Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
039763,000002: ## Copyright: Public domain.
039764,000003: ## Filename: P51-P53.agc
039765,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
039766,000005: ## It is part of the source code for the Lunar Module's (LM)
039767,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
039768,000007: ## Assembler: yaYUL
039769,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
039770,000009: ## Website: www.ibiblio.org/apollo.
039771,000010: ## Pages: 926-983
039772,000011: ## Mod history: 2009-05-31 HG Transcribed from page images.
039773,000012: ## 2009-06-07 RSB Corrected a typo.
039774,000013: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
039775,000014: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
039776,000015: ## and corrected the errors found.
039777,000016: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
039778,000017: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
039779,000018: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039780,000019: ## side-by-side diff of Luminary 69/99/116/131/210.
039781,000020:
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Page 926 |
039783,000022: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039784,000023: # MOD NO - 0 LOG SECTION - P51-P53
039785,000024: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039786,000025:
039787,000026: # FUNCTIONAL DESCRIPTION -
039788,000027:
039789,000028: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039790,000029: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039791,000030:
039792,000031: # (A) PREFERRED ORIENTATION
039793,000032:
039794,000033: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039795,000034: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039796,000035:
039797,000036: # (B) NOMINAL ORIENTATION
039798,000037:
039799,000038: # X = UNIT ( R )
039800,000039: # -SM
039801,000040:
039802,000041: # Y = UNIT (V X R)
039803,000042: # SM
039804,000043:
039805,000044: # Z = UNIT (X X Y )
039806,000045: # SM SM SM
039807,000046:
039808,000047: # WHERE_
039809,000048:
039810,000049: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039811,000050: # -
039812,000051:
039813,000052: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039814,000053: # -
039815,000054:
039816,000055: # (C) REFSMMAT ORIENTATION
039817,000056:
039818,000057: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039819,000058:
039820,000059: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039821,000060: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039822,000061: # SINCE THE LAST ALIGNMENT).
039823,000062:
039824,000063: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039825,000064: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039826,000065: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039827,000066: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039828,000067: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039829,000068: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039830,000069: # REQUESTED.
039831,000070:
039832,000071: # CALLING SEQUENCE -
039833,000072:
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Page 927 |
039835,000074: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039836,000075:
039837,000076: # SUBROUTINES CALLED -
039838,000077:
039839,000078: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039840,000079: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039841,000080: # 3. GOPERF4 9. FLAGUP
039842,000081: # 4. MATMOVE 10. R56
039843,000082: # 5. GOFLASH 11. R51
039844,000083: # 6. S52.3 12. GOPERF3
039845,000084:
039846,000085: # NORMAL EXIT MODES -
039847,000086:
039848,000087: # EXITS TO ENDOFJOB
039849,000088:
039850,000089: # ALARM OR ABORT EXIT MODES -
039851,000090:
039852,000091: # NONE
039853,000092:
039854,000093: # OUTPUT -
039855,000094:
039856,000095: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039857,000096: # 1. IMU ORIENTATION CODE
039858,000097: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039859,000098: # 3. TIME OF NEXT IGNITION
039860,000099: # 4. GIMBAL ANGLES
039861,000100: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039862,000101: # 6. PLEASE PERFORM P00
039863,000102: # THE MODE DISPLAY MAY BE CHANGED TO 20
039864,000103:
039865,000104: # ERASABLE INITIALIZATION REQUIRED -
039866,000105:
039867,000106: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039868,000107: # XSMD, YSMD, ZSMD.
039869,000108:
039870,000109: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039871,000110:
039872,000111: # DEBRIS -
039873,000112:
039874,000113: # WORK AREA
039875,000114:
039876,000115: 33,3777 BANK 33
039877,000116: 15,2000 SETLOC P50S
039878,000117: 15,2000 BANK
039879,000118:
039880,000119: 15,2050 E5,1755 EBANK= BESTI
039881,000120: 15,2050 COUNT* $$/P52
039882,000121: 15,2050 04616 PROG52 TC BANKCALL
039883,000122: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
039884,000123: 15,2052 34750 CAF PFRATBIT
039885,000124: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039886,000125: 15,2054 10000 CCS A
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Page 928 |
039888,000127: 15,2055 02060 TC P52A # YES
039889,000128: 15,2056 34752 CAF BIT2 # NO
039890,000129: 15,2057 02061 TC P52A +1
039891,000130: 15,2060 34753 P52A CAF BIT1
039892,000131: 15,2061 55145 TS OPTION2
039893,000132: 15,2062 34753 P52B CAF BIT1
039894,000133: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039895,000134: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
039896,000135: 15,2065 06001 TC GOTOPOOH
039897,000136: 15,2066 12073 TCF +5 # V33 - PROCEED
039898,000137: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039899,000138: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039900,000139: 15,2071 00014 OCT 00014
039901,000140: 15,2072 05155 TC ENDOFJOB
039902,000141:
039903,000142: 15,2073 31145 CA OPTION2
039904,000143: 15,2074 76245 MASK THREE
039905,000144: 15,2075 50000 INDEX A
039906,000145: 15,2076 02077 TC +1
039907,000146: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039908,000147: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039909,000148: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039910,000149: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
039911,000150: 15,2103 77650 GOTO
039912,000151: 15,2104 32164 P52F # GO DO R51
039913,000152:
039914,000153: 15,2105 00006 OPT4 EXTEND
039915,000154: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039916,000155: 15,2107 12112 TCF P52T +2
039917,000156:
039918,000157: 15,2110 00006 P52T EXTEND
039919,000158: 15,2111 34755 DCA NEG0
039920,000159: 15,2112 53046 DXCH DSPTEM1
039921,000160: 15,2113 32170 CAF V06N34*
039922,000161: 15,2114 04616 TC BANKCALL
039923,000162: 15,2115 20476 CADR GOFLASH
039924,000163: 15,2116 06001 TC GOTOPOOH
039925,000164: 15,2117 02121 TC +2
039926,000165: 15,2120 02113 TC -5
039927,000166: 15,2121 53046 DXCH DSPTEM1
039928,000167: 15,2122 00006 EXTEND
039929,000168: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039930,000169: 15,2124 12127 TCF +3
039931,000170: 15,2125 00006 EXTEND
039932,000171: 15,2126 30025 DCA TIME2
039933,000172: 15,2127 53775 DXCH TALIGN
039934,000173: 15,2130 31145 P52V CA OPTION2
039935,000174: 15,2131 74752 MASK BIT2
039936,000175: 15,2132 10000 CCS A
039937,000176: 15,2133 02137 TC P52W
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Page 929 |
039939,000178: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039940,000179: 15,2135 77650 GOTO
039941,000180: 15,2136 32220 P52LS
039942,000181:
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Page 930 |
039944,000183: # START ALIGNMENT
039945,000184:
039946,000185: 15,2137 06037 P52W TC INTPRET
039947,000186: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039948,000187: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039949,000188: 15,2142 31650 S52.3 # ORIENTATION
039950,000189: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039951,000190: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
039952,000191: 15,2145 77776 EXIT
039953,000192: 15,2146 35010 CAF V06N22
039954,000193: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039955,000194: 15,2150 20476 CADR GOFLASH
039956,000195: 15,2151 06001 TC GOTOPOOH
039957,000196: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039958,000197: 15,2153 06037 P52H TC INTPRET
039959,000198: 15,2154 77650 GOTO
039960,000199: 15,2155 32143 P52D
039961,000200: 15,2156 06037 REGCOARS TC INTPRET
039962,000201: 15,2157 77624 CALL # DO COARSE ALIGN
039963,000202: 15,2160 31327 CAL53A # ROUTINE
039964,000203: 15,2161 43014 COARSRET SET CLEAR
039965,000204: 15,2162 01462 REFSMFLG
039966,000205: 15,2163 01273 PFRATFLG
039967,000206: 15,2164 77624 P52F CALL
039968,000207: 15,2165 31015 R51
039969,000208: 15,2166 77776 P52OUT EXIT
039970,000209: 15,2167 06001 TC GOTOPOOH
039971,000210: 15,2170 5006 VB05N09 = V05N09
039972,000211: 15,2170 01442 V06N34* VN 634
039973,000212:
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Page 931 |
039975,000214: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039976,000215:
039977,000216: 15,2171 32217 COARSTYP CAF OCT13
039978,000217: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039979,000218: 15,2173 20623 CADR GOPERF1
039980,000219: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039981,000220: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039982,000221: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
039983,000222: 15,2177 64375 VLOAD MXV
039984,000223: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039985,000224: 15,2201 01734 REFSMMAT
039986,000225: 15,2202 77656 UNIT
039987,000226: 15,2203 26665 STOVL XDC
039988,000227: 15,2204 03615 YSMD
039989,000228: 15,2205 53521 MXV UNIT
039990,000229: 15,2206 01734 REFSMMAT
039991,000230: 15,2207 26673 STOVL YDC
039992,000231: 15,2210 03623 ZSMD
039993,000232: 15,2211 53521 MXV UNIT
039994,000233: 15,2212 01734 REFSMMAT
039995,000234: 15,2213 36701 STCALL ZDC
039996,000235: 15,2214 31164 GYCOARS
039997,000236: 15,2215 77650 GOTO
039998,000237: 15,2216 32166 P52OUT
039999,000238: 15,2217 00013 OCT13 OCT 13
040000,000239:
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Page 932 |
040002,000241: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040003,000242:
040004,000243: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040005,000244: 15,2221 01463 LUNAFLAG
040006,000245: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040007,000246: 15,2223 77201 SETPD VLOAD
040008,000247: 15,2224 00001 0
040009,000248: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040010,000249: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040011,000250: 15,2227 02775 TALIGN
040012,000251: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040013,000252: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040014,000253: 15,2232 77742 VSR2
040015,000254: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040016,000255: 15,2234 02775 TALIGN
040017,000256: 15,2235 77624 CALL
040018,000257: 15,2236 30446 N89DISP
040019,000258: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040020,000259: 15,2240 02032 ALPHAV
040021,000260: 15,2241 37607 STCALL XSMD
040022,000261: 15,2242 11013 LSORIENT
040023,000262: 15,2243 77650 GOTO
040024,000263: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040025,000264:
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Page 933 |
040027,000266: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040028,000267:
040029,000268: 14,2000 SETLOC P50S1
040030,000269: 14,2000 BANK
040031,000270: 14,2446 E5,1642 EBANK= XSM
040032,000271:
040033,000272: 14,2446 77620 N89DISP STQ
040034,000273: 14,2447 02746 QMAJ
040035,000274: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040036,000275: 14,2451 26351 LAT-LONG
040037,000276: 14,2452 70545 DLOAD SR1
040038,000277: 14,2453 01123 LONG
040039,000278: 14,2454 16711 STODL LANDLONG
040040,000279: 14,2455 01125 ALT
040041,000280: 14,2456 16713 STODL LANDALT
040042,000281: 14,2457 01121 LAT
040043,000282: 14,2460 16707 STODL LANDLAT
040044,000283: 14,2461 77776 EXIT
040045,000284:
040046,000285: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040047,000286: 14,2463 04616 TC BANKCALL
040048,000287: 14,2464 20476 CADR GOFLASH
040049,000288: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040050,000289: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040051,000290: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040052,000291:
040053,000292: 14,2470 06037 TC INTPRET
040054,000293: 14,2471 72545 DLOAD SL1
040055,000294: 14,2472 02711 LANDLONG
040056,000295: 14,2473 15123 STODL LONG
040057,000296: 14,2474 02713 LANDALT
040058,000297: 14,2475 15125 STODL ALT
040059,000298: 14,2476 02707 LANDLAT
040060,000299: 14,2477 15121 STODL LAT
040061,000300: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040062,000301: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040063,000302: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040064,000303: 14,2503 77650 GOTO
040065,000304: 14,2504 02746 QMAJ
040066,000305: 14,2505 01531 V06N89* VN 689
040067,000306:
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Page 934 |
040069,000308: # NAME - S50 ALIAS LOCSAM
040070,000309: # BY
040071,000310: # VINCENT
040072,000311:
040073,000312: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040074,000313:
040075,000314: # DEFINE
040076,000315:
040077,000316: # U = UNIT( SUN WRT EARTH )
040078,000317: # ES
040079,000318:
040080,000319: # U = UNIT( MOON WRT EARTH )
040081,000320: # EM
040082,000321:
040083,000322: # R = POSITION VECTOR OF LEM
040084,000323: # L
040085,000324:
040086,000325: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040087,000326: # EM
040088,000327:
040089,000328: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040090,000329: # EM
040091,000330:
040092,000331: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040093,000332: # E
040094,000333:
040095,000334: # LOCSAM COMPUTES IN EARTH INFLUENCE
040096,000335:
040097,000336: # VSUN = U
040098,000337: # ES
040099,000338:
040100,000339: # VEARTH = -UNIT( R )
040101,000340: # L
040102,000341:
040103,000342: # VMOON = UNIT(R .U - R )
040104,000343: # EM EM L
040105,000344:
040106,000345: # CSUN = COS 90
040107,000346:
040108,000347: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040109,000348: # E L
040110,000349:
040111,000350: # CMOON = COS 5
040112,000351:
040113,000352: # INPUT - TIME IN MPAC
040114,000353:
040115,000354: # OUTPUT - LISTED ABOVE
040116,000355:
040117,000356: # SUBROUTINES - LSPOS, LEMPREC
040118,000357:
040119,000358: # DEBRIS - VAC AREA, TSIGHT
040120,000359:
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Page 935 |
040122,000361: 14,2506 COUNT* $$/LOSAM
040123,000362:
040124,000363: 14,2506 14,2506 S50 = LOCSAM
040125,000364: 14,2506 77620 LOCSAM STQ
040126,000365: 14,2507 02745 QMIN
040127,000366: 14,2510 37562 STCALL TSIGHT
040128,000367: 14,2511 33664 LSPOS
040129,000368: 14,2512 77745 DLOAD
040130,000369: 14,2513 03562 TSIGHT
040131,000370: 14,2514 34041 STCALL TDEC1
040132,000371: 14,2515 27057 LEMPREC
040133,000372: 14,2516 61131 SSP TIX,2
040134,000373: 14,2517 00052 S2
040135,000374: 14,2520 00000 0
040136,000375: 14,2521 30543 MOONCNTR
040137,000376: 14,2522 74375 EARTCNTR VLOAD VXSC
040138,000377: 14,2523 02723 VMOON
040139,000378: 14,2524 30001 RSUBEM
040140,000379: 14,2525 52372 VSL1 VSU
040141,000380: 14,2526 00001 RATT
040142,000381: 14,2527 77656 UNIT
040143,000382: 14,2530 26723 STOVL VMOON
040144,000383: 14,2531 00001 RATT
040145,000384: 14,2532 57456 UNIT VCOMP
040146,000385: 14,2533 16707 STODL VEARTH
040147,000386: 14,2534 30005 RSUBE
040148,000387: 14,2535 77624 CALL
040149,000388: 14,2536 30575 OCCOS
040150,000389: 14,2537 14017 STODL CEARTH
040151,000390: 14,2540 30604 CSS5
040152,000391: 14,2541 34023 STCALL CMOON
040153,000392: 14,2542 30570 ENDSAM
040154,000393: 14,2543 74375 MOONCNTR VLOAD VXSC
040155,000394: 14,2544 02723 VMOON
040156,000395: 14,2545 30007 ROE
040157,000396: 14,2546 53445 BVSU UNIT
040158,000397: 14,2547 02715 VSUN
040159,000398: 14,2550 26715 STOVL VSUN
040160,000399: 14,2551 02723 VMOON
040161,000400: 14,2552 53361 VXSC VAD
040162,000401: 14,2553 30001 RSUBEM
040163,000402: 14,2554 00001 RATT
040164,000403: 14,2555 57456 UNIT VCOMP
040165,000404: 14,2556 26707 STOVL VEARTH
040166,000405: 14,2557 00001 RATT
040167,000406: 14,2560 57456 UNIT VCOMP
040168,000407: 14,2561 16723 STODL VMOON
040169,000408: 14,2562 30003 RSUBM
040170,000409: 14,2563 77624 CALL
040171,000410: 14,2564 30575 OCCOS
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Page 936 |
040173,000412: 14,2565 14023 STODL CMOON
040174,000413: 14,2566 30604 CSS5
040175,000414: 14,2567 00017 STORE CEARTH
040176,000415: 14,2570 77745 ENDSAM DLOAD
040177,000416: 14,2571 30606 CSSUN
040178,000417: 14,2572 00021 STORE CSUN
040179,000418: 14,2573 77650 GOTO
040180,000419: 14,2574 02745 QMIN
040181,000420: 14,2575 70471 OCCOS DDV SR1
040182,000421: 14,2576 00045 36D
040183,000422: 14,2577 43336 ASIN DAD
040184,000423: 14,2600 30610 5DEGREES
040185,000424: 14,2601 70546 COS SR1
040186,000425: 14,2602 77616 RVQ
040187,000426: 14,2603 CEARTH = 14D
040188,000427: 14,2603 CSUN = 16D
040189,000428: 14,2603 CMOON = 18D
040190,000429: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040191,000430: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040192,000431: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040193,000432:
|
|
Page 937 |
040195,000434: # PROGRAM NAME - R56 DATE DEC 20 66
040196,000435: # MOD 1 LOG SECTION P51-P53
040197,000436: # ASSEMBLY SUNDISK REV40
040198,000437: # BY KEN VINCENT
040199,000438:
040200,000439: # FUNCTION
040201,000440: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040202,000441: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040203,000442: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040204,000443: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040205,000444: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040206,000445: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040207,000446: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040208,000447: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040209,000448: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040210,000449: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040211,000450: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040212,000451: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040213,000452:
040214,000453: # CALLING SEQUENCE
040215,000454: # L TC BANKCALL
040216,000455: # L+1 CADR R56
040217,000456: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040218,000457: # L+3 NORMAL RETURN
040219,000458:
040220,000459: # OUTPUT
040221,000460: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040222,000461: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040223,000462:
040224,000463: # INITIALIZATION
040225,000464: # 1) A CALL TO LOCSAM MUST BE MADE
040226,000465:
040227,000466: # DEBRIS
040228,000467: # WORKAREA
040229,000468: # X,Y,ZNB
040230,000469: # SINCDU, COSCDU
040231,000470: # STARAD - STAR +5
040232,000471:
040233,000472: 14,2611 14,2611 R56 = PICAPAR
040234,000473: 14,2611 COUNT* $$/R56
040235,000474: 14,2611 04645 PICAPAR TC MAKECADR
040236,000475: 14,2612 55745 TS QMIN
040237,000476: 14,2613 06037 TC INTPRET
040238,000477: 14,2614 77624 CALL
040239,000478: 14,2615 47537 CDUTRIG
040240,000479: 14,2616 77624 CALL
040241,000480: 14,2617 20030 CALCSMSC
040242,000481: 14,2620 77601 SETPD
040243,000482: 14,2621 00001 0
040244,000483: 14,2622 71214 SET DLOAD # VFLAG = 1
040245,000484: 14,2623 01465 VFLAG
|
|
Page 938 |
040247,000486: 14,2624 24007 DPZERO
040248,000487: 14,2625 26756 STOVL BESTI
040249,000488: 14,2626 02665 XNB
040250,000489: 14,2627 63361 VXSC PDVL
040251,000490: 14,2630 24005 HALFDP
040252,000491: 14,2631 02701 ZNB
040253,000492: 14,2632 74370 AXT,1 VXSC
040254,000493: 14,2633 00344 228D # X1 = 37 X 6 + 6
040255,000494: 14,2634 24005 HALFDP
040256,000495: 14,2635 77655 VAD
040257,000496: 14,2636 53505 VXM UNIT
040258,000497: 14,2637 01734 REFSMMAT
040259,000498: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
040260,000499: 14,2641 66331 SSP SSP # S1 = S2 = 6
040261,000500: 14,2642 00051 S1
040262,000501: 14,2643 00006 6
040263,000502: 14,2644 00052 S2
040264,000503: 14,2645 00006 6
040265,000504: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040266,000505: 14,2647 30651 PIC2
040267,000506: 14,2650 30766 PICEND
040268,000507: 14,2651 50373 PIC2 VLOAD* DOT
040269,000508: 14,2652 30347 CATLOG,1
040270,000509: 14,2653 02731 SAX
040271,000510: 14,2654 50025 DSU BMN
040272,000511: 14,2655 30765 CSS33
040273,000512: 14,2656 30646 PIC1
040274,000513: 14,2657 77754 LXA,2
040275,000514: 14,2660 00046 X1
040276,000515: 14,2661 52104 PIC3 TIX,2 GOTO
040277,000516: 14,2662 30664 PIC4
040278,000517: 14,2663 30646 PIC1
040279,000518: 14,2664 50373 PIC4 VLOAD* DOT
040280,000519: 14,2665 47430 CATLOG,2
040281,000520: 14,2666 02731 SAX
040282,000521: 14,2667 50025 DSU BMN
040283,000522: 14,2670 30765 CSS33
040284,000523: 14,2671 30661 PIC3
040285,000524: 14,2672 47773 VLOAD* DOT*
040286,000525: 14,2673 30347 CATLOG,1
040287,000526: 14,2674 47430 CATLOG,2
040288,000527: 14,2675 51025 DSU BPL
040289,000528: 14,2676 30763 CSS40
040290,000529: 14,2677 30661 PIC3
040291,000530: 14,2700 45173 VLOAD* CALL
040292,000531: 14,2701 30347 CATLOG,1
040293,000532: 14,2702 30740 OCCULT
040294,000533: 14,2703 77614 BON
040295,000534: 14,2704 01710 CULTFLAG
040296,000535: 14,2705 30646 PIC1
|
|
Page 939 |
040298,000537: 14,2706 45173 VLOAD* CALL
040299,000538: 14,2707 47430 CATLOG,2
040300,000539: 14,2710 30740 OCCULT
040301,000540: 14,2711 77614 BON
040302,000541: 14,2712 01710 CULTFLAG
040303,000542: 14,2713 30661 PIC3
040304,000543: 14,2714 77614 STRATGY BONCLR
040305,000544: 14,2715 01605 VFLAG
040306,000545: 14,2716 30733 NEWPAR
040307,000546: 14,2717 65120 XCHX,1 XCHX,2
040308,000547: 14,2720 02755 BESTI
040309,000548: 14,2721 02756 BESTJ
040310,000549: 14,2722 47773 STRAT VLOAD* DOT*
040311,000550: 14,2723 30347 CATLOG,1
040312,000551: 14,2724 47430 CATLOG,2
040313,000552: 14,2725 43006 PUSH BOFINV
040314,000553: 14,2726 01545 VFLAG
040315,000554: 14,2727 30717 STRAT -3
040316,000555: 14,2730 45345 DLOAD DSU
040317,000556: 14,2731 77644 BPL
040318,000557: 14,2732 30661 PIC3
040319,000558: 14,2733 67130 NEWPAR SXA,1 SXA,2
040320,000559: 14,2734 02755 BESTI
040321,000560: 14,2735 02756 BESTJ
040322,000561: 14,2736 77650 GOTO
040323,000562: 14,2737 30661 PIC3
040324,000563: 14,2740 51321 OCCULT MXV BVSU
040325,000564: 14,2741 02707 CULTRIX
040326,000565: 14,2742 00017 CSS
040327,000566: 14,2743 77654 BZE
040328,000567: 14,2744 30757 CULTED
040329,000568: 14,2745 75240 BMN SIGN
040330,000569: 14,2746 30757 CULTED
040331,000570: 14,2747 00160 MPAC +3
040332,000571: 14,2750 75240 BMN SIGN
040333,000572: 14,2751 30757 CULTED
040334,000573: 14,2752 00162 MPAC +5
040335,000574: 14,2753 43040 BMN CLRGO
040336,000575: 14,2754 30757 CULTED
040337,000576: 14,2755 01630 CULTFLAG
040338,000577: 14,2756 00052 QPRET
040339,000578: 14,2757 77614 CULTED SETGO
040340,000579: 14,2760 01430 CULTFLAG
040341,000580: 14,2761 00052 QPRET
040342,000581: 14,2762 0000016 CSS = CEARTH
040343,000582: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040344,000583: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040345,000584: 14,2766 77414 PICEND BOFF EXIT
040346,000585:
|
|
Page 940 |
040348,000587: 14,2767 01745 VFLAG
040349,000588: 14,2770 30772 PICGXT
040350,000589: 14,2771 03013 TC PICBXT
040351,000590: 14,2772 73150 PICGXT LXA,1 LXA,2
040352,000591: 14,2773 02755 BESTI
040353,000592: 14,2774 02756 BESTJ
040354,000593: 14,2775 47775 VLOAD DOT*
040355,000594: 14,2776 02731 SAX
040356,000595: 14,2777 30347 CATLOG,1
040357,000596: 14,3000 47715 PDVL DOT*
040358,000597: 14,3001 02731 SAX
040359,000598: 14,3002 47430 CATLOG,2
040360,000599: 14,3003 77625 DSU
040361,000600: 14,3004 66044 BPL SXA,1
040362,000601: 14,3005 31011 PICNSWP
040363,000602: 14,3006 02756 BESTJ
040364,000603: 14,3007 77734 SXA,2
040365,000604: 14,3010 02755 BESTI
040366,000605: 14,3011 77776 PICNSWP EXIT
040367,000606: 14,3012 25745 INCR QMIN
040368,000607: 14,3013 31745 PICBXT CA QMIN
040369,000608: 14,3014 04622 TC SWCALL
040370,000609: 14,3015 VPD = 0D
040371,000610: 14,3015 V0 = 6D
040372,000611: 14,3015 V1 = 12D
040373,000612: 14,3015 V2 = 18D
040374,000613: 14,3015 V3 = 24D
040375,000614: 14,3015 DP0 = 30D
040376,000615: 14,3015 DP1 = 32D
040377,000616:
|
|
Page 941 |
040379,000618: # NAME - R51 FINE ALIGN
040380,000619: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040381,000620: # CALLING SEQ - CALL R51
040382,000621: # INPUT - REFSMMAT
040383,000622: # OUTPUT - GYRO TORQUE PULSES
040384,000623: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040385,000624:
040386,000625: 14,3015 COUNT* $$/R51
040387,000626: 14,3015 77620 R51 STQ
040388,000627: 14,3016 02746 QMAJ
040389,000628: 14,3017 77776 R51.1 EXIT
040390,000629: 14,3020 05353 TC PHASCHNG
040391,000630: 14,3021 04024 OCT 04024
040392,000631:
040393,000632: 14,3022 34761 R51C CAF OCT15
040394,000633: 14,3023 04616 TC BANKCALL
040395,000634: 14,3024 20623 CADR GOPERF1
040396,000635: 14,3025 06001 TC GOTOPOOH
040397,000636: 14,3026 03030 TC +2 # V33E
040398,000637: 14,3027 03053 TC R51E # ENTER
040399,000638: 14,3030 06037 TC INTPRET
040400,000639: 14,3031 43234 RTB DAD
040401,000640: 14,3032 21573 LOADTIME
040402,000641: 14,3033 31163 TSIGHT1
040403,000642: 14,3034 77624 CALL
040404,000643: 14,3035 30506 LOCSAM
040405,000644: 14,3036 77776 EXIT
040406,000645: 14,3037 04616 TC BANKCALL
040407,000646: 14,3040 30611 CADR R56
040408,000647: 14,3041 03043 TC R51I
040409,000648: 14,3042 03053 R51F TC R51E
040410,000649: 14,3043 05567 R51I TC ALARM
040411,000650: 14,3044 00405 OCT 405
040412,000651: 14,3045 35006 CAF VB05N09
040413,000652: 14,3046 04616 TC BANKCALL
040414,000653: 14,3047 20476 CADR GOFLASH
040415,000654: 14,3050 06001 TC GOTOPOOH
040416,000655: 14,3051 03053 TC R51E
040417,000656: 14,3052 03022 TC R51C
040418,000657: 14,3053 34755 R51E CAF ZERO
040419,000658: 14,3054 55757 TS STARIND
040420,000659: 14,3055 06037 R51.2 TC INTPRET
040421,000660: 14,3056 77776 R51.3 EXIT
040422,000661: 14,3057 05353 TC PHASCHNG
040423,000662: 14,3060 04024 OCT 04024
040424,000663:
040425,000664: 14,3061 06037 TC INTPRET
040426,000665: 14,3062 77624 CALL
040427,000666: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
040428,000667: 14,3064 77776 EXIT
040429,000668: 14,3065 04616 TC BANKCALL
|
|
Page 942 |
040431,000670: 14,3066 16000 CADR AOTMARK
040432,000671: 14,3067 04616 TC BANKCALL
040433,000672: 14,3070 17712 CADR OPTSTALL
040434,000673: 14,3071 05711 TC CURTAINS
040435,000674: 14,3072 11757 CCS STARIND
040436,000675: 14,3073 13075 TCF +2
040437,000676: 14,3074 03145 TC R51.4
040438,000677: 14,3075 06037 TC INTPRET
040439,000678: 14,3076 77775 VLOAD
040440,000679: 14,3077 02715 STARAD +6
040441,000680: 14,3100 02767 STORE STARSAV2
040442,000681: 14,3101 77776 EXIT
040443,000682: 14,3102 05353 TC PHASCHNG
040444,000683: 14,3103 04024 OCT 04024
040445,000684:
040446,000685: 14,3104 06037 TC INTPRET
040447,000686: 14,3105 45145 DLOAD CALL
040448,000687: 14,3106 03562 TSIGHT
040449,000688: 14,3107 32472 PLANET
040450,000689: 14,3110 53521 MXV UNIT
040451,000690: 14,3111 01734 REFSMMAT
040452,000691: 14,3112 26715 STOVL STARAD +6
040453,000692: 14,3113 03554 PLANVEC
040454,000693: 14,3114 53521 MXV UNIT
040455,000694: 14,3115 01734 REFSMMAT
040456,000695: 14,3116 26707 STOVL STARAD
040457,000696: 14,3117 02761 STARSAV1
040458,000697: 14,3120 24007 STOVL 6D
040459,000698: 14,3121 02767 STARSAV2
040460,000699: 14,3122 34015 STCALL 12D
040461,000700: 14,3123 31256 R54 # STAR DATA TEST
040462,000701: 14,3124 45014 BOFF CALL
040463,000702: 14,3125 00354 FREEFLAG
040464,000703: 14,3126 31134 R51K
040465,000704: 14,3127 47441 AXISGEN
040466,000705: 14,3130 77624 CALL
040467,000706: 14,3131 31224 R55 # GYRO TORQUE
040468,000707: 14,3132 77614 CLEAR
040469,000708: 14,3133 01273 PFRATFLG
040470,000709: 14,3134 77776 R51K EXIT
040471,000710: 14,3135 35751 R51P63 CAF OCT14
040472,000711: 14,3136 04616 TC BANKCALL
040473,000712: 14,3137 20623 CADR GOPERF1
040474,000713: 14,3140 06001 TC GOTOPOOH
040475,000714: 14,3141 03022 TC R51C
040476,000715: 14,3142 06037 TC INTPRET
040477,000716: 14,3143 77650 GOTO
040478,000717: 14,3144 02746 QMAJ
040479,000718: 14,3145 06037 R51.4 TC INTPRET
040480,000719: 14,3146 77775 VLOAD
|
|
Page 943 |
040482,000721: 14,3147 02715 STARAD +6
040483,000722: 14,3150 02761 STORE STARSAV1
040484,000723: 14,3151 45145 DLOAD CALL
040485,000724: 14,3152 03562 TSIGHT
040486,000725: 14,3153 32472 PLANET
040487,000726: 14,3154 03554 STORE PLANVEC
040488,000727: 14,3155 77731 SSP
040489,000728: 14,3156 02760 STARIND
040490,000729: 14,3157 00001 1
040491,000730: 14,3160 77650 GOTO
040492,000731: 14,3161 31056 R51.3
040493,000732: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040494,000733:
|
|
Page 944 |
040496,000735: # GYRO TORQUE COARSE ALIGNMENT
040497,000736:
040498,000737: 14,3164 45020 GYCOARS STQ CALL
040499,000738: 14,3165 02746 QMAJ
040500,000739: 14,3166 47247 CALCGTA
040501,000740: 14,3167 43014 CLEAR CLEAR
040502,000741: 14,3170 01260 DRIFTFLG
040503,000742: 14,3171 01662 REFSMFLG
040504,000743: 14,3172 77776 EXIT
040505,000744: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
040506,000745: 14,3174 04616 TC BANKCALL
040507,000746: 14,3175 20451 CADR GODSPR
040508,000747: 14,3176 33255 CA R55CDR
040509,000748: 14,3177 04616 TC BANKCALL
040510,000749: 14,3200 17323 CADR IMUPULSE
040511,000750: 14,3201 04616 TC BANKCALL
040512,000751: 14,3202 17716 CADR IMUSTALL
040513,000752: 14,3203 05711 TC CURTAINS
040514,000753: 14,3204 05353 TC PHASCHNG
040515,000754: 14,3205 04024 OCT 04024
040516,000755:
040517,000756: 14,3206 06037 TC INTPRET
040518,000757: 14,3207 75160 AXC,1 AXC,2
040519,000758: 14,3210 03606 XSMD
040520,000759: 14,3211 01733 REFSMMAT
040521,000760: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
040522,000761: 14,3213 31377 MATMOVE
040523,000762: 14,3214 43014 CLEAR SET
040524,000763: 14,3215 01273 PFRATFLG
040525,000764: 14,3216 01462 REFSMFLG
040526,000765: 14,3217 77624 CALL
040527,000766: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040528,000767: 14,3221 77650 GOTO
040529,000768: 14,3222 31134 R51K
040530,000769: 14,3223 04024 V16N20 VN 1620
040531,000770:
|
|
Page 945 |
040533,000772: # R55 GYRO TORQUE
040534,000773: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040535,000774: # CALLING SEQ - CALL R55
040536,000775: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040537,000776: # OUTPUT - GYRO PULSES
040538,000777: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040539,000778:
040540,000779: 14,3224 COUNT* $$/R55
040541,000780: 14,3224 77620 R55 STQ
040542,000781: 14,3225 02745 QMIN
040543,000782: 14,3226 77624 CALL
040544,000783: 14,3227 47247 CALCGTA
040545,000784: 14,3230 77776 PULSEM EXIT
040546,000785: 14,3231 33254 R55.1 CAF V06N93
040547,000786: 14,3232 04616 TC BANKCALL
040548,000787: 14,3233 20476 CADR GOFLASH
040549,000788: 14,3234 06001 TC GOTOPOOH
040550,000789: 14,3235 03237 TC R55.2
040551,000790: 14,3236 03251 TC R55RET
040552,000791: 14,3237 05353 R55.2 TC PHASCHNG
040553,000792: 14,3240 00214 OCT 00214
040554,000793: 14,3241 33255 CA R55CDR
040555,000794: 14,3242 04616 TC BANKCALL
040556,000795: 14,3243 17323 CADR IMUPULSE
040557,000796: 14,3244 04616 TC BANKCALL
040558,000797: 14,3245 17716 CADR IMUSTALL
040559,000798: 14,3246 05711 TC CURTAINS
040560,000799: 14,3247 05353 TC PHASCHNG
040561,000800: 14,3250 04024 OCT 04024
040562,000801:
040563,000802: 14,3251 06037 R55RET TC INTPRET
040564,000803: 14,3252 77650 GOTO
040565,000804: 14,3253 02745 QMIN
040566,000805: 14,3254 01535 V06N93 VN 0693
040567,000806: 14,3255 02737 R55CDR ECADR OGC
040568,000807: 14,3256 14,3256 R54 = CHKSDATA
040569,000808:
040570,000809: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040571,000810: # MOD NO - 0 LOG SECTION - P51-P53
040572,000811: # MODIFICATION BY - LONSKE ASSEMBLY -
040573,000812:
040574,000813: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040575,000814: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040576,000815: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040577,000816: # OS1 = OBSERVED STAR 1 VECTOR
040578,000817: # OS2 = OBSERVED STAR 2 VECTOR
040579,000818: # SS1 = STORED STAR 1 VECTOR
040580,000819: # SS2 = STORED STAR 2 VECTOR
040581,000820: # A1 = ARCCOS(OS1 - OS2)
040582,000821: # A2 = ARCCOS(SS1 - SS2)
040583,000822: # A = ABS(2(A1 - A2))
|
|
Page 946 |
040585,000824: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040586,000825:
040587,000826: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040588,000827: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040589,000828:
040590,000829: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040591,000830: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040592,000831:
040593,000832: # ERASABLE INITIALIZATION REQUIRED -
040594,000833: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040595,000834: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040596,000835:
040597,000836: # DEBRIS -
040598,000837:
040599,000838: 14,3256 COUNT* $$/R54
040600,000839: 14,3256 43020 CHKSDATA STQ SET
040601,000840: 14,3257 02745 QMIN
040602,000841: 14,3260 00074 FREEFLAG
040603,000842: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040604,000843: 14,3262 02706 STARAD
040605,000844:
040606,000845: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040607,000846: 14,3264 00001 0,1
040608,000847: 14,3265 00007 6,1
040609,000848: 14,3266 65552 SL1 ACOS
040610,000849: 14,3267 00025 STORE THETA
040611,000850: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040612,000851: 14,3271 00354 FREEFLAG
040613,000852: 14,3272 31302 CHKSD
040614,000853: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
040615,000854: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040616,000855: 14,3275 00006 6D
040617,000856: 14,3276 00025 THETA
040618,000857: 14,3277 00023 STORE 18D
040619,000858: 14,3300 77650 GOTO
040620,000859: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
040621,000860: 14,3302 45345 CHKSD DLOAD DSU
040622,000861: 14,3303 00025 THETA
040623,000862: 14,3304 00023 18D
040624,000863: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
040625,000864: 14,3306 21612 SGNAGREE
040626,000865: 14,3307 01046 STORE NORMTEM1
040627,000866: 14,3310 77414 SET EXIT
040628,000867: 14,3311 00074 FREEFLAG
040629,000868: 14,3312 33326 CAF VB6N5
040630,000869: 14,3313 04616 TC BANKCALL
040631,000870: 14,3314 20476 CADR GOFLASH
040632,000871: 14,3315 16001 TCF GOTOPOOH
040633,000872: 14,3316 03323 TC CHKSDA # PROCEED
040634,000873: 14,3317 06037 TC INTPRET
040635,000874: 14,3320 52014 CLEAR GOTO
040636,000875: 14,3321 00274 FREEFLAG
040637,000876: 14,3322 02745 QMIN
040638,000877: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947 |
040640,000879: 14,3324 77650 GOTO
040641,000880: 14,3325 02745 QMIN
040642,000881: 14,3326 01405 VB6N5 VN 605
040643,000882:
040644,000883: # NAME - CAL53A
040645,000884: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040646,000885: # CALLING SEQUENCE - CALL CAL53A
040647,000886: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040648,000887: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040649,000888: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040650,000889: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040651,000890:
040652,000891: 14,3327 COUNT* $$/R50
040653,000892: 14,3327 77624 CAL53A CALL
040654,000893: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040655,000894: 14,3331 66234 RTB SSP
040656,000895: 14,3332 31413 RDCDUS # READ CDUS
040657,000896: 14,3333 00051 S1
040658,000897: 14,3334 00001 1
040659,000898: 14,3335 40370 AXT,1 SETPD
040660,000899: 14,3336 00003 3
040661,000900: 14,3337 00005 4
040662,000901: 14,3340 70543 CALOOP DLOAD* SR1
040663,000902: 14,3341 00325 THETAD +3D,1
040664,000903: 14,3342 70523 PDDL* SR1
040665,000904: 14,3343 00005 4,1
040666,000905: 14,3344 51425 DSU ABS
040667,000906: 14,3345 45206 PUSH DSU
040668,000907: 14,3346 31412 DEGREE1
040669,000908: 14,3347 71240 BMN DLOAD
040670,000909: 14,3350 31366 CALOOP1
040671,000910: 14,3351 51025 DSU BPL
040672,000911: 14,3352 31413 DEG359
040673,000912: 14,3353 31366 CALOOP1
040674,000913: 14,3354 77776 EXIT
040675,000914: 14,3355 05353 TC PHASCHNG
040676,000915: 14,3356 04024 OCT 04024
040677,000916:
040678,000917: 14,3357 06037 TC INTPRET
040679,000918: 14,3360 77624 COARFINE CALL
040680,000919: 14,3361 31565 COARSE
040681,000920: 14,3362 77624 CALL
040682,000921: 14,3363 31602 NCOARSE
040683,000922: 14,3364 77650 GOTO
040684,000923: 14,3365 31370 FINEONLY
040685,000924: 14,3366 77700 CALOOP1 TIX,1
040686,000925: 14,3367 31340 CALOOP
040687,000926: 14,3370 75160 FINEONLY AXC,1 AXC,2
040688,000927: 14,3371 02642 XSM
040689,000928: 14,3372 01733 REFSMMAT
040690,000929: 14,3373 77624 CALL
040691,000930: 14,3374 31377 MATMOVE
|
|
Page 948 |
040693,000932: 14,3375 77650 GOTO
040694,000933: 14,3376 32161 COARSRET
040695,000934: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040696,000935: 14,3400 00001 0,1
040697,000936: 14,3401 10001 STORE 0,2
040698,000937: 14,3402 77773 VLOAD*
040699,000938: 14,3403 00007 6D,1
040700,000939: 14,3404 10007 STORE 6D,2
040701,000940: 14,3405 77773 VLOAD*
040702,000941: 14,3406 00015 12D,1
040703,000942: 14,3407 10015 STORE 12D,2
040704,000943: 14,3410 77616 RVQ
040705,000944: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040706,000945: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040707,000946: 14,3413 00004 RDCDUS INHINT # READ CDUS
040708,000947: 14,3414 30032 CA CDUX
040709,000948: 14,3415 50120 INDEX FIXLOC
040710,000949: 14,3416 54001 TS 1
040711,000950: 14,3417 30033 CA CDUY
040712,000951: 14,3420 50120 INDEX FIXLOC
040713,000952: 14,3421 54002 TS 2
040714,000953: 14,3422 30034 CA CDUZ
040715,000954: 14,3423 50120 INDEX FIXLOC
040716,000955: 14,3424 54003 TS 3
040717,000956: 14,3425 00003 RELINT
040718,000957: 14,3426 06061 TC DANZIG # +
040719,000958: 14,3427 COUNT* $$/INFLT
040720,000959:
|
|
Page 949 |
040722,000961: # NAME - P51 - IMU ORIENTATION DETERMINATION
040723,000962: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040724,000963: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040725,000964:
040726,000965: # FUNCTIONAL DESCRIPTION
040727,000966: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040728,000967: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040729,000968: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040730,000969: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040731,000970:
040732,000971: # CALLING SEQUENCE
040733,000972: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040734,000973:
040735,000974: # SUBROUTINES CALLED.
040736,000975: # GOPERF3
040737,000976: # GOPERF1
040738,000977: # GODSPR
040739,000978: # IMUCOARS
040740,000979: # IMUFIN20
040741,000980: # AOTMARK (R53)
040742,000981: # CHKSDATA (R54)
040743,000982: # MKRELEAS
040744,000983: # AXISGEN
040745,000984: # MATMOVE
040746,000985:
040747,000986: # ALARMS
040748,000987: # NONE.
040749,000988:
040750,000989: # ERASABLE INITIALIZATION
040751,000990: # IMU ZERO FLAG SHOULD BE SET.
040752,000991:
040753,000992: # OUTPUT
040754,000993: # REFSMMAT
040755,000994: # REFSMFLG
040756,000995:
040757,000996: # DEBRIS
040758,000997: # WORK AREA
040759,000998: # STARAD
040760,000999: # STARIND
040761,001000: # BESTI
040762,001001: # BESTJ
040763,001002:
040764,001003: 14,3427 COUNT* $$/P51
|
|
Page 950 |
040766,001005: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040767,001006: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040768,001007:
040769,001008: 14,3431 34761 CAF OCT15
040770,001009: 14,3432 04616 TC BANKCALL
040771,001010: 14,3433 20623 CADR GOPERF1
040772,001011: 14,3434 06001 TC GOTOPOOH # TERM.
040773,001012: 14,3435 13461 TCF P51B # V33
040774,001013: 14,3436 05353 TC PHASCHNG
040775,001014: 14,3437 04024 OCT 04024
040776,001015:
040777,001016: 14,3440 34755 CAF ZERO
040778,001017: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
040779,001018: 14,3442 54322 TS THETAD +1
040780,001019: 14,3443 54323 TS THETAD +2
040781,001020: 14,3444 35010 CAF V06N22
040782,001021: 14,3445 04616 TC BANKCALL
040783,001022: 14,3446 20446 CADR GODSPRET
040784,001023: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040785,001024: 14,3450 04616 TC BANKCALL
040786,001025: 14,3451 20446 CADR GODSPRET
040787,001026: 14,3452 06037 TC INTPRET
040788,001027: 14,3453 77624 CALL
040789,001028: 14,3454 31565 COARSE
040790,001029: 14,3455 77776 EXIT
040791,001030: 14,3456 05353 TC PHASCHNG
040792,001031: 14,3457 04024 OCT 04024
040793,001032: 14,3460 13431 TCF P51 +2
040794,001033:
040795,001034: 14,3461 05353 P51B TC PHASCHNG
040796,001035: 14,3462 00014 OCT 00014
040797,001036: 14,3463 06037 TC INTPRET
040798,001037: 14,3464 77624 CALL
040799,001038: 14,3465 31602 NCOARSE
040800,001039: 14,3466 40331 SSP SETPD
040801,001040: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
040802,001041: 14,3470 00000 0
040803,001042: 14,3471 00001 0
040804,001043: 14,3472 77776 P51C EXIT
040805,001044: 14,3473 05353 TC PHASCHNG
040806,001045: 14,3474 04024 OCT 04024
040807,001046:
040808,001047: 14,3475 04616 TC BANKCALL
040809,001048: 14,3476 16000 CADR AOTMARK # R53
040810,001049: 14,3477 04616 TC BANKCALL
040811,001050: 14,3500 17712 CADR AOTSTALL
040812,001051: 14,3501 05711 TC CURTAINS
040813,001052: 14,3502 11757 CCS STARIND
040814,001053: 14,3503 13511 TCF P51D +1
040815,001054: 14,3504 06037 TC INTPRET
|
|
Page 951 |
040817,001056: 14,3505 77775 VLOAD
040818,001057: 14,3506 02715 STARAD +6
040819,001058: 14,3507 02761 STORE STARSAV1
040820,001059: 14,3510 77776 P51D EXIT
040821,001060: 14,3511 05353 TC PHASCHNG
040822,001061: 14,3512 04024 OCT 04024
040823,001062:
040824,001063: 14,3513 11757 CCS STARIND
040825,001064: 14,3514 13530 TCF P51E
040826,001065: 14,3515 05353 TC PHASCHNG
040827,001066: 14,3516 04024 OCT 04024
040828,001067:
040829,001068: 14,3517 06037 TC INTPRET
040830,001069: 14,3520 45145 DLOAD CALL
040831,001070: 14,3521 03562 TSIGHT
040832,001071: 14,3522 32472 PLANET
040833,001072: 14,3523 03554 STORE PLANVEC
040834,001073: 14,3524 77776 EXIT
040835,001074: 14,3525 34753 CAF BIT1
040836,001075: 14,3526 55757 TS STARIND
040837,001076: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
040838,001077: 14,3530 05353 P51E TC PHASCHNG
040839,001078: 14,3531 04024 OCT 04024
040840,001079:
040841,001080: 14,3532 06037 TC INTPRET
040842,001081: 14,3533 45145 DLOAD CALL
040843,001082: 14,3534 03562 TSIGHT
040844,001083: 14,3535 32472 PLANET
040845,001084: 14,3536 24015 STOVL 12D
040846,001085: 14,3537 03554 PLANVEC
040847,001086: 14,3540 24007 STOVL 6D
040848,001087: 14,3541 02761 STARSAV1
040849,001088: 14,3542 26707 STOVL STARAD
040850,001089: 14,3543 02767 STARSAV2
040851,001090: 14,3544 36715 STCALL STARAD +6
040852,001091: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040853,001092: 14,3546 77414 BON EXIT
040854,001093: 14,3547 00314 FREEFLAG
040855,001094: 14,3550 31552 P51G
040856,001095: 14,3551 03431 TC P51 +2
040857,001096: 14,3552 77624 P51G CALL
040858,001097: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040859,001098: 14,3554 75160 AXC,1 AXC,2
040860,001099: 14,3555 02664 XDC
040861,001100: 14,3556 01733 REFSMMAT
040862,001101: 14,3557 77624 CALL
040863,001102: 14,3560 31377 MATMOVE
040864,001103: 14,3561 77414 SET EXIT
040865,001104: 14,3562 01462 REFSMFLG
040866,001105: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952 |
040868,001107: 14,3564 12200 V41K VN 4100
040869,001108: 14,3565 77776 COARSE EXIT
040870,001109: 14,3566 04616 TC BANKCALL
040871,001110: 14,3567 17000 CADR IMUCOARS
040872,001111: 14,3570 04616 TC BANKCALL
040873,001112: 14,3571 17716 CADR IMUSTALL
040874,001113: 14,3572 05711 TC CURTAINS
040875,001114: 14,3573 04616 TC BANKCALL
040876,001115: 14,3574 17210 CADR IMUFINE
040877,001116: 14,3575 04616 TC BANKCALL
040878,001117: 14,3576 17716 CADR IMUSTALL
040879,001118: 14,3577 05711 TC CURTAINS
040880,001119: 14,3600 06037 TC INTPRET
040881,001120: 14,3601 77616 RVQ
040882,001121: 14,3602 77776 NCOARSE EXIT
040883,001122: 14,3603 30025 CA TIME1
040884,001123: 14,3604 55075 TS 1/PIPADT
040885,001124: 14,3605 44755 CS ZERO
040886,001125: 14,3606 54037 TS PIPAX
040887,001126: 14,3607 54040 TS PIPAY
040888,001127: 14,3610 54041 TS PIPAZ
040889,001128: 14,3611 06037 TC INTPRET
040890,001129: 14,3612 77775 VLOAD
040891,001130: 14,3613 24007 ZEROVEC
040892,001131: 14,3614 01472 STORE GCOMP
040893,001132: 14,3615 43414 SET RVQ
040894,001133: 14,3616 01060 DRIFTFLG
040895,001134:
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|
Page 953 |
040897,001136: # NAME - S52.2
040898,001137: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040899,001138: # CALL - CALL S52.2
040900,001139: # INPUT - X,Y,ZSMD
040901,001140: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040902,001141: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040903,001142:
040904,001143: 14,3617 COUNT* $$/S52.1
040905,001144: 14,3617 45020 S52.2 STQ CALL
040906,001145: 14,3620 02746 QMAJ
040907,001146: 14,3621 47537 CDUTRIG
040908,001147: 14,3622 77624 CALL
040909,001148: 14,3623 20030 CALCSMSC
040910,001149: 14,3624 66370 AXT,1 SSP
040911,001150: 14,3625 00022 18D
040912,001151: 14,3626 00051 S1
040913,001152: 14,3627 00006 6D
040914,001153: 14,3630 61373 S52.2A VLOAD* VXM
040915,001154: 14,3631 02707 XNB +18D,1
040916,001155: 14,3632 01734 REFSMMAT
040917,001156: 14,3633 77656 UNIT
040918,001157: 14,3634 06707 STORE XNB +18D,1
040919,001158: 14,3635 77700 TIX,1
040920,001159: 14,3636 31630 S52.2A
040921,001160: 14,3637 75160 S52.2.1 AXC,1 AXC,2
040922,001161: 14,3640 03606 XSMD
040923,001162: 14,3641 02642 XSM
040924,001163: 14,3642 77624 CALL
040925,001164: 14,3643 31377 MATMOVE
040926,001165: 14,3644 77624 CALL
040927,001166: 14,3645 47353 CALCGA
040928,001167: 14,3646 77650 GOTO
040929,001168: 14,3647 02746 QMAJ
040930,001169:
|
|
Page 954 |
040932,001171: # NAME - S52.3
040933,001172: # FUNCTION XSMD= UNIT R
040934,001173: # YSMD= UNIT(V X R)
040935,001174: # ZSMD= UNIT(XSMD X YSMD)
040936,001175: # CALL DLOAD CALL
040937,001176: # TALIGN
040938,001177: # S52.3
040939,001178: # INPUT - TIME OF ALIGNMENT IN MPAC
040940,001179: # OUTPUT - X,Y,ZSMD
040941,001180: # SUBROUTINES - CSMCONIC
040942,001181:
040943,001182: 14,3650 COUNT* $$/S52.3
040944,001183: 14,3650 77620 S52.3 STQ
040945,001184: 14,3651 02746 QMAJ
040946,001185: 14,3652 34041 STCALL TDEC1
040947,001186: 14,3653 27100 LEMCONIC
040948,001187: 14,3654 53575 VLOAD UNIT
040949,001188: 14,3655 00001 RATT
040950,001189: 14,3656 27607 STOVL XSMD
040951,001190: 14,3657 00007 VATT
040952,001191: 14,3660 53435 VXV UNIT
040953,001192: 14,3661 00001 RATT
040954,001193: 14,3662 27615 STOVL YSMD
040955,001194: 14,3663 03607 XSMD
040956,001195: 14,3664 53435 VXV UNIT
040957,001196: 14,3665 03615 YSMD
040958,001197: 14,3666 37623 STCALL ZSMD
040959,001198: 14,3667 02746 QMAJ
040960,001199:
|
|
Page 955 |
040962,001201: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040963,001202:
040964,001203: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040965,001204: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040966,001205:
040967,001206: # CALLING - CALL R52
040968,001207:
040969,001208: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040970,001209:
040971,001210: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040972,001211: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040973,001212: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040974,001213: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040975,001214:
040976,001215: # SUBROUT - R60LEM
040977,001216:
040978,001217: 14,3670 COUNT* $$/R52
040979,001218: 14,3670 77420 R52 STQ EXIT
040980,001219: 14,3671 03665 SAVQR52
040981,001220: 14,3672 51757 INDEX STARIND
040982,001221: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040983,001222: 14,3674 00006 EXTEND
040984,001223: 14,3675 73771 MP 1/6TH
040985,001224: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
040986,001225: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
040987,001226:
040988,001227: 14,3700 33772 R52A CAF V01N70
040989,001228: 14,3701 04616 TC BANKCALL
040990,001229: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040991,001230: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
040992,001231: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
040993,001232: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040994,001233:
040995,001234: 14,3706 05516 R52B TC DOWNFLAG
040996,001235: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040997,001236: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
040998,001237: 14,3711 77744 MASK HIGH9
040999,001238: 14,3712 00006 EXTEND
041000,001239: 14,3713 74743 MP BIT9
041001,001240: 14,3714 54001 TS L # TEMP STORE DETENT
041002,001241:
041003,001242: 14,3715 00006 EXTEND
041004,001243: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041005,001244:
041006,001245: 14,3717 65660 AD NEG7
041007,001246: 14,3720 00006 EXTEND
041008,001247: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
041009,001248:
041010,001249: 14,3722 E7,1551 EBANK= XYMARK
041011,001250: 14,3722 35016 CA EBANK7
041012,001251: 14,3723 54003 TS EBANK
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|
Page 956 |
041014,001253: 14,3724 50001 INDEX L
041015,001254: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041016,001255: 14,3726 54001 TS L
041017,001256: 14,3727 E5,1642 EBANK= XSM
041018,001257: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041019,001258: 14,3730 54003 TS EBANK
041020,001259: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
041021,001260: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041022,001261: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
041023,001262:
041024,001263: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041025,001264: 14,3735 04616 TC BANKCALL
041026,001265: 14,3736 20476 CADR GOFLASH
041027,001266: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
041028,001267: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
041029,001268: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
041030,001269:
041031,001270: 14,3742 00006 EXTEND
041032,001271: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041033,001272: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041034,001273: 14,3745 52011 DXCH 8D
041035,001274: 14,3746 06037 TC INTPRET
041036,001275: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041037,001276: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041038,001277: 14,3751 45034 RTB CALL
041039,001278: 14,3752 21573 LOADTIME
041040,001279: 14,3753 32472 PLANET
041041,001280: 14,3754 53521 MXV UNIT
041042,001281: 14,3755 01734 REFSMMAT
041043,001282: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041044,001283:
041045,001284: 14,3757 77776 EXIT
041046,001285: 14,3760 04616 TC BANKCALL
041047,001286: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041048,001287:
041049,001288: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041050,001289: 14,3763 70735 MASK STARCODE
041051,001290: 14,3764 00006 EXTEND
041052,001291: 14,3765 13700 BZF R52A
041053,001292:
041054,001293: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041055,001294: 14,3767 77650 GOTO
041056,001295: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041057,001296:
041058,001297: 14,3771 05253 1/6TH DEC .1666667
041059,001298: 14,3772 00306 V01N70 VN 0170
041060,001299: 14,3773 01527 V06N87 VN 687
041061,001300:
|
|
Page 957 |
041063,001302: # LUNAR SURFACE STAR AQUISITION
041064,001303:
041065,001304: 15,2245 BANK 15
041066,001305: 15,2000 SETLOC P50S
041067,001306: 15,2000 BANK
041068,001307: 15,2245 COUNT* $$/R59
041069,001308:
041070,001309: 15,2245 40077 R59 CS FLAGWRD3
041071,001310: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041072,001311: 15,2247 10000 CCS A
041073,001312: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041074,001313:
041075,001314: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041076,001315: 15,2252 04616 TC BANKCALL
041077,001316: 15,2253 20476 CADR GOFLASH
041078,001317: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041079,001318: 15,2255 12257 TCF R59A # V33 - PROCEED
041080,001319: 15,2256 12245 TCF R59 # V32 - RECYCLE
041081,001320:
041082,001321: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041083,001322: 15,2260 70735 MASK AOTCODE
041084,001323: 15,2261 00006 EXTEND
041085,001324: 15,2262 76242 MP REVCNT # JUST 6
041086,001325: 15,2263 56001 XCH L
041087,001326: 15,2264 51757 INDEX STARIND
041088,001327: 15,2265 55755 TS BESTI
041089,001328: 15,2266 50120 INDEX FIXLOC
041090,001329: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041091,001330: 15,2270 00006 EXTEND
041092,001331: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041093,001332: 15,2272 40000 COM
041094,001333: 15,2273 62561 AD DEC227
041095,001334: 15,2274 00006 EXTEND
041096,001335: 15,2275 62455 BZMF R59OUT
041097,001336:
041098,001337: 15,2276 06037 TC INTPRET
041099,001338: 15,2277 64373 VLOAD* MXV
041100,001339: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041101,001340: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041102,001341: 15,2302 45056 UNIT CALL
041103,001342: 15,2303 47646 CDU*SMNB
041104,001343: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041105,001344: 15,2305 77776 EXIT
041106,001345:
041107,001346: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041108,001347: 15,2307 55242 TS POSCODE
041109,001348:
041110,001349: 15,2310 E7,1551 EBANK= XYMARK
041111,001350: 15,2310 35016 INCAZ CA EBANK7
041112,001351: 15,2311 54003 TS EBANK
041113,001352:
|
|
Page 958 |
041115,001354: 15,2312 51242 INDEX POSCODE
041116,001355: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041117,001356: 15,2314 54001 TS L
041118,001357:
041119,001358: 15,2315 E5,1642 EBANK= XSM
041120,001359: 15,2315 35014 CA EBANK5
041121,001360: 15,2316 54003 TS EBANK
041122,001361:
041123,001362: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041124,001363: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041125,001364: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041126,001365: 15,2322 50120 INDEX FIXLOC
041127,001366: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041128,001367:
041129,001368: 15,2324 06037 TC INTPRET
041130,001369: 15,2325 77624 CALL
041131,001370: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041132,001371: 15,2327 50375 VLOAD DOT
041133,001372: 15,2330 02731 STAR # DOT STAR WITH OA
041134,001373: 15,2331 03765 SCAXIS
041135,001374: 15,2332 65552 SL1 ARCCOS
041136,001375: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041137,001376:
041138,001377: 15,2334 51025 DSU BPL
041139,001378: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041140,001379: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041141,001380: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041142,001381: 15,2340 00031 24D
041143,001382: 15,2341 32470 DEG.5
041144,001383: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041145,001384: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041146,001385: 15,2344 00031 24D # GET SPIRAL
041147,001386: 15,2345 42405 DMP SL4
041148,001387: 15,2346 25764 3/4 # 12 SCALED AT 16
041149,001388: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041150,001389:
041151,001390: 15,2350 03765 SCAXIS # OA
041152,001391: 15,2351 53435 VXV UNIT
041153,001392: 15,2352 24005 XUNIT
041154,001393: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041155,001394: 15,2354 03765 SCAXIS
041156,001395: 15,2355 77676 VCOMP
041157,001396: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041158,001397: 15,2357 03765 SCAXIS
041159,001398: 15,2360 53435 VXV UNIT
041160,001399: 15,2361 02731 STAR
041161,001400: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041162,001401: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041163,001402: 15,2364 65552 SL1 ARCCOS
041164,001403: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
|
|
Page 959 |
041166,001405: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041167,001406: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041168,001407: 15,2370 32375 R59D
041169,001408: 15,2371 32047 ABOUTONE
041170,001409: 15,2372 77625 DSU
041171,001410: 15,2373 00033 26D
041172,001411: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041173,001412:
041174,001413: 15,2375 70535 R59D SLOAD SR1
041175,001414: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041176,001415: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041177,001416: 15,2400 00033 26D
041178,001417: 15,2401 77634 RTB
041179,001418: 15,2402 21614 1STO2S
041180,001419: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041181,001420: 15,2404 00031 24D # LOAD SROT IN REVS
041182,001421: 15,2405 77615 DAD # 12(SEP) + YROT
041183,001422: 15,2406 77634 RTB
041184,001423: 15,2407 21614 1STO2S
041185,001424: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041186,001425: 15,2411 77776 EXIT
041187,001426: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041188,001427:
041189,001428: 15,2413 77776 ZSPCR EXIT
041190,001429: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041191,001430: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041192,001431: 15,2416 55240 TS SPIRAL
041193,001432: 15,2417 12437 TCF 79DISP
041194,001433:
041195,001434: 15,2420 77776 NXAX EXIT
041196,001435: 15,2421 25242 INCR POSCODE
041197,001436: 15,2422 41242 CS POSCODE
041198,001437: 15,2423 64757 AD SEVEN
041199,001438: 15,2424 00006 EXTEND
041200,001439: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041201,001440: 15,2426 12310 TCF INCAZ
041202,001441:
041203,001442: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041204,001443: 15,2430 00404 OCT 404
041205,001444: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041206,001445: 15,2432 04616 TC BANKCALL
041207,001446: 15,2433 20476 CADR GOFLASH
041208,001447: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041209,001448: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041210,001449: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041211,001450:
041212,001451: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041213,001452: 15,2440 04616 TC BANKCALL
041214,001453: 15,2441 20476 CADR GOFLASH
041215,001454: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 960 |
041217,001456: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041218,001457: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041219,001458:
041220,001459: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041221,001460: 15,2446 71242 MASK POSCODE
041222,001461: 15,2447 00006 EXTEND
041223,001462: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041224,001463: 15,2451 47744 CS HIGH9
041225,001464: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041226,001465: 15,2453 60001 AD L
041227,001466: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041228,001467:
041229,001468: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041230,001469: 15,2456 16000 CADR AOTMARK
041231,001470: 15,2457 04616 TC BANKCALL
041232,001471: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041233,001472: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041234,001473: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041235,001474:
041236,001475: 15,2463 00306 V01N70* VN 170
041237,001476: 15,2464 01517 V06N79 VN 679
041238,001477: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041239,001478: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041240,001479: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041241,001480: 15,2472 1236 CURSOR EQUALS GDT/2
041242,001481: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041243,001482: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041244,001483:
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|
Page 961 |
041246,001485: # NAME - PLANET
041247,001486: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041248,001487: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041249,001488: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041250,001489: # BY DSDY INPUT
041251,001490: # CALL - CALL
041252,001491: # PLANET
041253,001492: # INPUT - TIME IN MPAC
041254,001493: # OUTPUT - VECTOR IN MPAC
041255,001494: # SUBROUTINES - LOCSAM
041256,001495: # DEBRIS - VAC, STARAD - STARAD +17
041257,001496:
041258,001497: 15,2000 SETLOC P50S
041259,001498: 15,2000 BANK
041260,001499: 15,2472 COUNT* $$/P51
041261,001500:
041262,001501: 15,2472 27562 PLANET STOVL TSIGHT
041263,001502: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
041264,001503: 15,2474 02707 STORE STARAD
041265,001504: 15,2475 77420 STQ EXIT
041266,001505: 15,2476 02736 GCTR
041267,001506: 15,2477 47744 CS HIGH9
041268,001507: 15,2500 70735 MASK AOTCODE
041269,001508: 15,2501 00006 EXTEND
041270,001509: 15,2502 76242 MP REVCNT
041271,001510: 15,2503 56001 XCH L
041272,001511: 15,2504 51757 INDEX STARIND
041273,001512: 15,2505 55755 TS BESTI
041274,001513: 15,2506 10000 CCS A
041275,001514: 15,2507 12523 TCF NOTPLAN
041276,001515: 15,2510 32562 CAF VNPLANV
041277,001516: 15,2511 04616 TC BANKCALL
041278,001517: 15,2512 20476 CADR GOFLASH
041279,001518: 15,2513 02510 TC -3
041280,001519: 15,2514 02516 TC +2
041281,001520: 15,2515 02510 TC -5
041282,001521: 15,2516 06037 TC INTPRET
041283,001522: 15,2517 53575 VLOAD UNIT
041284,001523: 15,2520 02707 STARAD
041285,001524: 15,2521 77650 GOTO
041286,001525: 15,2522 02736 GCTR
041287,001526: 15,2523 40000 NOTPLAN CS A
041288,001527: 15,2524 62561 AD DEC227
041289,001528: 15,2525 00006 EXTEND
041290,001529: 15,2526 62537 BZMF CALSAM1
041291,001530: 15,2527 51757 INDEX STARIND
041292,001531: 15,2530 31755 CA BESTI
041293,001532: 15,2531 50120 INDEX FIXLOC
041294,001533: 15,2532 54046 TS X1
041295,001534: 15,2533 06037 TC INTPRET
|
|
Page 962 |
041297,001536: 15,2534 52173 VLOAD* GOTO
041298,001537: 15,2535 30347 CATLOG,1
041299,001538: 15,2536 02736 GCTR
041300,001539: 15,2537 06037 CALSAM1 TC INTPRET
041301,001540: 15,2540 45145 CALSAM DLOAD CALL
041302,001541: 15,2541 03562 TSIGHT
041303,001542: 15,2542 30506 LOCSAM
041304,001543: 15,2543 77340 LXC,1 VLOAD
041305,001544: 15,2544 02757 STARIND
041306,001545: 15,2545 02707 VEARTH
041307,001546: 15,2546 24001 STOVL 0D
041308,001547: 15,2547 02715 VSUN
041309,001548: 15,2550 26707 STOVL VEARTH
041310,001549: 15,2551 00001 0D
041311,001550: 15,2552 02715 STORE VSUN
041312,001551: 15,2553 70143 DLOAD* LXC,1
041313,001552: 15,2554 02756 BESTI,1
041314,001553: 15,2555 00154 MPAC
041315,001554: 15,2556 52173 VLOAD* GOTO
041316,001555: 15,2557 02343 STARAD -228D,1
041317,001556: 15,2560 02736 GCTR
041318,001557: 15,2561 00343 DEC227 DEC 227 B-14
041319,001558: 15,2562 01530 VNPLANV VN 0688
041320,001559: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041321,001560:
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|
Page 963 |
041323,001562: # GRAVITY VECTOR DETERMINATION ROUTINE
041324,001563: # BY KEN VINCENT
041325,001564:
041326,001565: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041327,001566:
041328,001567: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041329,001568: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041330,001569: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041331,001570: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041332,001571: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041333,001572: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041334,001573: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041335,001574: # READINGS.
041336,001575:
041337,001576: # CALL -
041338,001577: # TC BANKCALL
041339,001578: # CADR GVDETER
041340,001579:
041341,001580: # INPUTS -
041342,001581: # PIPAS, CDUS
041343,001582:
041344,001583: # OUTPUTS -
041345,001584: # STARSAV1 = UNIT GRAVITY
041346,001585: # GSAV = DITTO
041347,001586: # GRAVBIT = 1
041348,001587:
041349,001588: # SUBROUTINES -
041350,001589: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041351,001590: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041352,001591:
041353,001592: # DEBRIS -
041354,001593: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041355,001594:
041356,001595: 15,2563 32772 GVDETER CAF 42DEG
041357,001596: 15,2564 54321 TS THETAD
041358,001597: 15,2565 40000 COM
041359,001598: 15,2566 54322 TS THETAD +1
041360,001599: 15,2567 32773 CAF 35DEG
041361,001600: 15,2570 54323 TS THETAD +2
041362,001601: 15,2571 06037 TC INTPRET
041363,001602: 15,2572 45014 CLEAR CALL
041364,001603: 15,2573 01662 REFSMFLG
041365,001604: 15,2574 32670 LUNG
041366,001605:
041367,001606: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041368,001607:
041369,001608: # DEFINE G COOR SYS
041370,001609: # -
041371,001610: # X UNIT G
041372,001611: # * - -
041373,001612: # M = Y = UNITEZSM * X )
041374,001613: # - - -
041375,001614: # Z UNIT(X * Y )
041376,001615:
041377,001616: # THEN ROTATED SM WRT PRESENT IS
041378,001617:
041379,001618: # 1, 0, 0
041380,001619: # * *T * * *
|
|
Page 964 |
041382,001621: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041383,001622: # I J
041384,001623: # 0, 0, -1
041385,001624:
041386,001625: # ALSO NB WRT PRES SM IS
041387,001626:
041388,001627: # * * *
041389,001628: # XNB = NBSM I
041390,001629: # * *
041391,001630: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041392,001631:
041393,001632: 15,2000 SETLOC P50S
041394,001633: 15,2000 BANK
041395,001634: 15,2575 COUNT* $$/P57
041396,001635: 15,2575 66370 AXT,1 SSP # X1=18
041397,001636: 15,2576 00022 18D # S1=6
041398,001637: 15,2577 00051 S1 # X2, -2
041399,001638: 15,2600 00006 6D
041400,001639: 15,2601 77744 LXC,2
041401,001640: 15,2602 00050 S1
041402,001641: 15,2603 45173 GRAVEL VLOAD* CALL
041403,001642: 15,2604 54000 XUNIT -6,2
041404,001643: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
041405,001644: 15,2606 06707 STORE XNB +18D,1
041406,001645: 15,2607 77775 VLOAD
041407,001646: 15,2610 02731 STAR
041408,001647: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041409,001648: 15,2612 00047 X2
041410,001649: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
041411,001650: 15,2614 71152 VSL2 LXC,2
041412,001651: 15,2615 00047 X2
041413,001652: 15,2616 63047 VSU* INCR,2
041414,001653: 15,2617 54000 XUNIT -6,2
041415,001654: 15,2620 00002 2D
041416,001655: 15,2621 06665 STORE XSM +18D,1
041417,001656: 15,2622 45100 TIX,1 CALL
041418,001657: 15,2623 32603 GRAVEL
041419,001658: 15,2624 47353 CALCGA
041420,001659: 15,2625 74575 VLOAD VSR1
041421,001660: 15,2626 02715 GOUT
041422,001661: 15,2627 36723 STCALL STARAD +12D
041423,001662: 15,2630 32670 LUNG
041424,001663: 15,2631 74575 VLOAD VSR1
041425,001664: 15,2632 02715 GOUT
041426,001665: 15,2633 53455 VAD UNIT
041427,001666: 15,2634 02723 STARAD +12D
041428,001667: 15,2635 02761 STORE STARSAV1
041429,001668: 15,2636 77641 DOT
041430,001669: 15,2637 02231 GSAV
041431,001670: 15,2640 65552 SL1 ACOS
|
|
Page 965 |
041433,001672: 15,2641 01046 STORE DSPTEM1
041434,001673: 15,2642 77776 EXIT
041435,001674: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041436,001675: 15,2644 00014 ADRES FREEFLAG
041437,001676:
041438,001677: 15,2645 32771 CA DISGRVER
041439,001678: 15,2646 04616 TC BANKCALL
041440,001679: 15,2647 20476 CADR GOFLASH
041441,001680: 15,2650 06001 TC GOTOPOOH
041442,001681: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
041443,001682: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041444,001683: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041445,001684:
041446,001685: 15,2654 05353 PROGRAV TC PHASCHNG
041447,001686: 15,2655 04024 OCT 04024
041448,001687:
041449,001688: 15,2656 06037 TC INTPRET
041450,001689: 15,2657 77775 VLOAD
041451,001690: 15,2660 02761 STARSAV1
041452,001691: 15,2661 02231 STORE GSAV
041453,001692: 15,2662 77776 EXIT
041454,001693: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041455,001694: 15,2664 70074 MASK FLAGWRD0
041456,001695: 15,2665 10000 CCS A
041457,001696: 15,2666 12563 TCF GVDETER # SET
041458,001697: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
041459,001698:
041460,001699: 15,2670 77220 LUNG STQ VLOAD
041461,001700: 15,2671 02745 QMIN
041462,001701: 15,2672 24007 ZEROVEC
041463,001702: 15,2673 02707 STORE GACC
041464,001703: 15,2674 77776 EXIT
041465,001704: 15,2675 05353 TC PHASCHNG
041466,001705: 15,2676 04024 OCT 04024
041467,001706:
041468,001707: 15,2677 04616 TC BANKCALL
041469,001708: 15,2700 17000 CADR IMUCOARS
041470,001709: 15,2701 04616 TC BANKCALL
041471,001710: 15,2702 17716 CADR IMUSTALL
041472,001711: 15,2703 05711 TC CURTAINS
041473,001712: 15,2704 04616 TC BANKCALL
041474,001713: 15,2705 17210 CADR IMUFINE
041475,001714: 15,2706 04616 TC BANKCALL
041476,001715: 15,2707 17716 CADR IMUSTALL
041477,001716: 15,2710 05711 TC CURTAINS
041478,001717: 15,2711 32770 CA T/2SEC
041479,001718: 15,2712 55736 TS GCTR
041480,001719: 15,2713 37716 CA PRIO31
041481,001720: 15,2714 55075 TS 1/PIPADT
041482,001721: 15,2715 04616 TC BANKCALL
|
|
Page 966 |
041484,001723: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
041485,001724: 15,2717 05353 TC PHASCHNG
041486,001725: 15,2720 04024 OCT 04024
041487,001726:
041488,001727: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041489,001728: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041490,001729: 15,2723 06037 TC INTPRET
041491,001730: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041492,001731: 15,2725 35000 CAF 2SECS
041493,001732: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041494,001733: 15,2727 02731 ADRES GRABGRAV
041495,001734:
041496,001735: 15,2730 05155 TC ENDOFJOB
041497,001736:
041498,001737: 15,2731 04674 GRABGRAV TC IBNKCALL
041499,001738: 15,2732 77544 CADR PIPSRINE
041500,001739: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041501,001740: 15,2734 05105 TC FINDVAC
041502,001741: 15,2735 E5,1706 EBANK= STARAD
041503,001742: 15,2735 02740 32065 2CADR ADDGRAV
041504,001743:
041505,001744: 15,2737 05261 TC TASKOVER
041506,001745:
041507,001746: 15,2740 04616 ADDGRAV TC BANKCALL
041508,001747: 15,2741 15263 CADR 1/PIPA
041509,001748: 15,2742 25736 INCR GCTR
041510,001749: 15,2743 06037 TC INTPRET
041511,001750: 15,2744 53375 VLOAD VAD
041512,001751: 15,2745 00325 DELV
041513,001752: 15,2746 02707 GACC
041514,001753: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
041515,001754: 15,2750 50135 SLOAD BMN
041516,001755: 15,2751 02737 GCTR
041517,001756: 15,2752 32724 GREED
041518,001757: 15,2753 53575 VLOAD UNIT
041519,001758: 15,2754 02707 GACC
041520,001759: 15,2755 36731 STCALL STAR
041521,001760: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041522,001761: 15,2757 77624 CALL # IN OUTPUT
041523,001762: 15,2760 47671 *SMNB*
041524,001763: 15,2761 02715 STORE GOUT
041525,001764: 15,2762 77776 EXIT
041526,001765: 15,2763 05353 TC PHASCHNG
041527,001766: 15,2764 04024 OCT 04024
041528,001767:
041529,001768: 15,2765 06037 QMINEXIT TC INTPRET
041530,001769: 15,2766 77650 GOTO
041531,001770: 15,2767 02745 QMIN
041532,001771: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967 |
041534,001773: 15,2771 01404 DISGRVER VN 0604
041535,001774: 15,2772 07357 42DEG OCT 07357
041536,001775: 15,2773 06211 35DEG OCT 06211
041537,001776:
|
|
Page 968 |
041539,001778: # NAME GYROTRIM
041540,001779:
041541,001780: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041542,001781: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041543,001782: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041544,001783:
041545,001784: # CALL CALL
041546,001785: # GYROTRIM
041547,001786:
041548,001787: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041549,001788: # CDUX,CDUY,CDUZ
041550,001789:
041551,001790: # OUTPUT - GYRO TORQUE PULSES
041552,001791:
041553,001792: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041554,001793: # IMPULSE, IMUSTALL
041555,001794: # - - - * * -
041556,001795: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041557,001796:
041558,001797: 15,2774 COUNT* $$/P57
041559,001798: 15,2774 71220 GYROTRIM STQ DLOAD
041560,001799: 15,2775 02745 QMIN
041561,001800: 15,2776 00322 THETAD
041562,001801: 15,2777 65325 PDDL PDDL
041563,001802: 15,3000 00324 THETAD +2
041564,001803: 15,3001 00323 THETAD +1
041565,001804: 15,3002 77666 VDEF
041566,001805: 15,3003 24767 STOVL CDUSPOT
041567,001806: 15,3004 24005 XUNIT
041568,001807: 15,3005 77624 CALL
041569,001808: 15,3006 47664 TRG*NBSM
041570,001809: 15,3007 26707 STOVL STARAD
041571,001810: 15,3010 24003 YUNIT
041572,001811: 15,3011 77624 CALL
041573,001812: 15,3012 47673 *NBSM*
041574,001813: 15,3013 36715 STCALL STARAD +6
041575,001814: 15,3014 47537 CDUTRIG
041576,001815: 15,3015 77624 CALL
041577,001816: 15,3016 20030 CALCSMSC
041578,001817: 15,3017 77775 VLOAD
041579,001818: 15,3020 02665 XNB
041580,001819: 15,3021 24007 STOVL 6D
041581,001820: 15,3022 02673 YNB
041582,001821: 15,3023 34015 STCALL 12D
041583,001822: 15,3024 47441 AXISGEN
041584,001823: 15,3025 77624 CALL
041585,001824: 15,3026 47247 CALCGTA
041586,001825: 15,3027 77776 JUSTTRIM EXIT
041587,001826: 15,3030 04616 TC BANKCALL
041588,001827: 15,3031 17210 CADR IMUFINE
041589,001828: 15,3032 04616 TC BANKCALL
|
|
Page 969 |
041591,001830: 15,3033 17716 CADR IMUSTALL
041592,001831: 15,3034 05711 TC CURTAINS
041593,001832: 15,3035 33044 CA GYRCDR
041594,001833: 15,3036 04616 TC BANKCALL
041595,001834: 15,3037 17323 CADR IMUPULSE
041596,001835: 15,3040 04616 TC BANKCALL
041597,001836: 15,3041 17716 CADR IMUSTALL
041598,001837: 15,3042 05711 TC CURTAINS
041599,001838: 15,3043 12765 TCF QMINEXIT
041600,001839:
041601,001840: 15,3044 02737 GYRCDR ECADR OGC
041602,001841:
|
|
Page 970 |
041604,001843: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041605,001844:
041606,001845: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
041607,001846: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041608,001847: 15,3047 34753 1STAR CAF BIT1
041609,001848: 15,3050 55757 TS STARIND
041610,001849:
041611,001850: 15,3051 05353 TC PHASCHNG
041612,001851: 15,3052 04024 OCT 04024
041613,001852:
041614,001853: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041615,001854:
041616,001855: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041617,001856: 15,3055 00006 EXTEND
041618,001857: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
041619,001858:
041620,001859: 15,3057 05353 TC PHASCHNG
041621,001860: 15,3060 04024 OCT 04024
041622,001861:
041623,001862: 15,3061 06037 TC INTPRET
041624,001863: 15,3062 45145 DLOAD CALL
041625,001864: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
041626,001865: 15,3064 32472 PLANET
041627,001866: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041628,001867: 15,3066 33101 SURFLINE
041629,001868:
041630,001869: 15,3067 06037 ASTAR TC INTPRET
041631,001870: 15,3070 77775 VLOAD
041632,001871: 15,3071 02715 STARAD +6
041633,001872: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041634,001873: 15,3073 45145 DLOAD CALL
041635,001874: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
041636,001875: 15,3075 32472 PLANET
041637,001876: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041638,001877: 15,3077 77776 EXIT
041639,001878: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
041640,001879:
|
|
Page 971 |
041642,001881: # DO FINE OR COARSE ALIGNMENT OF IMU
041643,001882:
041644,001883: 15,3101 77131 SURFLINE SSP AXT,2
041645,001884: 15,3102 00052 S2
041646,001885: 15,3103 00006 6
041647,001886: 15,3104 00014 12D
041648,001887: 15,3105 64373 WRTDESIR VLOAD* MXV
041649,001888: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041650,001889: 15,3107 03607 XSMD
041651,001890: 15,3110 77656 UNIT
041652,001891: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
041653,001892: 15,3112 77773 VLOAD*
041654,001893: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041655,001894: 15,3114 10023 STORE 18D,2
041656,001895: 15,3115 43104 TIX,2 BON
041657,001896: 15,3116 33105 WRTDESIR
041658,001897: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041659,001898: 15,3120 33126 INITBY
041660,001899: 15,3121 77624 DOALIGN CALL
041661,001900: 15,3122 31256 R54 # DO CHKSDATA
041662,001901: 15,3123 77614 BOFF
041663,001902: 15,3124 00354 FREEFLAG
041664,001903: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041665,001904: 15,3126 77624 INITBY CALL
041666,001905: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041667,001906: 15,3130 77624 CALL
041668,001907: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041669,001908: 15,3132 77776 EXIT
041670,001909: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041671,001910: 15,3134 70104 MASK FLAGWRD8
041672,001911: 15,3135 10000 CCS A
041673,001912: 15,3136 13145 TCF 5DEGTEST
041674,001913: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041675,001914: 15,3140 04616 TC BANKCALL
041676,001915: 15,3141 20476 CADR GOFLASH
041677,001916: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
041678,001917: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041679,001918: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041680,001919:
041681,001920: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041682,001921: 15,3146 40175 VLOAD BOV
041683,001922: 15,3147 02740 OGC
041684,001923: 15,3150 33151 SURFSUP
041685,001924: 15,3151 02750 SURFSUP STORE OGCT
041686,001925: 15,3152 40141 V/SC BOV
041687,001926: 15,3153 30610 5DEGREES
041688,001927: 15,3154 33254 COATRIM
041689,001928: 15,3155 52131 SSP GOTO
041690,001929: 15,3156 02746 QMIN
041691,001930: 15,3157 33161 SURFDISP
|
|
Page 972 |
041693,001932: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041694,001933:
041695,001934: 15,3161 77776 SURFDISP EXIT
041696,001935: 15,3162 05353 TC PHASCHNG
041697,001936: 15,3163 04024 OCT 04024
041698,001937:
041699,001938: 15,3164 06037 TC INTPRET
041700,001939: 15,3165 75160 AXC,1 AXC,2
041701,001940: 15,3166 03606 XSMD
041702,001941: 15,3167 01733 REFSMMAT
041703,001942: 15,3170 45014 SET CALL
041704,001943: 15,3171 01462 REFSMFLG
041705,001944: 15,3172 31377 MATMOVE
041706,001945: 15,3173 77776 EXIT
041707,001946: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
041708,001947: 15,3175 13177 TCF B2F8
041709,001948: 15,3176 13207 TCF P57POST +1
041710,001949:
041711,001950: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041712,001951: 15,3200 70104 MASK FLAGWRD8
041713,001952: 15,3201 10000 CCS A
041714,001953: 15,3202 13561 TCF P57JUMP # ITS SET
041715,001954: 15,3203 06037 TC INTPRET
041716,001955: 15,3204 77624 CALL
041717,001956: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041718,001957: 15,3206 77776 P57POST EXIT
041719,001958: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041720,001959: 15,3210 04616 TC BANKCALL
041721,001960: 15,3211 20623 CADR GOPERF1
041722,001961: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
041723,001962: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041724,001963: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041725,001964: 15,3215 61145 AD OPTION2
041726,001965: 15,3216 00006 EXTEND
041727,001966: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
041728,001967: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
041729,001968: 15,3221 05353 TC PHASCHNG # RESTART PLACE
041730,001969: 15,3222 04024 OCT 04024
041731,001970: 15,3223 06037 TC INTPRET
041732,001971: 15,3224 45175 VLOAD CALL # USE GNB
041733,001972: 15,3225 02231 GSAV
041734,001973: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
041735,001974: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
041736,001975: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041737,001976: 15,3231 01463 LUNAFLAG
041738,001977: 15,3232 51515 PDVL ABVAL
041739,001978: 15,3233 02023 RLS
041740,001979: 15,3234 45561 VXSC STADR
041741,001980: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041742,001981: 15,3236 47014 CLEAR RTB
|
|
Page 973 |
041744,001983: 15,3237 00662 ERADFLAG
041745,001984: 15,3240 21573 LOADTIME
041746,001985: 15,3241 77624 CALL
041747,001986: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041748,001987: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
041749,001988: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041750,001989: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041751,001990: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
041752,001991: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
041753,001992: 15,3250 51670 R-TO-RP
041754,001993: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041755,001994: 15,3252 77776 EXIT
041756,001995: 15,3253 16001 TCF GOTOPOOH # EXIT P57
041757,001996:
|
|
Page 974 |
041759,001998: # COARSE AND FINE ALIGN IMU
041760,001999:
041761,002000: 15,3254 75160 COATRIM AXC,1 AXC,2
041762,002001: 15,3255 02664 XDC
041763,002002: 15,3256 02642 XSM
041764,002003: 15,3257 77624 CALL
041765,002004: 15,3260 31377 MATMOVE
041766,002005: 15,3261 77624 CALL
041767,002006: 15,3262 47537 CDUTRIG
041768,002007: 15,3263 77624 CALL
041769,002008: 15,3264 20030 CALCSMSC
041770,002009: 15,3265 77624 CALL
041771,002010: 15,3266 47353 CALCGA
041772,002011: 15,3267 77414 BOFF EXIT
041773,002012: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041774,002013: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041775,002014: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
041776,002015: 15,3273 04616 TC BANKCALL
041777,002016: 15,3274 20476 CADR GOFLASH
041778,002017: 15,3275 06001 TC GOTOPOOH
041779,002018: 15,3276 13300 TCF +2
041780,002019: 15,3277 13272 TCF -5
041781,002020: 15,3300 05353 TC PHASCHNG
041782,002021: 15,3301 04024 OCT 04024
041783,002022:
041784,002023: 15,3302 06037 TC INTPRET
041785,002024: 15,3303 77624 CORSIT CALL
041786,002025: 15,3304 31565 COARSE
041787,002026: 15,3305 77624 CALL
041788,002027: 15,3306 31602 NCOARSE
041789,002028: 15,3307 77624 CALL
041790,002029: 15,3310 32774 GYROTRIM
041791,002030: 15,3311 77650 GOTO
041792,002031: 15,3312 33161 SURFDISP
041793,002032: 15,3313 01535 DISPGYRO VN 0693
041794,002033:
|
|
Page 975 |
041796,002035: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041797,002036:
041798,002037: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041799,002038: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041800,002039:
041801,002040: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041802,002041: 15,3317 55145 TS OPTION2
041803,002042: 15,3320 34753 P57OPT CAF BIT1
041804,002043: 15,3321 04616 TC BANKCALL
041805,002044: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041806,002045: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
041807,002046: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
041808,002047: 15,3325 13320 TCF P57OPT # V32 RECYCLE
041809,002048:
041810,002049: 15,3326 05353 TC PHASCHNG
041811,002050: 15,3327 00014 OCT 00014
041812,002051: 15,3330 05155 TC ENDOFJOB
041813,002052:
041814,002053: 15,3331 31145 ALIGNOPT CA OPTION2
041815,002054: 15,3332 76245 MASK THREE
041816,002055: 15,3333 50000 INDEX A
041817,002056: 15,3334 13335 TCF +1
041818,002057: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
041819,002058: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
041820,002059: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041821,002060: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
041822,002061: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041823,002062: 15,3342 01733 REFSMMAT
041824,002063: 15,3343 03606 XSMD
041825,002064: 15,3344 77624 CALL
041826,002065: 15,3345 31377 MATMOVE
041827,002066: 15,3346 77650 GOTO
041828,002067: 15,3347 33410 PACKOPTN -1
041829,002068:
041830,002069: 15,3350 06037 TDISP TC INTPRET
041831,002070: 15,3351 77745 DLOAD
041832,002071: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041833,002072: 15,3353 01046 P57A STORE DSPTEM1
041834,002073: 15,3354 77776 EXIT
041835,002074: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041836,002075: 15,3356 04616 TC BANKCALL
041837,002076: 15,3357 20476 CADR GOFLASH
041838,002077: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
041839,002078: 15,3361 13363 TCF +2
041840,002079: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
041841,002080:
041842,002081: 15,3363 06037 TC INTPRET
041843,002082: 15,3364 65234 RTB PDDL
041844,002083: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041845,002084: 15,3366 01046 DSPTEM1
|
|
Page 976 |
041847,002086: 15,3367 65254 BZE PDDL
041848,002087: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041849,002088: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041850,002089: 15,3372 01046 DSPTEM1
041851,002090: 15,3373 33400 P57C
041852,002091: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041853,002092: 15,3375 74335 STORE TIG # STORE IT IN TIG
041854,002093: 15,3376 36775 STCALL TALIGN
041855,002094: 15,3377 33402 P57D
041856,002095: 15,3400 45545 P57C DLOAD STADR
041857,002096: 15,3401 75002 STORE TALIGN
041858,002097: 15,3402 34041 P57D STCALL TDEC1
041859,002098: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041860,002099: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
041861,002100: 15,3405 00001 RATT
041862,002101: 15,3406 37607 STCALL XSMD
041863,002102: 15,3407 11013 LSORIENT
041864,002103: 15,3410 77776 EXIT
041865,002104: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041866,002105: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041867,002106: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041868,002107: 15,3414 34737 CAF REFSMBIT
041869,002108: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
041870,002109: 15,3416 10000 CCS A
041871,002110: 15,3417 34745 CAF BIT7 # SET
041872,002111: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
041873,002112: 15,3421 34753 CAF ATTFLBIT
041874,002113: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
041875,002114: 15,3423 10000 CCS A
041876,002115: 15,3424 34750 CAF BIT4 # SET
041877,002116: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
041878,002117: 15,3426 34750 CAF BIT4
041879,002118: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041880,002119:
041881,002120: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041882,002121: 15,3431 04616 TC BANKCALL
041883,002122: 15,3432 20476 CADR GOFLASH
041884,002123: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
041885,002124: 15,3434 13436 TCF +2 # V33 - PROCEED
041886,002125: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
041887,002126:
041888,002127: 15,3436 34737 CAF REFSMBIT
041889,002128: 15,3437 70077 MASK FLAGWRD3
041890,002129: 15,3440 10000 CCS A
041891,002130: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041892,002131: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041893,002132: 15,3443 70102 MASK FLAGWRD6
041894,002133: 15,3444 10000 CCS A
041895,002134: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041896,002135: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 977 |
041898,002137: 15,3447 71145 MASK OPTION2
041899,002138: 15,3450 10000 CCS A
041900,002139: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041901,002140: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041902,002141: 15,3453 00701 OCT 701
041903,002142: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041904,002143: 15,3455 04616 TC BANKCALL
041905,002144: 15,3456 20476 CADR GOFLASH
041906,002145: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
041907,002146: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
041908,002147: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041909,002148:
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|
Page 978 |
041911,002150: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041912,002151:
041913,002152: 15,3462 40220 MFREF STQ SETPD
041914,002153: 15,3463 02746 QMAJ
041915,002154: 15,3464 00001 0
041916,002155: 15,3465 77634 RTB
041917,002156: 15,3466 21573 LOADTIME
041918,002157: 15,3467 27562 STOVL TSIGHT
041919,002158: 15,3470 02723 VEC1
041920,002159: 15,3471 41525 PDDL PUSH
041921,002160: 15,3472 03562 TSIGHT
041922,002161: 15,3473 77624 CALL
041923,002162: 15,3474 55716 RP-TO-R
041924,002163: 15,3475 26723 STOVL VEC1
041925,002164: 15,3476 02731 VEC2
041926,002165: 15,3477 65201 SETPD PDDL
041927,002166: 15,3500 00001 0
041928,002167: 15,3501 03562 TSIGHT
041929,002168: 15,3502 45006 PUSH CALL
041930,002169: 15,3503 55716 RP-TO-R
041931,002170: 15,3504 36731 STCALL VEC2
041932,002171: 15,3505 02746 QMAJ
041933,002172:
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|
Page 979 |
041935,002174: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041936,002175: # STORE IN YNBSAV AND ZNBSAV
041937,002176:
041938,002177: 15,3506 45020 REFMF STQ CALL
041939,002178: 15,3507 02746 QMAJ
041940,002179: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
041941,002180: 15,3511 40234 RTB SETPD
041942,002181: 15,3512 21573 LOADTIME
041943,002182: 15,3513 00001 0
041944,002183: 15,3514 37562 STCALL TSIGHT
041945,002184: 15,3515 20030 CALCSMSC # GET YNB IN SM
041946,002185: 15,3516 61375 VLOAD VXM
041947,002186: 15,3517 02673 YNB
041948,002187: 15,3520 01734 REFSMMAT # YNB TO REF
041949,002188: 15,3521 65256 UNIT PDDL
041950,002189: 15,3522 03562 TSIGHT
041951,002190: 15,3523 45006 PUSH CALL
041952,002191: 15,3524 51670 R-TO-RP
041953,002192: 15,3525 26237 STOVL YNBSAV # YNB TO MF
041954,002193: 15,3526 02701 ZNB
041955,002194: 15,3527 53505 VXM UNIT
041956,002195: 15,3530 01734 REFSMMAT # ZNB TO REF
041957,002196: 15,3531 41525 PDDL PUSH
041958,002197: 15,3532 03562 TSIGHT
041959,002198: 15,3533 77624 CALL
041960,002199: 15,3534 51670 R-TO-RP # ZNB TO MF
041961,002200: 15,3535 02245 STORE ZNBSAV
041962,002201: 15,3536 77614 SETGO
041963,002202: 15,3537 03036 ATTFLAG
041964,002203: 15,3540 02746 QMAJ
041965,002204:
|
|
Page 980 |
041967,002206: # BRANCH TO ALIGNMENT OPTION
041968,002207:
041969,002208: 15,3541 06037 GETLMATT TC INTPRET
041970,002209: 15,3542 77624 CALL
041971,002210: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041972,002211: 15,3544 77776 EXIT
041973,002212:
041974,002213: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041975,002214: 15,3546 00205 ADRES INITALGN
041976,002215: 15,3547 34753 CAF BIT1
041977,002216: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
041978,002217: 15,3551 10000 CCS A
041979,002218: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041980,002219:
041981,002220: 15,3553 05353 ATTCHK TC PHASCHNG
041982,002221: 15,3554 04024 OCT 04024
041983,002222:
041984,002223: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041985,002224: 15,3556 70102 MASK FLAGWRD6
041986,002225: 15,3557 10000 CCS A
041987,002226: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041988,002227: 15,3561 05353 P57JUMP TC PHASCHNG
041989,002228: 15,3562 04024 OCT 04024
041990,002229:
041991,002230: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041992,002231: 15,3564 00205 ADRES INITALGN
041993,002232: 15,3565 36245 CAF THREE
041994,002233: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
041995,002234: 15,3567 50000 INDEX A
041996,002235: 15,3570 13571 TCF +1
041997,002236: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
041998,002237: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
041999,002238: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
042000,002239: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
042001,002240:
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|
Page 981 |
042003,002242: # OPTION 0, GET TWO ATTITUDE VECS
042004,002243:
042005,002244: 15,3575 06037 P57OPT0 TC INTPRET
042006,002245: 15,3576 77775 VLOAD
042007,002246: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042008,002247: 15,3600 26723 STOVL VEC1
042009,002248: 15,3601 02245 ZNBSAV
042010,002249: 15,3602 36731 STCALL VEC2
042011,002250: 15,3603 47537 CDUTRIG
042012,002251: 15,3604 77624 CALL
042013,002252: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042014,002253: 15,3606 77775 VLOAD
042015,002254: 15,3607 02673 YNB
042016,002255: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042017,002256: 15,3611 02701 ZNB
042018,002257: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042019,002258: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042020,002259: 15,3614 77650 GOTO
042021,002260: 15,3615 33101 SURFLINE
042022,002261:
042023,002262: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042024,002263:
042025,002264: 15,3616 06037 P57OPT1 TC INTPRET
042026,002265: 15,3617 53575 VLOAD UNIT
042027,002266: 15,3620 02023 RLS # LANDING SITE VEC
042028,002267: 15,3621 26723 STOVL VEC1
042029,002268: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
042030,002269: 15,3623 36731 STCALL VEC2
042031,002270: 15,3624 47537 CDUTRIG
042032,002271: 15,3625 77624 CALL
042033,002272: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042034,002273: 15,3627 45175 VLOAD CALL
042035,002274: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042036,002275: 15,3631 47661 CDU*NBSM
042037,002276: 15,3632 77650 GOTO
042038,002277: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042039,002278:
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|
Page 982 |
042041,002280: # OPTION 2, GET TWO STAR SIGHTINGS
042042,002281:
042043,002282: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042044,002283:
042045,002284: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042046,002285:
042047,002286: 15,3635 06037 P57OPT3 TC INTPRET
042048,002287: 15,3636 53575 VLOAD UNIT
042049,002288: 15,3637 02023 RLS # LANDING SITE VEC
042050,002289: 15,3640 02723 STORE VEC1
042051,002290: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042052,002291: 15,3642 02231 GSAV # GRAVITY VEC NB
042053,002292: 15,3643 77624 CALL
042054,002293: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042055,002294: 15,3645 36761 STCALL STARSAV1
042056,002295: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042057,002296: 15,3647 77776 EXIT
042058,002297: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042059,002298:
042060,002299: 15,3651 01206 VB05N06 VN 506
042061,002300:
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|
Page 983 |
042063,002302: # CHECK IMODES30 TO VARIFY IMU IS ON
042064,002303:
042065,002304: 15,3652 41302 IMUCHK CS IMODES30
042066,002305: 15,3653 74743 MASK BIT9
042067,002306: 15,3654 10000 CCS A # IS IMU ON
042068,002307: 15,3655 13661 TCF +4 # YES
042069,002308:
042070,002309: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042071,002310: 15,3657 00210 OCT 210
042072,002311: 15,3660 06001 TC GOTOPOOH
042073,002312:
042074,002313: 15,3661 05504 TC UPFLAG
042075,002314: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042076,002315:
042077,002316: 15,3663 04631 TC SWRETURN
042078,002317:
042079,002318: 04,3013 BANK 04
042080,002319: 04,2000 SETLOC AOTMARK2
042081,002320: 04,2000 BANK
042082,002321: 04,3013 COUNT* $$/P57
042083,002322:
042084,002323: 04,3013 77220 LSORIENT STQ VLOAD
042085,002324: 04,3014 02746 QMAJ
042086,002325: 04,3015 01555 RRECTCSM
042087,002326: 04,3016 47235 VXV VXV
042088,002327: 04,3017 01563 VRECTCSM
042089,002328: 04,3020 03607 XSMD
042090,002329: 04,3021 77656 UNIT
042091,002330: 04,3022 03623 STORE ZSMD
042092,002331: 04,3023 53435 VXV UNIT
042093,002332: 04,3024 03607 XSMD
042094,002333: 04,3025 37615 STCALL YSMD
042095,002334: 04,3026 02746 QMAJ
042096,002335:
End of include-file P51-P53.agc. Parent file is MAIN.agc