 77614 CLEAR
041435,000692: 14,2774 01273 PFRATFLG
041436,000693: 14,2775 77776 R51K EXIT
041437,000694: 14,2776 35742 R51P63 CAF OCT14
041438,000695: 14,2777 04616 TC BANKCALL
041439,000696: 14,3000 20476 CADR GOPERF1
041440,000697: 14,3001 06001 TC GOTOPOOH
041441,000698: 14,3002 02661 TC R51C
041442,000699: 14,3003 06036 TC INTPRET
041443,000700: 14,3004 77650 GOTO
041444,000701: 14,3005 02746 QMAJ
041445,000702: 14,3006 06036 R51.4 TC INTPRET
041446,000703: 14,3007 77775 VLOAD
041447,000704: 14,3010 02715 STARAD +6
041448,000705: 14,3011 02761 STORE STARSAV1
041449,000706: 14,3012 45145 DLOAD CALL
041450,000707:
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|
Page 940
|
041452,000709: 14,3013 03560 TSIGHT
041453,000710: 14,3014 32540 PLANET
041454,000711: 14,3015 03552 STORE PLANVEC
041455,000712: 14,3016 77731 SSP
041456,000713: 14,3017 02760 STARIND
041457,000714: 14,3020 00001 1
041458,000715: 14,3021 77650 GOTO
041459,000716: 14,3022 30715 R51.3
041460,000717: 14,3023 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041461,000718:
|
|
Page 941
|
041463,000720: # GYRO TORQUE COARSE ALIGNMENT
041464,000721: 14,3025 45020 GYCOARS STQ CALL
041465,000722: 14,3026 02746 QMAJ
041466,000723: 14,3027 47151 CALCGTA
041467,000724: 14,3030 43014 CLEAR CLEAR
041468,000725: 14,3031 01260 DRIFTFLG
041469,000726: 14,3032 01662 REFSMFLG
041470,000727: 14,3033 77776 EXIT
041471,000728: 14,3034 33065 CAF V16N20 # MONITOR GIMBALS
041472,000729: 14,3035 04616 TC BANKCALL
041473,000730: 14,3036 20327 CADR GODSPR
041474,000731: 14,3037 33120 CA R55CDR
041475,000732: 14,3040 04616 TC BANKCALL
041476,000733: 14,3041 17276 CADR IMUPULSE
041477,000734: 14,3042 04616 TC BANKCALL
041478,000735: 14,3043 17671 CADR IMUSTALL
041479,000736: 14,3044 05703 TC CURTAINS
041480,000737: 14,3045 05353 TC PHASCHNG
041481,000738: 14,3046 05024 OCT 05024
041482,000739: 14,3047 13000 OCT 13000
041483,000740: 14,3050 06036 TC INTPRET
041484,000741: 14,3051 75160 AXC,1 AXC,2
041485,000742: 14,3052 03604 XSMD
041486,000743: 14,3053 01733 REFSMMAT
041487,000744: 14,3054 77624 CALL # STORE DESIRED REFSMMAT
041488,000745: 14,3055 31237 MATMOVE
041489,000746: 14,3056 43014 CLEAR SET
041490,000747: 14,3057 01273 PFRATFLG
041491,000748: 14,3060 01462 REFSMFLG
041492,000749: 14,3061 77624 CALL
041493,000750: 14,3062 31523 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041494,000751: 14,3063 77650 GOTO
041495,000752: 14,3064 30775 R51K
041496,000753: 14,3065 04024 V16N20 VN 1620
041497,000754:
|
|
Page 942
|
041499,000756: # R55 GYRO TORQUE
041500,000757: # FUNCTION-COMPUTE AND SEND GYRO PULSES
041501,000758: # CALLING SEQ- CALL R55
041502,000759: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
041503,000760: # OUTPUT- GYRO PULSES
041504,000761: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE, IMUPULSE,GOPERF1
041505,000762: 14,3066 COUNT* $$/R55
041506,000763: 14,3066 77620 R55 STQ
041507,000764: 14,3067 02745 QMIN
041508,000765: 14,3070 77624 CALL
041509,000766: 14,3071 47151 CALCGTA
041510,000767: 14,3072 77776 PULSEM EXIT
041511,000768: 14,3073 33117 R55.1 CAF V06N93
041512,000769: 14,3074 04616 TC BANKCALL
041513,000770: 14,3075 20351 CADR GOFLASH
041514,000771: 14,3076 06001 TC GOTOPOOH
041515,000772: 14,3077 03101 TC R55.2
041516,000773: 14,3100 03114 TC R55RET
041517,000774: 14,3101 05353 R55.2 TC PHASCHNG
041518,000775: 14,3102 00214 OCT 00214
041519,000776: 14,3103 33120 CA R55CDR
041520,000777: 14,3104 04616 TC BANKCALL
041521,000778: 14,3105 17276 CADR IMUPULSE
041522,000779: 14,3106 04616 TC BANKCALL
041523,000780: 14,3107 17671 CADR IMUSTALL
041524,000781: 14,3110 05703 TC CURTAINS
041525,000782: 14,3111 05353 TC PHASCHNG
041526,000783: 14,3112 05024 OCT 05024
041527,000784: 14,3113 13000 OCT 13000
041528,000785: 14,3114 06036 R55RET TC INTPRET
041529,000786: 14,3115 77650 GOTO
041530,000787: 14,3116 02745 QMIN
041531,000788: 14,3117 01535 V06N93 VN 0693
041532,000789: 14,3120 02737 R55CDR ECADR OGC
041533,000790: 14,3121 14,3121 R54 = CHKSDATA
041534,000791: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
041535,000792: # MOD NO- 0 LOG SECTION- P51-P53
041536,000793: # MODIFICATION BY- LONSKE ASSEMBLY-
041537,000794:
041538,000795: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041539,000796: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041540,000797: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041541,000798:
041542,000799: # OS1 = OBSERVED STAR 1 VECTOR
041543,000800: # OS2 = OBSERVED STAR 2 VECTOR
041544,000801: # SS1 = STORED STAR 1 VECTOR
041545,000802: # SS2 = STORED STAR 2 VECTOR
041546,000803: # A1 = ARCCOS(OS1 - OS2)
041547,000804: # A2 = ARCCOS(SS1 - SS2)
041548,000805: # A = ABS(2(A1 - A2))
041549,000806:
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|
Page 943
|
041551,000808: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041552,000809: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041553,000810: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041554,000811: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041555,000812: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041556,000813:
041557,000814: # ERASABLE INITIALIZATION REQUIRED -
041558,000815: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041559,000816: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
041560,000817: # DEBRIS -
041561,000818: 14,3121 COUNT* $$/R54
041562,000819: 14,3121 43020 CHKSDATA STQ SET
041563,000820: 14,3122 02745 QMIN
041564,000821: 14,3123 00074 FREEFLAG
041565,000822: 14,3124 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041566,000823: 14,3125 02706 STARAD
041567,000824:
041568,000825: 14,3126 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041569,000826: 14,3127 00001 0,1
041570,000827: 14,3130 00007 6,1
041571,000828: 14,3131 65552 SL1 ACOS
041572,000829: 14,3132 00025 STORE THETA
041573,000830: 14,3133 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041574,000831: 14,3134 00354 FREEFLAG
041575,000832: 14,3135 31145 CHKSD
041576,000833: 14,3136 00174 FREEFLAG # CLEAR FREEFLAG
041577,000834: 14,3137 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041578,000835: 14,3140 00006 6D
041579,000836: 14,3141 00025 THETA
041580,000837: 14,3142 00023 STORE 18D
041581,000838: 14,3143 77650 GOTO
041582,000839: 14,3144 31126 CHKSB # RETURN TO CAL. 2ND ANGLE
041583,000840: 14,3145 45345 CHKSD DLOAD DSU
041584,000841: 14,3146 00025 THETA
041585,000842: 14,3147 00023 18D
041586,000843: 14,3150 47046 ABS RTB # COMPUTE POS DIFF
041587,000844: 14,3151 21516 SGNAGREE
041588,000845: 14,3152 01046 STORE NORMTEM1
041589,000846: 14,3153 77414 SET EXIT
041590,000847: 14,3154 00074 FREEFLAG
041591,000848: 14,3155 33171 CAF VB6N5
041592,000849: 14,3156 04616 TC BANKCALL
041593,000850: 14,3157 20351 CADR GOFLASH
041594,000851: 14,3160 16001 TCF GOTOPOOH
041595,000852: 14,3161 03166 TC CHKSDA # PROCEED
041596,000853: 14,3162 06036 TC INTPRET
041597,000854: 14,3163 52014 CLEAR GOTO
041598,000855: 14,3164 00274 FREEFLAG
041599,000856: 14,3165 02745 QMIN
041600,000857: 14,3166 06036 CHKSDA TC INTPRET
041601,000858:
|
|
Page 944
|
041603,000860: 14,3167 77650 GOTO
041604,000861: 14,3170 02745 QMIN
041605,000862: 14,3171 01405 VB6N5 VN 605
041606,000863: # NAME - CAL53A
041607,000864: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041608,000865: # CALLING SEQUENCE - CALL CAL53A
041609,000866: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
041610,000867: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041611,000868: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041612,000869: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
041613,000870: 14,3172 COUNT* $$/R50
041614,000871: 14,3172 45020 CAL53A STQ CALL
041615,000872: 14,3173 00035 29D
041616,000873: 14,3174 31534 S52.2 # MAKE ONE FINAL COMP OF GIMBLE ANGLES
041617,000874: 14,3175 66234 RTB SSP
041618,000875: 14,3176 31253 RDCDUS # READ CDUS
041619,000876: 14,3177 00051 S1
041620,000877: 14,3200 00001 1
041621,000878: 14,3201 40370 AXT,1 SETPD
041622,000879: 14,3202 00003 3
041623,000880: 14,3203 00005 4
041624,000881: 14,3204 70543 CALOOP DLOAD* SR1
041625,000882: 14,3205 00325 THETAD +3D,1
041626,000883: 14,3206 70523 PDDL* SR1
041627,000884: 14,3207 00005 4,1
041628,000885: 14,3210 51425 DSU ABS
041629,000886: 14,3211 45206 PUSH DSU
041630,000887: 14,3212 31252 DEGREE1
041631,000888: 14,3213 71240 BMN DLOAD
041632,000889: 14,3214 31226 CALOOP1
041633,000890: 14,3215 51025 DSU BPL
041634,000891: 14,3216 31253 DEG359
041635,000892: 14,3217 31226 CALOOP1
041636,000893: 14,3220 77624 COARFINE CALL
041637,000894: 14,3221 31506 COARSE
041638,000895: 14,3222 77624 CALL
041639,000896: 14,3223 31523 NCOARSE
041640,000897: 14,3224 77650 GOTO
041641,000898: 14,3225 31230 FINEONLY
041642,000899: 14,3226 77700 CALOOP1 TIX,1
041643,000900: 14,3227 31204 CALOOP
041644,000901: 14,3230 75160 FINEONLY AXC,1 AXC,2
041645,000902: 14,3231 02642 XSM
041646,000903: 14,3232 01733 REFSMMAT
041647,000904: 14,3233 77624 CALL
041648,000905: 14,3234 31237 MATMOVE
041649,000906: 14,3235 77650 GOTO
041650,000907: 14,3236 00035 29D
041651,000908: 14,3237 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041652,000909: 14,3240 00001 0,1
041653,000910:
|
|
Page 945
|
041655,000912: 14,3241 10001 STORE 0,2
041656,000913: 14,3242 77773 VLOAD*
041657,000914: 14,3243 00007 6D,1
041658,000915: 14,3244 10007 STORE 6D,2
041659,000916: 14,3245 77773 VLOAD*
041660,000917: 14,3246 00015 12D,1
041661,000918: 14,3247 10015 STORE 12D,2
041662,000919: 14,3250 77616 RVQ
041663,000920: 14,3251 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041664,000921: 14,3252 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041665,000922: 14,3253 00004 RDCDUS INHINT # READ CDUS
041666,000923: 14,3254 30032 CA CDUX
041667,000924: 14,3255 50120 INDEX FIXLOC
041668,000925: 14,3256 54001 TS 1
041669,000926: 14,3257 30033 CA CDUY
041670,000927: 14,3260 50120 INDEX FIXLOC
041671,000928: 14,3261 54002 TS 2
041672,000929: 14,3262 30034 CA CDUZ
041673,000930: 14,3263 50120 INDEX FIXLOC
041674,000931: 14,3264 54003 TS 3
041675,000932: 14,3265 00003 RELINT
041676,000933: 14,3266 06060 TC DANZIG # +
041677,000934: 14,3267 COUNT* $$/INFLT
041678,000935: 14,3267 77760 CALCSMSC AXC,1
041679,000936: 14,3270 02664 XNB
041680,000937:
041681,000938: 14,3271 41345 XNBNDX DLOAD DMP
041682,000939: 14,3272 00737 SINCDUY
041683,000940: 14,3273 00747 COSCDUZ
041684,000941: 14,3274 77676 DCOMP
041685,000942: 14,3275 70525 PDDL SR1
041686,000943: 14,3276 00741 SINCDUZ
041687,000944: 14,3277 41325 PDDL DMP
041688,000945: 14,3300 00745 COSCDUY
041689,000946: 14,3301 00747 COSCDUZ
041690,000947: 14,3302 76466 VDEF VSL1
041691,000948: 14,3303 04001 STORE 0,1
041692,000949: 14,3304 41345 DLOAD DMP
041693,000950: 14,3305 00743 SINCDUX
041694,000951: 14,3306 00741 SINCDUZ
041695,000952: 14,3307 77752 SL1
041696,000953: 14,3310 00033 STORE 26D
041697,000954: 14,3311 77605 DMP
041698,000955: 14,3312 00737 SINCDUY
041699,000956: 14,3313 41325 PDDL DMP
041700,000957: 14,3314 00751 COSCDUX
041701,000958: 14,3315 00745 COSCDUY
041702,000959: 14,3316 77625 DSU
041703,000960: 14,3317 41325 PDDL DMP
041704,000961: 14,3320 00743 SINCDUX
041705,000962:
|
|
Page 946
|
041707,000964: 14,3321 00747 COSCDUZ
041708,000965: 14,3322 77676 DCOMP
041709,000966: 14,3323 41325 PDDL DMP
041710,000967: 14,3324 00751 COSCDUX
041711,000968: 14,3325 00737 SINCDUY
041712,000969: 14,3326 41325 PDDL DMP
041713,000970: 14,3327 00745 COSCDUY
041714,000971: 14,3330 00033 26D
041715,000972: 14,3331 55415 DAD VDEF
041716,000973: 14,3332 77772 VSL1
041717,000974: 14,3333 04015 STORE 14,1
041718,000975: 14,3334 76433 VXV* VSL1
041719,000976: 14,3335 00001 0,1
041720,000977: 14,3336 04007 STORE 6,1
041721,000978: 14,3337 77616 RVQ
041722,000979:
|
|
Page 947
|
041724,000981: # NAME - P51 - IMU ORIENTATION DETERMINATION
041725,000982: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
041726,000983: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041727,000984:
041728,000985: # FUNCTIONAL DESCRIPTION
041729,000986:
041730,000987: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041731,000988: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
041732,000989: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041733,000990: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041734,000991:
041735,000992: # CALLING SEQUENCE
041736,000993:
041737,000994: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041738,000995:
041739,000996: # SUBROUTINES CALLED.
041740,000997:
041741,000998: # GOPERF3
041742,000999: # GOPERF1
041743,001000: # GODSPR
041744,001001: # IMUCOARS
041745,001002: # IMUFIN20
041746,001003: # AOTMARK(R53)
041747,001004: # CHKSDATA(R54)
041748,001005: # MKRELEAS
041749,001006: # AXISGEN
041750,001007: # MATMOVE
041751,001008:
041752,001009: # ALARMS
041753,001010:
041754,001011: # NONE.
041755,001012:
041756,001013: # ERASABLE INITIALIZATION
041757,001014:
041758,001015: # IMU ZERO FLAG SHOULD BE SET.
041759,001016:
041760,001017: # OUTPUT
041761,001018:
041762,001019: # REFSMMAT
041763,001020: # REFSMFLG
041764,001021:
041765,001022: # DEBRIS
041766,001023:
041767,001024: # WORK AREA
041768,001025: # STARAD
041769,001026: # STARIND
041770,001027: # BESTI
041771,001028: # BESTJ
041772,001029:
041773,001030: 14,3340 COUNT* $$/P51
|
|
Page 948
|
041775,001032: 14,3340 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041776,001033: 14,3341 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041777,001034:
041778,001035: 14,3342 34761 CAF PRFMSTAQ
041779,001036: 14,3343 04616 TC BANKCALL
041780,001037: 14,3344 20476 CADR GOPERF1
041781,001038: 14,3345 06001 TC GOTOPOOH # TERM.
041782,001039: 14,3346 13374 TCF P51B # V33
041783,001040: 14,3347 05353 TC PHASCHNG
041784,001041: 14,3350 05024 OCT 05024
041785,001042: 14,3351 13000 OCT 13000
041786,001043: 14,3352 34755 CAF P51ZERO
041787,001044: 14,3353 54321 TS THETAD # ZERO THE GIMBALS
041788,001045: 14,3354 54322 TS THETAD +1
041789,001046: 14,3355 54323 TS THETAD +2
041790,001047: 14,3356 33504 CAF V6N22
041791,001048: 14,3357 04616 TC BANKCALL
041792,001049: 14,3360 20324 CADR GODSPRET
041793,001050: 14,3361 33505 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041794,001051: 14,3362 04616 TC BANKCALL
041795,001052: 14,3363 20324 CADR GODSPRET
041796,001053: 14,3364 06036 TC INTPRET
041797,001054: 14,3365 77624 CALL
041798,001055: 14,3366 31506 COARSE
041799,001056: 14,3367 77776 EXIT
041800,001057: 14,3370 05353 TC PHASCHNG
041801,001058: 14,3371 05024 OCT 05024
041802,001059: 14,3372 13000 OCT 13000
041803,001060: 14,3373 13342 TCF P51 +2
041804,001061:
041805,001062: 14,3374 05353 P51B TC PHASCHNG
041806,001063: 14,3375 00014 OCT 00014
041807,001064: 14,3376 06036 TC INTPRET
041808,001065: 14,3377 77624 CALL
041809,001066: 14,3400 31523 NCOARSE
041810,001067: 14,3401 40331 SSP SETPD
041811,001068: 14,3402 02760 STARIND # INDEX-STAR 1 OR 2
041812,001069: 14,3403 00000 0
041813,001070: 14,3404 00001 0
041814,001071: 14,3405 77776 P51C EXIT
041815,001072: 14,3406 05353 TC PHASCHNG
041816,001073: 14,3407 05024 OCT 05024
041817,001074: 14,3410 13000 OCT 13000
041818,001075: 14,3411 04616 TC BANKCALL
041819,001076: 14,3412 16000 CADR AOTMARK # R53
041820,001077: 14,3413 04616 TC BANKCALL
041821,001078: 14,3414 17665 CADR AOTSTALL
041822,001079: 14,3415 05703 TC CURTAINS
041823,001080: 14,3416 11757 CCS STARIND
041824,001081: 14,3417 13425 TCF P51D +1
041825,001082:
|
|
Page 949
|
041827,001084: 14,3420 06036 TC INTPRET
041828,001085: 14,3421 77775 VLOAD
041829,001086: 14,3422 02715 STARAD +6
041830,001087: 14,3423 02761 STORE STARSAV1
041831,001088: 14,3424 77776 P51D EXIT
041832,001089: 14,3425 05353 TC PHASCHNG
041833,001090: 14,3426 05024 OCT 05024
041834,001091: 14,3427 13000 OCT 13000
041835,001092: 14,3430 11757 CCS STARIND
041836,001093: 14,3431 13446 TCF P51E
041837,001094: 14,3432 05353 TC PHASCHNG
041838,001095: 14,3433 05024 OCT 05024
041839,001096: 14,3434 13000 OCT 13000
041840,001097: 14,3435 06036 TC INTPRET
041841,001098: 14,3436 45145 DLOAD CALL
041842,001099: 14,3437 03560 TSIGHT
041843,001100: 14,3440 32540 PLANET
041844,001101: 14,3441 03552 STORE PLANVEC
041845,001102: 14,3442 77776 EXIT
041846,001103: 14,3443 34753 CAF BIT1
041847,001104: 14,3444 55757 TS STARIND
041848,001105: 14,3445 13406 TCF P51C +1 # DO SECOND STAR
041849,001106: 14,3446 05353 P51E TC PHASCHNG
041850,001107: 14,3447 05024 OCT 05024
041851,001108: 14,3450 13000 OCT 13000
041852,001109: 14,3451 06036 TC INTPRET
041853,001110: 14,3452 45145 DLOAD CALL
041854,001111: 14,3453 03560 TSIGHT
041855,001112: 14,3454 32540 PLANET
041856,001113: 14,3455 24015 STOVL 12D
041857,001114: 14,3456 03552 PLANVEC
041858,001115: 14,3457 24007 STOVL 6D
041859,001116: 14,3460 02761 STARSAV1
041860,001117: 14,3461 26707 STOVL STARAD
041861,001118: 14,3462 02767 STARSAV2
041862,001119: 14,3463 36715 STCALL STARAD +6
041863,001120: 14,3464 31121 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041864,001121: 14,3465 77414 BON EXIT
041865,001122: 14,3466 00314 FREEFLAG
041866,001123: 14,3467 31471 P51G
041867,001124: 14,3470 03342 TC P51 +2
041868,001125: 14,3471 77624 P51G CALL
041869,001126: 14,3472 47345 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041870,001127: 14,3473 75160 AXC,1 AXC,2
041871,001128: 14,3474 02664 XDC
041872,001129: 14,3475 01733 REFSMMAT
041873,001130: 14,3476 77624 CALL
041874,001131: 14,3477 31237 MATMOVE
041875,001132: 14,3500 77614 SET
041876,001133: 14,3501 01462 REFSMFLG
041877,001134:
|
|
Page 950
|
041879,001136: 14,3502 77776 EXIT
041880,001137: 14,3503 06001 TC GOTOPOOH # FINIS
041881,001138: 14,3504 4761 PRFMSTAQ = OCT15
041882,001139: 14,3504 4755 P51ZERO = ZERO
041883,001140: 14,3504 4756 P51FIVE = FIVE
041884,001141: 14,3504 01426 V6N22 VN 0622
041885,001142: 14,3505 12200 V41K VN 4100
041886,001143: 14,3506 77776 COARSE EXIT
041887,001144: 14,3507 04616 TC BANKCALL
041888,001145: 14,3510 16753 CADR IMUCOARS
041889,001146: 14,3511 04616 TC BANKCALL
041890,001147: 14,3512 17671 CADR IMUSTALL
041891,001148: 14,3513 05703 TC CURTAINS
041892,001149: 14,3514 04616 TC BANKCALL
041893,001150: 14,3515 17163 CADR IMUFINE
041894,001151: 14,3516 04616 TC BANKCALL
041895,001152: 14,3517 17671 CADR IMUSTALL
041896,001153: 14,3520 05703 TC CURTAINS
041897,001154: 14,3521 06036 TC INTPRET
041898,001155: 14,3522 77616 RVQ
041899,001156: 14,3523 77776 NCOARSE EXIT
041900,001157: 14,3524 30025 CA TIME1
041901,001158: 14,3525 55075 TS 1/PIPADT
041902,001159: 14,3526 06036 TC INTPRET
041903,001160: 14,3527 77775 VLOAD
041904,001161: 14,3530 22275 ZEROVEC
041905,001162: 14,3531 01472 STORE GCOMP
041906,001163: 14,3532 43414 SET RVQ
041907,001164: 14,3533 01060 DRIFTFLG
041908,001165:
|
|
Page 951
|
041910,001167: # NAME-S52.2
041911,001168: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041912,001169: # CALL- CALL S52.2
041913,001170: # INPUT- X,Y,ZSMD
041914,001171: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
041915,001172: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
041916,001173: 14,3534 COUNT* $$/S52.1
041917,001174: 14,3534 77620 S52.2 STQ
041918,001175: 14,3535 02746 QMAJ
041919,001176: 14,3536 77624 CALL
041920,001177: 14,3537 47443 CDUTRIG
041921,001178: 14,3540 77624 CALL
041922,001179: 14,3541 31267 CALCSMSC
041923,001180: 14,3542 66370 AXT,1 SSP
041924,001181: 14,3543 00022 18D
041925,001182: 14,3544 00051 S1
041926,001183: 14,3545 00006 6D
041927,001184: 14,3546 61373 S52.2A VLOAD* VXM
041928,001185: 14,3547 02707 XNB +18D,1
041929,001186: 14,3550 01734 REFSMMAT
041930,001187: 14,3551 77656 UNIT
041931,001188: 14,3552 06707 STORE XNB +18D,1
041932,001189: 14,3553 77700 TIX,1
041933,001190: 14,3554 31546 S52.2A
041934,001191: 14,3555 75160 S52.2.1 AXC,1 AXC,2
041935,001192: 14,3556 03604 XSMD
041936,001193: 14,3557 02642 XSM
041937,001194: 14,3560 77624 CALL
041938,001195: 14,3561 31237 MATMOVE
041939,001196: 14,3562 77624 CALL
041940,001197: 14,3563 47255 CALCGA
041941,001198: 14,3564 77650 GOTO
041942,001199: 14,3565 02746 QMAJ
041943,001200:
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|
Page 952
|
041945,001202: # NAME-S52.3
041946,001203: # FUNCTION XSMD= UNIT R
041947,001204: # YSMD= UNIT(V X R)
041948,001205: # ZSMD= UNIT(XSMD X YSMD)
041949,001206: # CALL DLOAD CALL
041950,001207: # TALIGN
041951,001208: # S52.3
041952,001209: # INPUT- TIME OF ALIGNMENT IN MPAC
041953,001210: # OUTPUT- X,Y,ZSMD
041954,001211: # SUBROUTINES- CSMCONIC
041955,001212: 14,3566 COUNT* $$/S52.3
041956,001213: 14,3566 77620 S52.3 STQ
041957,001214: 14,3567 02746 QMAJ
041958,001215: 14,3570 34041 STCALL TDEC1
041959,001216: 14,3571 27100 LEMCONIC
041960,001217: 14,3572 77601 SETPD
041961,001218: 14,3573 00001 0
041962,001219: 14,3574 53575 VLOAD UNIT
041963,001220: 14,3575 00001 RATT
041964,001221: 14,3576 27605 STOVL XSMD
041965,001222: 14,3577 00007 VATT
041966,001223: 14,3600 53435 VXV UNIT
041967,001224: 14,3601 00001 RATT
041968,001225: 14,3602 27613 STOVL YSMD
041969,001226: 14,3603 03605 XSMD
041970,001227: 14,3604 53435 VXV UNIT
041971,001228: 14,3605 03613 YSMD
041972,001229: 14,3606 37621 STCALL ZSMD
041973,001230: 14,3607 02746 QMAJ
041974,001231:
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|
Page 953
|
041976,001233: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041977,001234:
041978,001235: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041979,001236: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041980,001237:
041981,001238: # CALLING -CALL R52
041982,001239:
041983,001240: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
041984,001241: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
041985,001242: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041986,001243: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041987,001244: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041988,001245:
041989,001246: # SUBROUT -R60LEM
041990,001247:
041991,001248: 14,3610 COUNT* $$/R52
041992,001249: 14,3610 77420 R52 STQ EXIT
041993,001250: 14,3611 03663 SAVQR52
041994,001251: 14,3612 51757 INDEX STARIND
041995,001252: 14,3613 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041996,001253: 14,3614 00006 EXTEND
041997,001254: 14,3615 73706 MP 1/6TH
041998,001255: 14,3616 64744 AD BIT8 # SET DETENT POSITION 2
041999,001256: 14,3617 54735 TS STARCODE # SCALE AND STORE IN STARCODE
042000,001257:
042001,001258: 14,3620 33707 R52A CAF V01N70
042002,001259: 14,3621 04616 TC BANKCALL
042003,001260: 14,3622 20351 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
042004,001261: 14,3623 06001 TC GOTOPOOH # V34-TERMINATE
042005,001262: 14,3624 13626 TCF R52B # V33-PROCEED TO ORIENT LEM
042006,001263: 14,3625 13620 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
042007,001264:
042008,001265: 14,3626 05516 R52B TC DOWNFLAG
042009,001266: 14,3627 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042010,001267: 14,3630 30735 CA STARCODE # GRAB DETENT CODE
042011,001268: 14,3631 77743 MASK HIGH9
042012,001269: 14,3632 00006 EXTEND
042013,001270: 14,3633 63620 BZMF R52A # DONT ALLOW ZERO CODE-RECYCLE
042014,001271: 14,3634 74743 MASK BIT9 # SEE IF CODE 4 OR 5
042015,001272: 14,3635 10000 CCS A
042016,001273: 14,3636 13655 TCF GETAZEL # CODE 4 OR 5-GET CALIBRATION AZ EL
042017,001274: 14,3637 E7,1547 EBANK= XYMARK
042018,001275: 14,3637 35016 CA EBANK7
042019,001276: 14,3640 54003 TS EBANK
042020,001277: 14,3641 37743 CAF HIGH9 # FORWARD DETENT, INDEX DETENT AND GRAB
042021,001278: 14,3642 70735 MASK STARCODE # AZIMUTH ANGLE AND ELV = 45 DEG
042022,001279: 14,3643 00006 EXTEND
042023,001280: 14,3644 74743 MP BIT9 # SHIFT DETENT TO BITS1-2 FOR INDEX
042024,001281: 14,3645 50000 INDEX A
042025,001282: 14,3646 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
042026,001283:
|
|
Page 954
|
042028,001285: 14,3647 54001 TS L
042029,001286: 14,3650 E5,1642 EBANK= XSM
042030,001287: 14,3650 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
042031,001288: 14,3651 54003 TS EBANK
042032,001289: 14,3652 34737 CA BIT13 # SET ELV TO 45 DEG
042033,001290: 14,3653 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042034,001291: 14,3654 13665 TCF AZEL # GO COMP OPTIC AXIS
042035,001292:
042036,001293: 14,3655 33710 GETAZEL CAF V06N87 # CODE 4 OR 5-GET AZ AND EL FROM ASTRO
042037,001294: 14,3656 04616 TC BANKCALL
042038,001295: 14,3657 20351 CADR GOFLASH
042039,001296: 14,3660 06001 TC GOTOPOOH # V34-TERMINATE
042040,001297: 14,3661 13663 TCF +2 # PROCEED-CALC OPTIC AXIS
042041,001298: 14,3662 13655 TCF GETAZEL # ENTER-RECYCLE
042042,001299:
042043,001300: 14,3663 00006 EXTEND
042044,001301: 14,3664 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
042045,001302: 14,3665 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
042046,001303: 14,3666 52011 DXCH 8D
042047,001304: 14,3667 06036 TC INTPRET
042048,001305: 14,3670 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
042049,001306: 14,3671 13370 OANB # SCAXIS IN NB COORDS
042050,001307: 14,3672 45034 RTB CALL
042051,001308: 14,3673 21462 LOADTIME
042052,001309: 14,3674 32540 PLANET
042053,001310: 14,3675 53521 MXV UNIT
042054,001311: 14,3676 01734 REFSMMAT
042055,001312: 14,3677 03767 STORE POINTVSM # STORE FOR VECPOINT
042056,001313:
042057,001314: 14,3700 77776 EXIT
042058,001315: 14,3701 04616 TC BANKCALL
042059,001316: 14,3702 54101 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
042060,001317:
042061,001318: 14,3703 06036 TC INTPRET # RETURN FROM KALCMANU
042062,001319: 14,3704 77650 GOTO
042063,001320: 14,3705 03663 SAVQR52 # RETURN TO CALLER
042064,001321:
042065,001322: 14,3706 05253 1/6TH DEC .1666667
042066,001323: 14,3707 00306 V01N70 VN 0170
042067,001324: 14,3710 01527 V06N87 VN 687
042068,001325:
|
|
Page 955
|
042070,001327: # LUNAR SURFACE STAR AQUISITION
042071,001328:
042072,001329: 15,2301 BANK 15
042073,001330: 15,2000 SETLOC P50S
042074,001331: 15,2000 BANK
042075,001332: 15,2301 COUNT* $$/R59
042076,001333:
042077,001334: 15,2301 40077 R59 CS FLAGWRD3
042078,001335: 15,2302 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042079,001336: 15,2303 10000 CCS A
042080,001337: 15,2304 12523 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042081,001338:
042082,001339: 15,2305 32531 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042083,001340: 15,2306 04616 TC BANKCALL
042084,001341: 15,2307 20351 CADR GOFLASH
042085,001342: 15,2310 06001 TC GOTOPOOH # V34-TERMINATE
042086,001343: 15,2311 12313 TCF R59A # V33-PROCEED
042087,001344: 15,2312 12301 TCF R59 # V32-RECYCLE
042088,001345:
042089,001346: 15,2313 47743 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
042090,001347: 15,2314 70735 MASK AOTCODE
042091,001348: 15,2315 00006 EXTEND
042092,001349: 15,2316 76241 MP REVCNT # JUST 6
042093,001350: 15,2317 56001 XCH L
042094,001351: 15,2320 51757 INDEX STARIND
042095,001352: 15,2321 55755 TS BESTI
042096,001353: 15,2322 50120 INDEX FIXLOC
042097,001354: 15,2323 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
042098,001355: 15,2324 00006 EXTEND
042099,001356: 15,2325 12523 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
042100,001357: 15,2326 40000 COM
042101,001358: 15,2327 62625 AD DEC227
042102,001359: 15,2330 00006 EXTEND
042103,001360: 15,2331 62523 BZMF R59OUT
042104,001361:
042105,001362: 15,2332 06036 TC INTPRET
042106,001363: 15,2333 77624 CALL
042107,001364: 15,2334 47443 CDUTRIG # GET CDU JAZZ FOR SMNB
042108,001365: 15,2335 64373 VLOAD* MXV
042109,001366: 15,2336 30347 CATLOG,1 # GRAB STAR VECTOR
042110,001367: 15,2337 01734 REFSMMAT # TRANSFORM TO SM
042111,001368: 15,2340 45056 UNIT CALL
042112,001369: 15,2341 47575 *SMNB* # TRANSFORM TO NB
042113,001370: 15,2342 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042114,001371: 15,2343 77776 EXIT
042115,001372:
042116,001373: 15,2344 34753 CAF BIT1 # INITIALIZE POS TO ONE
042117,001374: 15,2345 55052 TS POSCODE
042118,001375: 15,2346 42537 CS DEG60 # AS(N) TO -60 DEG
042119,001376: 15,2347 55745 TS QMIN
042120,001377:
|
|
Page 956
|
042122,001379:
042123,001380:
042124,001381: 15,2350 54000 STORPOS TS A # DETECT OVF AZ = -120
042125,001382: 15,2351 12354 TCF +3 # NO OVF
042126,001383: 15,2352 34735 CAF BIT15 # OVF SKIP-ADD NEGMAX TO OVF CORRECT QMIN
042127,001384: 15,2353 27745 ADS QMIN
042128,001385: 15,2354 34737 CAF BIT13 # ELV=45 DEG
042129,001386: 15,2355 54001 TS L
042130,001387: 15,2356 31745 CA QMIN
042131,001388: 15,2357 50120 INDEX FIXLOC
042132,001389: 15,2360 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042133,001390:
042134,001391: 15,2361 06036 TC INTPRET
042135,001392: 15,2362 77624 CALL
042136,001393: 15,2363 13370 OANB # GO CALC OPTIC AXIS WRT NB
042137,001394: 15,2364 50375 VLOAD DOT
042138,001395: 15,2365 02731 STAR # DOT STAR WITH OA
042139,001396: 15,2366 03761 SCAXIS
042140,001397: 15,2367 65552 SL1 ARCCOS
042141,001398: 15,2370 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042142,001399:
042143,001400: 15,2371 51025 DSU BPL
042144,001401: 15,2372 32534 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042145,001402: 15,2373 32455 NXAX # NOT IN FIELD - TRY NEXT POSITION
042146,001403: 15,2374 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042147,001404: 15,2375 00031 24D
042148,001405: 15,2376 32536 DEG.5
042149,001406: 15,2377 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042150,001407: 15,2400 32450 ZSPCR # GO ZERO CURSOR AND SPIRAL
042151,001408: 15,2401 00031 24D # GET SPIRAL
042152,001409: 15,2402 42405 DMP SL4
042153,001410: 15,2403 23710 3/4 # 12 SCALED AT 16
042154,001411: 15,2404 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042155,001412:
042156,001413: 15,2405 03761 SCAXIS # OA
042157,001414: 15,2406 53435 VXV UNIT
042158,001415: 15,2407 22273 XUNIT
042159,001416: 15,2410 47206 PUSH VXV # OA X UNITX PD 0-5
042160,001417: 15,2411 03761 SCAXIS
042161,001418: 15,2412 77676 VCOMP
042162,001419: 15,2413 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
042163,001420: 15,2414 03761 SCAXIS
042164,001421: 15,2415 53435 VXV UNIT
042165,001422: 15,2416 02731 STAR
042166,001423: 15,2417 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042167,001424: 15,2420 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042168,001425: 15,2421 65552 SL1 ARCCOS
042169,001426: 15,2422 24033 STOVL 26D # STORE THET SCALED IN REVS
042170,001427:
042171,001428: 15,2423 77641 DOT # UP 12-17, UP 6-11 FOR C2
042172,001429: 15,2424 71244 BPL DLOAD # IF THET NEG-GET 360-THET
042173,001430: 15,2425 32432 R59D
042174,001431:
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|
Page 957
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042176,001433: 15,2426 32047 ABOUTONE
042177,001434: 15,2427 77625 DSU
042178,001435: 15,2430 00033 26D
042179,001436: 15,2431 00033 STORE 26D # 360-THET SCALED IN REVS
042180,001437:
042181,001438: 15,2432 70535 R59D SLOAD SR1
042182,001439: 15,2433 02746 QMIN # RESCALE AZ(N) TO REVS
042183,001440: 15,2434 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042184,001441: 15,2435 00033 26D
042185,001442: 15,2436 77634 RTB
042186,001443: 15,2437 21520 1STO2S
042187,001444: 15,2440 15046 STODL CURSOR # YROT IN 1/2 REVS
042188,001445: 15,2441 00031 24D # LOAD SROT IN REVS
042189,001446: 15,2442 77615 DAD # 12(SEP) + YROT
042190,001447: 15,2443 77634 RTB
042191,001448: 15,2444 21520 1STO2S
042192,001449: 15,2445 01047 STORE SPIRAL # SROT IN 1/2 REVS
042193,001450: 15,2446 77776 EXIT
042194,001451: 15,2447 12476 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042195,001452:
042196,001453: 15,2450 77776 ZSPCR EXIT
042197,001454: 15,2451 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
042198,001455: 15,2452 55045 TS CURSOR # AND SPIRAL ANGLES
042199,001456: 15,2453 55046 TS SPIRAL
042200,001457: 15,2454 12476 TCF 79DISP
042201,001458:
042202,001459: 15,2455 77776 NXAX EXIT
042203,001460: 15,2456 25052 INCR POSCODE
042204,001461: 15,2457 41052 CS POSCODE
042205,001462: 15,2460 64757 AD SEVEN
042206,001463: 15,2461 00006 EXTEND
042207,001464: 15,2462 62466 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042208,001465: 15,2463 32537 CAF DEG60 # ADVANCE AZ(N) BY 60 DEG
042209,001466: 15,2464 27745 ADS QMIN # IF OVF, QMIN CONTAINS OVF CORRECTED
042210,001467: 15,2465 12350 TCF STORPOS
042211,001468: 15,2466 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042212,001469: 15,2467 00404 OCT 404
042213,001470: 15,2470 35006 CAF VB05N09 # DISPLAY ALARM
042214,001471: 15,2471 04616 TC BANKCALL
042215,001472: 15,2472 20351 CADR GOFLASH
042216,001473: 15,2473 16001 TCF GOTOPOOH # VB34-TERMINATE
042217,001474: 15,2474 12523 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
042218,001475: 15,2475 12301 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
042219,001476:
042220,001477: 15,2476 32532 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042221,001478: 15,2477 04616 TC BANKCALL
042222,001479: 15,2500 20351 CADR GOFLASH
042223,001480: 15,2501 16001 TCF GOTOPOOH # V34-TERMINATE
042224,001481: 15,2502 12504 TCF R59E # V33-PROCEED TO MARK ROUTINE
042225,001482: 15,2503 12301 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
042226,001483:
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|
Page 958
|
042228,001485: 15,2504 34751 R59E CAF BIT3 # GET DETENT CORRESPONDING TO POSITION COD
042229,001486: 15,2505 71052 MASK POSCODE # KEYED IN POS CODE
042230,001487: 15,2506 00006 EXTEND
042231,001488: 15,2507 12511 BZF +2 # FORWARD DETENT
042232,001489: 15,2510 12513 TCF +3 # ITS REAR DETENT, 4 ALREADY IN (A)
042233,001490: 15,2511 34757 CAF SEVEN # GET FORWARD DETENT
042234,001491: 15,2512 71052 MASK POSCODE
042235,001492: 15,2513 00006 EXTEND
042236,001493: 15,2514 74745 MP BIT7
042237,001494: 15,2515 56001 XCH L
042238,001495: 15,2516 55745 TS QMIN
042239,001496: 15,2517 47743 CS HIGH9
042240,001497: 15,2520 70735 MASK AOTCODE
042241,001498: 15,2521 61745 AD QMIN
042242,001499: 15,2522 54735 TS AOTCODE # STORE DETENT IN 7-9
042243,001500:
042244,001501: 15,2523 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
042245,001502: 15,2524 16000 CADR AOTMARK
042246,001503: 15,2525 04616 TC BANKCALL
042247,001504: 15,2526 17665 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042248,001505: 15,2527 05703 TC CURTAINS # BADEND RETURN FROM AOTMARK
042249,001506: 15,2530 13123 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042250,001507:
042251,001508: 15,2531 00306 V01N70* VN 170
042252,001509: 15,2532 01517 V06N79 VN 679
042253,001510: 15,2533 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042254,001511: 15,2535 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042255,001512: 15,2537 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042256,001513: 15,2540 1045 CURSOR EQUALS DSPTEM1
042257,001514: 15,2540 1046 SPIRAL EQUALS DSPTEM1 +1
042258,001515: 15,2540 1052 POSCODE EQUALS DSPTEM2 +2
042259,001516:
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|
Page 959
|
042261,001518: # NAME - PLANET
042262,001519: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042263,001520: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042264,001521: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042265,001522: # BY DSDY INPUT
042266,001523: # CALL - CALL
042267,001524: # PLANET
042268,001525: # INPUT - TIME IN MPAC
042269,001526: # OUTPUT - VECTOR IN MPAC
042270,001527: # SUBROUTINES - LOCSAM
042271,001528: # DEBRIS - VAC ,STARAD - STARAD +17
042272,001529:
042273,001530: 15,2000 SETLOC P50S
042274,001531: 15,2000 BANK
042275,001532: 15,2540 COUNT* $$/P51
042276,001533:
042277,001534: 15,2540 03560 PLANET STORE TSIGHT
042278,001535: 15,2541 77420 STQ EXIT
042279,001536: 15,2542 02736 GCTR
042280,001537: 15,2543 47743 CS HIGH9
042281,001538: 15,2544 70735 MASK AOTCODE
042282,001539: 15,2545 00006 EXTEND
042283,001540: 15,2546 76241 MP REVCNT
042284,001541: 15,2547 56001 XCH L
042285,001542: 15,2550 51757 INDEX STARIND
042286,001543: 15,2551 55755 TS BESTI
042287,001544: 15,2552 10000 CCS A
042288,001545: 15,2553 12567 TCF NOTPLAN
042289,001546: 15,2554 32626 CAF VNPLANV
042290,001547: 15,2555 04616 TC BANKCALL
042291,001548: 15,2556 20351 CADR GOFLASH
042292,001549: 15,2557 02554 TC -3
042293,001550: 15,2560 02562 TC +2
042294,001551: 15,2561 02554 TC -5
042295,001552: 15,2562 06036 TC INTPRET
042296,001553: 15,2563 53575 VLOAD UNIT
042297,001554: 15,2564 02707 STARAD
042298,001555: 15,2565 77650 GOTO
042299,001556: 15,2566 02736 GCTR
042300,001557: 15,2567 40000 NOTPLAN CS A
042301,001558: 15,2570 62625 AD DEC227
042302,001559: 15,2571 00006 EXTEND
042303,001560: 15,2572 62603 BZMF CALSAM1
042304,001561: 15,2573 51757 INDEX STARIND
042305,001562: 15,2574 31755 CA BESTI
042306,001563: 15,2575 50120 INDEX FIXLOC
042307,001564: 15,2576 54046 TS X1
042308,001565: 15,2577 06036 TC INTPRET
042309,001566: 15,2600 52173 VLOAD* GOTO
042310,001567: 15,2601 30347 CATLOG,1
042311,001568:
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|
Page 960
|
042313,001570: 15,2602 02736 GCTR
042314,001571: 15,2603 06036 CALSAM1 TC INTPRET
042315,001572: 15,2604 45145 CALSAM DLOAD CALL
042316,001573: 15,2605 03560 TSIGHT
042317,001574: 15,2606 30347 LOCSAM
042318,001575: 15,2607 77340 LXC,1 VLOAD
042319,001576: 15,2610 02757 STARIND
042320,001577: 15,2611 02707 VEARTH
042321,001578: 15,2612 24001 STOVL 0D
042322,001579: 15,2613 02715 VSUN
042323,001580: 15,2614 26707 STOVL VEARTH
042324,001581: 15,2615 00001 0D
042325,001582: 15,2616 02715 STORE VSUN
042326,001583: 15,2617 70143 DLOAD* LXC,1
042327,001584: 15,2620 02756 BESTI,1
042328,001585: 15,2621 00154 MPAC
042329,001586: 15,2622 52173 VLOAD* GOTO
042330,001587: 15,2623 02343 STARAD -228D,1
042331,001588: 15,2624 02736 GCTR
042332,001589: 15,2625 00343 DEC227 DEC 227 B-14
042333,001590: 15,2626 01530 VNPLANV VN 0688
042334,001591: 15,2627 37,3533 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042335,001592:
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|
Page 961
|
042337,001594: # GRAVITY VECTOR DETERMINATION ROUTINE
042338,001595: # BY KEN VINCENT
042339,001596: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042340,001597: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042341,001598: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042342,001599: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042343,001600: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042344,001601: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042345,001602: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042346,001603: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042347,001604: # READINGS.
042348,001605:
042349,001606: # CALL-
042350,001607: # TC BANKCALL
042351,001608: # CADR GVDETER
042352,001609: # INPUTS-
042353,001610: # PIPAS,CDUS
042354,001611: # OUTPUTS-
042355,001612: # STARSAV1 = UNIT GRAVITY
042356,001613: # GSAV = DITTO
042357,001614: # GRAVBIT = 1
042358,001615: # SUBROUTINES-
042359,001616: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042360,001617: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
042361,001618: # DEBRIS-
042362,001619: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042363,001620: 15,2627 44737 GVDETER CS BIT13 # JAM 45 DEG IN DESIRED GIMBAL ANGLES
042364,001621: 15,2630 54322 TS THETAD +1
042365,001622: 15,2631 40000 COM
042366,001623: 15,2632 54323 TS THETAD +2
042367,001624: 15,2633 54321 TS THETAD
042368,001625: 15,2634 06036 TC INTPRET
042369,001626: 15,2635 45014 CLEAR CALL
042370,001627: 15,2636 01662 REFSMFLG
042371,001628: 15,2637 32734 LUNG
042372,001629: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
042373,001630:
042374,001631: # DEFINE G COOR SYS
042375,001632: # -
042376,001633: # X UNIT G
042377,001634: # * - -
042378,001635: # M= Y = UNITEZSM * X )
042379,001636: # - - -
042380,001637: # Z UNIT(X * Y )
042381,001638: # THEN ROTATED SM WRT PRESENT IS
042382,001639:
042383,001640:
042384,001641: # 1, 0 , 0
042385,001642: # * *T * * *
042386,001643: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
042387,001644:
|
|
Page 962
|
042389,001646: # I J
042390,001647: # 0, 0 ,-1
042391,001648:
042392,001649: # ALSO NB WRT PRES SM IS
042393,001650:
042394,001651: # * * *
042395,001652: # XNB = NBSM I
042396,001653: # * *
042397,001654: # GIMBAL ANGLES = CALCGA( XSM , XNB )
042398,001655:
042399,001656: 15,2000 SETLOC P50S
042400,001657: 15,2000 BANK
042401,001658: 15,2640 COUNT* $$/P57
042402,001659: 15,2640 66370 AXT,1 SSP # X1=18
042403,001660: 15,2641 00022 18D # S1= 6
042404,001661: 15,2642 00051 S1 # X2, -2
042405,001662: 15,2643 00006 6D
042406,001663: 15,2644 77744 LXC,2
042407,001664: 15,2645 00050 S1
042408,001665: 15,2646 45173 GRAVEL VLOAD* CALL
042409,001666: 15,2647 55512 XUNIT -6,2
042410,001667: 15,2650 47577 *NBSM* # SIN AND COS COMPUTED IN LUNG
042411,001668: 15,2651 06707 STORE XNB +18D,1
042412,001669: 15,2652 77775 VLOAD
042413,001670: 15,2653 02731 STAR
042414,001671: 15,2654 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
042415,001672: 15,2655 00047 X2
042416,001673: 15,2656 75040 STAR +6,2 # OUTER PRODUCT
042417,001674: 15,2657 71152 VSL2 LXC,2
042418,001675: 15,2660 00047 X2
042419,001676: 15,2661 63047 VSU* INCR,2
042420,001677: 15,2662 55512 XUNIT -6,2
042421,001678: 15,2663 00002 2D
042422,001679: 15,2664 06665 STORE XSM +18D,1
042423,001680: 15,2665 45100 TIX,1 CALL
042424,001681: 15,2666 32646 GRAVEL
042425,001682: 15,2667 47255 CALCGA
042426,001683: 15,2670 74575 VLOAD VSR1
042427,001684: 15,2671 02715 GOUT
042428,001685: 15,2672 36723 STCALL STARAD +12D
042429,001686: 15,2673 32734 LUNG
042430,001687: 15,2674 74575 VLOAD VSR1
042431,001688: 15,2675 02715 GOUT
042432,001689: 15,2676 53455 VAD UNIT
042433,001690: 15,2677 02723 STARAD +12D
042434,001691: 15,2700 02761 STORE STARSAV1
042435,001692: 15,2701 77641 DOT
042436,001693: 15,2702 02235 GSAV
042437,001694: 15,2703 65552 SL1 ACOS
042438,001695: 15,2704 01046 STORE DSPTEM1
042439,001696:
|
|
Page 963
|
042441,001698: 15,2705 77776 EXIT
042442,001699: 15,2706 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042443,001700: 15,2707 00014 ADRES FREEFLAG
042444,001701:
042445,001702: 15,2710 33040 CA DISGRVER
042446,001703: 15,2711 04616 TC BANKCALL
042447,001704: 15,2712 20351 CADR GOFLASH
042448,001705: 15,2713 06001 TC GOTOPOOH
042449,001706: 15,2714 12717 TCF PROGRAV # VB33-PROCEED
042450,001707: 15,2715 05504 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042451,001708: 15,2716 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042452,001709:
042453,001710: 15,2717 05353 PROGRAV TC PHASCHNG
042454,001711: 15,2720 05024 OCT 05024
042455,001712: 15,2721 13000 OCT 13000
042456,001713: 15,2722 06036 TC INTPRET
042457,001714: 15,2723 77775 VLOAD
042458,001715: 15,2724 02761 STARSAV1
042459,001716: 15,2725 02235 STORE GSAV
042460,001717: 15,2726 77776 EXIT
042461,001718: 15,2727 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042462,001719: 15,2730 70074 MASK FLAGWRD0
042463,001720: 15,2731 10000 CCS A
042464,001721: 15,2732 12627 TCF GVDETER # SET
042465,001722: 15,2733 13535 TCF ATTCHK # EXIT FROM GVDETER
042466,001723:
042467,001724: 15,2734 77220 LUNG STQ VLOAD
042468,001725: 15,2735 02745 QMIN
042469,001726: 15,2736 22275 ZEROVEC
042470,001727: 15,2737 02707 STORE GACC
042471,001728: 15,2740 77776 EXIT
042472,001729: 15,2741 05353 TC PHASCHNG
042473,001730: 15,2742 05024 OCT 05024
042474,001731: 15,2743 13000 OCT 13000
042475,001732: 15,2744 04616 TC BANKCALL
042476,001733: 15,2745 16753 CADR IMUCOARS
042477,001734: 15,2746 04616 TC BANKCALL
042478,001735: 15,2747 17671 CADR IMUSTALL
042479,001736: 15,2750 05703 TC CURTAINS
042480,001737: 15,2751 04616 TC BANKCALL
042481,001738: 15,2752 17163 CADR IMUFINE
042482,001739: 15,2753 04616 TC BANKCALL
042483,001740: 15,2754 17671 CADR IMUSTALL
042484,001741: 15,2755 05703 TC CURTAINS
042485,001742: 15,2756 33037 CA T/2SEC
042486,001743: 15,2757 55736 TS GCTR
042487,001744: 15,2760 37715 CA PRIO31
042488,001745: 15,2761 55075 TS 1/PIPADT
042489,001746: 15,2762 04616 TC BANKCALL
042490,001747: 15,2763 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
042491,001748:
|
|
Page 964
|
042493,001750: 15,2764 05353 TC PHASCHNG
042494,001751: 15,2765 05024 OCT 05024
042495,001752: 15,2766 13000 OCT 13000
042496,001753: 15,2767 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042497,001754: 15,2770 77533 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042498,001755: 15,2771 06036 TC INTPRET
042499,001756: 15,2772 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042500,001757: 15,2773 35000 CAF 2SECS
042501,001758: 15,2774 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042502,001759: 15,2775 02777 ADRES GRABGRAV
042503,001760:
042504,001761: 15,2776 05155 TC ENDOFJOB
042505,001762:
042506,001763: 15,2777 04674 GRABGRAV TC IBNKCALL
042507,001764: 15,3000 77533 CADR PIPSRINE
042508,001765: 15,3001 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042509,001766: 15,3002 05105 TC FINDVAC
042510,001767: 15,3003 E5,1706 EBANK= STARAD
042511,001768: 15,3003 03006 32065 2CADR ADDGRAV
042512,001769:
042513,001770: 15,3005 05261 TC TASKOVER
042514,001771:
042515,001772: 15,3006 04616 ADDGRAV TC BANKCALL
042516,001773: 15,3007 15263 CADR 1/PIPA
042517,001774: 15,3010 25736 INCR GCTR
042518,001775: 15,3011 06036 TC INTPRET
042519,001776: 15,3012 53375 VLOAD VAD
042520,001777: 15,3013 00325 DELV
042521,001778: 15,3014 02707 GACC
042522,001779: 15,3015 02707 STORE GACC # ACCUMULATE G VECTOR
042523,001780: 15,3016 50135 SLOAD BMN
042524,001781: 15,3017 02737 GCTR
042525,001782: 15,3020 32772 GREED
042526,001783: 15,3021 53575 VLOAD UNIT
042527,001784: 15,3022 02707 GACC
042528,001785: 15,3023 36731 STCALL STAR
042529,001786: 15,3024 47443 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042530,001787: 15,3025 77624 CALL # IN OUTPUT
042531,001788: 15,3026 47575 *SMNB*
042532,001789: 15,3027 02715 STORE GOUT
042533,001790: 15,3030 77776 EXIT
042534,001791: 15,3031 05353 TC PHASCHNG
042535,001792: 15,3032 05024 OCT 05024
042536,001793: 15,3033 13000 OCT 13000
042537,001794: 15,3034 06036 TC INTPRET
042538,001795: 15,3035 77650 GOTO
042539,001796: 15,3036 02745 QMIN
042540,001797: 15,3037 77751 T/2SEC DEC -22 B-14
042541,001798: 15,3040 01404 DISGRVER VN 0604
042542,001799:
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|
Page 965
|
042544,001801: # NAME GYROTRIM
042545,001802:
042546,001803: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042547,001804: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042548,001805: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042549,001806:
042550,001807: # CALL CALL
042551,001808: # GYROTRIM
042552,001809:
042553,001810: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042554,001811: # CDUX,CDUY,CDUZ
042555,001812:
042556,001813: # OUTPUT - GYRO TORQUE PULSES
042557,001814:
042558,001815: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
042559,001816: # IMPULSE,IMUSTALL
042560,001817: # - - - * * -
042561,001818: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
042562,001819: 15,3041 COUNT* $$/P57
042563,001820: 15,3041 71220 GYROTRIM STQ DLOAD
042564,001821: 15,3042 02745 QMIN
042565,001822: 15,3043 00322 THETAD
042566,001823: 15,3044 65325 PDDL PDDL
042567,001824: 15,3045 00324 THETAD +2
042568,001825: 15,3046 00323 THETAD +1
042569,001826: 15,3047 77666 VDEF
042570,001827: 15,3050 24767 STOVL CDUSPOT
042571,001828: 15,3051 22273 XUNIT
042572,001829: 15,3052 77624 CALL
042573,001830: 15,3053 47570 TRG*NBSM
042574,001831: 15,3054 26707 STOVL STARAD
042575,001832: 15,3055 22271 YUNIT
042576,001833: 15,3056 77624 CALL
042577,001834: 15,3057 47577 *NBSM*
042578,001835: 15,3060 36715 STCALL STARAD +6
042579,001836: 15,3061 47443 CDUTRIG
042580,001837: 15,3062 77624 CALL
042581,001838: 15,3063 31267 CALCSMSC
042582,001839: 15,3064 77775 VLOAD
042583,001840: 15,3065 02665 XNB
042584,001841: 15,3066 24007 STOVL 6D
042585,001842: 15,3067 02673 YNB
042586,001843: 15,3070 34015 STCALL 12D
042587,001844: 15,3071 47345 AXISGEN
042588,001845: 15,3072 77624 CALL
042589,001846: 15,3073 47151 CALCGTA
042590,001847: 15,3074 77776 JUSTTRIM EXIT
042591,001848: 15,3075 04616 TC BANKCALL
042592,001849: 15,3076 17163 CADR IMUFINE
042593,001850: 15,3077 04616 TC BANKCALL
042594,001851:
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|
Page 966
|
042596,001853: 15,3100 17671 CADR IMUSTALL
042597,001854: 15,3101 05703 TC CURTAINS
042598,001855: 15,3102 33113 CA GYRCDR
042599,001856: 15,3103 04616 TC BANKCALL
042600,001857: 15,3104 17276 CADR IMUPULSE
042601,001858: 15,3105 04616 TC BANKCALL
042602,001859: 15,3106 17671 CADR IMUSTALL
042603,001860: 15,3107 05703 TC CURTAINS
042604,001861: 15,3110 06036 TC INTPRET
042605,001862: 15,3111 77650 GOTO
042606,001863: 15,3112 02745 QMIN
042607,001864: 15,3113 02737 GYRCDR ECADR OGC
042608,001865:
|
|
Page 967
|
042610,001867: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042611,001868:
042612,001869: 15,3114 34755 2STARS CAF ZERO # INITALIZE STARIND
042613,001870: 15,3115 13117 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042614,001871: 15,3116 34753 1STAR CAF BIT1
042615,001872: 15,3117 55757 TS STARIND
042616,001873:
042617,001874: 15,3120 05353 TC PHASCHNG
042618,001875: 15,3121 04024 OCT 04024
042619,001876:
042620,001877: 15,3122 12301 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042621,001878:
042622,001879: 15,3123 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042623,001880: 15,3124 00006 EXTEND
042624,001881: 15,3125 13144 BZF ASTAR # 1ST STAR MARKED
042625,001882:
042626,001883: 15,3126 06036 TC INTPRET # 2ND STAR MARKED
042627,001884: 15,3127 77775 VLOAD
042628,001885: 15,3130 02715 STARAD +6
042629,001886: 15,3131 02767 STORE STARSAV2 # 2ND STAR IN SM
042630,001887:
042631,001888: 15,3132 77776 EXIT
042632,001889: 15,3133 05353 TC PHASCHNG
042633,001890: 15,3134 05024 OCT 05024
042634,001891: 15,3135 13000 OCT 13000
042635,001892:
042636,001893: 15,3136 06036 TC INTPRET
042637,001894: 15,3137 45145 DLOAD CALL
042638,001895: 15,3140 03560 TSIGHT # TIME OF 2ND MARK
042639,001896: 15,3141 32540 PLANET
042640,001897: 15,3142 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042641,001898: 15,3143 33156 SURFLINE
042642,001899:
042643,001900: 15,3144 06036 ASTAR TC INTPRET
042644,001901: 15,3145 77775 VLOAD
042645,001902: 15,3146 02715 STARAD +6
042646,001903: 15,3147 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042647,001904: 15,3150 45145 DLOAD CALL
042648,001905: 15,3151 03560 TSIGHT # TIME OF 1ST MARK
042649,001906: 15,3152 32540 PLANET
042650,001907: 15,3153 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042651,001908: 15,3154 77776 EXIT
042652,001909: 15,3155 13116 TCF 1STAR # GO GET 2ND STAR SIGHTING
042653,001910:
|
|
Page 968
|
042655,001912: # DO FINE OR COARSE ALIGNMENT OF IMU
042656,001913:
042657,001914: 15,3156 77131 SURFLINE SSP AXT,2
042658,001915: 15,3157 00052 S2
042659,001916: 15,3160 00006 6
042660,001917: 15,3161 00014 12D
042661,001918: 15,3162 64373 WRTDESIR VLOAD* MXV
042662,001919: 15,3163 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042663,001920: 15,3164 03605 XSMD
042664,001921: 15,3165 77656 UNIT
042665,001922: 15,3166 12723 STORE STARAD +12D,2 # VEC IN SM
042666,001923: 15,3167 77773 VLOAD*
042667,001924: 15,3170 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042668,001925: 15,3171 10023 STORE 18D,2
042669,001926: 15,3172 43104 TIX,2 BON
042670,001927: 15,3173 33162 WRTDESIR
042671,001928: 15,3174 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042672,001929: 15,3175 33203 INITBY
042673,001930: 15,3176 77624 DOALIGN CALL
042674,001931: 15,3177 31121 R54 # DO CHKSDATA
042675,001932: 15,3200 77614 BOFF
042676,001933: 15,3201 00354 FREEFLAG
042677,001934: 15,3202 33264 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042678,001935: 15,3203 77624 INITBY CALL
042679,001936: 15,3204 47345 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
042680,001937: 15,3205 77624 CALL
042681,001938: 15,3206 47151 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042682,001939: 15,3207 77776 EXIT
042683,001940: 15,3210 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042684,001941: 15,3211 70104 MASK FLAGWRD8
042685,001942: 15,3212 10000 CCS A
042686,001943: 15,3213 13222 TCF 5DEGTEST
042687,001944: 15,3214 33316 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042688,001945: 15,3215 04616 TC BANKCALL
042689,001946: 15,3216 20351 CADR GOFLASH
042690,001947: 15,3217 06001 TC GOTOPOOH # V34-TERMINATE
042691,001948: 15,3220 13222 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
042692,001949: 15,3221 13265 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
042693,001950:
042694,001951: 15,3222 06036 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042695,001952: 15,3223 40175 VLOAD BOV
042696,001953: 15,3224 02740 OGC
042697,001954: 15,3225 33226 SURFSUP
042698,001955: 15,3226 02750 SURFSUP STORE OGCT
042699,001956: 15,3227 40141 V/SC BOV
042700,001957: 15,3230 30451 5DEGREES
042701,001958: 15,3231 33273 COATRIM
042702,001959: 15,3232 52131 SSP GOTO
042703,001960: 15,3233 02746 QMIN
042704,001961: 15,3234 33236 SURFDISP
042705,001962:
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|
Page 969
|
042707,001964: 15,3235 33074 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042708,001965:
042709,001966: 15,3236 77776 SURFDISP EXIT
042710,001967: 15,3237 05353 TC PHASCHNG
042711,001968: 15,3240 05024 OCT 05024 # STORE REFSMMAT ,SET REFSMFLG AND
042712,001969: 15,3241 13000 OCT 13000 # DISPLAY ORIGINAL TORQ ANGLES
042713,001970: 15,3242 06036 TC INTPRET
042714,001971: 15,3243 75160 AXC,1 AXC,2
042715,001972: 15,3244 03604 XSMD
042716,001973: 15,3245 01733 REFSMMAT
042717,001974: 15,3246 45014 SET CALL
042718,001975: 15,3247 01462 REFSMFLG
042719,001976: 15,3250 31237 MATMOVE
042720,001977: 15,3251 77776 EXIT
042721,001978: 15,3252 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042722,001979: 15,3253 13255 TCF B2F8
042723,001980: 15,3254 13265 TCF P57POST +1
042724,001981:
042725,001982: 15,3255 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042726,001983: 15,3256 70104 MASK FLAGWRD8
042727,001984: 15,3257 10000 CCS A
042728,001985: 15,3260 13543 TCF P57JUMP # ITS SET
042729,001986: 15,3261 06036 TC INTPRET
042730,001987: 15,3262 77624 CALL
042731,001988: 15,3263 33470 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042732,001989: 15,3264 77776 P57POST EXIT
042733,001990: 15,3265 35742 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042734,001991: 15,3266 04616 TC BANKCALL
042735,001992: 15,3267 20476 CADR GOPERF1
042736,001993: 15,3270 16001 TCF GOTOPOOH # VB34-TERMINATE
042737,001994: 15,3271 13543 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
042738,001995: 15,3272 16001 TCF GOTOPOOH # VB32-R59 DONE-GO TO PROG 00
042739,001996:
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|
Page 970
|
042741,001998: # COARSE AND FINE ALIGN IMU
042742,001999: 15,3273 75160 COATRIM AXC,1 AXC,2
042743,002000: 15,3274 02664 XDC
042744,002001: 15,3275 02642 XSM
042745,002002: 15,3276 77624 CALL
042746,002003: 15,3277 31237 MATMOVE
042747,002004: 15,3300 77624 CALL
042748,002005: 15,3301 47443 CDUTRIG
042749,002006: 15,3302 77624 CALL
042750,002007: 15,3303 31267 CALCSMSC
042751,002008: 15,3304 77624 CALL
042752,002009: 15,3305 47255 CALCGA
042753,002010: 15,3306 77624 CALL
042754,002011: 15,3307 31506 COARSE
042755,002012: 15,3310 77624 CALL
042756,002013: 15,3311 31523 NCOARSE
042757,002014: 15,3312 77624 CALL
042758,002015: 15,3313 33041 GYROTRIM
042759,002016: 15,3314 77650 GOTO
042760,002017: 15,3315 33236 SURFDISP
042761,002018: 15,3316 01535 DISPGYRO VN 0693
042762,002019:
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|
Page 971
|
042764,002021: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042765,002022:
042766,002023: 15,3317 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042767,002024: 15,3320 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042768,002025:
042769,002026: 15,3321 06036 TC INTPRET
042770,002027: 15,3322 77745 DLOAD
042771,002028: 15,3323 03440 TIG # LOAD ASCENT TIME FOR DISPLAY
042772,002029: 15,3324 01046 P57A STORE DSPTEM1
042773,002030: 15,3325 77776 EXIT
042774,002031: 15,3326 32172 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042775,002032: 15,3327 04616 TC BANKCALL
042776,002033: 15,3330 20510 CADR GOFLASHR
042777,002034: 15,3331 16001 TCF GOTOPOOH # V34-TERMINATE
042778,002035: 15,3332 13337 TCF +5
042779,002036: 15,3333 13326 TCF P57AA # VB32-RECYCLE
042780,002037:
042781,002038: 15,3334 05353 TC PHASCHNG
042782,002039: 15,3335 00014 OCT 00014
042783,002040: 15,3336 05155 TC ENDOFJOB
042784,002041:
042785,002042: 15,3337 06036 TC INTPRET
042786,002043: 15,3340 50145 DLOAD BMN
042787,002044: 15,3341 01046 DSPTEM1
042788,002045: 15,3342 33367 PACKOPTN -1 # NEG TIME-PREF ORIENT IN XSMD MATRIX
042789,002046: 15,3343 65234 RTB PDDL
042790,002047: 15,3344 21462 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042791,002048: 15,3345 01046 DSPTEM1
042792,002049: 15,3346 65254 BZE PDDL
042793,002050: 15,3347 33357 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
042794,002051: 15,3350 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042795,002052: 15,3351 01046 DSPTEM1
042796,002053: 15,3352 33357 P57C
042797,002054: 15,3353 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042798,002055: 15,3354 74337 STORE TIG # STORE IT IN TIG
042799,002056: 15,3355 36775 STCALL TALIGN
042800,002057: 15,3356 33361 P57D
042801,002058: 15,3357 45545 P57C DLOAD STADR
042802,002059: 15,3360 75002 STORE TALIGN
042803,002060: 15,3361 34041 P57D STCALL TDEC1
042804,002061: 15,3362 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042805,002062: 15,3363 53575 VLOAD UNIT # IN X,Y,ZSMD
042806,002063: 15,3364 00001 RATT
042807,002064: 15,3365 37605 STCALL XSMD
042808,002065: 15,3366 33647 LSORIENT
042809,002066: 15,3367 77776 EXIT
042810,002067: 15,3370 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042811,002068: 15,3371 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042812,002069: 15,3372 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042813,002070: 15,3373 34737 CAF REFSMBIT
042814,002071:
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Page 972
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042816,002073: 15,3374 70077 MASK FLAGWRD3 # REFSMFLG
042817,002074: 15,3375 10000 CCS A
042818,002075: 15,3376 34745 CAF BIT7 # SET
042819,002076: 15,3377 27146 ADS OPTION1 +2 # CLEAR-JUST ZERO
042820,002077: 15,3400 34753 CAF ATTFLBIT
042821,002078: 15,3401 70102 MASK FLAGWRD6 # ATTFLG
042822,002079: 15,3402 10000 CCS A
042823,002080: 15,3403 34750 CAF BIT4 # SET
042824,002081: 15,3404 27146 ADS OPTION1 +2 # CLEAR-ZERO IN A
042825,002082: 15,3405 34750 CAF BIT4
042826,002083: 15,3406 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042827,002084:
042828,002085: 15,3407 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042829,002086: 15,3410 04616 TC BANKCALL
042830,002087: 15,3411 20351 CADR GOFLASH
042831,002088: 15,3412 16001 TCF GOTOPOOH # VB34-TERMINATE
042832,002089: 15,3413 13415 TCF +2 # V33-PROCEED
042833,002090: 15,3414 13407 TCF DSPOPTN # V32-RECYCLE
042834,002091:
042835,002092: 15,3415 05353 TC PHASCHNG
042836,002093: 15,3416 05024 OCT 05024
042837,002094: 15,3417 13000 OCT 13000
042838,002095: 15,3420 34737 CAF REFSMBIT
042839,002096: 15,3421 70077 MASK FLAGWRD3
042840,002097: 15,3422 10000 CCS A
042841,002098: 15,3423 13523 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042842,002099: 15,3424 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
042843,002100: 15,3425 70102 MASK FLAGWRD6
042844,002101: 15,3426 10000 CCS A
042845,002102: 15,3427 13527 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042846,002103: 15,3430 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
042847,002104: 15,3431 71145 MASK OPTION2
042848,002105: 15,3432 10000 CCS A
042849,002106: 15,3433 13527 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042850,002107: 15,3434 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
042851,002108: 15,3435 00701 OCT 701
042852,002109: 15,3436 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042853,002110: 15,3437 04616 TC BANKCALL
042854,002111: 15,3440 20351 CADR GOFLASH
042855,002112: 15,3441 16001 TCF GOTOPOOH # VB34-TERMINATE
042856,002113: 15,3442 13407 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
042857,002114: 15,3443 13407 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
042858,002115:
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Page 973
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042860,002117: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042861,002118:
042862,002119: 15,3444 40220 MFREF STQ SETPD
042863,002120: 15,3445 02746 QMAJ
042864,002121: 15,3446 00001 0
042865,002122: 15,3447 77634 RTB
042866,002123: 15,3450 21462 LOADTIME
042867,002124: 15,3451 27560 STOVL TSIGHT
042868,002125: 15,3452 02723 VEC1
042869,002126: 15,3453 41525 PDDL PUSH
042870,002127: 15,3454 03560 TSIGHT
042871,002128: 15,3455 77624 CALL
042872,002129: 15,3456 51504 RP-TO-R
042873,002130: 15,3457 26723 STOVL VEC1
042874,002131: 15,3460 02731 VEC2
042875,002132: 15,3461 65201 SETPD PDDL
042876,002133: 15,3462 00001 0
042877,002134: 15,3463 03560 TSIGHT
042878,002135: 15,3464 45006 PUSH CALL
042879,002136: 15,3465 51504 RP-TO-R
042880,002137: 15,3466 36731 STCALL VEC2
042881,002138: 15,3467 02746 QMAJ
042882,002139:
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Page 974
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042884,002141: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042885,002142: # STORE IN YNBSAV AND ZNBSAV
042886,002143:
042887,002144: 15,3470 45020 REFMF STQ CALL
042888,002145: 15,3471 02746 QMAJ
042889,002146: 15,3472 47443 CDUTRIG # GET SIN AND COS OF CDUS
042890,002147: 15,3473 40234 RTB SETPD
042891,002148: 15,3474 21462 LOADTIME
042892,002149: 15,3475 00001 0
042893,002150: 15,3476 37560 STCALL TSIGHT
042894,002151: 15,3477 31267 CALCSMSC # GET YNB IN SM
042895,002152: 15,3500 61375 VLOAD VXM
042896,002153: 15,3501 02673 YNB
042897,002154: 15,3502 01734 REFSMMAT # YNB TO REF
042898,002155: 15,3503 65256 UNIT PDDL
042899,002156: 15,3504 03560 TSIGHT
042900,002157: 15,3505 45006 PUSH CALL
042901,002158: 15,3506 51531 R-TO-RP
042902,002159: 15,3507 26243 STOVL YNBSAV # YNB TO MF
042903,002160: 15,3510 02701 ZNB
042904,002161: 15,3511 53505 VXM UNIT
042905,002162: 15,3512 01734 REFSMMAT # ZNB TO REF
042906,002163: 15,3513 41525 PDDL PUSH
042907,002164: 15,3514 03560 TSIGHT
042908,002165: 15,3515 77624 CALL
042909,002166: 15,3516 51531 R-TO-RP # ZNB TO MF
042910,002167: 15,3517 02251 STORE ZNBSAV
042911,002168: 15,3520 77614 SETGO
042912,002169: 15,3521 03036 ATTFLAG
042913,002170: 15,3522 02746 QMAJ
042914,002171:
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Page 975
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042916,002173: # BRANCH TO ALIGNMENT OPTION
042917,002174:
042918,002175: 15,3523 06036 GETLMATT TC INTPRET
042919,002176: 15,3524 77624 CALL
042920,002177: 15,3525 33470 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
042921,002178: 15,3526 77776 EXIT
042922,002179:
042923,002180: 15,3527 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042924,002181: 15,3530 00205 ADRES INITALGN
042925,002182: 15,3531 34753 CAF BIT1
042926,002183: 15,3532 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
042927,002184: 15,3533 10000 CCS A
042928,002185: 15,3534 12627 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042929,002186:
042930,002187: 15,3535 05353 ATTCHK TC PHASCHNG
042931,002188: 15,3536 04024 OCT 04024
042932,002189:
042933,002190: 15,3537 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042934,002191: 15,3540 70102 MASK FLAGWRD6
042935,002192: 15,3541 10000 CCS A
042936,002193: 15,3542 13557 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042937,002194: 15,3543 05353 P57JUMP TC PHASCHNG
042938,002195: 15,3544 04024 OCT 04024
042939,002196:
042940,002197: 15,3545 05516 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
042941,002198: 15,3546 00205 ADRES INITALGN
042942,002199: 15,3547 36244 CAF THREE
042943,002200: 15,3550 71145 MASK OPTION2 # BRANCH ON OPTION CODE
042944,002201: 15,3551 50000 INDEX A
042945,002202: 15,3552 13553 TCF +1
042946,002203: 15,3553 13557 TCF P57OPT0 # OPTION IS 0
042947,002204: 15,3554 13600 TCF P57OPT1 # OPTION IS 1
042948,002205: 15,3555 13616 TCF P57OPT2 # OPTION IS 2
042949,002206: 15,3556 13617 TCF P57OPT3 # OPTION IS 3
042950,002207:
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Page 976
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042952,002209: # OPTION 0, GET TWO ATTITUDE VECS
042953,002210:
042954,002211: 15,3557 06036 P57OPT0 TC INTPRET
042955,002212: 15,3560 77775 VLOAD
042956,002213: 15,3561 02243 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042957,002214: 15,3562 26723 STOVL VEC1
042958,002215: 15,3563 02251 ZNBSAV
042959,002216: 15,3564 36731 STCALL VEC2
042960,002217: 15,3565 47443 CDUTRIG
042961,002218: 15,3566 77624 CALL
042962,002219: 15,3567 31267 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042963,002220: 15,3570 77775 VLOAD
042964,002221: 15,3571 02673 YNB
042965,002222: 15,3572 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042966,002223: 15,3573 02701 ZNB
042967,002224: 15,3574 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042968,002225: 15,3575 33444 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042969,002226: 15,3576 77650 GOTO
042970,002227: 15,3577 33156 SURFLINE
042971,002228:
042972,002229: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042973,002230:
042974,002231: 15,3600 06036 P57OPT1 TC INTPRET
042975,002232: 15,3601 53575 VLOAD UNIT
042976,002233: 15,3602 02023 RLS # LANDING SITE VEC
042977,002234: 15,3603 26723 STOVL VEC1
042978,002235: 15,3604 02251 ZNBSAV # Z ATTITUDE VEC
042979,002236: 15,3605 36731 STCALL VEC2
042980,002237: 15,3606 47443 CDUTRIG
042981,002238: 15,3607 77624 CALL
042982,002239: 15,3610 31267 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042983,002240: 15,3611 45175 VLOAD CALL
042984,002241: 15,3612 02235 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042985,002242: 15,3613 47565 CDU*NBSM
042986,002243: 15,3614 77650 GOTO
042987,002244: 15,3615 33572 SAMETYP # NOW DO SAME AS OPTION 0
042988,002245:
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Page 977
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042990,002247: # OPTION 2, GET TWO STAR SIGHTINGS
042991,002248:
042992,002249: 15,3616 13114 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042993,002250:
042994,002251: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042995,002252:
042996,002253: 15,3617 06036 P57OPT3 TC INTPRET
042997,002254: 15,3620 53575 VLOAD UNIT
042998,002255: 15,3621 02023 RLS # LANDING SITE VEC
042999,002256: 15,3622 02723 STORE VEC1
043000,002257: 15,3623 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
043001,002258: 15,3624 02235 GSAV # GRAVITY VEC NB
043002,002259: 15,3625 77624 CALL
043003,002260: 15,3626 47565 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
043004,002261: 15,3627 36761 STCALL STARSAV1
043005,002262: 15,3630 33444 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
043006,002263: 15,3631 77776 EXIT
043007,002264: 15,3632 13116 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043008,002265:
043009,002266: 15,3633 00701 BADOPT OCT 00701 # **** TEMP ****
043010,002267: 15,3634 01206 VB05N06 VN 506
043011,002268:
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Page 978
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043013,002270: # CHECK IMODES30 TO VARIFY IMU IS ON
043014,002271:
043015,002272: 15,3635 41302 IMUCHK CS IMODES30
043016,002273: 15,3636 74743 MASK BIT9
043017,002274: 15,3637 10000 CCS A # IS IMU ON
043018,002275: 15,3640 13644 TCF +4 # YES
043019,002276:
043020,002277: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
043021,002278: 15,3642 00210 OCT 210
043022,002279: 15,3643 06001 TC GOTOPOOH
043023,002280:
043024,002281: 15,3644 05504 TC UPFLAG
043025,002282: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
043026,002283:
043027,002284: 15,3646 04631 TC SWRETURN
043028,002285:
043029,002286: 15,3647 77220 LSORIENT STQ VLOAD
043030,002287: 15,3650 02746 QMAJ
043031,002288: 15,3651 01555 RRECTCSM
043032,002289: 15,3652 47235 VXV VXV
043033,002290: 15,3653 01563 VRECTCSM
043034,002291: 15,3654 03605 XSMD
043035,002292: 15,3655 77656 UNIT
043036,002293: 15,3656 03621 STORE ZSMD
043037,002294: 15,3657 53435 VXV UNIT
043038,002295: 15,3660 03605 XSMD
043039,002296: 15,3661 37613 STCALL YSMD
043040,002297: 15,3662 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc