Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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039637,000002: ## Copyright: Public domain.
039638,000003: ## Filename: P51-P53.agc
039639,000004: ## Purpose: A section of Luminary revision 96.
039640,000005: ## It is part of the reconstructed source code for the
039641,000006: ## original release of the flight software for the Lunar
039642,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
039643,000008: ## The code has been recreated from a previously reconstructed
039644,000009: ## copy of Luminary 97 by undoing changes described in anomaly
039645,000010: ## report LNY-59. The code has been adapted such that the
039646,000011: ## resulting bugger words exactly match those specified for
039647,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
039648,000013: ## high confidence that the reconstruction is correct.
039649,000014: ## Reference: pp. 926-983
039650,000015: ## Assembler: yaYUL
039651,000016: ## Contact: Ron Burkey <info@sandroid.org>.
039652,000017: ## Website: www.ibiblio.org/apollo/index.html
039653,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
039654,000019:
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Page 926
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039656,000021: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039657,000022: # MOD NO - 0 LOG SECTION - P51-P53
039658,000023: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039659,000024:
039660,000025: # FUNCTIONAL DESCRIPTION -
039661,000026:
039662,000027: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039663,000028: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039664,000029:
039665,000030: # (A) PREFERRED ORIENTATION
039666,000031:
039667,000032: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039668,000033: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039669,000034:
039670,000035: # (B) NOMINAL ORIENTATION
039671,000036:
039672,000037: # X = UNIT ( R )
039673,000038: # -SM
039674,000039:
039675,000040: # Y = UNIT (V X R)
039676,000041: # SM
039677,000042:
039678,000043: # Z = UNIT (X X Y )
039679,000044: # SM SM SM
039680,000045:
039681,000046: # WHERE_
039682,000047:
039683,000048: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039684,000049: # -
039685,000050:
039686,000051: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039687,000052: # -
039688,000053:
039689,000054: # (C) REFSMMAT ORIENTATION
039690,000055:
039691,000056: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039692,000057:
039693,000058: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039694,000059: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039695,000060: # SINCE THE LAST ALIGNMENT).
039696,000061:
039697,000062: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039698,000063: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039699,000064: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039700,000065: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039701,000066: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039702,000067: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039703,000068: # REQUESTED.
039704,000069:
039705,000070: # CALLING SEQUENCE -
039706,000071:
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Page 927
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039708,000073: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039709,000074:
039710,000075: # SUBROUTINES CALLED -
039711,000076:
039712,000077: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039713,000078: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039714,000079: # 3. GOPERF4 9. FLAGUP
039715,000080: # 4. MATMOVE 10. R56
039716,000081: # 5. GOFLASH 11. R51
039717,000082: # 6. S52.3 12. GOPERF3
039718,000083:
039719,000084: # NORMAL EXIT MODES -
039720,000085:
039721,000086: # EXITS TO ENDOFJOB
039722,000087:
039723,000088: # ALARM OR ABORT EXIT MODES -
039724,000089:
039725,000090: # NONE
039726,000091:
039727,000092: # OUTPUT -
039728,000093:
039729,000094: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039730,000095: # 1. IMU ORIENTATION CODE
039731,000096: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039732,000097: # 3. TIME OF NEXT IGNITION
039733,000098: # 4. GIMBAL ANGLES
039734,000099: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039735,000100: # 6. PLEASE PERFORM P00
039736,000101: # THE MODE DISPLAY MAY BE CHANGED TO 20
039737,000102:
039738,000103: # ERASABLE INITIALIZATION REQUIRED -
039739,000104:
039740,000105: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039741,000106: # XSMD, YSMD, ZSMD.
039742,000107:
039743,000108: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039744,000109:
039745,000110: # DEBRIS -
039746,000111:
039747,000112: # WORK AREA
039748,000113:
039749,000114: 33,3757 BANK 33
039750,000115: 15,2000 SETLOC P50S
039751,000116: 15,2000 BANK
039752,000117:
039753,000118: 15,2050 E5,1755 EBANK= BESTI
039754,000119: 15,2050 COUNT* $$/P52
039755,000120: 15,2050 04616 PROG52 TC BANKCALL
039756,000121: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
039757,000122: 15,2052 34750 CAF PFRATBIT
039758,000123: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039759,000124: 15,2054 10000 CCS A
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Page 928
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039761,000126: 15,2055 02060 TC P52A # YES
039762,000127: 15,2056 34752 CAF BIT2 # NO
039763,000128: 15,2057 02061 TC P52A +1
039764,000129: 15,2060 34753 P52A CAF BIT1
039765,000130: 15,2061 55145 TS OPTION2
039766,000131: 15,2062 34753 P52B CAF BIT1
039767,000132: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039768,000133: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
039769,000134: 15,2065 06001 TC GOTOPOOH
039770,000135: 15,2066 12073 TCF +5 # V33 - PROCEED
039771,000136: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039772,000137: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039773,000138: 15,2071 00014 OCT 00014
039774,000139: 15,2072 05155 TC ENDOFJOB
039775,000140:
039776,000141: 15,2073 31145 CA OPTION2
039777,000142: 15,2074 76245 MASK THREE
039778,000143: 15,2075 50000 INDEX A
039779,000144: 15,2076 02077 TC +1
039780,000145: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039781,000146: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039782,000147: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039783,000148: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
039784,000149: 15,2103 77650 GOTO
039785,000150: 15,2104 32164 P52F # GO DO R51
039786,000151:
039787,000152: 15,2105 00006 OPT4 EXTEND
039788,000153: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039789,000154: 15,2107 12112 TCF P52T +2
039790,000155:
039791,000156: 15,2110 00006 P52T EXTEND
039792,000157: 15,2111 34755 DCA NEG0
039793,000158: 15,2112 53046 DXCH DSPTEM1
039794,000159: 15,2113 32170 CAF V06N34*
039795,000160: 15,2114 04616 TC BANKCALL
039796,000161: 15,2115 20476 CADR GOFLASH
039797,000162: 15,2116 06001 TC GOTOPOOH
039798,000163: 15,2117 02121 TC +2
039799,000164: 15,2120 02113 TC -5
039800,000165: 15,2121 53046 DXCH DSPTEM1
039801,000166: 15,2122 00006 EXTEND
039802,000167: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039803,000168: 15,2124 12127 TCF +3
039804,000169: 15,2125 00006 EXTEND
039805,000170: 15,2126 30025 DCA TIME2
039806,000171: 15,2127 53775 DXCH TALIGN
039807,000172: 15,2130 31145 P52V CA OPTION2
039808,000173: 15,2131 74752 MASK BIT2
039809,000174: 15,2132 10000 CCS A
039810,000175: 15,2133 02137 TC P52W
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Page 929
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039812,000177: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039813,000178: 15,2135 77650 GOTO
039814,000179: 15,2136 32220 P52LS
039815,000180:
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Page 930
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039817,000182: # START ALIGNMENT
039818,000183:
039819,000184: 15,2137 06037 P52W TC INTPRET
039820,000185: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039821,000186: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039822,000187: 15,2142 31650 S52.3 # ORIENTATION
039823,000188: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039824,000189: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
039825,000190: 15,2145 77776 EXIT
039826,000191: 15,2146 35010 CAF V06N22
039827,000192: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039828,000193: 15,2150 20476 CADR GOFLASH
039829,000194: 15,2151 06001 TC GOTOPOOH
039830,000195: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039831,000196: 15,2153 06037 P52H TC INTPRET
039832,000197: 15,2154 77650 GOTO
039833,000198: 15,2155 32143 P52D
039834,000199: 15,2156 06037 REGCOARS TC INTPRET
039835,000200: 15,2157 77624 CALL # DO COARSE ALIGN
039836,000201: 15,2160 31327 CAL53A # ROUTINE
039837,000202: 15,2161 43014 COARSRET SET CLEAR
039838,000203: 15,2162 01462 REFSMFLG
039839,000204: 15,2163 01273 PFRATFLG
039840,000205: 15,2164 77624 P52F CALL
039841,000206: 15,2165 31015 R51
039842,000207: 15,2166 77776 P52OUT EXIT
039843,000208: 15,2167 06001 TC GOTOPOOH
039844,000209: 15,2170 5006 VB05N09 = V05N09
039845,000210: 15,2170 01442 V06N34* VN 634
039846,000211:
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Page 931
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039848,000213: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039849,000214:
039850,000215: 15,2171 32217 COARSTYP CAF OCT13
039851,000216: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039852,000217: 15,2173 20623 CADR GOPERF1
039853,000218: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039854,000219: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039855,000220: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
039856,000221: 15,2177 64375 VLOAD MXV
039857,000222: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039858,000223: 15,2201 01734 REFSMMAT
039859,000224: 15,2202 77656 UNIT
039860,000225: 15,2203 26665 STOVL XDC
039861,000226: 15,2204 03615 YSMD
039862,000227: 15,2205 53521 MXV UNIT
039863,000228: 15,2206 01734 REFSMMAT
039864,000229: 15,2207 26673 STOVL YDC
039865,000230: 15,2210 03623 ZSMD
039866,000231: 15,2211 53521 MXV UNIT
039867,000232: 15,2212 01734 REFSMMAT
039868,000233: 15,2213 36701 STCALL ZDC
039869,000234: 15,2214 31164 GYCOARS
039870,000235: 15,2215 77650 GOTO
039871,000236: 15,2216 32166 P52OUT
039872,000237: 15,2217 00013 OCT13 OCT 13
039873,000238:
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Page 932
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039875,000240: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039876,000241:
039877,000242: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039878,000243: 15,2221 01463 LUNAFLAG
039879,000244: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039880,000245: 15,2223 77201 SETPD VLOAD
039881,000246: 15,2224 00001 0
039882,000247: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039883,000248: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039884,000249: 15,2227 02775 TALIGN
039885,000250: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039886,000251: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039887,000252: 15,2232 77742 VSR2
039888,000253: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039889,000254: 15,2234 02775 TALIGN
039890,000255: 15,2235 77624 CALL
039891,000256: 15,2236 30446 N89DISP
039892,000257: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
039893,000258: 15,2240 02032 ALPHAV
039894,000259: 15,2241 37607 STCALL XSMD
039895,000260: 15,2242 11013 LSORIENT
039896,000261: 15,2243 77650 GOTO
039897,000262: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
039898,000263:
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Page 933
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039900,000265: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039901,000266:
039902,000267: 14,2000 SETLOC P50S1
039903,000268: 14,2000 BANK
039904,000269: 14,2446 E5,1642 EBANK= XSM
039905,000270:
039906,000271: 14,2446 77620 N89DISP STQ
039907,000272: 14,2447 02746 QMAJ
039908,000273: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
039909,000274: 14,2451 26351 LAT-LONG
039910,000275: 14,2452 70545 DLOAD SR1
039911,000276: 14,2453 01123 LONG
039912,000277: 14,2454 16711 STODL LANDLONG
039913,000278: 14,2455 01125 ALT
039914,000279: 14,2456 16713 STODL LANDALT
039915,000280: 14,2457 01121 LAT
039916,000281: 14,2460 16707 STODL LANDLAT
039917,000282: 14,2461 77776 EXIT
039918,000283:
039919,000284: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
039920,000285: 14,2463 04616 TC BANKCALL
039921,000286: 14,2464 20476 CADR GOFLASH
039922,000287: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
039923,000288: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
039924,000289: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
039925,000290:
039926,000291: 14,2470 06037 TC INTPRET
039927,000292: 14,2471 72545 DLOAD SL1
039928,000293: 14,2472 02711 LANDLONG
039929,000294: 14,2473 15123 STODL LONG
039930,000295: 14,2474 02713 LANDALT
039931,000296: 14,2475 15125 STODL ALT
039932,000297: 14,2476 02707 LANDLAT
039933,000298: 14,2477 15121 STODL LAT
039934,000299: 14,2500 01243 GDT/2 +4 # PICK UP TIME
039935,000300: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
039936,000301: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
039937,000302: 14,2503 77650 GOTO
039938,000303: 14,2504 02746 QMAJ
039939,000304: 14,2505 01531 V06N89* VN 689
039940,000305:
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Page 934
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039942,000307: # NAME - S50 ALIAS LOCSAM
039943,000308: # BY
039944,000309: # VINCENT
039945,000310:
039946,000311: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
039947,000312:
039948,000313: # DEFINE
039949,000314:
039950,000315: # U = UNIT( SUN WRT EARTH )
039951,000316: # ES
039952,000317:
039953,000318: # U = UNIT( MOON WRT EARTH )
039954,000319: # EM
039955,000320:
039956,000321: # R = POSITION VECTOR OF LEM
039957,000322: # L
039958,000323:
039959,000324: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039960,000325: # EM
039961,000326:
039962,000327: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
039963,000328: # EM
039964,000329:
039965,000330: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
039966,000331: # E
039967,000332:
039968,000333: # LOCSAM COMPUTES IN EARTH INFLUENCE
039969,000334:
039970,000335: # VSUN = U
039971,000336: # ES
039972,000337:
039973,000338: # VEARTH = -UNIT( R )
039974,000339: # L
039975,000340:
039976,000341: # VMOON = UNIT(R .U - R )
039977,000342: # EM EM L
039978,000343:
039979,000344: # CSUN = COS 90
039980,000345:
039981,000346: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039982,000347: # E L
039983,000348:
039984,000349: # CMOON = COS 5
039985,000350:
039986,000351: # INPUT - TIME IN MPAC
039987,000352:
039988,000353: # OUTPUT - LISTED ABOVE
039989,000354:
039990,000355: # SUBROUTINES - LSPOS, LEMPREC
039991,000356:
039992,000357: # DEBRIS - VAC AREA, TSIGHT
039993,000358:
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Page 935
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039995,000360: 14,2506 COUNT* $$/LOSAM
039996,000361:
039997,000362: 14,2506 14,2506 S50 = LOCSAM
039998,000363: 14,2506 77620 LOCSAM STQ
039999,000364: 14,2507 02745 QMIN
040000,000365: 14,2510 37562 STCALL TSIGHT
040001,000366: 14,2511 33664 LSPOS
040002,000367: 14,2512 77745 DLOAD
040003,000368: 14,2513 03562 TSIGHT
040004,000369: 14,2514 34041 STCALL TDEC1
040005,000370: 14,2515 27057 LEMPREC
040006,000371: 14,2516 61131 SSP TIX,2
040007,000372: 14,2517 00052 S2
040008,000373: 14,2520 00000 0
040009,000374: 14,2521 30543 MOONCNTR
040010,000375: 14,2522 74375 EARTCNTR VLOAD VXSC
040011,000376: 14,2523 02723 VMOON
040012,000377: 14,2524 30001 RSUBEM
040013,000378: 14,2525 52372 VSL1 VSU
040014,000379: 14,2526 00001 RATT
040015,000380: 14,2527 77656 UNIT
040016,000381: 14,2530 26723 STOVL VMOON
040017,000382: 14,2531 00001 RATT
040018,000383: 14,2532 57456 UNIT VCOMP
040019,000384: 14,2533 16707 STODL VEARTH
040020,000385: 14,2534 30005 RSUBE
040021,000386: 14,2535 77624 CALL
040022,000387: 14,2536 30575 OCCOS
040023,000388: 14,2537 14017 STODL CEARTH
040024,000389: 14,2540 30604 CSS5
040025,000390: 14,2541 34023 STCALL CMOON
040026,000391: 14,2542 30570 ENDSAM
040027,000392: 14,2543 74375 MOONCNTR VLOAD VXSC
040028,000393: 14,2544 02723 VMOON
040029,000394: 14,2545 30007 ROE
040030,000395: 14,2546 53445 BVSU UNIT
040031,000396: 14,2547 02715 VSUN
040032,000397: 14,2550 26715 STOVL VSUN
040033,000398: 14,2551 02723 VMOON
040034,000399: 14,2552 53361 VXSC VAD
040035,000400: 14,2553 30001 RSUBEM
040036,000401: 14,2554 00001 RATT
040037,000402: 14,2555 57456 UNIT VCOMP
040038,000403: 14,2556 26707 STOVL VEARTH
040039,000404: 14,2557 00001 RATT
040040,000405: 14,2560 57456 UNIT VCOMP
040041,000406: 14,2561 16723 STODL VMOON
040042,000407: 14,2562 30003 RSUBM
040043,000408: 14,2563 77624 CALL
040044,000409: 14,2564 30575 OCCOS
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Page 936
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040046,000411: 14,2565 14023 STODL CMOON
040047,000412: 14,2566 30604 CSS5
040048,000413: 14,2567 00017 STORE CEARTH
040049,000414: 14,2570 77745 ENDSAM DLOAD
040050,000415: 14,2571 30606 CSSUN
040051,000416: 14,2572 00021 STORE CSUN
040052,000417: 14,2573 77650 GOTO
040053,000418: 14,2574 02745 QMIN
040054,000419: 14,2575 70471 OCCOS DDV SR1
040055,000420: 14,2576 00045 36D
040056,000421: 14,2577 43336 ASIN DAD
040057,000422: 14,2600 30610 5DEGREES
040058,000423: 14,2601 70546 COS SR1
040059,000424: 14,2602 77616 RVQ
040060,000425: 14,2603 CEARTH = 14D
040061,000426: 14,2603 CSUN = 16D
040062,000427: 14,2603 CMOON = 18D
040063,000428: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040064,000429: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040065,000430: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040066,000431:
|
|
Page 937
|
040068,000433: # PROGRAM NAME - R56 DATE DEC 20 66
040069,000434: # MOD 1 LOG SECTION P51-P53
040070,000435: # ASSEMBLY SUNDISK REV40
040071,000436: # BY KEN VINCENT
040072,000437:
040073,000438: # FUNCTION
040074,000439: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040075,000440: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040076,000441: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040077,000442: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040078,000443: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040079,000444: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040080,000445: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040081,000446: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040082,000447: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040083,000448: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040084,000449: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040085,000450: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040086,000451:
040087,000452: # CALLING SEQUENCE
040088,000453: # L TC BANKCALL
040089,000454: # L+1 CADR R56
040090,000455: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040091,000456: # L+3 NORMAL RETURN
040092,000457:
040093,000458: # OUTPUT
040094,000459: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040095,000460: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040096,000461:
040097,000462: # INITIALIZATION
040098,000463: # 1) A CALL TO LOCSAM MUST BE MADE
040099,000464:
040100,000465: # DEBRIS
040101,000466: # WORKAREA
040102,000467: # X,Y,ZNB
040103,000468: # SINCDU, COSCDU
040104,000469: # STARAD - STAR +5
040105,000470:
040106,000471: 14,2611 14,2611 R56 = PICAPAR
040107,000472: 14,2611 COUNT* $$/R56
040108,000473: 14,2611 04645 PICAPAR TC MAKECADR
040109,000474: 14,2612 55745 TS QMIN
040110,000475: 14,2613 06037 TC INTPRET
040111,000476: 14,2614 77624 CALL
040112,000477: 14,2615 47537 CDUTRIG
040113,000478: 14,2616 77624 CALL
040114,000479: 14,2617 20030 CALCSMSC
040115,000480: 14,2620 77601 SETPD
040116,000481: 14,2621 00001 0
040117,000482: 14,2622 71214 SET DLOAD # VFLAG = 1
040118,000483: 14,2623 01465 VFLAG
|
|
Page 938
|
040120,000485: 14,2624 24007 DPZERO
040121,000486: 14,2625 26756 STOVL BESTI
040122,000487: 14,2626 02665 XNB
040123,000488: 14,2627 63361 VXSC PDVL
040124,000489: 14,2630 24005 HALFDP
040125,000490: 14,2631 02701 ZNB
040126,000491: 14,2632 74370 AXT,1 VXSC
040127,000492: 14,2633 00344 228D # X1 = 37 X 6 + 6
040128,000493: 14,2634 24005 HALFDP
040129,000494: 14,2635 77655 VAD
040130,000495: 14,2636 53505 VXM UNIT
040131,000496: 14,2637 01734 REFSMMAT
040132,000497: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
040133,000498: 14,2641 66331 SSP SSP # S1 = S2 = 6
040134,000499: 14,2642 00051 S1
040135,000500: 14,2643 00006 6
040136,000501: 14,2644 00052 S2
040137,000502: 14,2645 00006 6
040138,000503: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040139,000504: 14,2647 30651 PIC2
040140,000505: 14,2650 30766 PICEND
040141,000506: 14,2651 50373 PIC2 VLOAD* DOT
040142,000507: 14,2652 30347 CATLOG,1
040143,000508: 14,2653 02731 SAX
040144,000509: 14,2654 50025 DSU BMN
040145,000510: 14,2655 30765 CSS33
040146,000511: 14,2656 30646 PIC1
040147,000512: 14,2657 77754 LXA,2
040148,000513: 14,2660 00046 X1
040149,000514: 14,2661 52104 PIC3 TIX,2 GOTO
040150,000515: 14,2662 30664 PIC4
040151,000516: 14,2663 30646 PIC1
040152,000517: 14,2664 50373 PIC4 VLOAD* DOT
040153,000518: 14,2665 47430 CATLOG,2
040154,000519: 14,2666 02731 SAX
040155,000520: 14,2667 50025 DSU BMN
040156,000521: 14,2670 30765 CSS33
040157,000522: 14,2671 30661 PIC3
040158,000523: 14,2672 47773 VLOAD* DOT*
040159,000524: 14,2673 30347 CATLOG,1
040160,000525: 14,2674 47430 CATLOG,2
040161,000526: 14,2675 51025 DSU BPL
040162,000527: 14,2676 30763 CSS40
040163,000528: 14,2677 30661 PIC3
040164,000529: 14,2700 45173 VLOAD* CALL
040165,000530: 14,2701 30347 CATLOG,1
040166,000531: 14,2702 30740 OCCULT
040167,000532: 14,2703 77614 BON
040168,000533: 14,2704 01710 CULTFLAG
040169,000534: 14,2705 30646 PIC1
|
|
Page 939
|
040171,000536: 14,2706 45173 VLOAD* CALL
040172,000537: 14,2707 47430 CATLOG,2
040173,000538: 14,2710 30740 OCCULT
040174,000539: 14,2711 77614 BON
040175,000540: 14,2712 01710 CULTFLAG
040176,000541: 14,2713 30661 PIC3
040177,000542: 14,2714 77614 STRATGY BONCLR
040178,000543: 14,2715 01605 VFLAG
040179,000544: 14,2716 30733 NEWPAR
040180,000545: 14,2717 65120 XCHX,1 XCHX,2
040181,000546: 14,2720 02755 BESTI
040182,000547: 14,2721 02756 BESTJ
040183,000548: 14,2722 47773 STRAT VLOAD* DOT*
040184,000549: 14,2723 30347 CATLOG,1
040185,000550: 14,2724 47430 CATLOG,2
040186,000551: 14,2725 43006 PUSH BOFINV
040187,000552: 14,2726 01545 VFLAG
040188,000553: 14,2727 30717 STRAT -3
040189,000554: 14,2730 45345 DLOAD DSU
040190,000555: 14,2731 77644 BPL
040191,000556: 14,2732 30661 PIC3
040192,000557: 14,2733 67130 NEWPAR SXA,1 SXA,2
040193,000558: 14,2734 02755 BESTI
040194,000559: 14,2735 02756 BESTJ
040195,000560: 14,2736 77650 GOTO
040196,000561: 14,2737 30661 PIC3
040197,000562: 14,2740 51321 OCCULT MXV BVSU
040198,000563: 14,2741 02707 CULTRIX
040199,000564: 14,2742 00017 CSS
040200,000565: 14,2743 77654 BZE
040201,000566: 14,2744 30757 CULTED
040202,000567: 14,2745 75240 BMN SIGN
040203,000568: 14,2746 30757 CULTED
040204,000569: 14,2747 00160 MPAC +3
040205,000570: 14,2750 75240 BMN SIGN
040206,000571: 14,2751 30757 CULTED
040207,000572: 14,2752 00162 MPAC +5
040208,000573: 14,2753 43040 BMN CLRGO
040209,000574: 14,2754 30757 CULTED
040210,000575: 14,2755 01630 CULTFLAG
040211,000576: 14,2756 00052 QPRET
040212,000577: 14,2757 77614 CULTED SETGO
040213,000578: 14,2760 01430 CULTFLAG
040214,000579: 14,2761 00052 QPRET
040215,000580: 14,2762 0000016 CSS = CEARTH
040216,000581: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040217,000582: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040218,000583: 14,2766 77414 PICEND BOFF EXIT
040219,000584:
|
|
Page 940
|
040221,000586: 14,2767 01745 VFLAG
040222,000587: 14,2770 30772 PICGXT
040223,000588: 14,2771 03013 TC PICBXT
040224,000589: 14,2772 73150 PICGXT LXA,1 LXA,2
040225,000590: 14,2773 02755 BESTI
040226,000591: 14,2774 02756 BESTJ
040227,000592: 14,2775 47775 VLOAD DOT*
040228,000593: 14,2776 02731 SAX
040229,000594: 14,2777 30347 CATLOG,1
040230,000595: 14,3000 47715 PDVL DOT*
040231,000596: 14,3001 02731 SAX
040232,000597: 14,3002 47430 CATLOG,2
040233,000598: 14,3003 77625 DSU
040234,000599: 14,3004 66044 BPL SXA,1
040235,000600: 14,3005 31011 PICNSWP
040236,000601: 14,3006 02756 BESTJ
040237,000602: 14,3007 77734 SXA,2
040238,000603: 14,3010 02755 BESTI
040239,000604: 14,3011 77776 PICNSWP EXIT
040240,000605: 14,3012 25745 INCR QMIN
040241,000606: 14,3013 31745 PICBXT CA QMIN
040242,000607: 14,3014 04622 TC SWCALL
040243,000608: 14,3015 VPD = 0D
040244,000609: 14,3015 V0 = 6D
040245,000610: 14,3015 V1 = 12D
040246,000611: 14,3015 V2 = 18D
040247,000612: 14,3015 V3 = 24D
040248,000613: 14,3015 DP0 = 30D
040249,000614: 14,3015 DP1 = 32D
040250,000615:
|
|
Page 941
|
040252,000617: # NAME - R51 FINE ALIGN
040253,000618: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040254,000619: # CALLING SEQ - CALL R51
040255,000620: # INPUT - REFSMMAT
040256,000621: # OUTPUT - GYRO TORQUE PULSES
040257,000622: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040258,000623:
040259,000624: 14,3015 COUNT* $$/R51
040260,000625: 14,3015 77620 R51 STQ
040261,000626: 14,3016 02746 QMAJ
040262,000627: 14,3017 77776 R51.1 EXIT
040263,000628: 14,3020 05353 TC PHASCHNG
040264,000629: 14,3021 04024 OCT 04024
040265,000630:
040266,000631: 14,3022 34761 R51C CAF OCT15
040267,000632: 14,3023 04616 TC BANKCALL
040268,000633: 14,3024 20623 CADR GOPERF1
040269,000634: 14,3025 06001 TC GOTOPOOH
040270,000635: 14,3026 03030 TC +2 # V33E
040271,000636: 14,3027 03053 TC R51E # ENTER
040272,000637: 14,3030 06037 TC INTPRET
040273,000638: 14,3031 43234 RTB DAD
040274,000639: 14,3032 21573 LOADTIME
040275,000640: 14,3033 31163 TSIGHT1
040276,000641: 14,3034 77624 CALL
040277,000642: 14,3035 30506 LOCSAM
040278,000643: 14,3036 77776 EXIT
040279,000644: 14,3037 04616 TC BANKCALL
040280,000645: 14,3040 30611 CADR R56
040281,000646: 14,3041 03043 TC R51I
040282,000647: 14,3042 03053 R51F TC R51E
040283,000648: 14,3043 05567 R51I TC ALARM
040284,000649: 14,3044 00405 OCT 405
040285,000650: 14,3045 35006 CAF VB05N09
040286,000651: 14,3046 04616 TC BANKCALL
040287,000652: 14,3047 20476 CADR GOFLASH
040288,000653: 14,3050 06001 TC GOTOPOOH
040289,000654: 14,3051 03053 TC R51E
040290,000655: 14,3052 03022 TC R51C
040291,000656: 14,3053 34755 R51E CAF ZERO
040292,000657: 14,3054 55757 TS STARIND
040293,000658: 14,3055 06037 R51.2 TC INTPRET
040294,000659: 14,3056 77776 R51.3 EXIT
040295,000660: 14,3057 05353 TC PHASCHNG
040296,000661: 14,3060 04024 OCT 04024
040297,000662:
040298,000663: 14,3061 06037 TC INTPRET
040299,000664: 14,3062 77624 CALL
040300,000665: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
040301,000666: 14,3064 77776 EXIT
040302,000667: 14,3065 04616 TC BANKCALL
|
|
Page 942
|
040304,000669: 14,3066 16000 CADR AOTMARK
040305,000670: 14,3067 04616 TC BANKCALL
040306,000671: 14,3070 17712 CADR OPTSTALL
040307,000672: 14,3071 05711 TC CURTAINS
040308,000673: 14,3072 11757 CCS STARIND
040309,000674: 14,3073 13075 TCF +2
040310,000675: 14,3074 03145 TC R51.4
040311,000676: 14,3075 06037 TC INTPRET
040312,000677: 14,3076 77775 VLOAD
040313,000678: 14,3077 02715 STARAD +6
040314,000679: 14,3100 02767 STORE STARSAV2
040315,000680: 14,3101 77776 EXIT
040316,000681: 14,3102 05353 TC PHASCHNG
040317,000682: 14,3103 04024 OCT 04024
040318,000683:
040319,000684: 14,3104 06037 TC INTPRET
040320,000685: 14,3105 45145 DLOAD CALL
040321,000686: 14,3106 03562 TSIGHT
040322,000687: 14,3107 32472 PLANET
040323,000688: 14,3110 53521 MXV UNIT
040324,000689: 14,3111 01734 REFSMMAT
040325,000690: 14,3112 26715 STOVL STARAD +6
040326,000691: 14,3113 03554 PLANVEC
040327,000692: 14,3114 53521 MXV UNIT
040328,000693: 14,3115 01734 REFSMMAT
040329,000694: 14,3116 26707 STOVL STARAD
040330,000695: 14,3117 02761 STARSAV1
040331,000696: 14,3120 24007 STOVL 6D
040332,000697: 14,3121 02767 STARSAV2
040333,000698: 14,3122 34015 STCALL 12D
040334,000699: 14,3123 31256 R54 # STAR DATA TEST
040335,000700: 14,3124 45014 BOFF CALL
040336,000701: 14,3125 00354 FREEFLAG
040337,000702: 14,3126 31134 R51K
040338,000703: 14,3127 47441 AXISGEN
040339,000704: 14,3130 77624 CALL
040340,000705: 14,3131 31224 R55 # GYRO TORQUE
040341,000706: 14,3132 77614 CLEAR
040342,000707: 14,3133 01273 PFRATFLG
040343,000708: 14,3134 77776 R51K EXIT
040344,000709: 14,3135 35751 R51P63 CAF OCT14
040345,000710: 14,3136 04616 TC BANKCALL
040346,000711: 14,3137 20623 CADR GOPERF1
040347,000712: 14,3140 06001 TC GOTOPOOH
040348,000713: 14,3141 03022 TC R51C
040349,000714: 14,3142 06037 TC INTPRET
040350,000715: 14,3143 77650 GOTO
040351,000716: 14,3144 02746 QMAJ
040352,000717: 14,3145 06037 R51.4 TC INTPRET
040353,000718: 14,3146 77775 VLOAD
|
|
Page 943
|
040355,000720: 14,3147 02715 STARAD +6
040356,000721: 14,3150 02761 STORE STARSAV1
040357,000722: 14,3151 45145 DLOAD CALL
040358,000723: 14,3152 03562 TSIGHT
040359,000724: 14,3153 32472 PLANET
040360,000725: 14,3154 03554 STORE PLANVEC
040361,000726: 14,3155 77731 SSP
040362,000727: 14,3156 02760 STARIND
040363,000728: 14,3157 00001 1
040364,000729: 14,3160 77650 GOTO
040365,000730: 14,3161 31056 R51.3
040366,000731: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040367,000732:
|
|
Page 944
|
040369,000734: # GYRO TORQUE COARSE ALIGNMENT
040370,000735:
040371,000736: 14,3164 45020 GYCOARS STQ CALL
040372,000737: 14,3165 02746 QMAJ
040373,000738: 14,3166 47247 CALCGTA
040374,000739: 14,3167 43014 CLEAR CLEAR
040375,000740: 14,3170 01260 DRIFTFLG
040376,000741: 14,3171 01662 REFSMFLG
040377,000742: 14,3172 77776 EXIT
040378,000743: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
040379,000744: 14,3174 04616 TC BANKCALL
040380,000745: 14,3175 20451 CADR GODSPR
040381,000746: 14,3176 33255 CA R55CDR
040382,000747: 14,3177 04616 TC BANKCALL
040383,000748: 14,3200 17323 CADR IMUPULSE
040384,000749: 14,3201 04616 TC BANKCALL
040385,000750: 14,3202 17716 CADR IMUSTALL
040386,000751: 14,3203 05711 TC CURTAINS
040387,000752: 14,3204 05353 TC PHASCHNG
040388,000753: 14,3205 04024 OCT 04024
040389,000754:
040390,000755: 14,3206 06037 TC INTPRET
040391,000756: 14,3207 75160 AXC,1 AXC,2
040392,000757: 14,3210 03606 XSMD
040393,000758: 14,3211 01733 REFSMMAT
040394,000759: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
040395,000760: 14,3213 31377 MATMOVE
040396,000761: 14,3214 43014 CLEAR SET
040397,000762: 14,3215 01273 PFRATFLG
040398,000763: 14,3216 01462 REFSMFLG
040399,000764: 14,3217 77624 CALL
040400,000765: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040401,000766: 14,3221 77650 GOTO
040402,000767: 14,3222 31134 R51K
040403,000768: 14,3223 04024 V16N20 VN 1620
040404,000769:
|
|
Page 945
|
040406,000771: # R55 GYRO TORQUE
040407,000772: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040408,000773: # CALLING SEQ - CALL R55
040409,000774: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040410,000775: # OUTPUT - GYRO PULSES
040411,000776: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040412,000777:
040413,000778: 14,3224 COUNT* $$/R55
040414,000779: 14,3224 77620 R55 STQ
040415,000780: 14,3225 02745 QMIN
040416,000781: 14,3226 77624 CALL
040417,000782: 14,3227 47247 CALCGTA
040418,000783: 14,3230 77776 PULSEM EXIT
040419,000784: 14,3231 33254 R55.1 CAF V06N93
040420,000785: 14,3232 04616 TC BANKCALL
040421,000786: 14,3233 20476 CADR GOFLASH
040422,000787: 14,3234 06001 TC GOTOPOOH
040423,000788: 14,3235 03237 TC R55.2
040424,000789: 14,3236 03251 TC R55RET
040425,000790: 14,3237 05353 R55.2 TC PHASCHNG
040426,000791: 14,3240 00214 OCT 00214
040427,000792: 14,3241 33255 CA R55CDR
040428,000793: 14,3242 04616 TC BANKCALL
040429,000794: 14,3243 17323 CADR IMUPULSE
040430,000795: 14,3244 04616 TC BANKCALL
040431,000796: 14,3245 17716 CADR IMUSTALL
040432,000797: 14,3246 05711 TC CURTAINS
040433,000798: 14,3247 05353 TC PHASCHNG
040434,000799: 14,3250 04024 OCT 04024
040435,000800:
040436,000801: 14,3251 06037 R55RET TC INTPRET
040437,000802: 14,3252 77650 GOTO
040438,000803: 14,3253 02745 QMIN
040439,000804: 14,3254 01535 V06N93 VN 0693
040440,000805: 14,3255 02737 R55CDR ECADR OGC
040441,000806: 14,3256 14,3256 R54 = CHKSDATA
040442,000807:
040443,000808: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040444,000809: # MOD NO - 0 LOG SECTION - P51-P53
040445,000810: # MODIFICATION BY - LONSKE ASSEMBLY -
040446,000811:
040447,000812: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040448,000813: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040449,000814: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040450,000815: # OS1 = OBSERVED STAR 1 VECTOR
040451,000816: # OS2 = OBSERVED STAR 2 VECTOR
040452,000817: # SS1 = STORED STAR 1 VECTOR
040453,000818: # SS2 = STORED STAR 2 VECTOR
040454,000819: # A1 = ARCCOS(OS1 - OS2)
040455,000820: # A2 = ARCCOS(SS1 - SS2)
040456,000821: # A = ABS(2(A1 - A2))
|
|
Page 946
|
040458,000823: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040459,000824:
040460,000825: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040461,000826: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040462,000827:
040463,000828: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040464,000829: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040465,000830:
040466,000831: # ERASABLE INITIALIZATION REQUIRED -
040467,000832: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040468,000833: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040469,000834:
040470,000835: # DEBRIS -
040471,000836:
040472,000837: 14,3256 COUNT* $$/R54
040473,000838: 14,3256 43020 CHKSDATA STQ SET
040474,000839: 14,3257 02745 QMIN
040475,000840: 14,3260 00074 FREEFLAG
040476,000841: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040477,000842: 14,3262 02706 STARAD
040478,000843:
040479,000844: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040480,000845: 14,3264 00001 0,1
040481,000846: 14,3265 00007 6,1
040482,000847: 14,3266 65552 SL1 ACOS
040483,000848: 14,3267 00025 STORE THETA
040484,000849: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040485,000850: 14,3271 00354 FREEFLAG
040486,000851: 14,3272 31302 CHKSD
040487,000852: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
040488,000853: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040489,000854: 14,3275 00006 6D
040490,000855: 14,3276 00025 THETA
040491,000856: 14,3277 00023 STORE 18D
040492,000857: 14,3300 77650 GOTO
040493,000858: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
040494,000859: 14,3302 45345 CHKSD DLOAD DSU
040495,000860: 14,3303 00025 THETA
040496,000861: 14,3304 00023 18D
040497,000862: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
040498,000863: 14,3306 21612 SGNAGREE
040499,000864: 14,3307 01046 STORE NORMTEM1
040500,000865: 14,3310 77414 SET EXIT
040501,000866: 14,3311 00074 FREEFLAG
040502,000867: 14,3312 33326 CAF VB6N5
040503,000868: 14,3313 04616 TC BANKCALL
040504,000869: 14,3314 20476 CADR GOFLASH
040505,000870: 14,3315 16001 TCF GOTOPOOH
040506,000871: 14,3316 03323 TC CHKSDA # PROCEED
040507,000872: 14,3317 06037 TC INTPRET
040508,000873: 14,3320 52014 CLEAR GOTO
040509,000874: 14,3321 00274 FREEFLAG
040510,000875: 14,3322 02745 QMIN
040511,000876: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947
|
040513,000878: 14,3324 77650 GOTO
040514,000879: 14,3325 02745 QMIN
040515,000880: 14,3326 01405 VB6N5 VN 605
040516,000881:
040517,000882: # NAME - CAL53A
040518,000883: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040519,000884: # CALLING SEQUENCE - CALL CAL53A
040520,000885: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040521,000886: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040522,000887: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040523,000888: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040524,000889:
040525,000890: 14,3327 COUNT* $$/R50
040526,000891: 14,3327 77624 CAL53A CALL
040527,000892: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040528,000893: 14,3331 66234 RTB SSP
040529,000894: 14,3332 31413 RDCDUS # READ CDUS
040530,000895: 14,3333 00051 S1
040531,000896: 14,3334 00001 1
040532,000897: 14,3335 40370 AXT,1 SETPD
040533,000898: 14,3336 00003 3
040534,000899: 14,3337 00005 4
040535,000900: 14,3340 70543 CALOOP DLOAD* SR1
040536,000901: 14,3341 00325 THETAD +3D,1
040537,000902: 14,3342 70523 PDDL* SR1
040538,000903: 14,3343 00005 4,1
040539,000904: 14,3344 51425 DSU ABS
040540,000905: 14,3345 45206 PUSH DSU
040541,000906: 14,3346 31412 DEGREE1
040542,000907: 14,3347 71240 BMN DLOAD
040543,000908: 14,3350 31366 CALOOP1
040544,000909: 14,3351 51025 DSU BPL
040545,000910: 14,3352 31413 DEG359
040546,000911: 14,3353 31366 CALOOP1
040547,000912: 14,3354 77776 EXIT
040548,000913: 14,3355 05353 TC PHASCHNG
040549,000914: 14,3356 04024 OCT 04024
040550,000915:
040551,000916: 14,3357 06037 TC INTPRET
040552,000917: 14,3360 77624 COARFINE CALL
040553,000918: 14,3361 31565 COARSE
040554,000919: 14,3362 77624 CALL
040555,000920: 14,3363 31602 NCOARSE
040556,000921: 14,3364 77650 GOTO
040557,000922: 14,3365 31370 FINEONLY
040558,000923: 14,3366 77700 CALOOP1 TIX,1
040559,000924: 14,3367 31340 CALOOP
040560,000925: 14,3370 75160 FINEONLY AXC,1 AXC,2
040561,000926: 14,3371 02642 XSM
040562,000927: 14,3372 01733 REFSMMAT
040563,000928: 14,3373 77624 CALL
040564,000929: 14,3374 31377 MATMOVE
|
|
Page 948
|
040566,000931: 14,3375 77650 GOTO
040567,000932: 14,3376 32161 COARSRET
040568,000933: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040569,000934: 14,3400 00001 0,1
040570,000935: 14,3401 10001 STORE 0,2
040571,000936: 14,3402 77773 VLOAD*
040572,000937: 14,3403 00007 6D,1
040573,000938: 14,3404 10007 STORE 6D,2
040574,000939: 14,3405 77773 VLOAD*
040575,000940: 14,3406 00015 12D,1
040576,000941: 14,3407 10015 STORE 12D,2
040577,000942: 14,3410 77616 RVQ
040578,000943: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040579,000944: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040580,000945: 14,3413 00004 RDCDUS INHINT # READ CDUS
040581,000946: 14,3414 30032 CA CDUX
040582,000947: 14,3415 50120 INDEX FIXLOC
040583,000948: 14,3416 54001 TS 1
040584,000949: 14,3417 30033 CA CDUY
040585,000950: 14,3420 50120 INDEX FIXLOC
040586,000951: 14,3421 54002 TS 2
040587,000952: 14,3422 30034 CA CDUZ
040588,000953: 14,3423 50120 INDEX FIXLOC
040589,000954: 14,3424 54003 TS 3
040590,000955: 14,3425 00003 RELINT
040591,000956: 14,3426 06061 TC DANZIG # +
040592,000957: 14,3427 COUNT* $$/INFLT
040593,000958:
|
|
Page 949
|
040595,000960: # NAME - P51 - IMU ORIENTATION DETERMINATION
040596,000961: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040597,000962: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040598,000963:
040599,000964: # FUNCTIONAL DESCRIPTION
040600,000965: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040601,000966: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040602,000967: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040603,000968: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040604,000969:
040605,000970: # CALLING SEQUENCE
040606,000971: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040607,000972:
040608,000973: # SUBROUTINES CALLED.
040609,000974: # GOPERF3
040610,000975: # GOPERF1
040611,000976: # GODSPR
040612,000977: # IMUCOARS
040613,000978: # IMUFIN20
040614,000979: # AOTMARK (R53)
040615,000980: # CHKSDATA (R54)
040616,000981: # MKRELEAS
040617,000982: # AXISGEN
040618,000983: # MATMOVE
040619,000984:
040620,000985: # ALARMS
040621,000986: # NONE.
040622,000987:
040623,000988: # ERASABLE INITIALIZATION
040624,000989: # IMU ZERO FLAG SHOULD BE SET.
040625,000990:
040626,000991: # OUTPUT
040627,000992: # REFSMMAT
040628,000993: # REFSMFLG
040629,000994:
040630,000995: # DEBRIS
040631,000996: # WORK AREA
040632,000997: # STARAD
040633,000998: # STARIND
040634,000999: # BESTI
040635,001000: # BESTJ
040636,001001:
040637,001002: 14,3427 COUNT* $$/P51
|
|
Page 950
|
040639,001004: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040640,001005: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040641,001006:
040642,001007: 14,3431 34761 CAF OCT15
040643,001008: 14,3432 04616 TC BANKCALL
040644,001009: 14,3433 20623 CADR GOPERF1
040645,001010: 14,3434 06001 TC GOTOPOOH # TERM.
040646,001011: 14,3435 13461 TCF P51B # V33
040647,001012: 14,3436 05353 TC PHASCHNG
040648,001013: 14,3437 04024 OCT 04024
040649,001014:
040650,001015: 14,3440 34755 CAF ZERO
040651,001016: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
040652,001017: 14,3442 54322 TS THETAD +1
040653,001018: 14,3443 54323 TS THETAD +2
040654,001019: 14,3444 35010 CAF V06N22
040655,001020: 14,3445 04616 TC BANKCALL
040656,001021: 14,3446 20446 CADR GODSPRET
040657,001022: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040658,001023: 14,3450 04616 TC BANKCALL
040659,001024: 14,3451 20446 CADR GODSPRET
040660,001025: 14,3452 06037 TC INTPRET
040661,001026: 14,3453 77624 CALL
040662,001027: 14,3454 31565 COARSE
040663,001028: 14,3455 77776 EXIT
040664,001029: 14,3456 05353 TC PHASCHNG
040665,001030: 14,3457 04024 OCT 04024
040666,001031: 14,3460 13431 TCF P51 +2
040667,001032:
040668,001033: 14,3461 05353 P51B TC PHASCHNG
040669,001034: 14,3462 00014 OCT 00014
040670,001035: 14,3463 06037 TC INTPRET
040671,001036: 14,3464 77624 CALL
040672,001037: 14,3465 31602 NCOARSE
040673,001038: 14,3466 40331 SSP SETPD
040674,001039: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
040675,001040: 14,3470 00000 0
040676,001041: 14,3471 00001 0
040677,001042: 14,3472 77776 P51C EXIT
040678,001043: 14,3473 05353 TC PHASCHNG
040679,001044: 14,3474 04024 OCT 04024
040680,001045:
040681,001046: 14,3475 04616 TC BANKCALL
040682,001047: 14,3476 16000 CADR AOTMARK # R53
040683,001048: 14,3477 04616 TC BANKCALL
040684,001049: 14,3500 17712 CADR AOTSTALL
040685,001050: 14,3501 05711 TC CURTAINS
040686,001051: 14,3502 11757 CCS STARIND
040687,001052: 14,3503 13511 TCF P51D +1
040688,001053: 14,3504 06037 TC INTPRET
|
|
Page 951
|
040690,001055: 14,3505 77775 VLOAD
040691,001056: 14,3506 02715 STARAD +6
040692,001057: 14,3507 02761 STORE STARSAV1
040693,001058: 14,3510 77776 P51D EXIT
040694,001059: 14,3511 05353 TC PHASCHNG
040695,001060: 14,3512 04024 OCT 04024
040696,001061:
040697,001062: 14,3513 11757 CCS STARIND
040698,001063: 14,3514 13530 TCF P51E
040699,001064: 14,3515 05353 TC PHASCHNG
040700,001065: 14,3516 04024 OCT 04024
040701,001066:
040702,001067: 14,3517 06037 TC INTPRET
040703,001068: 14,3520 45145 DLOAD CALL
040704,001069: 14,3521 03562 TSIGHT
040705,001070: 14,3522 32472 PLANET
040706,001071: 14,3523 03554 STORE PLANVEC
040707,001072: 14,3524 77776 EXIT
040708,001073: 14,3525 34753 CAF BIT1
040709,001074: 14,3526 55757 TS STARIND
040710,001075: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
040711,001076: 14,3530 05353 P51E TC PHASCHNG
040712,001077: 14,3531 04024 OCT 04024
040713,001078:
040714,001079: 14,3532 06037 TC INTPRET
040715,001080: 14,3533 45145 DLOAD CALL
040716,001081: 14,3534 03562 TSIGHT
040717,001082: 14,3535 32472 PLANET
040718,001083: 14,3536 24015 STOVL 12D
040719,001084: 14,3537 03554 PLANVEC
040720,001085: 14,3540 24007 STOVL 6D
040721,001086: 14,3541 02761 STARSAV1
040722,001087: 14,3542 26707 STOVL STARAD
040723,001088: 14,3543 02767 STARSAV2
040724,001089: 14,3544 36715 STCALL STARAD +6
040725,001090: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040726,001091: 14,3546 77414 BON EXIT
040727,001092: 14,3547 00314 FREEFLAG
040728,001093: 14,3550 31552 P51G
040729,001094: 14,3551 03431 TC P51 +2
040730,001095: 14,3552 77624 P51G CALL
040731,001096: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040732,001097: 14,3554 75160 AXC,1 AXC,2
040733,001098: 14,3555 02664 XDC
040734,001099: 14,3556 01733 REFSMMAT
040735,001100: 14,3557 77624 CALL
040736,001101: 14,3560 31377 MATMOVE
040737,001102: 14,3561 77414 SET EXIT
040738,001103: 14,3562 01462 REFSMFLG
040739,001104: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952
|
040741,001106: 14,3564 12200 V41K VN 4100
040742,001107: 14,3565 77776 COARSE EXIT
040743,001108: 14,3566 04616 TC BANKCALL
040744,001109: 14,3567 17000 CADR IMUCOARS
040745,001110: 14,3570 04616 TC BANKCALL
040746,001111: 14,3571 17716 CADR IMUSTALL
040747,001112: 14,3572 05711 TC CURTAINS
040748,001113: 14,3573 04616 TC BANKCALL
040749,001114: 14,3574 17210 CADR IMUFINE
040750,001115: 14,3575 04616 TC BANKCALL
040751,001116: 14,3576 17716 CADR IMUSTALL
040752,001117: 14,3577 05711 TC CURTAINS
040753,001118: 14,3600 06037 TC INTPRET
040754,001119: 14,3601 77616 RVQ
040755,001120: 14,3602 77776 NCOARSE EXIT
040756,001121: 14,3603 30025 CA TIME1
040757,001122: 14,3604 55075 TS 1/PIPADT
040758,001123: 14,3605 44755 CS ZERO
040759,001124: 14,3606 54037 TS PIPAX
040760,001125: 14,3607 54040 TS PIPAY
040761,001126: 14,3610 54041 TS PIPAZ
040762,001127: 14,3611 06037 TC INTPRET
040763,001128: 14,3612 77775 VLOAD
040764,001129: 14,3613 24007 ZEROVEC
040765,001130: 14,3614 01472 STORE GCOMP
040766,001131: 14,3615 43414 SET RVQ
040767,001132: 14,3616 01060 DRIFTFLG
040768,001133:
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|
Page 953
|
040770,001135: # NAME - S52.2
040771,001136: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040772,001137: # CALL - CALL S52.2
040773,001138: # INPUT - X,Y,ZSMD
040774,001139: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040775,001140: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040776,001141:
040777,001142: 14,3617 COUNT* $$/S52.1
040778,001143: 14,3617 45020 S52.2 STQ CALL
040779,001144: 14,3620 02746 QMAJ
040780,001145: 14,3621 47537 CDUTRIG
040781,001146: 14,3622 77624 CALL
040782,001147: 14,3623 20030 CALCSMSC
040783,001148: 14,3624 66370 AXT,1 SSP
040784,001149: 14,3625 00022 18D
040785,001150: 14,3626 00051 S1
040786,001151: 14,3627 00006 6D
040787,001152: 14,3630 61373 S52.2A VLOAD* VXM
040788,001153: 14,3631 02707 XNB +18D,1
040789,001154: 14,3632 01734 REFSMMAT
040790,001155: 14,3633 77656 UNIT
040791,001156: 14,3634 06707 STORE XNB +18D,1
040792,001157: 14,3635 77700 TIX,1
040793,001158: 14,3636 31630 S52.2A
040794,001159: 14,3637 75160 S52.2.1 AXC,1 AXC,2
040795,001160: 14,3640 03606 XSMD
040796,001161: 14,3641 02642 XSM
040797,001162: 14,3642 77624 CALL
040798,001163: 14,3643 31377 MATMOVE
040799,001164: 14,3644 77624 CALL
040800,001165: 14,3645 47353 CALCGA
040801,001166: 14,3646 77650 GOTO
040802,001167: 14,3647 02746 QMAJ
040803,001168:
|
|
Page 954
|
040805,001170: # NAME - S52.3
040806,001171: # FUNCTION XSMD= UNIT R
040807,001172: # YSMD= UNIT(V X R)
040808,001173: # ZSMD= UNIT(XSMD X YSMD)
040809,001174: # CALL DLOAD CALL
040810,001175: # TALIGN
040811,001176: # S52.3
040812,001177: # INPUT - TIME OF ALIGNMENT IN MPAC
040813,001178: # OUTPUT - X,Y,ZSMD
040814,001179: # SUBROUTINES - CSMCONIC
040815,001180:
040816,001181: 14,3650 COUNT* $$/S52.3
040817,001182: 14,3650 77620 S52.3 STQ
040818,001183: 14,3651 02746 QMAJ
040819,001184: 14,3652 34041 STCALL TDEC1
040820,001185: 14,3653 27100 LEMCONIC
040821,001186: 14,3654 53575 VLOAD UNIT
040822,001187: 14,3655 00001 RATT
040823,001188: 14,3656 27607 STOVL XSMD
040824,001189: 14,3657 00007 VATT
040825,001190: 14,3660 53435 VXV UNIT
040826,001191: 14,3661 00001 RATT
040827,001192: 14,3662 27615 STOVL YSMD
040828,001193: 14,3663 03607 XSMD
040829,001194: 14,3664 53435 VXV UNIT
040830,001195: 14,3665 03615 YSMD
040831,001196: 14,3666 37623 STCALL ZSMD
040832,001197: 14,3667 02746 QMAJ
040833,001198:
|
|
Page 955
|
040835,001200: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040836,001201:
040837,001202: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040838,001203: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040839,001204:
040840,001205: # CALLING - CALL R52
040841,001206:
040842,001207: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040843,001208:
040844,001209: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040845,001210: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040846,001211: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040847,001212: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040848,001213:
040849,001214: # SUBROUT - R60LEM
040850,001215:
040851,001216: 14,3670 COUNT* $$/R52
040852,001217: 14,3670 77420 R52 STQ EXIT
040853,001218: 14,3671 03665 SAVQR52
040854,001219: 14,3672 51757 INDEX STARIND
040855,001220: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040856,001221: 14,3674 00006 EXTEND
040857,001222: 14,3675 73771 MP 1/6TH
040858,001223: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
040859,001224: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
040860,001225:
040861,001226: 14,3700 33772 R52A CAF V01N70
040862,001227: 14,3701 04616 TC BANKCALL
040863,001228: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040864,001229: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
040865,001230: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
040866,001231: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040867,001232:
040868,001233: 14,3706 05516 R52B TC DOWNFLAG
040869,001234: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040870,001235: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
040871,001236: 14,3711 77744 MASK HIGH9
040872,001237: 14,3712 00006 EXTEND
040873,001238: 14,3713 74743 MP BIT9
040874,001239: 14,3714 54001 TS L # TEMP STORE DETENT
040875,001240:
040876,001241: 14,3715 00006 EXTEND
040877,001242: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040878,001243:
040879,001244: 14,3717 65660 AD NEG7
040880,001245: 14,3720 00006 EXTEND
040881,001246: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
040882,001247:
040883,001248: 14,3722 E7,1551 EBANK= XYMARK
040884,001249: 14,3722 35016 CA EBANK7
040885,001250: 14,3723 54003 TS EBANK
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|
Page 956
|
040887,001252: 14,3724 50001 INDEX L
040888,001253: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
040889,001254: 14,3726 54001 TS L
040890,001255: 14,3727 E5,1642 EBANK= XSM
040891,001256: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
040892,001257: 14,3730 54003 TS EBANK
040893,001258: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
040894,001259: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040895,001260: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
040896,001261:
040897,001262: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
040898,001263: 14,3735 04616 TC BANKCALL
040899,001264: 14,3736 20476 CADR GOFLASH
040900,001265: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
040901,001266: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
040902,001267: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
040903,001268:
040904,001269: 14,3742 00006 EXTEND
040905,001270: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
040906,001271: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
040907,001272: 14,3745 52011 DXCH 8D
040908,001273: 14,3746 06037 TC INTPRET
040909,001274: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
040910,001275: 14,3750 10536 OANB # SCAXIS IN NB COORDS
040911,001276: 14,3751 45034 RTB CALL
040912,001277: 14,3752 21573 LOADTIME
040913,001278: 14,3753 32472 PLANET
040914,001279: 14,3754 53521 MXV UNIT
040915,001280: 14,3755 01734 REFSMMAT
040916,001281: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
040917,001282:
040918,001283: 14,3757 77776 EXIT
040919,001284: 14,3760 04616 TC BANKCALL
040920,001285: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
040921,001286:
040922,001287: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
040923,001288: 14,3763 70735 MASK STARCODE
040924,001289: 14,3764 00006 EXTEND
040925,001290: 14,3765 13700 BZF R52A
040926,001291:
040927,001292: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
040928,001293: 14,3767 77650 GOTO
040929,001294: 14,3770 03665 SAVQR52 # RETURN TO CALLER
040930,001295:
040931,001296: 14,3771 05253 1/6TH DEC .1666667
040932,001297: 14,3772 00306 V01N70 VN 0170
040933,001298: 14,3773 01527 V06N87 VN 687
040934,001299:
|
|
Page 957
|
040936,001301: # LUNAR SURFACE STAR AQUISITION
040937,001302:
040938,001303: 15,2245 BANK 15
040939,001304: 15,2000 SETLOC P50S
040940,001305: 15,2000 BANK
040941,001306: 15,2245 COUNT* $$/R59
040942,001307:
040943,001308: 15,2245 40077 R59 CS FLAGWRD3
040944,001309: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
040945,001310: 15,2247 10000 CCS A
040946,001311: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
040947,001312:
040948,001313: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
040949,001314: 15,2252 04616 TC BANKCALL
040950,001315: 15,2253 20476 CADR GOFLASH
040951,001316: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
040952,001317: 15,2255 12257 TCF R59A # V33 - PROCEED
040953,001318: 15,2256 12245 TCF R59 # V32 - RECYCLE
040954,001319:
040955,001320: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
040956,001321: 15,2260 70735 MASK AOTCODE
040957,001322: 15,2261 00006 EXTEND
040958,001323: 15,2262 76242 MP REVCNT # JUST 6
040959,001324: 15,2263 56001 XCH L
040960,001325: 15,2264 51757 INDEX STARIND
040961,001326: 15,2265 55755 TS BESTI
040962,001327: 15,2266 50120 INDEX FIXLOC
040963,001328: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
040964,001329: 15,2270 00006 EXTEND
040965,001330: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
040966,001331: 15,2272 40000 COM
040967,001332: 15,2273 62561 AD DEC227
040968,001333: 15,2274 00006 EXTEND
040969,001334: 15,2275 62455 BZMF R59OUT
040970,001335:
040971,001336: 15,2276 06037 TC INTPRET
040972,001337: 15,2277 64373 VLOAD* MXV
040973,001338: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
040974,001339: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
040975,001340: 15,2302 45056 UNIT CALL
040976,001341: 15,2303 47646 CDU*SMNB
040977,001342: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
040978,001343: 15,2305 77776 EXIT
040979,001344:
040980,001345: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
040981,001346: 15,2307 55242 TS POSCODE
040982,001347:
040983,001348: 15,2310 E7,1551 EBANK= XYMARK
040984,001349: 15,2310 35016 INCAZ CA EBANK7
040985,001350: 15,2311 54003 TS EBANK
040986,001351:
|
|
Page 958
|
040988,001353: 15,2312 51242 INDEX POSCODE
040989,001354: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
040990,001355: 15,2314 54001 TS L
040991,001356:
040992,001357: 15,2315 E5,1642 EBANK= XSM
040993,001358: 15,2315 35014 CA EBANK5
040994,001359: 15,2316 54003 TS EBANK
040995,001360:
040996,001361: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
040997,001362: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040998,001363: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
040999,001364: 15,2322 50120 INDEX FIXLOC
041000,001365: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041001,001366:
041002,001367: 15,2324 06037 TC INTPRET
041003,001368: 15,2325 77624 CALL
041004,001369: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041005,001370: 15,2327 50375 VLOAD DOT
041006,001371: 15,2330 02731 STAR # DOT STAR WITH OA
041007,001372: 15,2331 03765 SCAXIS
041008,001373: 15,2332 65552 SL1 ARCCOS
041009,001374: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041010,001375:
041011,001376: 15,2334 51025 DSU BPL
041012,001377: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041013,001378: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041014,001379: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041015,001380: 15,2340 00031 24D
041016,001381: 15,2341 32470 DEG.5
041017,001382: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041018,001383: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041019,001384: 15,2344 00031 24D # GET SPIRAL
041020,001385: 15,2345 42405 DMP SL4
041021,001386: 15,2346 25764 3/4 # 12 SCALED AT 16
041022,001387: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041023,001388:
041024,001389: 15,2350 03765 SCAXIS # OA
041025,001390: 15,2351 53435 VXV UNIT
041026,001391: 15,2352 24005 XUNIT
041027,001392: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041028,001393: 15,2354 03765 SCAXIS
041029,001394: 15,2355 77676 VCOMP
041030,001395: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041031,001396: 15,2357 03765 SCAXIS
041032,001397: 15,2360 53435 VXV UNIT
041033,001398: 15,2361 02731 STAR
041034,001399: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041035,001400: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041036,001401: 15,2364 65552 SL1 ARCCOS
041037,001402: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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|
Page 959
|
041039,001404: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041040,001405: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041041,001406: 15,2370 32375 R59D
041042,001407: 15,2371 32047 ABOUTONE
041043,001408: 15,2372 77625 DSU
041044,001409: 15,2373 00033 26D
041045,001410: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041046,001411:
041047,001412: 15,2375 70535 R59D SLOAD SR1
041048,001413: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041049,001414: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041050,001415: 15,2400 00033 26D
041051,001416: 15,2401 77634 RTB
041052,001417: 15,2402 21614 1STO2S
041053,001418: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041054,001419: 15,2404 00031 24D # LOAD SROT IN REVS
041055,001420: 15,2405 77615 DAD # 12(SEP) + YROT
041056,001421: 15,2406 77634 RTB
041057,001422: 15,2407 21614 1STO2S
041058,001423: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041059,001424: 15,2411 77776 EXIT
041060,001425: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041061,001426:
041062,001427: 15,2413 77776 ZSPCR EXIT
041063,001428: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041064,001429: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041065,001430: 15,2416 55240 TS SPIRAL
041066,001431: 15,2417 12437 TCF 79DISP
041067,001432:
041068,001433: 15,2420 77776 NXAX EXIT
041069,001434: 15,2421 25242 INCR POSCODE
041070,001435: 15,2422 41242 CS POSCODE
041071,001436: 15,2423 64757 AD SEVEN
041072,001437: 15,2424 00006 EXTEND
041073,001438: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041074,001439: 15,2426 12310 TCF INCAZ
041075,001440:
041076,001441: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041077,001442: 15,2430 00404 OCT 404
041078,001443: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041079,001444: 15,2432 04616 TC BANKCALL
041080,001445: 15,2433 20476 CADR GOFLASH
041081,001446: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041082,001447: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041083,001448: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041084,001449:
041085,001450: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041086,001451: 15,2440 04616 TC BANKCALL
041087,001452: 15,2441 20476 CADR GOFLASH
041088,001453: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 960
|
041090,001455: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041091,001456: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041092,001457:
041093,001458: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041094,001459: 15,2446 71242 MASK POSCODE
041095,001460: 15,2447 00006 EXTEND
041096,001461: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041097,001462: 15,2451 47744 CS HIGH9
041098,001463: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041099,001464: 15,2453 60001 AD L
041100,001465: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041101,001466:
041102,001467: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041103,001468: 15,2456 16000 CADR AOTMARK
041104,001469: 15,2457 04616 TC BANKCALL
041105,001470: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041106,001471: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041107,001472: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041108,001473:
041109,001474: 15,2463 00306 V01N70* VN 170
041110,001475: 15,2464 01517 V06N79 VN 679
041111,001476: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041112,001477: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041113,001478: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041114,001479: 15,2472 1236 CURSOR EQUALS GDT/2
041115,001480: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041116,001481: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041117,001482:
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|
Page 961
|
041119,001484: # NAME - PLANET
041120,001485: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041121,001486: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041122,001487: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041123,001488: # BY DSDY INPUT
041124,001489: # CALL - CALL
041125,001490: # PLANET
041126,001491: # INPUT - TIME IN MPAC
041127,001492: # OUTPUT - VECTOR IN MPAC
041128,001493: # SUBROUTINES - LOCSAM
041129,001494: # DEBRIS - VAC, STARAD - STARAD +17
041130,001495:
041131,001496: 15,2000 SETLOC P50S
041132,001497: 15,2000 BANK
041133,001498: 15,2472 COUNT* $$/P51
041134,001499:
041135,001500: 15,2472 27562 PLANET STOVL TSIGHT
041136,001501: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
041137,001502: 15,2474 02707 STORE STARAD
041138,001503: 15,2475 77420 STQ EXIT
041139,001504: 15,2476 02736 GCTR
041140,001505: 15,2477 47744 CS HIGH9
041141,001506: 15,2500 70735 MASK AOTCODE
041142,001507: 15,2501 00006 EXTEND
041143,001508: 15,2502 76242 MP REVCNT
041144,001509: 15,2503 56001 XCH L
041145,001510: 15,2504 51757 INDEX STARIND
041146,001511: 15,2505 55755 TS BESTI
041147,001512: 15,2506 10000 CCS A
041148,001513: 15,2507 12523 TCF NOTPLAN
041149,001514: 15,2510 32562 CAF VNPLANV
041150,001515: 15,2511 04616 TC BANKCALL
041151,001516: 15,2512 20476 CADR GOFLASH
041152,001517: 15,2513 02510 TC -3
041153,001518: 15,2514 02516 TC +2
041154,001519: 15,2515 02510 TC -5
041155,001520: 15,2516 06037 TC INTPRET
041156,001521: 15,2517 53575 VLOAD UNIT
041157,001522: 15,2520 02707 STARAD
041158,001523: 15,2521 77650 GOTO
041159,001524: 15,2522 02736 GCTR
041160,001525: 15,2523 40000 NOTPLAN CS A
041161,001526: 15,2524 62561 AD DEC227
041162,001527: 15,2525 00006 EXTEND
041163,001528: 15,2526 62537 BZMF CALSAM1
041164,001529: 15,2527 51757 INDEX STARIND
041165,001530: 15,2530 31755 CA BESTI
041166,001531: 15,2531 50120 INDEX FIXLOC
041167,001532: 15,2532 54046 TS X1
041168,001533: 15,2533 06037 TC INTPRET
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|
Page 962
|
041170,001535: 15,2534 52173 VLOAD* GOTO
041171,001536: 15,2535 30347 CATLOG,1
041172,001537: 15,2536 02736 GCTR
041173,001538: 15,2537 06037 CALSAM1 TC INTPRET
041174,001539: 15,2540 45145 CALSAM DLOAD CALL
041175,001540: 15,2541 03562 TSIGHT
041176,001541: 15,2542 30506 LOCSAM
041177,001542: 15,2543 77340 LXC,1 VLOAD
041178,001543: 15,2544 02757 STARIND
041179,001544: 15,2545 02707 VEARTH
041180,001545: 15,2546 24001 STOVL 0D
041181,001546: 15,2547 02715 VSUN
041182,001547: 15,2550 26707 STOVL VEARTH
041183,001548: 15,2551 00001 0D
041184,001549: 15,2552 02715 STORE VSUN
041185,001550: 15,2553 70143 DLOAD* LXC,1
041186,001551: 15,2554 02756 BESTI,1
041187,001552: 15,2555 00154 MPAC
041188,001553: 15,2556 52173 VLOAD* GOTO
041189,001554: 15,2557 02343 STARAD -228D,1
041190,001555: 15,2560 02736 GCTR
041191,001556: 15,2561 00343 DEC227 DEC 227 B-14
041192,001557: 15,2562 01530 VNPLANV VN 0688
041193,001558: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041194,001559:
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|
Page 963
|
041196,001561: # GRAVITY VECTOR DETERMINATION ROUTINE
041197,001562: # BY KEN VINCENT
041198,001563:
041199,001564: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041200,001565:
041201,001566: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041202,001567: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041203,001568: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041204,001569: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041205,001570: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041206,001571: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041207,001572: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041208,001573: # READINGS.
041209,001574:
041210,001575: # CALL -
041211,001576: # TC BANKCALL
041212,001577: # CADR GVDETER
041213,001578:
041214,001579: # INPUTS -
041215,001580: # PIPAS, CDUS
041216,001581:
041217,001582: # OUTPUTS -
041218,001583: # STARSAV1 = UNIT GRAVITY
041219,001584: # GSAV = DITTO
041220,001585: # GRAVBIT = 1
041221,001586:
041222,001587: # SUBROUTINES -
041223,001588: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041224,001589: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041225,001590:
041226,001591: # DEBRIS -
041227,001592: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041228,001593:
041229,001594: 15,2563 32772 GVDETER CAF 42DEG
041230,001595: 15,2564 54321 TS THETAD
041231,001596: 15,2565 40000 COM
041232,001597: 15,2566 54322 TS THETAD +1
041233,001598: 15,2567 32773 CAF 35DEG
041234,001599: 15,2570 54323 TS THETAD +2
041235,001600: 15,2571 06037 TC INTPRET
041236,001601: 15,2572 45014 CLEAR CALL
041237,001602: 15,2573 01662 REFSMFLG
041238,001603: 15,2574 32670 LUNG
041239,001604:
041240,001605: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041241,001606:
041242,001607: # DEFINE G COOR SYS
041243,001608: # -
041244,001609: # X UNIT G
041245,001610: # * - -
041246,001611: # M = Y = UNITEZSM * X )
041247,001612: # - - -
041248,001613: # Z UNIT(X * Y )
041249,001614:
041250,001615: # THEN ROTATED SM WRT PRESENT IS
041251,001616:
041252,001617: # 1, 0, 0
041253,001618: # * *T * * *
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|
Page 964
|
041255,001620: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041256,001621: # I J
041257,001622: # 0, 0, -1
041258,001623:
041259,001624: # ALSO NB WRT PRES SM IS
041260,001625:
041261,001626: # * * *
041262,001627: # XNB = NBSM I
041263,001628: # * *
041264,001629: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041265,001630:
041266,001631: 15,2000 SETLOC P50S
041267,001632: 15,2000 BANK
041268,001633: 15,2575 COUNT* $$/P57
041269,001634: 15,2575 66370 AXT,1 SSP # X1=18
041270,001635: 15,2576 00022 18D # S1=6
041271,001636: 15,2577 00051 S1 # X2, -2
041272,001637: 15,2600 00006 6D
041273,001638: 15,2601 77744 LXC,2
041274,001639: 15,2602 00050 S1
041275,001640: 15,2603 45173 GRAVEL VLOAD* CALL
041276,001641: 15,2604 54000 XUNIT -6,2
041277,001642: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
041278,001643: 15,2606 06707 STORE XNB +18D,1
041279,001644: 15,2607 77775 VLOAD
041280,001645: 15,2610 02731 STAR
041281,001646: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041282,001647: 15,2612 00047 X2
041283,001648: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
041284,001649: 15,2614 71152 VSL2 LXC,2
041285,001650: 15,2615 00047 X2
041286,001651: 15,2616 63047 VSU* INCR,2
041287,001652: 15,2617 54000 XUNIT -6,2
041288,001653: 15,2620 00002 2D
041289,001654: 15,2621 06665 STORE XSM +18D,1
041290,001655: 15,2622 45100 TIX,1 CALL
041291,001656: 15,2623 32603 GRAVEL
041292,001657: 15,2624 47353 CALCGA
041293,001658: 15,2625 74575 VLOAD VSR1
041294,001659: 15,2626 02715 GOUT
041295,001660: 15,2627 36723 STCALL STARAD +12D
041296,001661: 15,2630 32670 LUNG
041297,001662: 15,2631 74575 VLOAD VSR1
041298,001663: 15,2632 02715 GOUT
041299,001664: 15,2633 53455 VAD UNIT
041300,001665: 15,2634 02723 STARAD +12D
041301,001666: 15,2635 02761 STORE STARSAV1
041302,001667: 15,2636 77641 DOT
041303,001668: 15,2637 02231 GSAV
041304,001669: 15,2640 65552 SL1 ACOS
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|
Page 965
|
041306,001671: 15,2641 01046 STORE DSPTEM1
041307,001672: 15,2642 77776 EXIT
041308,001673: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041309,001674: 15,2644 00014 ADRES FREEFLAG
041310,001675:
041311,001676: 15,2645 32771 CA DISGRVER
041312,001677: 15,2646 04616 TC BANKCALL
041313,001678: 15,2647 20476 CADR GOFLASH
041314,001679: 15,2650 06001 TC GOTOPOOH
041315,001680: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
041316,001681: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041317,001682: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041318,001683:
041319,001684: 15,2654 05353 PROGRAV TC PHASCHNG
041320,001685: 15,2655 04024 OCT 04024
041321,001686:
041322,001687: 15,2656 06037 TC INTPRET
041323,001688: 15,2657 77775 VLOAD
041324,001689: 15,2660 02761 STARSAV1
041325,001690: 15,2661 02231 STORE GSAV
041326,001691: 15,2662 77776 EXIT
041327,001692: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041328,001693: 15,2664 70074 MASK FLAGWRD0
041329,001694: 15,2665 10000 CCS A
041330,001695: 15,2666 12563 TCF GVDETER # SET
041331,001696: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
041332,001697:
041333,001698: 15,2670 77220 LUNG STQ VLOAD
041334,001699: 15,2671 02745 QMIN
041335,001700: 15,2672 24007 ZEROVEC
041336,001701: 15,2673 02707 STORE GACC
041337,001702: 15,2674 77776 EXIT
041338,001703: 15,2675 05353 TC PHASCHNG
041339,001704: 15,2676 04024 OCT 04024
041340,001705:
041341,001706: 15,2677 04616 TC BANKCALL
041342,001707: 15,2700 17000 CADR IMUCOARS
041343,001708: 15,2701 04616 TC BANKCALL
041344,001709: 15,2702 17716 CADR IMUSTALL
041345,001710: 15,2703 05711 TC CURTAINS
041346,001711: 15,2704 04616 TC BANKCALL
041347,001712: 15,2705 17210 CADR IMUFINE
041348,001713: 15,2706 04616 TC BANKCALL
041349,001714: 15,2707 17716 CADR IMUSTALL
041350,001715: 15,2710 05711 TC CURTAINS
041351,001716: 15,2711 32770 CA T/2SEC
041352,001717: 15,2712 55736 TS GCTR
041353,001718: 15,2713 37716 CA PRIO31
041354,001719: 15,2714 55075 TS 1/PIPADT
041355,001720: 15,2715 04616 TC BANKCALL
|
|
Page 966
|
041357,001722: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
041358,001723: 15,2717 05353 TC PHASCHNG
041359,001724: 15,2720 04024 OCT 04024
041360,001725:
041361,001726: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041362,001727: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041363,001728: 15,2723 06037 TC INTPRET
041364,001729: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041365,001730: 15,2725 35000 CAF 2SECS
041366,001731: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041367,001732: 15,2727 02731 ADRES GRABGRAV
041368,001733:
041369,001734: 15,2730 05155 TC ENDOFJOB
041370,001735:
041371,001736: 15,2731 04674 GRABGRAV TC IBNKCALL
041372,001737: 15,2732 77544 CADR PIPSRINE
041373,001738: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041374,001739: 15,2734 05105 TC FINDVAC
041375,001740: 15,2735 E5,1706 EBANK= STARAD
041376,001741: 15,2735 02740 32065 2CADR ADDGRAV
041377,001742:
041378,001743: 15,2737 05261 TC TASKOVER
041379,001744:
041380,001745: 15,2740 04616 ADDGRAV TC BANKCALL
041381,001746: 15,2741 15263 CADR 1/PIPA
041382,001747: 15,2742 25736 INCR GCTR
041383,001748: 15,2743 06037 TC INTPRET
041384,001749: 15,2744 53375 VLOAD VAD
041385,001750: 15,2745 00325 DELV
041386,001751: 15,2746 02707 GACC
041387,001752: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
041388,001753: 15,2750 50135 SLOAD BMN
041389,001754: 15,2751 02737 GCTR
041390,001755: 15,2752 32724 GREED
041391,001756: 15,2753 53575 VLOAD UNIT
041392,001757: 15,2754 02707 GACC
041393,001758: 15,2755 36731 STCALL STAR
041394,001759: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041395,001760: 15,2757 77624 CALL # IN OUTPUT
041396,001761: 15,2760 47671 *SMNB*
041397,001762: 15,2761 02715 STORE GOUT
041398,001763: 15,2762 77776 EXIT
041399,001764: 15,2763 05353 TC PHASCHNG
041400,001765: 15,2764 04024 OCT 04024
041401,001766:
041402,001767: 15,2765 06037 QMINEXIT TC INTPRET
041403,001768: 15,2766 77650 GOTO
041404,001769: 15,2767 02745 QMIN
041405,001770: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967
|
041407,001772: 15,2771 01404 DISGRVER VN 0604
041408,001773: 15,2772 07357 42DEG OCT 07357
041409,001774: 15,2773 06211 35DEG OCT 06211
041410,001775:
|
|
Page 968
|
041412,001777: # NAME GYROTRIM
041413,001778:
041414,001779: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041415,001780: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041416,001781: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041417,001782:
041418,001783: # CALL CALL
041419,001784: # GYROTRIM
041420,001785:
041421,001786: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041422,001787: # CDUX,CDUY,CDUZ
041423,001788:
041424,001789: # OUTPUT - GYRO TORQUE PULSES
041425,001790:
041426,001791: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041427,001792: # IMPULSE, IMUSTALL
041428,001793: # - - - * * -
041429,001794: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041430,001795:
041431,001796: 15,2774 COUNT* $$/P57
041432,001797: 15,2774 71220 GYROTRIM STQ DLOAD
041433,001798: 15,2775 02745 QMIN
041434,001799: 15,2776 00322 THETAD
041435,001800: 15,2777 65325 PDDL PDDL
041436,001801: 15,3000 00324 THETAD +2
041437,001802: 15,3001 00323 THETAD +1
041438,001803: 15,3002 77666 VDEF
041439,001804: 15,3003 24767 STOVL CDUSPOT
041440,001805: 15,3004 24005 XUNIT
041441,001806: 15,3005 77624 CALL
041442,001807: 15,3006 47664 TRG*NBSM
041443,001808: 15,3007 26707 STOVL STARAD
041444,001809: 15,3010 24003 YUNIT
041445,001810: 15,3011 77624 CALL
041446,001811: 15,3012 47673 *NBSM*
041447,001812: 15,3013 36715 STCALL STARAD +6
041448,001813: 15,3014 47537 CDUTRIG
041449,001814: 15,3015 77624 CALL
041450,001815: 15,3016 20030 CALCSMSC
041451,001816: 15,3017 77775 VLOAD
041452,001817: 15,3020 02665 XNB
041453,001818: 15,3021 24007 STOVL 6D
041454,001819: 15,3022 02673 YNB
041455,001820: 15,3023 34015 STCALL 12D
041456,001821: 15,3024 47441 AXISGEN
041457,001822: 15,3025 77624 CALL
041458,001823: 15,3026 47247 CALCGTA
041459,001824: 15,3027 77776 JUSTTRIM EXIT
041460,001825: 15,3030 04616 TC BANKCALL
041461,001826: 15,3031 17210 CADR IMUFINE
041462,001827: 15,3032 04616 TC BANKCALL
|
|
Page 969
|
041464,001829: 15,3033 17716 CADR IMUSTALL
041465,001830: 15,3034 05711 TC CURTAINS
041466,001831: 15,3035 33044 CA GYRCDR
041467,001832: 15,3036 04616 TC BANKCALL
041468,001833: 15,3037 17323 CADR IMUPULSE
041469,001834: 15,3040 04616 TC BANKCALL
041470,001835: 15,3041 17716 CADR IMUSTALL
041471,001836: 15,3042 05711 TC CURTAINS
041472,001837: 15,3043 12765 TCF QMINEXIT
041473,001838:
041474,001839: 15,3044 02737 GYRCDR ECADR OGC
041475,001840:
|
|
Page 970
|
041477,001842: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041478,001843:
041479,001844: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
041480,001845: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041481,001846: 15,3047 34753 1STAR CAF BIT1
041482,001847: 15,3050 55757 TS STARIND
041483,001848:
041484,001849: 15,3051 05353 TC PHASCHNG
041485,001850: 15,3052 04024 OCT 04024
041486,001851:
041487,001852: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041488,001853:
041489,001854: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041490,001855: 15,3055 00006 EXTEND
041491,001856: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
041492,001857:
041493,001858: 15,3057 05353 TC PHASCHNG
041494,001859: 15,3060 04024 OCT 04024
041495,001860:
041496,001861: 15,3061 06037 TC INTPRET
041497,001862: 15,3062 45145 DLOAD CALL
041498,001863: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
041499,001864: 15,3064 32472 PLANET
041500,001865: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041501,001866: 15,3066 33101 SURFLINE
041502,001867:
041503,001868: 15,3067 06037 ASTAR TC INTPRET
041504,001869: 15,3070 77775 VLOAD
041505,001870: 15,3071 02715 STARAD +6
041506,001871: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041507,001872: 15,3073 45145 DLOAD CALL
041508,001873: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
041509,001874: 15,3075 32472 PLANET
041510,001875: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041511,001876: 15,3077 77776 EXIT
041512,001877: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
041513,001878:
|
|
Page 971
|
041515,001880: # DO FINE OR COARSE ALIGNMENT OF IMU
041516,001881:
041517,001882: 15,3101 77131 SURFLINE SSP AXT,2
041518,001883: 15,3102 00052 S2
041519,001884: 15,3103 00006 6
041520,001885: 15,3104 00014 12D
041521,001886: 15,3105 64373 WRTDESIR VLOAD* MXV
041522,001887: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041523,001888: 15,3107 03607 XSMD
041524,001889: 15,3110 77656 UNIT
041525,001890: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
041526,001891: 15,3112 77773 VLOAD*
041527,001892: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041528,001893: 15,3114 10023 STORE 18D,2
041529,001894: 15,3115 43104 TIX,2 BON
041530,001895: 15,3116 33105 WRTDESIR
041531,001896: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041532,001897: 15,3120 33126 INITBY
041533,001898: 15,3121 77624 DOALIGN CALL
041534,001899: 15,3122 31256 R54 # DO CHKSDATA
041535,001900: 15,3123 77614 BOFF
041536,001901: 15,3124 00354 FREEFLAG
041537,001902: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041538,001903: 15,3126 77624 INITBY CALL
041539,001904: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041540,001905: 15,3130 77624 CALL
041541,001906: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041542,001907: 15,3132 77776 EXIT
041543,001908: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041544,001909: 15,3134 70104 MASK FLAGWRD8
041545,001910: 15,3135 10000 CCS A
041546,001911: 15,3136 13145 TCF 5DEGTEST
041547,001912: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041548,001913: 15,3140 04616 TC BANKCALL
041549,001914: 15,3141 20476 CADR GOFLASH
041550,001915: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
041551,001916: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041552,001917: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041553,001918:
041554,001919: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041555,001920: 15,3146 40175 VLOAD BOV
041556,001921: 15,3147 02740 OGC
041557,001922: 15,3150 33151 SURFSUP
041558,001923: 15,3151 02750 SURFSUP STORE OGCT
041559,001924: 15,3152 40141 V/SC BOV
041560,001925: 15,3153 30610 5DEGREES
041561,001926: 15,3154 33254 COATRIM
041562,001927: 15,3155 52131 SSP GOTO
041563,001928: 15,3156 02746 QMIN
041564,001929: 15,3157 33161 SURFDISP
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|
Page 972
|
041566,001931: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041567,001932:
041568,001933: 15,3161 77776 SURFDISP EXIT
041569,001934: 15,3162 05353 TC PHASCHNG
041570,001935: 15,3163 04024 OCT 04024
041571,001936:
041572,001937: 15,3164 06037 TC INTPRET
041573,001938: 15,3165 75160 AXC,1 AXC,2
041574,001939: 15,3166 03606 XSMD
041575,001940: 15,3167 01733 REFSMMAT
041576,001941: 15,3170 45014 SET CALL
041577,001942: 15,3171 01462 REFSMFLG
041578,001943: 15,3172 31377 MATMOVE
041579,001944: 15,3173 77776 EXIT
041580,001945: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
041581,001946: 15,3175 13177 TCF B2F8
041582,001947: 15,3176 13207 TCF P57POST +1
041583,001948:
041584,001949: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041585,001950: 15,3200 70104 MASK FLAGWRD8
041586,001951: 15,3201 10000 CCS A
041587,001952: 15,3202 13561 TCF P57JUMP # ITS SET
041588,001953: 15,3203 06037 TC INTPRET
041589,001954: 15,3204 77624 CALL
041590,001955: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041591,001956: 15,3206 77776 P57POST EXIT
041592,001957: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041593,001958: 15,3210 04616 TC BANKCALL
041594,001959: 15,3211 20623 CADR GOPERF1
041595,001960: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
041596,001961: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041597,001962: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041598,001963: 15,3215 61145 AD OPTION2
041599,001964: 15,3216 00006 EXTEND
041600,001965: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
041601,001966: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
041602,001967: 15,3221 05353 TC PHASCHNG # RESTART PLACE
041603,001968: 15,3222 04024 OCT 04024
041604,001969: 15,3223 06037 TC INTPRET
041605,001970: 15,3224 45175 VLOAD CALL # USE GNB
041606,001971: 15,3225 02231 GSAV
041607,001972: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
041608,001973: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
041609,001974: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041610,001975: 15,3231 01463 LUNAFLAG
041611,001976: 15,3232 51515 PDVL ABVAL
041612,001977: 15,3233 02023 RLS
041613,001978: 15,3234 45561 VXSC STADR
041614,001979: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041615,001980: 15,3236 47014 CLEAR RTB
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|
Page 973
|
041617,001982: 15,3237 00662 ERADFLAG
041618,001983: 15,3240 21573 LOADTIME
041619,001984: 15,3241 77624 CALL
041620,001985: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041621,001986: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
041622,001987: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041623,001988: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041624,001989: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
041625,001990: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
041626,001991: 15,3250 51670 R-TO-RP
041627,001992: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041628,001993: 15,3252 77776 EXIT
041629,001994: 15,3253 16001 TCF GOTOPOOH # EXIT P57
041630,001995:
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|
Page 974
|
041632,001997: # COARSE AND FINE ALIGN IMU
041633,001998:
041634,001999: 15,3254 75160 COATRIM AXC,1 AXC,2
041635,002000: 15,3255 02664 XDC
041636,002001: 15,3256 02642 XSM
041637,002002: 15,3257 77624 CALL
041638,002003: 15,3260 31377 MATMOVE
041639,002004: 15,3261 77624 CALL
041640,002005: 15,3262 47537 CDUTRIG
041641,002006: 15,3263 77624 CALL
041642,002007: 15,3264 20030 CALCSMSC
041643,002008: 15,3265 77624 CALL
041644,002009: 15,3266 47353 CALCGA
041645,002010: 15,3267 77414 BOFF EXIT
041646,002011: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041647,002012: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041648,002013: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
041649,002014: 15,3273 04616 TC BANKCALL
041650,002015: 15,3274 20476 CADR GOFLASH
041651,002016: 15,3275 06001 TC GOTOPOOH
041652,002017: 15,3276 13300 TCF +2
041653,002018: 15,3277 13272 TCF -5
041654,002019: 15,3300 05353 TC PHASCHNG
041655,002020: 15,3301 04024 OCT 04024
041656,002021:
041657,002022: 15,3302 06037 TC INTPRET
041658,002023: 15,3303 77624 CORSIT CALL
041659,002024: 15,3304 31565 COARSE
041660,002025: 15,3305 77624 CALL
041661,002026: 15,3306 31602 NCOARSE
041662,002027: 15,3307 77624 CALL
041663,002028: 15,3310 32774 GYROTRIM
041664,002029: 15,3311 77650 GOTO
041665,002030: 15,3312 33161 SURFDISP
041666,002031: 15,3313 01535 DISPGYRO VN 0693
041667,002032:
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|
Page 975
|
041669,002034: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041670,002035:
041671,002036: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041672,002037: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041673,002038:
041674,002039: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041675,002040: 15,3317 55145 TS OPTION2
041676,002041: 15,3320 34753 P57OPT CAF BIT1
041677,002042: 15,3321 04616 TC BANKCALL
041678,002043: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041679,002044: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
041680,002045: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
041681,002046: 15,3325 13320 TCF P57OPT # V32 RECYCLE
041682,002047:
041683,002048: 15,3326 05353 TC PHASCHNG
041684,002049: 15,3327 00014 OCT 00014
041685,002050: 15,3330 05155 TC ENDOFJOB
041686,002051:
041687,002052: 15,3331 31145 ALIGNOPT CA OPTION2
041688,002053: 15,3332 76245 MASK THREE
041689,002054: 15,3333 50000 INDEX A
041690,002055: 15,3334 13335 TCF +1
041691,002056: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
041692,002057: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
041693,002058: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041694,002059: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
041695,002060: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041696,002061: 15,3342 01733 REFSMMAT
041697,002062: 15,3343 03606 XSMD
041698,002063: 15,3344 77624 CALL
041699,002064: 15,3345 31377 MATMOVE
041700,002065: 15,3346 77650 GOTO
041701,002066: 15,3347 33410 PACKOPTN -1
041702,002067:
041703,002068: 15,3350 06037 TDISP TC INTPRET
041704,002069: 15,3351 77745 DLOAD
041705,002070: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041706,002071: 15,3353 01046 P57A STORE DSPTEM1
041707,002072: 15,3354 77776 EXIT
041708,002073: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041709,002074: 15,3356 04616 TC BANKCALL
041710,002075: 15,3357 20476 CADR GOFLASH
041711,002076: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
041712,002077: 15,3361 13363 TCF +2
041713,002078: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
041714,002079:
041715,002080: 15,3363 06037 TC INTPRET
041716,002081: 15,3364 65234 RTB PDDL
041717,002082: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041718,002083: 15,3366 01046 DSPTEM1
|
|
Page 976
|
041720,002085: 15,3367 65254 BZE PDDL
041721,002086: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041722,002087: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041723,002088: 15,3372 01046 DSPTEM1
041724,002089: 15,3373 33400 P57C
041725,002090: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041726,002091: 15,3375 74335 STORE TIG # STORE IT IN TIG
041727,002092: 15,3376 36775 STCALL TALIGN
041728,002093: 15,3377 33402 P57D
041729,002094: 15,3400 45545 P57C DLOAD STADR
041730,002095: 15,3401 75002 STORE TALIGN
041731,002096: 15,3402 34041 P57D STCALL TDEC1
041732,002097: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041733,002098: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
041734,002099: 15,3405 00001 RATT
041735,002100: 15,3406 37607 STCALL XSMD
041736,002101: 15,3407 11013 LSORIENT
041737,002102: 15,3410 77776 EXIT
041738,002103: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041739,002104: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041740,002105: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041741,002106: 15,3414 34737 CAF REFSMBIT
041742,002107: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
041743,002108: 15,3416 10000 CCS A
041744,002109: 15,3417 34745 CAF BIT7 # SET
041745,002110: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
041746,002111: 15,3421 34753 CAF ATTFLBIT
041747,002112: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
041748,002113: 15,3423 10000 CCS A
041749,002114: 15,3424 34750 CAF BIT4 # SET
041750,002115: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
041751,002116: 15,3426 34750 CAF BIT4
041752,002117: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041753,002118:
041754,002119: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041755,002120: 15,3431 04616 TC BANKCALL
041756,002121: 15,3432 20476 CADR GOFLASH
041757,002122: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
041758,002123: 15,3434 13436 TCF +2 # V33 - PROCEED
041759,002124: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
041760,002125:
041761,002126: 15,3436 34737 CAF REFSMBIT
041762,002127: 15,3437 70077 MASK FLAGWRD3
041763,002128: 15,3440 10000 CCS A
041764,002129: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041765,002130: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041766,002131: 15,3443 70102 MASK FLAGWRD6
041767,002132: 15,3444 10000 CCS A
041768,002133: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041769,002134: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 977
|
041771,002136: 15,3447 71145 MASK OPTION2
041772,002137: 15,3450 10000 CCS A
041773,002138: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041774,002139: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041775,002140: 15,3453 00701 OCT 701
041776,002141: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041777,002142: 15,3455 04616 TC BANKCALL
041778,002143: 15,3456 20476 CADR GOFLASH
041779,002144: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
041780,002145: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
041781,002146: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041782,002147:
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|
Page 978
|
041784,002149: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041785,002150:
041786,002151: 15,3462 40220 MFREF STQ SETPD
041787,002152: 15,3463 02746 QMAJ
041788,002153: 15,3464 00001 0
041789,002154: 15,3465 77634 RTB
041790,002155: 15,3466 21573 LOADTIME
041791,002156: 15,3467 27562 STOVL TSIGHT
041792,002157: 15,3470 02723 VEC1
041793,002158: 15,3471 41525 PDDL PUSH
041794,002159: 15,3472 03562 TSIGHT
041795,002160: 15,3473 77624 CALL
041796,002161: 15,3474 55716 RP-TO-R
041797,002162: 15,3475 26723 STOVL VEC1
041798,002163: 15,3476 02731 VEC2
041799,002164: 15,3477 65201 SETPD PDDL
041800,002165: 15,3500 00001 0
041801,002166: 15,3501 03562 TSIGHT
041802,002167: 15,3502 45006 PUSH CALL
041803,002168: 15,3503 55716 RP-TO-R
041804,002169: 15,3504 36731 STCALL VEC2
041805,002170: 15,3505 02746 QMAJ
041806,002171:
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|
Page 979
|
041808,002173: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041809,002174: # STORE IN YNBSAV AND ZNBSAV
041810,002175:
041811,002176: 15,3506 45020 REFMF STQ CALL
041812,002177: 15,3507 02746 QMAJ
041813,002178: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
041814,002179: 15,3511 40234 RTB SETPD
041815,002180: 15,3512 21573 LOADTIME
041816,002181: 15,3513 00001 0
041817,002182: 15,3514 37562 STCALL TSIGHT
041818,002183: 15,3515 20030 CALCSMSC # GET YNB IN SM
041819,002184: 15,3516 61375 VLOAD VXM
041820,002185: 15,3517 02673 YNB
041821,002186: 15,3520 01734 REFSMMAT # YNB TO REF
041822,002187: 15,3521 65256 UNIT PDDL
041823,002188: 15,3522 03562 TSIGHT
041824,002189: 15,3523 45006 PUSH CALL
041825,002190: 15,3524 51670 R-TO-RP
041826,002191: 15,3525 26237 STOVL YNBSAV # YNB TO MF
041827,002192: 15,3526 02701 ZNB
041828,002193: 15,3527 53505 VXM UNIT
041829,002194: 15,3530 01734 REFSMMAT # ZNB TO REF
041830,002195: 15,3531 41525 PDDL PUSH
041831,002196: 15,3532 03562 TSIGHT
041832,002197: 15,3533 77624 CALL
041833,002198: 15,3534 51670 R-TO-RP # ZNB TO MF
041834,002199: 15,3535 02245 STORE ZNBSAV
041835,002200: 15,3536 77614 SETGO
041836,002201: 15,3537 03036 ATTFLAG
041837,002202: 15,3540 02746 QMAJ
041838,002203:
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|
Page 980
|
041840,002205: # BRANCH TO ALIGNMENT OPTION
041841,002206:
041842,002207: 15,3541 06037 GETLMATT TC INTPRET
041843,002208: 15,3542 77624 CALL
041844,002209: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041845,002210: 15,3544 77776 EXIT
041846,002211:
041847,002212: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041848,002213: 15,3546 00205 ADRES INITALGN
041849,002214: 15,3547 34753 CAF BIT1
041850,002215: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
041851,002216: 15,3551 10000 CCS A
041852,002217: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041853,002218:
041854,002219: 15,3553 05353 ATTCHK TC PHASCHNG
041855,002220: 15,3554 04024 OCT 04024
041856,002221:
041857,002222: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041858,002223: 15,3556 70102 MASK FLAGWRD6
041859,002224: 15,3557 10000 CCS A
041860,002225: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041861,002226: 15,3561 05353 P57JUMP TC PHASCHNG
041862,002227: 15,3562 04024 OCT 04024
041863,002228:
041864,002229: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041865,002230: 15,3564 00205 ADRES INITALGN
041866,002231: 15,3565 36245 CAF THREE
041867,002232: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
041868,002233: 15,3567 50000 INDEX A
041869,002234: 15,3570 13571 TCF +1
041870,002235: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
041871,002236: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
041872,002237: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
041873,002238: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
041874,002239:
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|
Page 981
|
041876,002241: # OPTION 0, GET TWO ATTITUDE VECS
041877,002242:
041878,002243: 15,3575 06037 P57OPT0 TC INTPRET
041879,002244: 15,3576 77775 VLOAD
041880,002245: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041881,002246: 15,3600 26723 STOVL VEC1
041882,002247: 15,3601 02245 ZNBSAV
041883,002248: 15,3602 36731 STCALL VEC2
041884,002249: 15,3603 47537 CDUTRIG
041885,002250: 15,3604 77624 CALL
041886,002251: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041887,002252: 15,3606 77775 VLOAD
041888,002253: 15,3607 02673 YNB
041889,002254: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041890,002255: 15,3611 02701 ZNB
041891,002256: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041892,002257: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041893,002258: 15,3614 77650 GOTO
041894,002259: 15,3615 33101 SURFLINE
041895,002260:
041896,002261: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041897,002262:
041898,002263: 15,3616 06037 P57OPT1 TC INTPRET
041899,002264: 15,3617 53575 VLOAD UNIT
041900,002265: 15,3620 02023 RLS # LANDING SITE VEC
041901,002266: 15,3621 26723 STOVL VEC1
041902,002267: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
041903,002268: 15,3623 36731 STCALL VEC2
041904,002269: 15,3624 47537 CDUTRIG
041905,002270: 15,3625 77624 CALL
041906,002271: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
041907,002272: 15,3627 45175 VLOAD CALL
041908,002273: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
041909,002274: 15,3631 47661 CDU*NBSM
041910,002275: 15,3632 77650 GOTO
041911,002276: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
041912,002277:
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|
Page 982
|
041914,002279: # OPTION 2, GET TWO STAR SIGHTINGS
041915,002280:
041916,002281: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
041917,002282:
041918,002283: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041919,002284:
041920,002285: 15,3635 06037 P57OPT3 TC INTPRET
041921,002286: 15,3636 53575 VLOAD UNIT
041922,002287: 15,3637 02023 RLS # LANDING SITE VEC
041923,002288: 15,3640 02723 STORE VEC1
041924,002289: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
041925,002290: 15,3642 02231 GSAV # GRAVITY VEC NB
041926,002291: 15,3643 77624 CALL
041927,002292: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
041928,002293: 15,3645 36761 STCALL STARSAV1
041929,002294: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
041930,002295: 15,3647 77776 EXIT
041931,002296: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
041932,002297:
041933,002298: 15,3651 01206 VB05N06 VN 506
041934,002299:
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|
Page 983
|
041936,002301: # CHECK IMODES30 TO VARIFY IMU IS ON
041937,002302:
041938,002303: 15,3652 41302 IMUCHK CS IMODES30
041939,002304: 15,3653 74743 MASK BIT9
041940,002305: 15,3654 10000 CCS A # IS IMU ON
041941,002306: 15,3655 13661 TCF +4 # YES
041942,002307:
041943,002308: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
041944,002309: 15,3657 00210 OCT 210
041945,002310: 15,3660 06001 TC GOTOPOOH
041946,002311:
041947,002312: 15,3661 05504 TC UPFLAG
041948,002313: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
041949,002314:
041950,002315: 15,3663 04631 TC SWRETURN
041951,002316:
041952,002317: 04,3013 BANK 04
041953,002318: 04,2000 SETLOC AOTMARK2
041954,002319: 04,2000 BANK
041955,002320: 04,3013 COUNT* $$/P57
041956,002321:
041957,002322: 04,3013 77220 LSORIENT STQ VLOAD
041958,002323: 04,3014 02746 QMAJ
041959,002324: 04,3015 01555 RRECTCSM
041960,002325: 04,3016 47235 VXV VXV
041961,002326: 04,3017 01563 VRECTCSM
041962,002327: 04,3020 03607 XSMD
041963,002328: 04,3021 77656 UNIT
041964,002329: 04,3022 03623 STORE ZSMD
041965,002330: 04,3023 53435 VXV UNIT
041966,002331: 04,3024 03607 XSMD
041967,002332: 04,3025 37615 STCALL YSMD
041968,002333: 04,3026 02746 QMAJ
041969,002334:
End of include-file P51-P53.agc. Parent file is MAIN.agc