GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
041022,000002: ## Copyright: Public domain.
041023,000003: ## Filename: P51-P53.agc
041024,000004: ## Purpose: The main source file for Luminary revision 069.
041025,000005: ## It is part of the source code for the original release
041026,000006: ## of the flight software for the Lunar Module's (LM) Apollo
041027,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
041028,000008: ## version was Luminary 69 revision 2, which included a
041029,000009: ## newer lunar gravity model and only affected module 2.
041030,000010: ## This file is intended to be a faithful transcription, except
041031,000011: ## that the code format has been changed to conform to the
041032,000012: ## requirements of the yaYUL assembler rather than the
041033,000013: ## original YUL assembler.
041034,000014: ## Reference: pp. 925-978
041035,000015: ## Assembler: yaYUL
041036,000016: ## Contact: Ron Burkey <info@sandroid.org>.
041037,000017: ## Website: www.ibiblio.org/apollo/index.html
041038,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
041039,000019: ## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
041040,000020: ## 2017-01-22 HG Transcribed
041041,000021: ## 2017-01-22 HG Fix operand V06N22 -> V6N22
041042,000022: ## V06N22 -> V06N22*
041043,000023: ## DSPTEM1 -> DSPTEM2
041044,000024: ## Fix interpretive operator SET EXIT -> SET
041045,000025: ## STOVL -> STORE
041046,000026: ## Fix operator XCH -> TS
041047,000027: ## +2 -> +5
041048,000028: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
041049,000029: ## side-by-side diff of Luminary 69/99/116/131/210.
041050,000030:
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Page 925 |
041052,000032: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
041053,000033: # MOD NO- 0 LOG SECTION- P51-P53
041054,000034: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
041055,000035:
041056,000036: # FUNCTIONAL DESCRIPTION-
041057,000037:
041058,000038: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041059,000039: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041060,000040:
041061,000041: # (A) PREFERRED ORIENTATION
041062,000042:
041063,000043: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041064,000044: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
041065,000045:
041066,000046: # (B) NOMINAL ORIENTATION
041067,000047:
041068,000048: # X = UNIT ( R )
041069,000049: # -SM
041070,000050:
041071,000051: # Y = UNIT (V X R)
041072,000052: # SM
041073,000053:
041074,000054: # Z = UNIT (X X Y )
041075,000055: # SM SM SM
041076,000056:
041077,000057: # WHERE_
041078,000058: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041079,000059: # -
041080,000060:
041081,000061: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041082,000062: # -
041083,000063:
041084,000064: # (C) REFSMMAT ORIENTATION
041085,000065:
041086,000066: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041087,000067:
041088,000068: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041089,000069: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041090,000070: # SINCE THE LAST ALIGNMENT).
041091,000071:
041092,000072: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041093,000073: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041094,000074: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041095,000075: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041096,000076: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041097,000077: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041098,000078: # REQUESTED.
041099,000079:
041100,000080: # CALLING SEQUENCE-
041101,000081:
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Page 926 |
041103,000083: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041104,000084:
041105,000085: # SUBROUTINES CALLED-
041106,000086:
041107,000087: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
041108,000088: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
041109,000089: # 3. GOPERF4 9. FLAGUP
041110,000090: # 4. MATMOVE 10. R56
041111,000091: # 5. GOFLASH 11. R51
041112,000092: # 6. S52.3 12. GOPERF3
041113,000093:
041114,000094: # NORMAL EXIT MODES-
041115,000095:
041116,000096: # EXITS TO ENDOFJOB
041117,000097:
041118,000098: # ALARM OR ABORT EXIT MODES-
041119,000099:
041120,000100: # NONE
041121,000101:
041122,000102: # OUTPUT-
041123,000103:
041124,000104: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
041125,000105: # 1. IMU ORIENTATION CODE
041126,000106: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
041127,000107: # 3. TIME OF NEXT IGNITION
041128,000108: # 4. GIMBAL ANGLES
041129,000109: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
041130,000110: # 6. PLEASE PERFORM P00
041131,000111: # THE MODE DISPLAY MAY BE CHANGED TO 20
041132,000112:
041133,000113: # ERASABLE INITIALIZATION REQUIRED-
041134,000114:
041135,000115: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
041136,000116: # XSMD,YSMD,ZSMD.
041137,000117: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041138,000118:
041139,000119: # DEBRIS-
041140,000120:
041141,000121: # WORK AREA
041142,000122: 33,3755 BANK 33
041143,000123: 15,2000 SETLOC P50S
041144,000124: 15,2000 BANK
041145,000125:
041146,000126: 15,2050 E5,1755 EBANK= BESTI
041147,000127: 15,2050 COUNT* $$/P52
041148,000128: 15,2050 04616 PROG52 TC BANKCALL
041149,000129: 15,2051 11175 CADR R02BOTH # IMU STATUS CHECK
041150,000130: 15,2052 34750 CAF PFRATBIT
041151,000131: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
041152,000132: 15,2054 10000 CCS A
041153,000133:
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Page 927 |
041155,000135: 15,2055 02060 TC P52A # YES
041156,000136: 15,2056 34752 CAF BIT2 # NO
041157,000137: 15,2057 02061 TC P52A +1
041158,000138: 15,2060 34753 P52A CAF BIT1
041159,000139: 15,2061 55145 TS OPTION2
041160,000140: 15,2062 34753 P52B CAF BIT1
041161,000141: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
041162,000142: 15,2064 20566 CADR GOPERF4R # FLASH V04N06
041163,000143: 15,2065 06001 TC GOTOPOOH
041164,000144: 15,2066 12073 TCF +5 # V33-PROCEED
041165,000145: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
041166,000146: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
041167,000147: 15,2071 00014 OCT 00014
041168,000148: 15,2072 05155 TC ENDOFJOB
041169,000149:
041170,000150: 15,2073 31145 CA OPTION2
041171,000151: 15,2074 76244 MASK THREE
041172,000152: 15,2075 50000 INDEX A
041173,000153: 15,2076 02077 TC +1
041174,000154: 15,2077 02105 TC P52T
041175,000155: 15,2100 02166 TC P52H
041176,000156: 15,2101 02105 TC P52T
041177,000157: 15,2102 06036 P52E TC INTPRET
041178,000158: 15,2103 77650 GOTO
041179,000159: 15,2104 32162 P52F
041180,000160: 15,2105 00006 P52T EXTEND
041181,000161: 15,2106 34755 DCA NEG0
041182,000162: 15,2107 53046 DXCH DSPTEM1
041183,000163: 15,2110 32172 CAF V06N34*
041184,000164: 15,2111 04616 TC BANKCALL
041185,000165: 15,2112 20351 CADR GOFLASH
041186,000166: 15,2113 06001 TC GOTOPOOH
041187,000167: 15,2114 02116 TC +2
041188,000168: 15,2115 02110 TC -5
041189,000169: 15,2116 53046 DXCH DSPTEM1
041190,000170: 15,2117 00006 EXTEND
041191,000171: 15,2120 62122 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
041192,000172: 15,2121 12124 TCF +3
041193,000173: 15,2122 00006 EXTEND
041194,000174: 15,2123 30025 DCA TIME2
041195,000175: 15,2124 53775 DXCH TALIGN
041196,000176: 15,2125 31145 P52V CA OPTION2
041197,000177: 15,2126 74752 MASK BIT2
041198,000178: 15,2127 10000 CCS A
041199,000179: 15,2130 02134 TC P52W
041200,000180: 15,2131 06036 TC INTPRET # OPTION 4 - GET LS ORIENTATION
041201,000181: 15,2132 77650 GOTO
041202,000182: 15,2133 32223 P52LS
041203,000183:
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Page 928 |
041205,000185: # START ALIGNMENT
041206,000186:
041207,000187: 15,2134 06036 P52W TC INTPRET
041208,000188: 15,2135 77745 DLOAD
041209,000189: 15,2136 02775 TALIGN # PICK UP ALIGN TIME
041210,000190: 15,2137 77624 CALL # COMPUTE NOMINAL IMU
041211,000191: 15,2140 31566 S52.3 # ORIENTATION
041212,000192: 15,2141 77624 P52D CALL # READ VEHICLE ATTITUDE AND
041213,000193: 15,2142 31534 S52.2 # COMPUTE GIMBAL ANGLES
041214,000194: 15,2143 77776 EXIT
041215,000195: 15,2144 32171 CAF V06N22*
041216,000196: 15,2145 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
041217,000197: 15,2146 20351 CADR GOFLASH
041218,000198: 15,2147 06001 TC GOTOPOOH
041219,000199: 15,2150 12174 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
041220,000200: 15,2151 06036 TC INTPRET # RECYCLE - VEHICLE HAS BEEN MANUEVERED
041221,000201: 15,2152 77650 GOTO
041222,000202: 15,2153 32141 P52D
041223,000203: 15,2154 06036 REGCOARS TC INTPRET
041224,000204: 15,2155 77624 CALL # DO COARSE ALIGN
041225,000205: 15,2156 31172 CAL53A # ROUTINE
041226,000206: 15,2157 43014 SET CLEAR
041227,000207: 15,2160 01462 REFSMFLG
041228,000208: 15,2161 01273 PFRATFLG
041229,000209: 15,2162 77624 P52F CALL
041230,000210: 15,2163 30656 R51
041231,000211: 15,2164 77776 P52OUT EXIT
041232,000212: 15,2165 06001 TC GOTOPOOH
041233,000213: 15,2166 06036 P52H TC INTPRET # PREFERRED OPTION, GO COMPUTE GIMBALS
041234,000214: 15,2167 77650 GOTO
041235,000215: 15,2170 32141 P52D
041236,000216:
041237,000217: 15,2171 5006 VB05N09 = V05N09
041238,000218: 15,2171 01426 V06N22* VN 00622
041239,000219: 15,2172 01442 V06N34* VN 634
041240,000220:
041241,000221: 15,2173 01531 V06N89* VN 0689
041242,000222:
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Page 929 |
041244,000224: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041245,000225: 15,2174 32222 COARSTYP CAF OCT13
041246,000226: 15,2175 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041247,000227: 15,2176 20476 CADR GOPERF1
041248,000228: 15,2177 16001 TCF GOTOPOOH # V34-TERMIN&OE
041249,000229: 15,2200 12154 TCF REGCOARS # V33-NORMAL COARSE
041250,000230: 15,2201 06036 TC INTPRET # V32-GYRO TORQUE COARSE
041251,000231: 15,2202 64375 VLOAD MXV
041252,000232: 15,2203 03605 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
041253,000233: 15,2204 01734 REFSMMAT
041254,000234: 15,2205 77656 UNIT
041255,000235: 15,2206 26665 STOVL XDC
041256,000236: 15,2207 03613 YSMD
041257,000237: 15,2210 53521 MXV UNIT
041258,000238: 15,2211 01734 REFSMMAT
041259,000239: 15,2212 26673 STOVL YDC
041260,000240: 15,2213 03621 ZSMD
041261,000241: 15,2214 53521 MXV UNIT
041262,000242: 15,2215 01734 REFSMMAT
041263,000243: 15,2216 36701 STCALL ZDC
041264,000244: 15,2217 31025 GYCOARS
041265,000245: 15,2220 77650 GOTO
041266,000246: 15,2221 32164 P52OUT
041267,000247: 15,2222 00013 OCT13 OCT 13
041268,000248:
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Page 930 |
041270,000250: # COMPUTE LANDING ORIENTATION FOR OPTION 4
041271,000251: 15,2223 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
041272,000252: 15,2224 01463 LUNAFLAG
041273,000253: 15,2225 00662 ERADFLAG # TO PICK UP RLS
041274,000254: 15,2226 77201 SETPD VLOAD
041275,000255: 15,2227 00001 0
041276,000256: 15,2230 02023 RLS # PICK UP LANDING SITE VEC IN MF
041277,000257: 15,2231 41525 PDDL PUSH # RLS PD 0-5
041278,000258: 15,2232 02775 TALIGN
041279,000259: 15,2233 77624 CALL
041280,000260: 15,2234 51504 RP-TO-R # TRANS RLS TO REF
041281,000261: 15,2235 77742 VSR2
041282,000262: 15,2236 16032 STODL ALPHAV # INPUT TO LAT-LONG
041283,000263: 15,2237 02775 TALIGN
041284,000264: 15,2240 77624 CALL
041285,000265: 15,2241 26351 LAT-LONG # GET LAT, LONG, AND ALT
041286,000266: 15,2242 70545 DLOAD SR1 # RESCALE LONG TO DEGREES/2
041287,000267: 15,2243 01123 LONG
041288,000268: 15,2244 16711 STODL LANDLONG
041289,000269: 15,2245 01125 ALT
041290,000270: 15,2246 16713 STODL LANDALT # ALT ALREADY AT 2(29) METERS
041291,000271: 15,2247 01121 LAT
041292,000272: 15,2250 02707 STORE LANDLAT
041293,000273: 15,2251 77776 EXIT
041294,000274:
041295,000275: 15,2252 32173 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2, ALT
041296,000276: 15,2253 04616 TC BANKCALL
041297,000277: 15,2254 20351 CADR GOFLASH
041298,000278: 15,2255 16001 TCF GOTOPOOH # VB34 TERMINATE
041299,000279: 15,2256 12260 TCF +2 # VB33 PROCEED
041300,000280: 15,2257 12252 TCF LSDISP # VB32 RECYCLE
041301,000281:
041302,000282: 15,2260 06036 TC INTPRET
041303,000283: 15,2261 72545 DLOAD SL1
041304,000284: 15,2262 02711 LANDLONG
041305,000285: 15,2263 15123 STODL LONG
041306,000286: 15,2264 02713 LANDALT
041307,000287: 15,2265 15125 STODL ALT
041308,000288: 15,2266 02707 LANDLAT
041309,000289: 15,2267 15121 STODL LAT
041310,000290: 15,2270 02775 TALIGN
041311,000291: 15,2271 77624 CALL
041312,000292: 15,2272 26422 LALOTORV
041313,000293: 15,2273 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
041314,000294: 15,2274 02032 ALPHAV
041315,000295: 15,2275 37605 STCALL XSMD
041316,000296: 15,2276 33647 LSORIENT
041317,000297: 15,2277 77650 GOTO
041318,000298: 15,2300 32141 P52D # NOW GO COMPUTE GIMBAL ANGLES
041319,000299:
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Page 931 |
041321,000301: # NAME -S50 ALIAS LOCSAM
041322,000302: # BY
041323,000303: # VINCENT
041324,000304: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
041325,000305:
041326,000306: # DEFINE
041327,000307:
041328,000308:
041329,000309: # U = UNIT( SUN WRT EARTH)
041330,000310: # ES
041331,000311:
041332,000312: # U =UNIT( MOON WRT EARTH)
041333,000313: # EM
041334,000314:
041335,000315: # R =POSITION VECTOR OF LEM
041336,000316: # L
041337,000317:
041338,000318: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041339,000319: # EM
041340,000320:
041341,000321: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
041342,000322: # EM
041343,000323:
041344,000324: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041345,000325: # E
041346,000326:
041347,000327: # LOCSAM COMPUTES IN EARTH INFLUENCE
041348,000328:
041349,000329:
041350,000330: # VSUN = U
041351,000331: # ES
041352,000332:
041353,000333: # VEARTH = -UNIT( R )
041354,000334: # L
041355,000335:
041356,000336: # VMOON = UNIT(R .U - R )
041357,000337: # EM EM L
041358,000338:
041359,000339: # CSUN = COS 90
041360,000340:
041361,000341: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041362,000342: # E L
041363,000343:
041364,000344: # CMOON = COS 5
041365,000345:
041366,000346:
041367,000347: # INPUT - TIME IN MPAC
041368,000348: # OUTPUT - LISTED ABOVE
041369,000349: # SUBROUTINES -LSPOS,LEMPREC
041370,000350: # DEBRIS - VAC AREA ,TSIGHT
041371,000351:
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Page 932 |
041373,000353: 14,2000 SETLOC P50S1
041374,000354: 14,2000 BANK
041375,000355: 14,2347 E5,1642 EBANK= XSM
041376,000356:
041377,000357: 14,2347 COUNT* $$/LOSAM
041378,000358:
041379,000359: 14,2347 14,2347 S50 = LOCSAM
041380,000360: 14,2347 77620 LOCSAM STQ
041381,000361: 14,2350 02745 QMIN
041382,000362: 14,2351 37560 STCALL TSIGHT
041383,000363: 14,2352 33663 LSPOS
041384,000364: 14,2353 77745 DLOAD
041385,000365: 14,2354 03560 TSIGHT
041386,000366: 14,2355 34041 STCALL TDEC1
041387,000367: 14,2356 27057 LEMPREC
041388,000368: 14,2357 61131 SSP TIX,2
041389,000369: 14,2360 00052 S2
041390,000370: 14,2361 00000 0
041391,000371: 14,2362 30404 MOONCNTR
041392,000372: 14,2363 74375 EARTCNTR VLOAD VXSC
041393,000373: 14,2364 02723 VMOON
041394,000374: 14,2365 30001 RSUBEM
041395,000375: 14,2366 52372 VSL1 VSU
041396,000376: 14,2367 00001 RATT
041397,000377: 14,2370 77656 UNIT
041398,000378: 14,2371 26723 STOVL VMOON
041399,000379: 14,2372 00001 RATT
041400,000380: 14,2373 57456 UNIT VCOMP
041401,000381: 14,2374 16707 STODL VEARTH
041402,000382: 14,2375 30005 RSUBE
041403,000383: 14,2376 77624 CALL
041404,000384: 14,2377 30436 OCCOS
041405,000385: 14,2400 14017 STODL CEARTH
041406,000386: 14,2401 30445 CSS5
041407,000387: 14,2402 34023 STCALL CMOON
041408,000388: 14,2403 30431 ENDSAM
041409,000389: 14,2404 74375 MOONCNTR VLOAD VXSC
041410,000390: 14,2405 02723 VMOON
041411,000391: 14,2406 30007 ROE
041412,000392: 14,2407 53445 BVSU UNIT
041413,000393: 14,2410 02715 VSUN
041414,000394: 14,2411 26715 STOVL VSUN
041415,000395: 14,2412 02723 VMOON
041416,000396: 14,2413 53361 VXSC VAD
041417,000397: 14,2414 30001 RSUBEM
041418,000398: 14,2415 00001 RATT
041419,000399: 14,2416 57456 UNIT VCOMP
041420,000400: 14,2417 26707 STOVL VEARTH
041421,000401: 14,2420 00001 RATT
041422,000402: 14,2421 57456 UNIT VCOMP
041423,000403:
|
|
Page 933 |
041425,000405: 14,2422 16723 STODL VMOON
041426,000406: 14,2423 30003 RSUBM
041427,000407: 14,2424 77624 CALL
041428,000408: 14,2425 30436 OCCOS
041429,000409: 14,2426 14023 STODL CMOON
041430,000410: 14,2427 30445 CSS5
041431,000411: 14,2430 00017 STORE CEARTH
041432,000412: 14,2431 77745 ENDSAM DLOAD
041433,000413: 14,2432 30447 CSSUN
041434,000414: 14,2433 00021 STORE CSUN
041435,000415: 14,2434 77650 GOTO
041436,000416: 14,2435 02745 QMIN
041437,000417: 14,2436 70471 OCCOS DDV SR1
041438,000418: 14,2437 00045 36D
041439,000419: 14,2440 43336 ASIN DAD
041440,000420: 14,2441 30451 5DEGREES
041441,000421: 14,2442 70546 COS SR1
041442,000422: 14,2443 77616 RVQ
041443,000423: 14,2444 CEARTH = 14D
041444,000424: 14,2444 CSUN = 16D
041445,000425: 14,2444 CMOON = 18D
041446,000426: 14,2444 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041447,000427: 14,2446 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
041448,000428: 14,2450 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041449,000429:
|
|
Page 934 |
041451,000431: # PROGRAM NAME - R56 DATE DEC 20 66
041452,000432: # MOD 1 LOG SECTION P51-P53
041453,000433: # ASSEMBLY SUNDISK REV40
041454,000434: # BY KEN VINCENT
041455,000435:
041456,000436: # FUNCTION
041457,000437: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041458,000438: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041459,000439: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041460,000440: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041461,000441: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041462,000442: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041463,000443: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041464,000444: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041465,000445: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041466,000446: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041467,000447: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041468,000448: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
041469,000449:
041470,000450: # CALLING SEQUENCE
041471,000451: # L TC BANKCALL
041472,000452: # L+1 CADR R56
041473,000453: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041474,000454: # L+3 NORMAL RETURN
041475,000455:
041476,000456: # OUTPUT
041477,000457: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041478,000458: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041479,000459:
041480,000460: # INITIALIZATION
041481,000461: # 1)A CALL TO LOCSAM MUST BE MADE
041482,000462:
041483,000463: # DEBRIS
041484,000464: # WORK AREA
041485,000465: # X,Y,ZNB
041486,000466: # SINCDU,COSCDU
041487,000467: # STARAD - STAR +5
041488,000468: 14,2452 14,2452 R56 = PICAPAR
041489,000469: 14,2452 COUNT* $$/R56
041490,000470: 14,2452 04645 PICAPAR TC MAKECADR
041491,000471: 14,2453 55745 TS QMIN
041492,000472: 14,2454 06036 TC INTPRET
041493,000473: 14,2455 77624 CALL
041494,000474: 14,2456 47443 CDUTRIG
041495,000475: 14,2457 77624 CALL
041496,000476: 14,2460 31267 CALCSMSC
041497,000477: 14,2461 77601 SETPD
041498,000478: 14,2462 00001 0
041499,000479: 14,2463 71214 SET DLOAD # VFLAG = 1
041500,000480: 14,2464 01465 VFLAG
041501,000481:
|
|
Page 935 |
041503,000483: 14,2465 22275 DPZERO
041504,000484: 14,2466 26756 STOVL BESTI
041505,000485: 14,2467 02665 XNB
041506,000486: 14,2470 63361 VXSC PDVL
041507,000487: 14,2471 22273 HALFDP
041508,000488: 14,2472 02701 ZNB
041509,000489: 14,2473 74370 AXT,1 VXSC
041510,000490: 14,2474 00344 228D # X1 = 37 X 6 + 6
041511,000491: 14,2475 22273 HALFDP
041512,000492: 14,2476 77655 VAD
041513,000493: 14,2477 53505 VXM UNIT
041514,000494: 14,2500 01734 REFSMMAT
041515,000495: 14,2501 02731 STORE SAX # SAX = SHAFT AXIS
041516,000496: 14,2502 66331 SSP SSP # S1=S2=6
041517,000497: 14,2503 00051 S1
041518,000498: 14,2504 00006 6
041519,000499: 14,2505 00052 S2
041520,000500: 14,2506 00006 6
041521,000501: 14,2507 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041522,000502: 14,2510 30512 PIC2
041523,000503: 14,2511 30627 PICEND
041524,000504: 14,2512 50373 PIC2 VLOAD* DOT
041525,000505: 14,2513 30347 CATLOG,1
041526,000506: 14,2514 02731 SAX
041527,000507: 14,2515 50025 DSU BMN
041528,000508: 14,2516 30626 CSS33
041529,000509: 14,2517 30507 PIC1
041530,000510: 14,2520 77754 LXA,2
041531,000511: 14,2521 00046 X1
041532,000512: 14,2522 52104 PIC3 TIX,2 GOTO
041533,000513: 14,2523 30525 PIC4
041534,000514: 14,2524 30507 PIC1
041535,000515: 14,2525 50373 PIC4 VLOAD* DOT
041536,000516: 14,2526 47430 CATLOG,2
041537,000517: 14,2527 02731 SAX
041538,000518: 14,2530 50025 DSU BMN
041539,000519: 14,2531 30626 CSS33
041540,000520: 14,2532 30522 PIC3
041541,000521: 14,2533 47773 VLOAD* DOT*
041542,000522: 14,2534 30347 CATLOG,1
041543,000523: 14,2535 47430 CATLOG,2
041544,000524: 14,2536 51025 DSU BPL
041545,000525: 14,2537 30624 CSS40
041546,000526: 14,2540 30522 PIC3
041547,000527: 14,2541 45173 VLOAD* CALL
041548,000528: 14,2542 30347 CATLOG,1
041549,000529: 14,2543 30601 OCCULT
041550,000530: 14,2544 77614 BON
041551,000531: 14,2545 01710 CULTFLAG
041552,000532: 14,2546 30507 PIC1
041553,000533:
|
|
Page 936 |
041555,000535: 14,2547 45173 VLOAD* CALL
041556,000536: 14,2550 47430 CATLOG,2
041557,000537: 14,2551 30601 OCCULT
041558,000538: 14,2552 77614 BON
041559,000539: 14,2553 01710 CULTFLAG
041560,000540: 14,2554 30522 PIC3
041561,000541: 14,2555 77614 STRATGY BONCLR
041562,000542: 14,2556 01605 VFLAG
041563,000543: 14,2557 30574 NEWPAR
041564,000544: 14,2560 65120 XCHX,1 XCHX,2
041565,000545: 14,2561 02755 BESTI
041566,000546: 14,2562 02756 BESTJ
041567,000547: 14,2563 47773 STRAT VLOAD* DOT*
041568,000548: 14,2564 30347 CATLOG,1
041569,000549: 14,2565 47430 CATLOG,2
041570,000550: 14,2566 43006 PUSH BOFINV
041571,000551: 14,2567 01545 VFLAG
041572,000552: 14,2570 30560 STRAT -3
041573,000553: 14,2571 45345 DLOAD DSU
041574,000554: 14,2572 77644 BPL
041575,000555: 14,2573 30522 PIC3
041576,000556: 14,2574 67130 NEWPAR SXA,1 SXA,2
041577,000557: 14,2575 02755 BESTI
041578,000558: 14,2576 02756 BESTJ
041579,000559: 14,2577 77650 GOTO
041580,000560: 14,2600 30522 PIC3
041581,000561: 14,2601 51321 OCCULT MXV BVSU
041582,000562: 14,2602 02707 CULTRIX
041583,000563: 14,2603 00017 CSS
041584,000564: 14,2604 77654 BZE
041585,000565: 14,2605 30620 CULTED
041586,000566: 14,2606 75240 BMN SIGN
041587,000567: 14,2607 30620 CULTED
041588,000568: 14,2610 00160 MPAC +3
041589,000569: 14,2611 75240 BMN SIGN
041590,000570: 14,2612 30620 CULTED
041591,000571: 14,2613 00162 MPAC +5
041592,000572: 14,2614 43040 BMN CLRGO
041593,000573: 14,2615 30620 CULTED
041594,000574: 14,2616 01630 CULTFLAG
041595,000575: 14,2617 00052 QPRET
041596,000576: 14,2620 77614 CULTED SETGO
041597,000577: 14,2621 01430 CULTFLAG
041598,000578: 14,2622 00052 QPRET
041599,000579: 14,2623 0000016 CSS = CEARTH
041600,000580: 14,2623 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041601,000581: 14,2625 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041602,000582: 14,2627 77414 PICEND BOFF EXIT
041603,000583:
|
|
Page 937 |
041605,000585: 14,2630 01745 VFLAG
041606,000586: 14,2631 30633 PICGXT
041607,000587: 14,2632 02654 TC PICBXT
041608,000588: 14,2633 73150 PICGXT LXA,1 LXA,2
041609,000589: 14,2634 02755 BESTI
041610,000590: 14,2635 02756 BESTJ
041611,000591: 14,2636 47775 VLOAD DOT*
041612,000592: 14,2637 02731 SAX
041613,000593: 14,2640 30347 CATLOG,1
041614,000594: 14,2641 47715 PDVL DOT*
041615,000595: 14,2642 02731 SAX
041616,000596: 14,2643 47430 CATLOG,2
041617,000597: 14,2644 77625 DSU
041618,000598: 14,2645 66044 BPL SXA,1
041619,000599: 14,2646 30652 PICNSWP
041620,000600: 14,2647 02756 BESTJ
041621,000601: 14,2650 77734 SXA,2
041622,000602: 14,2651 02755 BESTI
041623,000603: 14,2652 77776 PICNSWP EXIT
041624,000604: 14,2653 25745 INCR QMIN
041625,000605: 14,2654 31745 PICBXT CA QMIN
041626,000606: 14,2655 04622 TC SWCALL
041627,000607: 14,2656 VPD = 0D
041628,000608: 14,2656 V0 = 6D
041629,000609: 14,2656 V1 = 12D
041630,000610: 14,2656 V2 = 18D
041631,000611: 14,2656 V3 = 24D
041632,000612: 14,2656 DP0 = 30D
041633,000613: 14,2656 DP1 = 32D
041634,000614:
|
|
Page 938 |
041636,000616: # NAME-R51 FINE ALIGN
041637,000617: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041638,000618: # CALLING SEQ- CALL R51
041639,000619: # INPUT - REFSMMAT
041640,000620: # OUTPUT- GYRO TORQUE PULSES
041641,000621: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041642,000622: 14,2656 COUNT* $$/R51
041643,000623: 14,2656 77620 R51 STQ
041644,000624: 14,2657 02746 QMAJ
041645,000625: 14,2660 77776 R51.1 EXIT
041646,000626: 14,2661 34761 R51C CAF OCT15
041647,000627: 14,2662 04616 TC BANKCALL
041648,000628: 14,2663 20476 CADR GOPERF1
041649,000629: 14,2664 06001 TC GOTOPOOH
041650,000630: 14,2665 02667 TC +2 # V33E
041651,000631: 14,2666 02712 TC R51E # ENTER
041652,000632: 14,2667 06036 TC INTPRET
041653,000633: 14,2670 43234 RTB DAD
041654,000634: 14,2671 21462 LOADTIME
041655,000635: 14,2672 31024 TSIGHT1
041656,000636: 14,2673 77624 CALL
041657,000637: 14,2674 30347 LOCSAM
041658,000638: 14,2675 77776 EXIT
041659,000639: 14,2676 04616 TC BANKCALL
041660,000640: 14,2677 30452 CADR R56
041661,000641: 14,2700 02702 TC R51I
041662,000642: 14,2701 02712 R51F TC R51E
041663,000643: 14,2702 05567 R51I TC ALARM
041664,000644: 14,2703 00405 OCT 405
041665,000645: 14,2704 35006 CAF VB05N09
041666,000646: 14,2705 04616 TC BANKCALL
041667,000647: 14,2706 20351 CADR GOFLASH
041668,000648: 14,2707 06001 TC GOTOPOOH
041669,000649: 14,2710 02712 TC R51E
041670,000650: 14,2711 02661 TC R51C
041671,000651: 14,2712 34755 R51E CAF ZERO
041672,000652: 14,2713 55757 TS STARIND
041673,000653: 14,2714 06036 R51.2 TC INTPRET
041674,000654: 14,2715 77776 R51.3 EXIT
041675,000655: 14,2716 05353 TC PHASCHNG
041676,000656: 14,2717 05024 OCT 05024
041677,000657: 14,2720 13000 OCT 13000
041678,000658: 14,2721 06036 TC INTPRET
041679,000659: 14,2722 77624 CALL
041680,000660: 14,2723 31610 R52 # AOP WILL MAKE CALLS TO SIGHTING
041681,000661: 14,2724 77776 EXIT
041682,000662: 14,2725 04616 TC BANKCALL
041683,000663: 14,2726 16000 CADR AOTMARK
041684,000664: 14,2727 04616 TC BANKCALL
041685,000665: 14,2730 17665 CADR OPTSTALL
041686,000666:
|
|
Page 939 |
041688,000668: 14,2731 05703 TC CURTAINS
041689,000669: 14,2732 11757 CCS STARIND
041690,000670: 14,2733 12735 TCF +2
041691,000671: 14,2734 03006 TC R51.4
041692,000672: 14,2735 06036 TC INTPRET
041693,000673: 14,2736 77775 VLOAD
041694,000674: 14,2737 02715 STARAD +6
041695,000675: 14,2740 02767 STORE STARSAV2
041696,000676: 14,2741 77776 EXIT
041697,000677: 14,2742 05353 TC PHASCHNG
041698,000678: 14,2743 05024 OCT 05024
041699,000679: 14,2744 13000 OCT 13000
041700,000680: 14,2745 06036 TC INTPRET
041701,000681: 14,2746 45145 DLOAD CALL
041702,000682: 14,2747 03560 TSIGHT
041703,000683: 14,2750 32540 PLANET
041704,000684: 14,2751 53521 MXV UNIT
041705,000685: 14,2752 01734 REFSMMAT
041706,000686: 14,2753 26715 STOVL STARAD +6
041707,000687: 14,2754 03552 PLANVEC
041708,000688: 14,2755 53521 MXV UNIT
041709,000689: 14,2756 01734 REFSMMAT
041710,000690: 14,2757 26707 STOVL STARAD
041711,000691: 14,2760 02761 STARSAV1
041712,000692: 14,2761 24007 STOVL 6D
041713,000693: 14,2762 02767 STARSAV2
041714,000694: 14,2763 34015 STCALL 12D
041715,000695: 14,2764 31121 R54 # STAR DATA TEST
041716,000696: 14,2765 45014 BOFF CALL
041717,000697: 14,2766 00354 FREEFLAG
041718,000698: 14,2767 30775 R51K
041719,000699: 14,2770 47345 AXISGEN
041720,000700: 14,2771 77624 CALL
041721,000701: 14,2772 31066 R55 # GYRO TORQUE
041722,000702: 14,2773 77614 CLEAR
041723,000703: 14,2774 01273 PFRATFLG
041724,000704: 14,2775 77776 R51K EXIT
041725,000705: 14,2776 35742 R51P63 CAF OCT14
041726,000706: 14,2777 04616 TC BANKCALL
041727,000707: 14,3000 20476 CADR GOPERF1
041728,000708: 14,3001 06001 TC GOTOPOOH
041729,000709: 14,3002 02661 TC R51C
041730,000710: 14,3003 06036 TC INTPRET
041731,000711: 14,3004 77650 GOTO
041732,000712: 14,3005 02746 QMAJ
041733,000713: 14,3006 06036 R51.4 TC INTPRET
041734,000714: 14,3007 77775 VLOAD
041735,000715: 14,3010 02715 STARAD +6
041736,000716: 14,3011 02761 STORE STARSAV1
041737,000717: 14,3012 45145 DLOAD CALL
041738,000718:
|
|
Page 940 |
041740,000720: 14,3013 03560 TSIGHT
041741,000721: 14,3014 32540 PLANET
041742,000722: 14,3015 03552 STORE PLANVEC
041743,000723: 14,3016 77731 SSP
041744,000724: 14,3017 02760 STARIND
041745,000725: 14,3020 00001 1
041746,000726: 14,3021 77650 GOTO
041747,000727: 14,3022 30715 R51.3
041748,000728: 14,3023 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041749,000729:
|
|
Page 941 |
041751,000731: # GYRO TORQUE COARSE ALIGNMENT
041752,000732: 14,3025 45020 GYCOARS STQ CALL
041753,000733: 14,3026 02746 QMAJ
041754,000734: 14,3027 47151 CALCGTA
041755,000735: 14,3030 43014 CLEAR CLEAR
041756,000736: 14,3031 01260 DRIFTFLG
041757,000737: 14,3032 01662 REFSMFLG
041758,000738: 14,3033 77776 EXIT
041759,000739: 14,3034 33065 CAF V16N20 # MONITOR GIMBALS
041760,000740: 14,3035 04616 TC BANKCALL
041761,000741: 14,3036 20327 CADR GODSPR
041762,000742: 14,3037 33120 CA R55CDR
041763,000743: 14,3040 04616 TC BANKCALL
041764,000744: 14,3041 17276 CADR IMUPULSE
041765,000745: 14,3042 04616 TC BANKCALL
041766,000746: 14,3043 17671 CADR IMUSTALL
041767,000747: 14,3044 05703 TC CURTAINS
041768,000748: 14,3045 05353 TC PHASCHNG
041769,000749: 14,3046 05024 OCT 05024
041770,000750: 14,3047 13000 OCT 13000
041771,000751: 14,3050 06036 TC INTPRET
041772,000752: 14,3051 75160 AXC,1 AXC,2
041773,000753: 14,3052 03604 XSMD
041774,000754: 14,3053 01733 REFSMMAT
041775,000755: 14,3054 77624 CALL # STORE DESIRED REFSMMAT
041776,000756: 14,3055 31237 MATMOVE
041777,000757: 14,3056 43014 CLEAR SET
041778,000758: 14,3057 01273 PFRATFLG
041779,000759: 14,3060 01462 REFSMFLG
041780,000760: 14,3061 77624 CALL
041781,000761: 14,3062 31523 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041782,000762: 14,3063 77650 GOTO
041783,000763: 14,3064 30775 R51K
041784,000764: 14,3065 04024 V16N20 VN 1620
041785,000765:
|
|
Page 942 |
041787,000767: # R55 GYRO TORQUE
041788,000768: # FUNCTION-COMPUTE AND SEND GYRO PULSES
041789,000769: # CALLING SEQ- CALL R55
041790,000770: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
041791,000771: # OUTPUT- GYRO PULSES
041792,000772: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE, IMUPULSE,GOPERF1
041793,000773: 14,3066 COUNT* $$/R55
041794,000774: 14,3066 77620 R55 STQ
041795,000775: 14,3067 02745 QMIN
041796,000776: 14,3070 77624 CALL
041797,000777: 14,3071 47151 CALCGTA
041798,000778: 14,3072 77776 PULSEM EXIT
041799,000779: 14,3073 33117 R55.1 CAF V06N93
041800,000780: 14,3074 04616 TC BANKCALL
041801,000781: 14,3075 20351 CADR GOFLASH
041802,000782: 14,3076 06001 TC GOTOPOOH
041803,000783: 14,3077 03101 TC R55.2
041804,000784: 14,3100 03114 TC R55RET
041805,000785: 14,3101 05353 R55.2 TC PHASCHNG
041806,000786: 14,3102 00214 OCT 00214
041807,000787: 14,3103 33120 CA R55CDR
041808,000788: 14,3104 04616 TC BANKCALL
041809,000789: 14,3105 17276 CADR IMUPULSE
041810,000790: 14,3106 04616 TC BANKCALL
041811,000791: 14,3107 17671 CADR IMUSTALL
041812,000792: 14,3110 05703 TC CURTAINS
041813,000793: 14,3111 05353 TC PHASCHNG
041814,000794: 14,3112 05024 OCT 05024
041815,000795: 14,3113 13000 OCT 13000
041816,000796: 14,3114 06036 R55RET TC INTPRET
041817,000797: 14,3115 77650 GOTO
041818,000798: 14,3116 02745 QMIN
041819,000799: 14,3117 01535 V06N93 VN 0693
041820,000800: 14,3120 02737 R55CDR ECADR OGC
041821,000801: 14,3121 14,3121 R54 = CHKSDATA
041822,000802: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
041823,000803: # MOD NO- 0 LOG SECTION- P51-P53
041824,000804: # MODIFICATION BY- LONSKE ASSEMBLY-
041825,000805:
041826,000806: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041827,000807: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041828,000808: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041829,000809:
041830,000810: # OS1 = OBSERVED STAR 1 VECTOR
041831,000811: # OS2 = OBSERVED STAR 2 VECTOR
041832,000812: # SS1 = STORED STAR 1 VECTOR
041833,000813: # SS2 = STORED STAR 2 VECTOR
041834,000814: # A1 = ARCCOS(OS1 - OS2)
041835,000815: # A2 = ARCCOS(SS1 - SS2)
041836,000816: # A = ABS(2(A1 - A2))
041837,000817:
|
|
Page 943 |
041839,000819: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041840,000820: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041841,000821: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041842,000822: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041843,000823: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041844,000824:
041845,000825: # ERASABLE INITIALIZATION REQUIRED -
041846,000826: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041847,000827: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
041848,000828: # DEBRIS -
041849,000829: 14,3121 COUNT* $$/R54
041850,000830: 14,3121 43020 CHKSDATA STQ SET
041851,000831: 14,3122 02745 QMIN
041852,000832: 14,3123 00074 FREEFLAG
041853,000833: 14,3124 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041854,000834: 14,3125 02706 STARAD
041855,000835:
041856,000836: 14,3126 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041857,000837: 14,3127 00001 0,1
041858,000838: 14,3130 00007 6,1
041859,000839: 14,3131 65552 SL1 ACOS
041860,000840: 14,3132 00025 STORE THETA
041861,000841: 14,3133 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041862,000842: 14,3134 00354 FREEFLAG
041863,000843: 14,3135 31145 CHKSD
041864,000844: 14,3136 00174 FREEFLAG # CLEAR FREEFLAG
041865,000845: 14,3137 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041866,000846: 14,3140 00006 6D
041867,000847: 14,3141 00025 THETA
041868,000848: 14,3142 00023 STORE 18D
041869,000849: 14,3143 77650 GOTO
041870,000850: 14,3144 31126 CHKSB # RETURN TO CAL. 2ND ANGLE
041871,000851: 14,3145 45345 CHKSD DLOAD DSU
041872,000852: 14,3146 00025 THETA
041873,000853: 14,3147 00023 18D
041874,000854: 14,3150 47046 ABS RTB # COMPUTE POS DIFF
041875,000855: 14,3151 21516 SGNAGREE
041876,000856: 14,3152 01046 STORE NORMTEM1
041877,000857: 14,3153 77414 SET EXIT
041878,000858: 14,3154 00074 FREEFLAG
041879,000859: 14,3155 33171 CAF VB6N5
041880,000860: 14,3156 04616 TC BANKCALL
041881,000861: 14,3157 20351 CADR GOFLASH
041882,000862: 14,3160 16001 TCF GOTOPOOH
041883,000863: 14,3161 03166 TC CHKSDA # PROCEED
041884,000864: 14,3162 06036 TC INTPRET
041885,000865: 14,3163 52014 CLEAR GOTO
041886,000866: 14,3164 00274 FREEFLAG
041887,000867: 14,3165 02745 QMIN
041888,000868: 14,3166 06036 CHKSDA TC INTPRET
041889,000869:
|
|
Page 944 |
041891,000871: 14,3167 77650 GOTO
041892,000872: 14,3170 02745 QMIN
041893,000873: 14,3171 01405 VB6N5 VN 605
041894,000874: # NAME - CAL53A
041895,000875: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041896,000876: # CALLING SEQUENCE - CALL CAL53A
041897,000877: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
041898,000878: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041899,000879: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041900,000880: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
041901,000881: 14,3172 COUNT* $$/R50
041902,000882: 14,3172 45020 CAL53A STQ CALL
041903,000883: 14,3173 00035 29D
041904,000884: 14,3174 31534 S52.2 # MAKE ONE FINAL COMP OF GIMBLE ANGLES
041905,000885: 14,3175 66234 RTB SSP
041906,000886: 14,3176 31253 RDCDUS # READ CDUS
041907,000887: 14,3177 00051 S1
041908,000888: 14,3200 00001 1
041909,000889: 14,3201 40370 AXT,1 SETPD
041910,000890: 14,3202 00003 3
041911,000891: 14,3203 00005 4
041912,000892: 14,3204 70543 CALOOP DLOAD* SR1
041913,000893: 14,3205 00325 THETAD +3D,1
041914,000894: 14,3206 70523 PDDL* SR1
041915,000895: 14,3207 00005 4,1
041916,000896: 14,3210 51425 DSU ABS
041917,000897: 14,3211 45206 PUSH DSU
041918,000898: 14,3212 31252 DEGREE1
041919,000899: 14,3213 71240 BMN DLOAD
041920,000900: 14,3214 31226 CALOOP1
041921,000901: 14,3215 51025 DSU BPL
041922,000902: 14,3216 31253 DEG359
041923,000903: 14,3217 31226 CALOOP1
041924,000904: 14,3220 77624 COARFINE CALL
041925,000905: 14,3221 31506 COARSE
041926,000906: 14,3222 77624 CALL
041927,000907: 14,3223 31523 NCOARSE
041928,000908: 14,3224 77650 GOTO
041929,000909: 14,3225 31230 FINEONLY
041930,000910: 14,3226 77700 CALOOP1 TIX,1
041931,000911: 14,3227 31204 CALOOP
041932,000912: 14,3230 75160 FINEONLY AXC,1 AXC,2
041933,000913: 14,3231 02642 XSM
041934,000914: 14,3232 01733 REFSMMAT
041935,000915: 14,3233 77624 CALL
041936,000916: 14,3234 31237 MATMOVE
041937,000917: 14,3235 77650 GOTO
041938,000918: 14,3236 00035 29D
041939,000919: 14,3237 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041940,000920: 14,3240 00001 0,1
041941,000921:
|
|
Page 945 |
041943,000923: 14,3241 10001 STORE 0,2
041944,000924: 14,3242 77773 VLOAD*
041945,000925: 14,3243 00007 6D,1
041946,000926: 14,3244 10007 STORE 6D,2
041947,000927: 14,3245 77773 VLOAD*
041948,000928: 14,3246 00015 12D,1
041949,000929: 14,3247 10015 STORE 12D,2
041950,000930: 14,3250 77616 RVQ
041951,000931: 14,3251 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041952,000932: 14,3252 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041953,000933: 14,3253 00004 RDCDUS INHINT # READ CDUS
041954,000934: 14,3254 30032 CA CDUX
041955,000935: 14,3255 50120 INDEX FIXLOC
041956,000936: 14,3256 54001 TS 1
041957,000937: 14,3257 30033 CA CDUY
041958,000938: 14,3260 50120 INDEX FIXLOC
041959,000939: 14,3261 54002 TS 2
041960,000940: 14,3262 30034 CA CDUZ
041961,000941: 14,3263 50120 INDEX FIXLOC
041962,000942: 14,3264 54003 TS 3
041963,000943: 14,3265 00003 RELINT
041964,000944: 14,3266 06060 TC DANZIG # +
041965,000945: 14,3267 COUNT* $$/INFLT
041966,000946: 14,3267 77760 CALCSMSC AXC,1
041967,000947: 14,3270 02664 XNB
041968,000948:
041969,000949: 14,3271 41345 XNBNDX DLOAD DMP
041970,000950: 14,3272 00737 SINCDUY
041971,000951: 14,3273 00747 COSCDUZ
041972,000952: 14,3274 77676 DCOMP
041973,000953: 14,3275 70525 PDDL SR1
041974,000954: 14,3276 00741 SINCDUZ
041975,000955: 14,3277 41325 PDDL DMP
041976,000956: 14,3300 00745 COSCDUY
041977,000957: 14,3301 00747 COSCDUZ
041978,000958: 14,3302 76466 VDEF VSL1
041979,000959: 14,3303 04001 STORE 0,1
041980,000960: 14,3304 41345 DLOAD DMP
041981,000961: 14,3305 00743 SINCDUX
041982,000962: 14,3306 00741 SINCDUZ
041983,000963: 14,3307 77752 SL1
041984,000964: 14,3310 00033 STORE 26D
041985,000965: 14,3311 77605 DMP
041986,000966: 14,3312 00737 SINCDUY
041987,000967: 14,3313 41325 PDDL DMP
041988,000968: 14,3314 00751 COSCDUX
041989,000969: 14,3315 00745 COSCDUY
041990,000970: 14,3316 77625 DSU
041991,000971: 14,3317 41325 PDDL DMP
041992,000972: 14,3320 00743 SINCDUX
041993,000973:
|
|
Page 946 |
041995,000975: 14,3321 00747 COSCDUZ
041996,000976: 14,3322 77676 DCOMP
041997,000977: 14,3323 41325 PDDL DMP
041998,000978: 14,3324 00751 COSCDUX
041999,000979: 14,3325 00737 SINCDUY
042000,000980: 14,3326 41325 PDDL DMP
042001,000981: 14,3327 00745 COSCDUY
042002,000982: 14,3330 00033 26D
042003,000983: 14,3331 55415 DAD VDEF
042004,000984: 14,3332 77772 VSL1
042005,000985: 14,3333 04015 STORE 14,1
042006,000986: 14,3334 76433 VXV* VSL1
042007,000987: 14,3335 00001 0,1
042008,000988: 14,3336 04007 STORE 6,1
042009,000989: 14,3337 77616 RVQ
042010,000990:
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|
Page 947 |
042012,000992: # NAME - P51 - IMU ORIENTATION DETERMINATION
042013,000993: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
042014,000994: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
042015,000995:
042016,000996: # FUNCTIONAL DESCRIPTION
042017,000997:
042018,000998: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
042019,000999: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
042020,001000: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
042021,001001: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
042022,001002:
042023,001003: # CALLING SEQUENCE
042024,001004:
042025,001005: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
042026,001006:
042027,001007: # SUBROUTINES CALLED.
042028,001008:
042029,001009: # GOPERF3
042030,001010: # GOPERF1
042031,001011: # GODSPR
042032,001012: # IMUCOARS
042033,001013: # IMUFIN20
042034,001014: # AOTMARK(R53)
042035,001015: # CHKSDATA(R54)
042036,001016: # MKRELEAS
042037,001017: # AXISGEN
042038,001018: # MATMOVE
042039,001019:
042040,001020: # ALARMS
042041,001021:
042042,001022: # NONE.
042043,001023:
042044,001024: # ERASABLE INITIALIZATION
042045,001025:
042046,001026: # IMU ZERO FLAG SHOULD BE SET.
042047,001027:
042048,001028: # OUTPUT
042049,001029:
042050,001030: # REFSMMAT
042051,001031: # REFSMFLG
042052,001032:
042053,001033: # DEBRIS
042054,001034:
042055,001035: # WORK AREA
042056,001036: # STARAD
042057,001037: # STARIND
042058,001038: # BESTI
042059,001039: # BESTJ
042060,001040:
042061,001041: 14,3340 COUNT* $$/P51
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|
Page 948 |
042063,001043: 14,3340 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042064,001044: 14,3341 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042065,001045:
042066,001046: 14,3342 34761 CAF PRFMSTAQ
042067,001047: 14,3343 04616 TC BANKCALL
042068,001048: 14,3344 20476 CADR GOPERF1
042069,001049: 14,3345 06001 TC GOTOPOOH # TERM.
042070,001050: 14,3346 13374 TCF P51B # V33
042071,001051: 14,3347 05353 TC PHASCHNG
042072,001052: 14,3350 05024 OCT 05024
042073,001053: 14,3351 13000 OCT 13000
042074,001054: 14,3352 34755 CAF P51ZERO
042075,001055: 14,3353 54321 TS THETAD # ZERO THE GIMBALS
042076,001056: 14,3354 54322 TS THETAD +1
042077,001057: 14,3355 54323 TS THETAD +2
042078,001058: 14,3356 33504 CAF V6N22
042079,001059: 14,3357 04616 TC BANKCALL
042080,001060: 14,3360 20324 CADR GODSPRET
042081,001061: 14,3361 33505 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
042082,001062: 14,3362 04616 TC BANKCALL
042083,001063: 14,3363 20324 CADR GODSPRET
042084,001064: 14,3364 06036 TC INTPRET
042085,001065: 14,3365 77624 CALL
042086,001066: 14,3366 31506 COARSE
042087,001067: 14,3367 77776 EXIT
042088,001068: 14,3370 05353 TC PHASCHNG
042089,001069: 14,3371 05024 OCT 05024
042090,001070: 14,3372 13000 OCT 13000
042091,001071: 14,3373 13342 TCF P51 +2
042092,001072:
042093,001073: 14,3374 05353 P51B TC PHASCHNG
042094,001074: 14,3375 00014 OCT 00014
042095,001075: 14,3376 06036 TC INTPRET
042096,001076: 14,3377 77624 CALL
042097,001077: 14,3400 31523 NCOARSE
042098,001078: 14,3401 40331 SSP SETPD
042099,001079: 14,3402 02760 STARIND # INDEX-STAR 1 OR 2
042100,001080: 14,3403 00000 0
042101,001081: 14,3404 00001 0
042102,001082: 14,3405 77776 P51C EXIT
042103,001083: 14,3406 05353 TC PHASCHNG
042104,001084: 14,3407 05024 OCT 05024
042105,001085: 14,3410 13000 OCT 13000
042106,001086: 14,3411 04616 TC BANKCALL
042107,001087: 14,3412 16000 CADR AOTMARK # R53
042108,001088: 14,3413 04616 TC BANKCALL
042109,001089: 14,3414 17665 CADR AOTSTALL
042110,001090: 14,3415 05703 TC CURTAINS
042111,001091: 14,3416 11757 CCS STARIND
042112,001092: 14,3417 13425 TCF P51D +1
042113,001093:
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|
Page 949 |
042115,001095: 14,3420 06036 TC INTPRET
042116,001096: 14,3421 77775 VLOAD
042117,001097: 14,3422 02715 STARAD +6
042118,001098: 14,3423 02761 STORE STARSAV1
042119,001099: 14,3424 77776 P51D EXIT
042120,001100: 14,3425 05353 TC PHASCHNG
042121,001101: 14,3426 05024 OCT 05024
042122,001102: 14,3427 13000 OCT 13000
042123,001103: 14,3430 11757 CCS STARIND
042124,001104: 14,3431 13446 TCF P51E
042125,001105: 14,3432 05353 TC PHASCHNG
042126,001106: 14,3433 05024 OCT 05024
042127,001107: 14,3434 13000 OCT 13000
042128,001108: 14,3435 06036 TC INTPRET
042129,001109: 14,3436 45145 DLOAD CALL
042130,001110: 14,3437 03560 TSIGHT
042131,001111: 14,3440 32540 PLANET
042132,001112: 14,3441 03552 STORE PLANVEC
042133,001113: 14,3442 77776 EXIT
042134,001114: 14,3443 34753 CAF BIT1
042135,001115: 14,3444 55757 TS STARIND
042136,001116: 14,3445 13406 TCF P51C +1 # DO SECOND STAR
042137,001117: 14,3446 05353 P51E TC PHASCHNG
042138,001118: 14,3447 05024 OCT 05024
042139,001119: 14,3450 13000 OCT 13000
042140,001120: 14,3451 06036 TC INTPRET
042141,001121: 14,3452 45145 DLOAD CALL
042142,001122: 14,3453 03560 TSIGHT
042143,001123: 14,3454 32540 PLANET
042144,001124: 14,3455 24015 STOVL 12D
042145,001125: 14,3456 03552 PLANVEC
042146,001126: 14,3457 24007 STOVL 6D
042147,001127: 14,3460 02761 STARSAV1
042148,001128: 14,3461 26707 STOVL STARAD
042149,001129: 14,3462 02767 STARSAV2
042150,001130: 14,3463 36715 STCALL STARAD +6
042151,001131: 14,3464 31121 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
042152,001132: 14,3465 77414 BON EXIT
042153,001133: 14,3466 00314 FREEFLAG
042154,001134: 14,3467 31471 P51G
042155,001135: 14,3470 03342 TC P51 +2
042156,001136: 14,3471 77624 P51G CALL
042157,001137: 14,3472 47345 AXISGEN # COME BACK WITH REFSMMAT IN XDC
042158,001138: 14,3473 75160 AXC,1 AXC,2
042159,001139: 14,3474 02664 XDC
042160,001140: 14,3475 01733 REFSMMAT
042161,001141: 14,3476 77624 CALL
042162,001142: 14,3477 31237 MATMOVE
042163,001143: 14,3500 77614 SET
042164,001144: 14,3501 01462 REFSMFLG
042165,001145:
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|
Page 950 |
042167,001147: 14,3502 77776 EXIT
042168,001148: 14,3503 06001 TC GOTOPOOH # FINIS
042169,001149: 14,3504 4761 PRFMSTAQ = OCT15
042170,001150: 14,3504 4755 P51ZERO = ZERO
042171,001151: 14,3504 4756 P51FIVE = FIVE
042172,001152: 14,3504 01426 V6N22 VN 0622
042173,001153: 14,3505 12200 V41K VN 4100
042174,001154: 14,3506 77776 COARSE EXIT
042175,001155: 14,3507 04616 TC BANKCALL
042176,001156: 14,3510 16753 CADR IMUCOARS
042177,001157: 14,3511 04616 TC BANKCALL
042178,001158: 14,3512 17671 CADR IMUSTALL
042179,001159: 14,3513 05703 TC CURTAINS
042180,001160: 14,3514 04616 TC BANKCALL
042181,001161: 14,3515 17163 CADR IMUFINE
042182,001162: 14,3516 04616 TC BANKCALL
042183,001163: 14,3517 17671 CADR IMUSTALL
042184,001164: 14,3520 05703 TC CURTAINS
042185,001165: 14,3521 06036 TC INTPRET
042186,001166: 14,3522 77616 RVQ
042187,001167: 14,3523 77776 NCOARSE EXIT
042188,001168: 14,3524 30025 CA TIME1
042189,001169: 14,3525 55075 TS 1/PIPADT
042190,001170: 14,3526 06036 TC INTPRET
042191,001171: 14,3527 77775 VLOAD
042192,001172: 14,3530 22275 ZEROVEC
042193,001173: 14,3531 01472 STORE GCOMP
042194,001174: 14,3532 43414 SET RVQ
042195,001175: 14,3533 01060 DRIFTFLG
042196,001176:
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|
Page 951 |
042198,001178: # NAME-S52.2
042199,001179: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042200,001180: # CALL- CALL S52.2
042201,001181: # INPUT- X,Y,ZSMD
042202,001182: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
042203,001183: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
042204,001184: 14,3534 COUNT* $$/S52.1
042205,001185: 14,3534 77620 S52.2 STQ
042206,001186: 14,3535 02746 QMAJ
042207,001187: 14,3536 77624 CALL
042208,001188: 14,3537 47443 CDUTRIG
042209,001189: 14,3540 77624 CALL
042210,001190: 14,3541 31267 CALCSMSC
042211,001191: 14,3542 66370 AXT,1 SSP
042212,001192: 14,3543 00022 18D
042213,001193: 14,3544 00051 S1
042214,001194: 14,3545 00006 6D
042215,001195: 14,3546 61373 S52.2A VLOAD* VXM
042216,001196: 14,3547 02707 XNB +18D,1
042217,001197: 14,3550 01734 REFSMMAT
042218,001198: 14,3551 77656 UNIT
042219,001199: 14,3552 06707 STORE XNB +18D,1
042220,001200: 14,3553 77700 TIX,1
042221,001201: 14,3554 31546 S52.2A
042222,001202: 14,3555 75160 S52.2.1 AXC,1 AXC,2
042223,001203: 14,3556 03604 XSMD
042224,001204: 14,3557 02642 XSM
042225,001205: 14,3560 77624 CALL
042226,001206: 14,3561 31237 MATMOVE
042227,001207: 14,3562 77624 CALL
042228,001208: 14,3563 47255 CALCGA
042229,001209: 14,3564 77650 GOTO
042230,001210: 14,3565 02746 QMAJ
042231,001211:
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|
Page 952 |
042233,001213: # NAME-S52.3
042234,001214: # FUNCTION XSMD= UNIT R
042235,001215: # YSMD= UNIT(V X R)
042236,001216: # ZSMD= UNIT(XSMD X YSMD)
042237,001217: # CALL DLOAD CALL
042238,001218: # TALIGN
042239,001219: # S52.3
042240,001220: # INPUT- TIME OF ALIGNMENT IN MPAC
042241,001221: # OUTPUT- X,Y,ZSMD
042242,001222: # SUBROUTINES- CSMCONIC
042243,001223: 14,3566 COUNT* $$/S52.3
042244,001224: 14,3566 77620 S52.3 STQ
042245,001225: 14,3567 02746 QMAJ
042246,001226: 14,3570 34041 STCALL TDEC1
042247,001227: 14,3571 27100 LEMCONIC
042248,001228: 14,3572 77601 SETPD
042249,001229: 14,3573 00001 0
042250,001230: 14,3574 53575 VLOAD UNIT
042251,001231: 14,3575 00001 RATT
042252,001232: 14,3576 27605 STOVL XSMD
042253,001233: 14,3577 00007 VATT
042254,001234: 14,3600 53435 VXV UNIT
042255,001235: 14,3601 00001 RATT
042256,001236: 14,3602 27613 STOVL YSMD
042257,001237: 14,3603 03605 XSMD
042258,001238: 14,3604 53435 VXV UNIT
042259,001239: 14,3605 03613 YSMD
042260,001240: 14,3606 37621 STCALL ZSMD
042261,001241: 14,3607 02746 QMAJ
042262,001242:
|
|
Page 953 |
042264,001244: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042265,001245:
042266,001246: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042267,001247: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042268,001248:
042269,001249: # CALLING -CALL R52
042270,001250:
042271,001251: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
042272,001252: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
042273,001253: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
042274,001254: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042275,001255: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042276,001256:
042277,001257: # SUBROUT -R60LEM
042278,001258:
042279,001259: 14,3610 COUNT* $$/R52
042280,001260: 14,3610 77420 R52 STQ EXIT
042281,001261: 14,3611 03663 SAVQR52
042282,001262: 14,3612 51757 INDEX STARIND
042283,001263: 14,3613 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
042284,001264: 14,3614 00006 EXTEND
042285,001265: 14,3615 73706 MP 1/6TH
042286,001266: 14,3616 64744 AD BIT8 # SET DETENT POSITION 2
042287,001267: 14,3617 54735 TS STARCODE # SCALE AND STORE IN STARCODE
042288,001268:
042289,001269: 14,3620 33707 R52A CAF V01N70
042290,001270: 14,3621 04616 TC BANKCALL
042291,001271: 14,3622 20351 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
042292,001272: 14,3623 06001 TC GOTOPOOH # V34-TERMINATE
042293,001273: 14,3624 13626 TCF R52B # V33-PROCEED TO ORIENT LEM
042294,001274: 14,3625 13620 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
042295,001275:
042296,001276: 14,3626 05516 R52B TC DOWNFLAG
042297,001277: 14,3627 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042298,001278: 14,3630 30735 CA STARCODE # GRAB DETENT CODE
042299,001279: 14,3631 77743 MASK HIGH9
042300,001280: 14,3632 00006 EXTEND
042301,001281: 14,3633 63620 BZMF R52A # DONT ALLOW ZERO CODE-RECYCLE
042302,001282: 14,3634 74743 MASK BIT9 # SEE IF CODE 4 OR 5
042303,001283: 14,3635 10000 CCS A
042304,001284: 14,3636 13655 TCF GETAZEL # CODE 4 OR 5-GET CALIBRATION AZ EL
042305,001285: 14,3637 E7,1547 EBANK= XYMARK
042306,001286: 14,3637 35016 CA EBANK7
042307,001287: 14,3640 54003 TS EBANK
042308,001288: 14,3641 37743 CAF HIGH9 # FORWARD DETENT, INDEX DETENT AND GRAB
042309,001289: 14,3642 70735 MASK STARCODE # AZIMUTH ANGLE AND ELV = 45 DEG
042310,001290: 14,3643 00006 EXTEND
042311,001291: 14,3644 74743 MP BIT9 # SHIFT DETENT TO BITS1-2 FOR INDEX
042312,001292: 14,3645 50000 INDEX A
042313,001293: 14,3646 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
042314,001294:
|
|
Page 954 |
042316,001296: 14,3647 54001 TS L
042317,001297: 14,3650 E5,1642 EBANK= XSM
042318,001298: 14,3650 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
042319,001299: 14,3651 54003 TS EBANK
042320,001300: 14,3652 34737 CA BIT13 # SET ELV TO 45 DEG
042321,001301: 14,3653 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042322,001302: 14,3654 13665 TCF AZEL # GO COMP OPTIC AXIS
042323,001303:
042324,001304: 14,3655 33710 GETAZEL CAF V06N87 # CODE 4 OR 5-GET AZ AND EL FROM ASTRO
042325,001305: 14,3656 04616 TC BANKCALL
042326,001306: 14,3657 20351 CADR GOFLASH
042327,001307: 14,3660 06001 TC GOTOPOOH # V34-TERMINATE
042328,001308: 14,3661 13663 TCF +2 # PROCEED-CALC OPTIC AXIS
042329,001309: 14,3662 13655 TCF GETAZEL # ENTER-RECYCLE
042330,001310:
042331,001311: 14,3663 00006 EXTEND
042332,001312: 14,3664 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
042333,001313: 14,3665 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
042334,001314: 14,3666 52011 DXCH 8D
042335,001315: 14,3667 06036 TC INTPRET
042336,001316: 14,3670 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
042337,001317: 14,3671 13370 OANB # SCAXIS IN NB COORDS
042338,001318: 14,3672 45034 RTB CALL
042339,001319: 14,3673 21462 LOADTIME
042340,001320: 14,3674 32540 PLANET
042341,001321: 14,3675 53521 MXV UNIT
042342,001322: 14,3676 01734 REFSMMAT
042343,001323: 14,3677 03767 STORE POINTVSM # STORE FOR VECPOINT
042344,001324:
042345,001325: 14,3700 77776 EXIT
042346,001326: 14,3701 04616 TC BANKCALL
042347,001327: 14,3702 54101 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
042348,001328:
042349,001329: 14,3703 06036 TC INTPRET # RETURN FROM KALCMANU
042350,001330: 14,3704 77650 GOTO
042351,001331: 14,3705 03663 SAVQR52 # RETURN TO CALLER
042352,001332:
042353,001333: 14,3706 05253 1/6TH DEC .1666667
042354,001334: 14,3707 00306 V01N70 VN 0170
042355,001335: 14,3710 01527 V06N87 VN 687
042356,001336:
|
|
Page 955 |
042358,001338: # LUNAR SURFACE STAR AQUISITION
042359,001339:
042360,001340: 15,2301 BANK 15
042361,001341: 15,2000 SETLOC P50S
042362,001342: 15,2000 BANK
042363,001343: 15,2301 COUNT* $$/R59
042364,001344:
042365,001345: 15,2301 40077 R59 CS FLAGWRD3
042366,001346: 15,2302 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042367,001347: 15,2303 10000 CCS A
042368,001348: 15,2304 12523 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042369,001349:
042370,001350: 15,2305 32531 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042371,001351: 15,2306 04616 TC BANKCALL
042372,001352: 15,2307 20351 CADR GOFLASH
042373,001353: 15,2310 06001 TC GOTOPOOH # V34-TERMINATE
042374,001354: 15,2311 12313 TCF R59A # V33-PROCEED
042375,001355: 15,2312 12301 TCF R59 # V32-RECYCLE
042376,001356:
042377,001357: 15,2313 47743 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
042378,001358: 15,2314 70735 MASK AOTCODE
042379,001359: 15,2315 00006 EXTEND
042380,001360: 15,2316 76241 MP REVCNT # JUST 6
042381,001361: 15,2317 56001 XCH L
042382,001362: 15,2320 51757 INDEX STARIND
042383,001363: 15,2321 55755 TS BESTI
042384,001364: 15,2322 50120 INDEX FIXLOC
042385,001365: 15,2323 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
042386,001366: 15,2324 00006 EXTEND
042387,001367: 15,2325 12523 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
042388,001368: 15,2326 40000 COM
042389,001369: 15,2327 62625 AD DEC227
042390,001370: 15,2330 00006 EXTEND
042391,001371: 15,2331 62523 BZMF R59OUT
042392,001372:
042393,001373: 15,2332 06036 TC INTPRET
042394,001374: 15,2333 77624 CALL
042395,001375: 15,2334 47443 CDUTRIG # GET CDU JAZZ FOR SMNB
042396,001376: 15,2335 64373 VLOAD* MXV
042397,001377: 15,2336 30347 CATLOG,1 # GRAB STAR VECTOR
042398,001378: 15,2337 01734 REFSMMAT # TRANSFORM TO SM
042399,001379: 15,2340 45056 UNIT CALL
042400,001380: 15,2341 47575 *SMNB* # TRANSFORM TO NB
042401,001381: 15,2342 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042402,001382: 15,2343 77776 EXIT
042403,001383:
042404,001384: 15,2344 34753 CAF BIT1 # INITIALIZE POS TO ONE
042405,001385: 15,2345 55052 TS POSCODE
042406,001386: 15,2346 42537 CS DEG60 # AS(N) TO -60 DEG
042407,001387: 15,2347 55745 TS QMIN
042408,001388:
|
|
Page 956 |
042410,001390:
042411,001391:
042412,001392: 15,2350 54000 STORPOS TS A # DETECT OVF AZ = -120
042413,001393: 15,2351 12354 TCF +3 # NO OVF
042414,001394: 15,2352 34735 CAF BIT15 # OVF SKIP-ADD NEGMAX TO OVF CORRECT QMIN
042415,001395: 15,2353 27745 ADS QMIN
042416,001396: 15,2354 34737 CAF BIT13 # ELV=45 DEG
042417,001397: 15,2355 54001 TS L
042418,001398: 15,2356 31745 CA QMIN
042419,001399: 15,2357 50120 INDEX FIXLOC
042420,001400: 15,2360 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042421,001401:
042422,001402: 15,2361 06036 TC INTPRET
042423,001403: 15,2362 77624 CALL
042424,001404: 15,2363 13370 OANB # GO CALC OPTIC AXIS WRT NB
042425,001405: 15,2364 50375 VLOAD DOT
042426,001406: 15,2365 02731 STAR # DOT STAR WITH OA
042427,001407: 15,2366 03761 SCAXIS
042428,001408: 15,2367 65552 SL1 ARCCOS
042429,001409: 15,2370 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042430,001410:
042431,001411: 15,2371 51025 DSU BPL
042432,001412: 15,2372 32534 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042433,001413: 15,2373 32455 NXAX # NOT IN FIELD - TRY NEXT POSITION
042434,001414: 15,2374 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042435,001415: 15,2375 00031 24D
042436,001416: 15,2376 32536 DEG.5
042437,001417: 15,2377 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042438,001418: 15,2400 32450 ZSPCR # GO ZERO CURSOR AND SPIRAL
042439,001419: 15,2401 00031 24D # GET SPIRAL
042440,001420: 15,2402 42405 DMP SL4
042441,001421: 15,2403 23710 3/4 # 12 SCALED AT 16
042442,001422: 15,2404 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042443,001423:
042444,001424: 15,2405 03761 SCAXIS # OA
042445,001425: 15,2406 53435 VXV UNIT
042446,001426: 15,2407 22273 XUNIT
042447,001427: 15,2410 47206 PUSH VXV # OA X UNITX PD 0-5
042448,001428: 15,2411 03761 SCAXIS
042449,001429: 15,2412 77676 VCOMP
042450,001430: 15,2413 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
042451,001431: 15,2414 03761 SCAXIS
042452,001432: 15,2415 53435 VXV UNIT
042453,001433: 15,2416 02731 STAR
042454,001434: 15,2417 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042455,001435: 15,2420 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042456,001436: 15,2421 65552 SL1 ARCCOS
042457,001437: 15,2422 24033 STOVL 26D # STORE THET SCALED IN REVS
042458,001438:
042459,001439: 15,2423 77641 DOT # UP 12-17, UP 6-11 FOR C2
042460,001440: 15,2424 71244 BPL DLOAD # IF THET NEG-GET 360-THET
042461,001441: 15,2425 32432 R59D
042462,001442:
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|
Page 957 |
042464,001444: 15,2426 32047 ABOUTONE
042465,001445: 15,2427 77625 DSU
042466,001446: 15,2430 00033 26D
042467,001447: 15,2431 00033 STORE 26D # 360-THET SCALED IN REVS
042468,001448:
042469,001449: 15,2432 70535 R59D SLOAD SR1
042470,001450: 15,2433 02746 QMIN # RESCALE AZ(N) TO REVS
042471,001451: 15,2434 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042472,001452: 15,2435 00033 26D
042473,001453: 15,2436 77634 RTB
042474,001454: 15,2437 21520 1STO2S
042475,001455: 15,2440 15046 STODL CURSOR # YROT IN 1/2 REVS
042476,001456: 15,2441 00031 24D # LOAD SROT IN REVS
042477,001457: 15,2442 77615 DAD # 12(SEP) + YROT
042478,001458: 15,2443 77634 RTB
042479,001459: 15,2444 21520 1STO2S
042480,001460: 15,2445 01047 STORE SPIRAL # SROT IN 1/2 REVS
042481,001461: 15,2446 77776 EXIT
042482,001462: 15,2447 12476 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042483,001463:
042484,001464: 15,2450 77776 ZSPCR EXIT
042485,001465: 15,2451 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
042486,001466: 15,2452 55045 TS CURSOR # AND SPIRAL ANGLES
042487,001467: 15,2453 55046 TS SPIRAL
042488,001468: 15,2454 12476 TCF 79DISP
042489,001469:
042490,001470: 15,2455 77776 NXAX EXIT
042491,001471: 15,2456 25052 INCR POSCODE
042492,001472: 15,2457 41052 CS POSCODE
042493,001473: 15,2460 64757 AD SEVEN
042494,001474: 15,2461 00006 EXTEND
042495,001475: 15,2462 62466 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042496,001476: 15,2463 32537 CAF DEG60 # ADVANCE AZ(N) BY 60 DEG
042497,001477: 15,2464 27745 ADS QMIN # IF OVF, QMIN CONTAINS OVF CORRECTED
042498,001478: 15,2465 12350 TCF STORPOS
042499,001479: 15,2466 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042500,001480: 15,2467 00404 OCT 404
042501,001481: 15,2470 35006 CAF VB05N09 # DISPLAY ALARM
042502,001482: 15,2471 04616 TC BANKCALL
042503,001483: 15,2472 20351 CADR GOFLASH
042504,001484: 15,2473 16001 TCF GOTOPOOH # VB34-TERMINATE
042505,001485: 15,2474 12523 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
042506,001486: 15,2475 12301 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
042507,001487:
042508,001488: 15,2476 32532 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042509,001489: 15,2477 04616 TC BANKCALL
042510,001490: 15,2500 20351 CADR GOFLASH
042511,001491: 15,2501 16001 TCF GOTOPOOH # V34-TERMINATE
042512,001492: 15,2502 12504 TCF R59E # V33-PROCEED TO MARK ROUTINE
042513,001493: 15,2503 12301 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
042514,001494:
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|
Page 958 |
042516,001496: 15,2504 34751 R59E CAF BIT3 # GET DETENT CORRESPONDING TO POSITION COD
042517,001497: 15,2505 71052 MASK POSCODE # KEYED IN POS CODE
042518,001498: 15,2506 00006 EXTEND
042519,001499: 15,2507 12511 BZF +2 # FORWARD DETENT
042520,001500: 15,2510 12513 TCF +3 # ITS REAR DETENT, 4 ALREADY IN (A)
042521,001501: 15,2511 34757 CAF SEVEN # GET FORWARD DETENT
042522,001502: 15,2512 71052 MASK POSCODE
042523,001503: 15,2513 00006 EXTEND
042524,001504: 15,2514 74745 MP BIT7
042525,001505: 15,2515 56001 XCH L
042526,001506: 15,2516 55745 TS QMIN
042527,001507: 15,2517 47743 CS HIGH9
042528,001508: 15,2520 70735 MASK AOTCODE
042529,001509: 15,2521 61745 AD QMIN
042530,001510: 15,2522 54735 TS AOTCODE # STORE DETENT IN 7-9
042531,001511:
042532,001512: 15,2523 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
042533,001513: 15,2524 16000 CADR AOTMARK
042534,001514: 15,2525 04616 TC BANKCALL
042535,001515: 15,2526 17665 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042536,001516: 15,2527 05703 TC CURTAINS # BADEND RETURN FROM AOTMARK
042537,001517: 15,2530 13123 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042538,001518:
042539,001519: 15,2531 00306 V01N70* VN 170
042540,001520: 15,2532 01517 V06N79 VN 679
042541,001521: 15,2533 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042542,001522: 15,2535 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042543,001523: 15,2537 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042544,001524: 15,2540 1045 CURSOR EQUALS DSPTEM1
042545,001525: 15,2540 1046 SPIRAL EQUALS DSPTEM1 +1
042546,001526: 15,2540 1052 POSCODE EQUALS DSPTEM2 +2
042547,001527:
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|
Page 959 |
042549,001529: # NAME - PLANET
042550,001530: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042551,001531: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042552,001532: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042553,001533: # BY DSDY INPUT
042554,001534: # CALL - CALL
042555,001535: # PLANET
042556,001536: # INPUT - TIME IN MPAC
042557,001537: # OUTPUT - VECTOR IN MPAC
042558,001538: # SUBROUTINES - LOCSAM
042559,001539: # DEBRIS - VAC ,STARAD - STARAD +17
042560,001540:
042561,001541: 15,2000 SETLOC P50S
042562,001542: 15,2000 BANK
042563,001543: 15,2540 COUNT* $$/P51
042564,001544:
042565,001545: 15,2540 03560 PLANET STORE TSIGHT
042566,001546: 15,2541 77420 STQ EXIT
042567,001547: 15,2542 02736 GCTR
042568,001548: 15,2543 47743 CS HIGH9
042569,001549: 15,2544 70735 MASK AOTCODE
042570,001550: 15,2545 00006 EXTEND
042571,001551: 15,2546 76241 MP REVCNT
042572,001552: 15,2547 56001 XCH L
042573,001553: 15,2550 51757 INDEX STARIND
042574,001554: 15,2551 55755 TS BESTI
042575,001555: 15,2552 10000 CCS A
042576,001556: 15,2553 12567 TCF NOTPLAN
042577,001557: 15,2554 32626 CAF VNPLANV
042578,001558: 15,2555 04616 TC BANKCALL
042579,001559: 15,2556 20351 CADR GOFLASH
042580,001560: 15,2557 02554 TC -3
042581,001561: 15,2560 02562 TC +2
042582,001562: 15,2561 02554 TC -5
042583,001563: 15,2562 06036 TC INTPRET
042584,001564: 15,2563 53575 VLOAD UNIT
042585,001565: 15,2564 02707 STARAD
042586,001566: 15,2565 77650 GOTO
042587,001567: 15,2566 02736 GCTR
042588,001568: 15,2567 40000 NOTPLAN CS A
042589,001569: 15,2570 62625 AD DEC227
042590,001570: 15,2571 00006 EXTEND
042591,001571: 15,2572 62603 BZMF CALSAM1
042592,001572: 15,2573 51757 INDEX STARIND
042593,001573: 15,2574 31755 CA BESTI
042594,001574: 15,2575 50120 INDEX FIXLOC
042595,001575: 15,2576 54046 TS X1
042596,001576: 15,2577 06036 TC INTPRET
042597,001577: 15,2600 52173 VLOAD* GOTO
042598,001578: 15,2601 30347 CATLOG,1
042599,001579:
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|
Page 960 |
042601,001581: 15,2602 02736 GCTR
042602,001582: 15,2603 06036 CALSAM1 TC INTPRET
042603,001583: 15,2604 45145 CALSAM DLOAD CALL
042604,001584: 15,2605 03560 TSIGHT
042605,001585: 15,2606 30347 LOCSAM
042606,001586: 15,2607 77340 LXC,1 VLOAD
042607,001587: 15,2610 02757 STARIND
042608,001588: 15,2611 02707 VEARTH
042609,001589: 15,2612 24001 STOVL 0D
042610,001590: 15,2613 02715 VSUN
042611,001591: 15,2614 26707 STOVL VEARTH
042612,001592: 15,2615 00001 0D
042613,001593: 15,2616 02715 STORE VSUN
042614,001594: 15,2617 70143 DLOAD* LXC,1
042615,001595: 15,2620 02756 BESTI,1
042616,001596: 15,2621 00154 MPAC
042617,001597: 15,2622 52173 VLOAD* GOTO
042618,001598: 15,2623 02343 STARAD -228D,1
042619,001599: 15,2624 02736 GCTR
042620,001600: 15,2625 00343 DEC227 DEC 227 B-14
042621,001601: 15,2626 01530 VNPLANV VN 0688
042622,001602: 15,2627 37,3533 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042623,001603:
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|
Page 961 |
042625,001605: # GRAVITY VECTOR DETERMINATION ROUTINE
042626,001606: # BY KEN VINCENT
042627,001607: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042628,001608: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042629,001609: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042630,001610: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042631,001611: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042632,001612: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042633,001613: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042634,001614: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042635,001615: # READINGS.
042636,001616:
042637,001617: # CALL-
042638,001618: # TC BANKCALL
042639,001619: # CADR GVDETER
042640,001620: # INPUTS-
042641,001621: # PIPAS,CDUS
042642,001622: # OUTPUTS-
042643,001623: # STARSAV1 = UNIT GRAVITY
042644,001624: # GSAV = DITTO
042645,001625: # GRAVBIT = 1
042646,001626: # SUBROUTINES-
042647,001627: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042648,001628: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
042649,001629: # DEBRIS-
042650,001630: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042651,001631: 15,2627 44737 GVDETER CS BIT13 # JAM 45 DEG IN DESIRED GIMBAL ANGLES
042652,001632: 15,2630 54322 TS THETAD +1
042653,001633: 15,2631 40000 COM
042654,001634: 15,2632 54323 TS THETAD +2
042655,001635: 15,2633 54321 TS THETAD
042656,001636: 15,2634 06036 TC INTPRET
042657,001637: 15,2635 45014 CLEAR CALL
042658,001638: 15,2636 01662 REFSMFLG
042659,001639: 15,2637 32734 LUNG
042660,001640: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
042661,001641:
042662,001642: # DEFINE G COOR SYS
042663,001643: # -
042664,001644: # X UNIT G
042665,001645: # * - -
042666,001646: # M= Y = UNITEZSM * X )
042667,001647: # - - -
042668,001648: # Z UNIT(X * Y )
042669,001649: # THEN ROTATED SM WRT PRESENT IS
042670,001650:
042671,001651:
042672,001652: # 1, 0 , 0
042673,001653: # * *T * * *
042674,001654: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
042675,001655:
|
|
Page 962 |
042677,001657: # I J
042678,001658: # 0, 0 ,-1
042679,001659:
042680,001660: # ALSO NB WRT PRES SM IS
042681,001661:
042682,001662: # * * *
042683,001663: # XNB = NBSM I
042684,001664: # * *
042685,001665: # GIMBAL ANGLES = CALCGA( XSM , XNB )
042686,001666:
042687,001667: 15,2000 SETLOC P50S
042688,001668: 15,2000 BANK
042689,001669: 15,2640 COUNT* $$/P57
042690,001670: 15,2640 66370 AXT,1 SSP # X1=18
042691,001671: 15,2641 00022 18D # S1= 6
042692,001672: 15,2642 00051 S1 # X2, -2
042693,001673: 15,2643 00006 6D
042694,001674: 15,2644 77744 LXC,2
042695,001675: 15,2645 00050 S1
042696,001676: 15,2646 45173 GRAVEL VLOAD* CALL
042697,001677: 15,2647 55512 XUNIT -6,2
042698,001678: 15,2650 47577 *NBSM* # SIN AND COS COMPUTED IN LUNG
042699,001679: 15,2651 06707 STORE XNB +18D,1
042700,001680: 15,2652 77775 VLOAD
042701,001681: 15,2653 02731 STAR
042702,001682: 15,2654 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
042703,001683: 15,2655 00047 X2
042704,001684: 15,2656 75040 STAR +6,2 # OUTER PRODUCT
042705,001685: 15,2657 71152 VSL2 LXC,2
042706,001686: 15,2660 00047 X2
042707,001687: 15,2661 63047 VSU* INCR,2
042708,001688: 15,2662 55512 XUNIT -6,2
042709,001689: 15,2663 00002 2D
042710,001690: 15,2664 06665 STORE XSM +18D,1
042711,001691: 15,2665 45100 TIX,1 CALL
042712,001692: 15,2666 32646 GRAVEL
042713,001693: 15,2667 47255 CALCGA
042714,001694: 15,2670 74575 VLOAD VSR1
042715,001695: 15,2671 02715 GOUT
042716,001696: 15,2672 36723 STCALL STARAD +12D
042717,001697: 15,2673 32734 LUNG
042718,001698: 15,2674 74575 VLOAD VSR1
042719,001699: 15,2675 02715 GOUT
042720,001700: 15,2676 53455 VAD UNIT
042721,001701: 15,2677 02723 STARAD +12D
042722,001702: 15,2700 02761 STORE STARSAV1
042723,001703: 15,2701 77641 DOT
042724,001704: 15,2702 02235 GSAV
042725,001705: 15,2703 65552 SL1 ACOS
042726,001706: 15,2704 01046 STORE DSPTEM1
042727,001707:
|
|
Page 963 |
042729,001709: 15,2705 77776 EXIT
042730,001710: 15,2706 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042731,001711: 15,2707 00014 ADRES FREEFLAG
042732,001712:
042733,001713: 15,2710 33040 CA DISGRVER
042734,001714: 15,2711 04616 TC BANKCALL
042735,001715: 15,2712 20351 CADR GOFLASH
042736,001716: 15,2713 06001 TC GOTOPOOH
042737,001717: 15,2714 12717 TCF PROGRAV # VB33-PROCEED
042738,001718: 15,2715 05504 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042739,001719: 15,2716 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042740,001720:
042741,001721: 15,2717 05353 PROGRAV TC PHASCHNG
042742,001722: 15,2720 05024 OCT 05024
042743,001723: 15,2721 13000 OCT 13000
042744,001724: 15,2722 06036 TC INTPRET
042745,001725: 15,2723 77775 VLOAD
042746,001726: 15,2724 02761 STARSAV1
042747,001727: 15,2725 02235 STORE GSAV
042748,001728: 15,2726 77776 EXIT
042749,001729: 15,2727 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042750,001730: 15,2730 70074 MASK FLAGWRD0
042751,001731: 15,2731 10000 CCS A
042752,001732: 15,2732 12627 TCF GVDETER # SET
042753,001733: 15,2733 13535 TCF ATTCHK # EXIT FROM GVDETER
042754,001734:
042755,001735: 15,2734 77220 LUNG STQ VLOAD
042756,001736: 15,2735 02745 QMIN
042757,001737: 15,2736 22275 ZEROVEC
042758,001738: 15,2737 02707 STORE GACC
042759,001739: 15,2740 77776 EXIT
042760,001740: 15,2741 05353 TC PHASCHNG
042761,001741: 15,2742 05024 OCT 05024
042762,001742: 15,2743 13000 OCT 13000
042763,001743: 15,2744 04616 TC BANKCALL
042764,001744: 15,2745 16753 CADR IMUCOARS
042765,001745: 15,2746 04616 TC BANKCALL
042766,001746: 15,2747 17671 CADR IMUSTALL
042767,001747: 15,2750 05703 TC CURTAINS
042768,001748: 15,2751 04616 TC BANKCALL
042769,001749: 15,2752 17163 CADR IMUFINE
042770,001750: 15,2753 04616 TC BANKCALL
042771,001751: 15,2754 17671 CADR IMUSTALL
042772,001752: 15,2755 05703 TC CURTAINS
042773,001753: 15,2756 33037 CA T/2SEC
042774,001754: 15,2757 55736 TS GCTR
042775,001755: 15,2760 37715 CA PRIO31
042776,001756: 15,2761 55075 TS 1/PIPADT
042777,001757: 15,2762 04616 TC BANKCALL
042778,001758: 15,2763 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
042779,001759:
|
|
Page 964 |
042781,001761: 15,2764 05353 TC PHASCHNG
042782,001762: 15,2765 05024 OCT 05024
042783,001763: 15,2766 13000 OCT 13000
042784,001764: 15,2767 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042785,001765: 15,2770 77533 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042786,001766: 15,2771 06036 TC INTPRET
042787,001767: 15,2772 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042788,001768: 15,2773 35000 CAF 2SECS
042789,001769: 15,2774 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042790,001770: 15,2775 02777 ADRES GRABGRAV
042791,001771:
042792,001772: 15,2776 05155 TC ENDOFJOB
042793,001773:
042794,001774: 15,2777 04674 GRABGRAV TC IBNKCALL
042795,001775: 15,3000 77533 CADR PIPSRINE
042796,001776: 15,3001 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042797,001777: 15,3002 05105 TC FINDVAC
042798,001778: 15,3003 E5,1706 EBANK= STARAD
042799,001779: 15,3003 03006 32065 2CADR ADDGRAV
042800,001780:
042801,001781: 15,3005 05261 TC TASKOVER
042802,001782:
042803,001783: 15,3006 04616 ADDGRAV TC BANKCALL
042804,001784: 15,3007 15263 CADR 1/PIPA
042805,001785: 15,3010 25736 INCR GCTR
042806,001786: 15,3011 06036 TC INTPRET
042807,001787: 15,3012 53375 VLOAD VAD
042808,001788: 15,3013 00325 DELV
042809,001789: 15,3014 02707 GACC
042810,001790: 15,3015 02707 STORE GACC # ACCUMULATE G VECTOR
042811,001791: 15,3016 50135 SLOAD BMN
042812,001792: 15,3017 02737 GCTR
042813,001793: 15,3020 32772 GREED
042814,001794: 15,3021 53575 VLOAD UNIT
042815,001795: 15,3022 02707 GACC
042816,001796: 15,3023 36731 STCALL STAR
042817,001797: 15,3024 47443 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042818,001798: 15,3025 77624 CALL # IN OUTPUT
042819,001799: 15,3026 47575 *SMNB*
042820,001800: 15,3027 02715 STORE GOUT
042821,001801: 15,3030 77776 EXIT
042822,001802: 15,3031 05353 TC PHASCHNG
042823,001803: 15,3032 05024 OCT 05024
042824,001804: 15,3033 13000 OCT 13000
042825,001805: 15,3034 06036 TC INTPRET
042826,001806: 15,3035 77650 GOTO
042827,001807: 15,3036 02745 QMIN
042828,001808: 15,3037 77751 T/2SEC DEC -22 B-14
042829,001809: 15,3040 01404 DISGRVER VN 0604
042830,001810:
|
|
Page 965 |
042832,001812: # NAME GYROTRIM
042833,001813:
042834,001814: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042835,001815: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042836,001816: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042837,001817:
042838,001818: # CALL CALL
042839,001819: # GYROTRIM
042840,001820:
042841,001821: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042842,001822: # CDUX,CDUY,CDUZ
042843,001823:
042844,001824: # OUTPUT - GYRO TORQUE PULSES
042845,001825:
042846,001826: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
042847,001827: # IMPULSE,IMUSTALL
042848,001828: # - - - * * -
042849,001829: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
042850,001830: 15,3041 COUNT* $$/P57
042851,001831: 15,3041 71220 GYROTRIM STQ DLOAD
042852,001832: 15,3042 02745 QMIN
042853,001833: 15,3043 00322 THETAD
042854,001834: 15,3044 65325 PDDL PDDL
042855,001835: 15,3045 00324 THETAD +2
042856,001836: 15,3046 00323 THETAD +1
042857,001837: 15,3047 77666 VDEF
042858,001838: 15,3050 24767 STOVL CDUSPOT
042859,001839: 15,3051 22273 XUNIT
042860,001840: 15,3052 77624 CALL
042861,001841: 15,3053 47570 TRG*NBSM
042862,001842: 15,3054 26707 STOVL STARAD
042863,001843: 15,3055 22271 YUNIT
042864,001844: 15,3056 77624 CALL
042865,001845: 15,3057 47577 *NBSM*
042866,001846: 15,3060 36715 STCALL STARAD +6
042867,001847: 15,3061 47443 CDUTRIG
042868,001848: 15,3062 77624 CALL
042869,001849: 15,3063 31267 CALCSMSC
042870,001850: 15,3064 77775 VLOAD
042871,001851: 15,3065 02665 XNB
042872,001852: 15,3066 24007 STOVL 6D
042873,001853: 15,3067 02673 YNB
042874,001854: 15,3070 34015 STCALL 12D
042875,001855: 15,3071 47345 AXISGEN
042876,001856: 15,3072 77624 CALL
042877,001857: 15,3073 47151 CALCGTA
042878,001858: 15,3074 77776 JUSTTRIM EXIT
042879,001859: 15,3075 04616 TC BANKCALL
042880,001860: 15,3076 17163 CADR IMUFINE
042881,001861: 15,3077 04616 TC BANKCALL
042882,001862:
|
|
Page 966 |
042884,001864: 15,3100 17671 CADR IMUSTALL
042885,001865: 15,3101 05703 TC CURTAINS
042886,001866: 15,3102 33113 CA GYRCDR
042887,001867: 15,3103 04616 TC BANKCALL
042888,001868: 15,3104 17276 CADR IMUPULSE
042889,001869: 15,3105 04616 TC BANKCALL
042890,001870: 15,3106 17671 CADR IMUSTALL
042891,001871: 15,3107 05703 TC CURTAINS
042892,001872: 15,3110 06036 TC INTPRET
042893,001873: 15,3111 77650 GOTO
042894,001874: 15,3112 02745 QMIN
042895,001875: 15,3113 02737 GYRCDR ECADR OGC
042896,001876:
|
|
Page 967 |
042898,001878: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042899,001879:
042900,001880: 15,3114 34755 2STARS CAF ZERO # INITALIZE STARIND
042901,001881: 15,3115 13117 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042902,001882: 15,3116 34753 1STAR CAF BIT1
042903,001883: 15,3117 55757 TS STARIND
042904,001884:
042905,001885: 15,3120 05353 TC PHASCHNG
042906,001886: 15,3121 04024 OCT 04024
042907,001887:
042908,001888: 15,3122 12301 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042909,001889:
042910,001890: 15,3123 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042911,001891: 15,3124 00006 EXTEND
042912,001892: 15,3125 13144 BZF ASTAR # 1ST STAR MARKED
042913,001893:
042914,001894: 15,3126 06036 TC INTPRET # 2ND STAR MARKED
042915,001895: 15,3127 77775 VLOAD
042916,001896: 15,3130 02715 STARAD +6
042917,001897: 15,3131 02767 STORE STARSAV2 # 2ND STAR IN SM
042918,001898:
042919,001899: 15,3132 77776 EXIT
042920,001900: 15,3133 05353 TC PHASCHNG
042921,001901: 15,3134 05024 OCT 05024
042922,001902: 15,3135 13000 OCT 13000
042923,001903:
042924,001904: 15,3136 06036 TC INTPRET
042925,001905: 15,3137 45145 DLOAD CALL
042926,001906: 15,3140 03560 TSIGHT # TIME OF 2ND MARK
042927,001907: 15,3141 32540 PLANET
042928,001908: 15,3142 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042929,001909: 15,3143 33156 SURFLINE
042930,001910:
042931,001911: 15,3144 06036 ASTAR TC INTPRET
042932,001912: 15,3145 77775 VLOAD
042933,001913: 15,3146 02715 STARAD +6
042934,001914: 15,3147 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042935,001915: 15,3150 45145 DLOAD CALL
042936,001916: 15,3151 03560 TSIGHT # TIME OF 1ST MARK
042937,001917: 15,3152 32540 PLANET
042938,001918: 15,3153 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042939,001919: 15,3154 77776 EXIT
042940,001920: 15,3155 13116 TCF 1STAR # GO GET 2ND STAR SIGHTING
042941,001921:
|
|
Page 968 |
042943,001923: # DO FINE OR COARSE ALIGNMENT OF IMU
042944,001924:
042945,001925: 15,3156 77131 SURFLINE SSP AXT,2
042946,001926: 15,3157 00052 S2
042947,001927: 15,3160 00006 6
042948,001928: 15,3161 00014 12D
042949,001929: 15,3162 64373 WRTDESIR VLOAD* MXV
042950,001930: 15,3163 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042951,001931: 15,3164 03605 XSMD
042952,001932: 15,3165 77656 UNIT
042953,001933: 15,3166 12723 STORE STARAD +12D,2 # VEC IN SM
042954,001934: 15,3167 77773 VLOAD*
042955,001935: 15,3170 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042956,001936: 15,3171 10023 STORE 18D,2
042957,001937: 15,3172 43104 TIX,2 BON
042958,001938: 15,3173 33162 WRTDESIR
042959,001939: 15,3174 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042960,001940: 15,3175 33203 INITBY
042961,001941: 15,3176 77624 DOALIGN CALL
042962,001942: 15,3177 31121 R54 # DO CHKSDATA
042963,001943: 15,3200 77614 BOFF
042964,001944: 15,3201 00354 FREEFLAG
042965,001945: 15,3202 33264 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042966,001946: 15,3203 77624 INITBY CALL
042967,001947: 15,3204 47345 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
042968,001948: 15,3205 77624 CALL
042969,001949: 15,3206 47151 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042970,001950: 15,3207 77776 EXIT
042971,001951: 15,3210 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042972,001952: 15,3211 70104 MASK FLAGWRD8
042973,001953: 15,3212 10000 CCS A
042974,001954: 15,3213 13222 TCF 5DEGTEST
042975,001955: 15,3214 33316 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042976,001956: 15,3215 04616 TC BANKCALL
042977,001957: 15,3216 20351 CADR GOFLASH
042978,001958: 15,3217 06001 TC GOTOPOOH # V34-TERMINATE
042979,001959: 15,3220 13222 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
042980,001960: 15,3221 13265 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
042981,001961:
042982,001962: 15,3222 06036 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042983,001963: 15,3223 40175 VLOAD BOV
042984,001964: 15,3224 02740 OGC
042985,001965: 15,3225 33226 SURFSUP
042986,001966: 15,3226 02750 SURFSUP STORE OGCT
042987,001967: 15,3227 40141 V/SC BOV
042988,001968: 15,3230 30451 5DEGREES
042989,001969: 15,3231 33273 COATRIM
042990,001970: 15,3232 52131 SSP GOTO
042991,001971: 15,3233 02746 QMIN
042992,001972: 15,3234 33236 SURFDISP
042993,001973:
|
|
Page 969 |
042995,001975: 15,3235 33074 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042996,001976:
042997,001977: 15,3236 77776 SURFDISP EXIT
042998,001978: 15,3237 05353 TC PHASCHNG
042999,001979: 15,3240 05024 OCT 05024 # STORE REFSMMAT ,SET REFSMFLG AND
043000,001980: 15,3241 13000 OCT 13000 # DISPLAY ORIGINAL TORQ ANGLES
043001,001981: 15,3242 06036 TC INTPRET
043002,001982: 15,3243 75160 AXC,1 AXC,2
043003,001983: 15,3244 03604 XSMD
043004,001984: 15,3245 01733 REFSMMAT
043005,001985: 15,3246 45014 SET CALL
043006,001986: 15,3247 01462 REFSMFLG
043007,001987: 15,3250 31237 MATMOVE
043008,001988: 15,3251 77776 EXIT
043009,001989: 15,3252 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
043010,001990: 15,3253 13255 TCF B2F8
043011,001991: 15,3254 13265 TCF P57POST +1
043012,001992:
043013,001993: 15,3255 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
043014,001994: 15,3256 70104 MASK FLAGWRD8
043015,001995: 15,3257 10000 CCS A
043016,001996: 15,3260 13543 TCF P57JUMP # ITS SET
043017,001997: 15,3261 06036 TC INTPRET
043018,001998: 15,3262 77624 CALL
043019,001999: 15,3263 33470 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
043020,002000: 15,3264 77776 P57POST EXIT
043021,002001: 15,3265 35742 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
043022,002002: 15,3266 04616 TC BANKCALL
043023,002003: 15,3267 20476 CADR GOPERF1
043024,002004: 15,3270 16001 TCF GOTOPOOH # VB34-TERMINATE
043025,002005: 15,3271 13543 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
043026,002006: 15,3272 16001 TCF GOTOPOOH # VB32-R59 DONE-GO TO PROG 00
043027,002007:
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|
Page 970 |
043029,002009: # COARSE AND FINE ALIGN IMU
043030,002010: 15,3273 75160 COATRIM AXC,1 AXC,2
043031,002011: 15,3274 02664 XDC
043032,002012: 15,3275 02642 XSM
043033,002013: 15,3276 77624 CALL
043034,002014: 15,3277 31237 MATMOVE
043035,002015: 15,3300 77624 CALL
043036,002016: 15,3301 47443 CDUTRIG
043037,002017: 15,3302 77624 CALL
043038,002018: 15,3303 31267 CALCSMSC
043039,002019: 15,3304 77624 CALL
043040,002020: 15,3305 47255 CALCGA
043041,002021: 15,3306 77624 CALL
043042,002022: 15,3307 31506 COARSE
043043,002023: 15,3310 77624 CALL
043044,002024: 15,3311 31523 NCOARSE
043045,002025: 15,3312 77624 CALL
043046,002026: 15,3313 33041 GYROTRIM
043047,002027: 15,3314 77650 GOTO
043048,002028: 15,3315 33236 SURFDISP
043049,002029: 15,3316 01535 DISPGYRO VN 0693
043050,002030:
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|
Page 971 |
043052,002032: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
043053,002033:
043054,002034: 15,3317 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
043055,002035: 15,3320 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
043056,002036:
043057,002037: 15,3321 06036 TC INTPRET
043058,002038: 15,3322 77745 DLOAD
043059,002039: 15,3323 03440 TIG # LOAD ASCENT TIME FOR DISPLAY
043060,002040: 15,3324 01046 P57A STORE DSPTEM1
043061,002041: 15,3325 77776 EXIT
043062,002042: 15,3326 32172 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
043063,002043: 15,3327 04616 TC BANKCALL
043064,002044: 15,3330 20510 CADR GOFLASHR
043065,002045: 15,3331 16001 TCF GOTOPOOH # V34-TERMINATE
043066,002046: 15,3332 13337 TCF +5
043067,002047: 15,3333 13326 TCF P57AA # VB32-RECYCLE
043068,002048:
043069,002049: 15,3334 05353 TC PHASCHNG
043070,002050: 15,3335 00014 OCT 00014
043071,002051: 15,3336 05155 TC ENDOFJOB
043072,002052:
043073,002053: 15,3337 06036 TC INTPRET
043074,002054: 15,3340 50145 DLOAD BMN
043075,002055: 15,3341 01046 DSPTEM1
043076,002056: 15,3342 33367 PACKOPTN -1 # NEG TIME-PREF ORIENT IN XSMD MATRIX
043077,002057: 15,3343 65234 RTB PDDL
043078,002058: 15,3344 21462 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
043079,002059: 15,3345 01046 DSPTEM1
043080,002060: 15,3346 65254 BZE PDDL
043081,002061: 15,3347 33357 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
043082,002062: 15,3350 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043083,002063: 15,3351 01046 DSPTEM1
043084,002064: 15,3352 33357 P57C
043085,002065: 15,3353 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
043086,002066: 15,3354 74337 STORE TIG # STORE IT IN TIG
043087,002067: 15,3355 36775 STCALL TALIGN
043088,002068: 15,3356 33361 P57D
043089,002069: 15,3357 45545 P57C DLOAD STADR
043090,002070: 15,3360 75002 STORE TALIGN
043091,002071: 15,3361 34041 P57D STCALL TDEC1
043092,002072: 15,3362 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
043093,002073: 15,3363 53575 VLOAD UNIT # IN X,Y,ZSMD
043094,002074: 15,3364 00001 RATT
043095,002075: 15,3365 37605 STCALL XSMD
043096,002076: 15,3366 33647 LSORIENT
043097,002077: 15,3367 77776 EXIT
043098,002078: 15,3370 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
043099,002079: 15,3371 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
043100,002080: 15,3372 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
043101,002081: 15,3373 34737 CAF REFSMBIT
043102,002082:
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|
Page 972 |
043104,002084: 15,3374 70077 MASK FLAGWRD3 # REFSMFLG
043105,002085: 15,3375 10000 CCS A
043106,002086: 15,3376 34745 CAF BIT7 # SET
043107,002087: 15,3377 27146 ADS OPTION1 +2 # CLEAR-JUST ZERO
043108,002088: 15,3400 34753 CAF ATTFLBIT
043109,002089: 15,3401 70102 MASK FLAGWRD6 # ATTFLG
043110,002090: 15,3402 10000 CCS A
043111,002091: 15,3403 34750 CAF BIT4 # SET
043112,002092: 15,3404 27146 ADS OPTION1 +2 # CLEAR-ZERO IN A
043113,002093: 15,3405 34750 CAF BIT4
043114,002094: 15,3406 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
043115,002095:
043116,002096: 15,3407 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
043117,002097: 15,3410 04616 TC BANKCALL
043118,002098: 15,3411 20351 CADR GOFLASH
043119,002099: 15,3412 16001 TCF GOTOPOOH # VB34-TERMINATE
043120,002100: 15,3413 13415 TCF +2 # V33-PROCEED
043121,002101: 15,3414 13407 TCF DSPOPTN # V32-RECYCLE
043122,002102:
043123,002103: 15,3415 05353 TC PHASCHNG
043124,002104: 15,3416 05024 OCT 05024
043125,002105: 15,3417 13000 OCT 13000
043126,002106: 15,3420 34737 CAF REFSMBIT
043127,002107: 15,3421 70077 MASK FLAGWRD3
043128,002108: 15,3422 10000 CCS A
043129,002109: 15,3423 13523 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
043130,002110: 15,3424 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
043131,002111: 15,3425 70102 MASK FLAGWRD6
043132,002112: 15,3426 10000 CCS A
043133,002113: 15,3427 13527 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043134,002114: 15,3430 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
043135,002115: 15,3431 71145 MASK OPTION2
043136,002116: 15,3432 10000 CCS A
043137,002117: 15,3433 13527 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043138,002118: 15,3434 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
043139,002119: 15,3435 00701 OCT 701
043140,002120: 15,3436 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
043141,002121: 15,3437 04616 TC BANKCALL
043142,002122: 15,3440 20351 CADR GOFLASH
043143,002123: 15,3441 16001 TCF GOTOPOOH # VB34-TERMINATE
043144,002124: 15,3442 13407 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
043145,002125: 15,3443 13407 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
043146,002126:
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|
Page 973 |
043148,002128: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043149,002129:
043150,002130: 15,3444 40220 MFREF STQ SETPD
043151,002131: 15,3445 02746 QMAJ
043152,002132: 15,3446 00001 0
043153,002133: 15,3447 77634 RTB
043154,002134: 15,3450 21462 LOADTIME
043155,002135: 15,3451 27560 STOVL TSIGHT
043156,002136: 15,3452 02723 VEC1
043157,002137: 15,3453 41525 PDDL PUSH
043158,002138: 15,3454 03560 TSIGHT
043159,002139: 15,3455 77624 CALL
043160,002140: 15,3456 51504 RP-TO-R
043161,002141: 15,3457 26723 STOVL VEC1
043162,002142: 15,3460 02731 VEC2
043163,002143: 15,3461 65201 SETPD PDDL
043164,002144: 15,3462 00001 0
043165,002145: 15,3463 03560 TSIGHT
043166,002146: 15,3464 45006 PUSH CALL
043167,002147: 15,3465 51504 RP-TO-R
043168,002148: 15,3466 36731 STCALL VEC2
043169,002149: 15,3467 02746 QMAJ
043170,002150:
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|
Page 974 |
043172,002152: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043173,002153: # STORE IN YNBSAV AND ZNBSAV
043174,002154:
043175,002155: 15,3470 45020 REFMF STQ CALL
043176,002156: 15,3471 02746 QMAJ
043177,002157: 15,3472 47443 CDUTRIG # GET SIN AND COS OF CDUS
043178,002158: 15,3473 40234 RTB SETPD
043179,002159: 15,3474 21462 LOADTIME
043180,002160: 15,3475 00001 0
043181,002161: 15,3476 37560 STCALL TSIGHT
043182,002162: 15,3477 31267 CALCSMSC # GET YNB IN SM
043183,002163: 15,3500 61375 VLOAD VXM
043184,002164: 15,3501 02673 YNB
043185,002165: 15,3502 01734 REFSMMAT # YNB TO REF
043186,002166: 15,3503 65256 UNIT PDDL
043187,002167: 15,3504 03560 TSIGHT
043188,002168: 15,3505 45006 PUSH CALL
043189,002169: 15,3506 51531 R-TO-RP
043190,002170: 15,3507 26243 STOVL YNBSAV # YNB TO MF
043191,002171: 15,3510 02701 ZNB
043192,002172: 15,3511 53505 VXM UNIT
043193,002173: 15,3512 01734 REFSMMAT # ZNB TO REF
043194,002174: 15,3513 41525 PDDL PUSH
043195,002175: 15,3514 03560 TSIGHT
043196,002176: 15,3515 77624 CALL
043197,002177: 15,3516 51531 R-TO-RP # ZNB TO MF
043198,002178: 15,3517 02251 STORE ZNBSAV
043199,002179: 15,3520 77614 SETGO
043200,002180: 15,3521 03036 ATTFLAG
043201,002181: 15,3522 02746 QMAJ
043202,002182:
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|
Page 975 |
043204,002184: # BRANCH TO ALIGNMENT OPTION
043205,002185:
043206,002186: 15,3523 06036 GETLMATT TC INTPRET
043207,002187: 15,3524 77624 CALL
043208,002188: 15,3525 33470 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
043209,002189: 15,3526 77776 EXIT
043210,002190:
043211,002191: 15,3527 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
043212,002192: 15,3530 00205 ADRES INITALGN
043213,002193: 15,3531 34753 CAF BIT1
043214,002194: 15,3532 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
043215,002195: 15,3533 10000 CCS A
043216,002196: 15,3534 12627 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
043217,002197:
043218,002198: 15,3535 05353 ATTCHK TC PHASCHNG
043219,002199: 15,3536 04024 OCT 04024
043220,002200:
043221,002201: 15,3537 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
043222,002202: 15,3540 70102 MASK FLAGWRD6
043223,002203: 15,3541 10000 CCS A
043224,002204: 15,3542 13557 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
043225,002205: 15,3543 05353 P57JUMP TC PHASCHNG
043226,002206: 15,3544 04024 OCT 04024
043227,002207:
043228,002208: 15,3545 05516 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
043229,002209: 15,3546 00205 ADRES INITALGN
043230,002210: 15,3547 36244 CAF THREE
043231,002211: 15,3550 71145 MASK OPTION2 # BRANCH ON OPTION CODE
043232,002212: 15,3551 50000 INDEX A
043233,002213: 15,3552 13553 TCF +1
043234,002214: 15,3553 13557 TCF P57OPT0 # OPTION IS 0
043235,002215: 15,3554 13600 TCF P57OPT1 # OPTION IS 1
043236,002216: 15,3555 13616 TCF P57OPT2 # OPTION IS 2
043237,002217: 15,3556 13617 TCF P57OPT3 # OPTION IS 3
043238,002218:
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|
Page 976 |
043240,002220: # OPTION 0, GET TWO ATTITUDE VECS
043241,002221:
043242,002222: 15,3557 06036 P57OPT0 TC INTPRET
043243,002223: 15,3560 77775 VLOAD
043244,002224: 15,3561 02243 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
043245,002225: 15,3562 26723 STOVL VEC1
043246,002226: 15,3563 02251 ZNBSAV
043247,002227: 15,3564 36731 STCALL VEC2
043248,002228: 15,3565 47443 CDUTRIG
043249,002229: 15,3566 77624 CALL
043250,002230: 15,3567 31267 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
043251,002231: 15,3570 77775 VLOAD
043252,002232: 15,3571 02673 YNB
043253,002233: 15,3572 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
043254,002234: 15,3573 02701 ZNB
043255,002235: 15,3574 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
043256,002236: 15,3575 33444 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
043257,002237: 15,3576 77650 GOTO
043258,002238: 15,3577 33156 SURFLINE
043259,002239:
043260,002240: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043261,002241:
043262,002242: 15,3600 06036 P57OPT1 TC INTPRET
043263,002243: 15,3601 53575 VLOAD UNIT
043264,002244: 15,3602 02023 RLS # LANDING SITE VEC
043265,002245: 15,3603 26723 STOVL VEC1
043266,002246: 15,3604 02251 ZNBSAV # Z ATTITUDE VEC
043267,002247: 15,3605 36731 STCALL VEC2
043268,002248: 15,3606 47443 CDUTRIG
043269,002249: 15,3607 77624 CALL
043270,002250: 15,3610 31267 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
043271,002251: 15,3611 45175 VLOAD CALL
043272,002252: 15,3612 02235 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
043273,002253: 15,3613 47565 CDU*NBSM
043274,002254: 15,3614 77650 GOTO
043275,002255: 15,3615 33572 SAMETYP # NOW DO SAME AS OPTION 0
043276,002256:
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|
Page 977 |
043278,002258: # OPTION 2, GET TWO STAR SIGHTINGS
043279,002259:
043280,002260: 15,3616 13114 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
043281,002261:
043282,002262: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043283,002263:
043284,002264: 15,3617 06036 P57OPT3 TC INTPRET
043285,002265: 15,3620 53575 VLOAD UNIT
043286,002266: 15,3621 02023 RLS # LANDING SITE VEC
043287,002267: 15,3622 02723 STORE VEC1
043288,002268: 15,3623 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
043289,002269: 15,3624 02235 GSAV # GRAVITY VEC NB
043290,002270: 15,3625 77624 CALL
043291,002271: 15,3626 47565 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
043292,002272: 15,3627 36761 STCALL STARSAV1
043293,002273: 15,3630 33444 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
043294,002274: 15,3631 77776 EXIT
043295,002275: 15,3632 13116 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043296,002276:
043297,002277: 15,3633 00701 BADOPT OCT 00701 # **** TEMP ****
043298,002278: 15,3634 01206 VB05N06 VN 506
043299,002279:
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|
Page 978 |
043301,002281: # CHECK IMODES30 TO VARIFY IMU IS ON
043302,002282:
043303,002283: 15,3635 41302 IMUCHK CS IMODES30
043304,002284: 15,3636 74743 MASK BIT9
043305,002285: 15,3637 10000 CCS A # IS IMU ON
043306,002286: 15,3640 13644 TCF +4 # YES
043307,002287:
043308,002288: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
043309,002289: 15,3642 00210 OCT 210
043310,002290: 15,3643 06001 TC GOTOPOOH
043311,002291:
043312,002292: 15,3644 05504 TC UPFLAG
043313,002293: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
043314,002294:
043315,002295: 15,3646 04631 TC SWRETURN
043316,002296:
043317,002297: 15,3647 77220 LSORIENT STQ VLOAD
043318,002298: 15,3650 02746 QMAJ
043319,002299: 15,3651 01555 RRECTCSM
043320,002300: 15,3652 47235 VXV VXV
043321,002301: 15,3653 01563 VRECTCSM
043322,002302: 15,3654 03605 XSMD
043323,002303: 15,3655 77656 UNIT
043324,002304: 15,3656 03621 STORE ZSMD
043325,002305: 15,3657 53435 VXV UNIT
043326,002306: 15,3660 03605 XSMD
043327,002307: 15,3661 37613 STCALL YSMD
043328,002308: 15,3662 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc