Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
second release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software. It was created to fix two incorrect ephemeris constants in
Luminary 96, as described by anomaly report LNY-59.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. 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 97 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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039840,000002: ## Copyright: Public domain.
039841,000003: ## Filename: P51-P53.agc
039842,000004: ## Purpose: A section of Luminary revision 97.
039843,000005: ## It is part of the reconstructed source code for the
039844,000006: ## second release of the flight software for the Lunar
039845,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
039846,000008: ## It was created to fix two incorrect ephemeris constants in
039847,000009: ## Luminary 96, as described by anomaly report LNY-59.
039848,000010: ## The code has been recreated from a copy of Luminary 99
039849,000011: ## revision 001, using asterisks indicating changed lines in
039850,000012: ## the listing and Luminary Memos #83 and #85, which list
039851,000013: ## changes between Luminary 97 and 98, and 98 and 99. The
039852,000014: ## code has been adapted such that the resulting bugger words
039853,000015: ## exactly match those specified for Luminary 97 in NASA drawing
039854,000016: ## 2021152D, which gives relatively high confidence that the
039855,000017: ## reconstruction is correct.
039856,000018: ## Reference: pp. 926-983
039857,000019: ## Assembler: yaYUL
039858,000020: ## Contact: Ron Burkey <info@sandroid.org>.
039859,000021: ## Website: www.ibiblio.org/apollo/index.html
039860,000022: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
039861,000023:
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Page 926
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039863,000025: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039864,000026: # MOD NO - 0 LOG SECTION - P51-P53
039865,000027: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039866,000028:
039867,000029: # FUNCTIONAL DESCRIPTION -
039868,000030:
039869,000031: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039870,000032: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039871,000033:
039872,000034: # (A) PREFERRED ORIENTATION
039873,000035:
039874,000036: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039875,000037: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039876,000038:
039877,000039: # (B) NOMINAL ORIENTATION
039878,000040:
039879,000041: # X = UNIT ( R )
039880,000042: # -SM
039881,000043:
039882,000044: # Y = UNIT (V X R)
039883,000045: # SM
039884,000046:
039885,000047: # Z = UNIT (X X Y )
039886,000048: # SM SM SM
039887,000049:
039888,000050: # WHERE_
039889,000051:
039890,000052: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039891,000053: # -
039892,000054:
039893,000055: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039894,000056: # -
039895,000057:
039896,000058: # (C) REFSMMAT ORIENTATION
039897,000059:
039898,000060: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039899,000061:
039900,000062: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039901,000063: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039902,000064: # SINCE THE LAST ALIGNMENT).
039903,000065:
039904,000066: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039905,000067: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039906,000068: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039907,000069: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039908,000070: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039909,000071: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039910,000072: # REQUESTED.
039911,000073:
039912,000074: # CALLING SEQUENCE -
039913,000075:
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Page 927
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039915,000077: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039916,000078:
039917,000079: # SUBROUTINES CALLED -
039918,000080:
039919,000081: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039920,000082: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039921,000083: # 3. GOPERF4 9. FLAGUP
039922,000084: # 4. MATMOVE 10. R56
039923,000085: # 5. GOFLASH 11. R51
039924,000086: # 6. S52.3 12. GOPERF3
039925,000087:
039926,000088: # NORMAL EXIT MODES -
039927,000089:
039928,000090: # EXITS TO ENDOFJOB
039929,000091:
039930,000092: # ALARM OR ABORT EXIT MODES -
039931,000093:
039932,000094: # NONE
039933,000095:
039934,000096: # OUTPUT -
039935,000097:
039936,000098: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039937,000099: # 1. IMU ORIENTATION CODE
039938,000100: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039939,000101: # 3. TIME OF NEXT IGNITION
039940,000102: # 4. GIMBAL ANGLES
039941,000103: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039942,000104: # 6. PLEASE PERFORM P00
039943,000105: # THE MODE DISPLAY MAY BE CHANGED TO 20
039944,000106:
039945,000107: # ERASABLE INITIALIZATION REQUIRED -
039946,000108:
039947,000109: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039948,000110: # XSMD, YSMD, ZSMD.
039949,000111:
039950,000112: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039951,000113:
039952,000114: # DEBRIS -
039953,000115:
039954,000116: # WORK AREA
039955,000117:
039956,000118: 33,3757 BANK 33
039957,000119: 15,2000 SETLOC P50S
039958,000120: 15,2000 BANK
039959,000121:
039960,000122: 15,2050 E5,1755 EBANK= BESTI
039961,000123: 15,2050 COUNT* $$/P52
039962,000124: 15,2050 04616 PROG52 TC BANKCALL
039963,000125: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
039964,000126: 15,2052 34750 CAF PFRATBIT
039965,000127: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039966,000128: 15,2054 10000 CCS A
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Page 928
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039968,000130: 15,2055 02060 TC P52A # YES
039969,000131: 15,2056 34752 CAF BIT2 # NO
039970,000132: 15,2057 02061 TC P52A +1
039971,000133: 15,2060 34753 P52A CAF BIT1
039972,000134: 15,2061 55145 TS OPTION2
039973,000135: 15,2062 34753 P52B CAF BIT1
039974,000136: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039975,000137: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
039976,000138: 15,2065 06001 TC GOTOPOOH
039977,000139: 15,2066 12073 TCF +5 # V33 - PROCEED
039978,000140: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039979,000141: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039980,000142: 15,2071 00014 OCT 00014
039981,000143: 15,2072 05155 TC ENDOFJOB
039982,000144:
039983,000145: 15,2073 31145 CA OPTION2
039984,000146: 15,2074 76245 MASK THREE
039985,000147: 15,2075 50000 INDEX A
039986,000148: 15,2076 02077 TC +1
039987,000149: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039988,000150: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039989,000151: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039990,000152: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
039991,000153: 15,2103 77650 GOTO
039992,000154: 15,2104 32164 P52F # GO DO R51
039993,000155:
039994,000156: 15,2105 00006 OPT4 EXTEND
039995,000157: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039996,000158: 15,2107 12112 TCF P52T +2
039997,000159:
039998,000160: 15,2110 00006 P52T EXTEND
039999,000161: 15,2111 34755 DCA NEG0
040000,000162: 15,2112 53046 DXCH DSPTEM1
040001,000163: 15,2113 32170 CAF V06N34*
040002,000164: 15,2114 04616 TC BANKCALL
040003,000165: 15,2115 20476 CADR GOFLASH
040004,000166: 15,2116 06001 TC GOTOPOOH
040005,000167: 15,2117 02121 TC +2
040006,000168: 15,2120 02113 TC -5
040007,000169: 15,2121 53046 DXCH DSPTEM1
040008,000170: 15,2122 00006 EXTEND
040009,000171: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040010,000172: 15,2124 12127 TCF +3
040011,000173: 15,2125 00006 EXTEND
040012,000174: 15,2126 30025 DCA TIME2
040013,000175: 15,2127 53775 DXCH TALIGN
040014,000176: 15,2130 31145 P52V CA OPTION2
040015,000177: 15,2131 74752 MASK BIT2
040016,000178: 15,2132 10000 CCS A
040017,000179: 15,2133 02137 TC P52W
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Page 929
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040019,000181: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040020,000182: 15,2135 77650 GOTO
040021,000183: 15,2136 32220 P52LS
040022,000184:
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Page 930
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040024,000186: # START ALIGNMENT
040025,000187:
040026,000188: 15,2137 06037 P52W TC INTPRET
040027,000189: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
040028,000190: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
040029,000191: 15,2142 31650 S52.3 # ORIENTATION
040030,000192: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040031,000193: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
040032,000194: 15,2145 77776 EXIT
040033,000195: 15,2146 35010 CAF V06N22
040034,000196: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040035,000197: 15,2150 20476 CADR GOFLASH
040036,000198: 15,2151 06001 TC GOTOPOOH
040037,000199: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
040038,000200: 15,2153 06037 P52H TC INTPRET
040039,000201: 15,2154 77650 GOTO
040040,000202: 15,2155 32143 P52D
040041,000203: 15,2156 06037 REGCOARS TC INTPRET
040042,000204: 15,2157 77624 CALL # DO COARSE ALIGN
040043,000205: 15,2160 31327 CAL53A # ROUTINE
040044,000206: 15,2161 43014 COARSRET SET CLEAR
040045,000207: 15,2162 01462 REFSMFLG
040046,000208: 15,2163 01273 PFRATFLG
040047,000209: 15,2164 77624 P52F CALL
040048,000210: 15,2165 31015 R51
040049,000211: 15,2166 77776 P52OUT EXIT
040050,000212: 15,2167 06001 TC GOTOPOOH
040051,000213: 15,2170 5006 VB05N09 = V05N09
040052,000214: 15,2170 01442 V06N34* VN 634
040053,000215:
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Page 931
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040055,000217: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040056,000218:
040057,000219: 15,2171 32217 COARSTYP CAF OCT13
040058,000220: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040059,000221: 15,2173 20623 CADR GOPERF1
040060,000222: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
040061,000223: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
040062,000224: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
040063,000225: 15,2177 64375 VLOAD MXV
040064,000226: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040065,000227: 15,2201 01734 REFSMMAT
040066,000228: 15,2202 77656 UNIT
040067,000229: 15,2203 26665 STOVL XDC
040068,000230: 15,2204 03615 YSMD
040069,000231: 15,2205 53521 MXV UNIT
040070,000232: 15,2206 01734 REFSMMAT
040071,000233: 15,2207 26673 STOVL YDC
040072,000234: 15,2210 03623 ZSMD
040073,000235: 15,2211 53521 MXV UNIT
040074,000236: 15,2212 01734 REFSMMAT
040075,000237: 15,2213 36701 STCALL ZDC
040076,000238: 15,2214 31164 GYCOARS
040077,000239: 15,2215 77650 GOTO
040078,000240: 15,2216 32166 P52OUT
040079,000241: 15,2217 00013 OCT13 OCT 13
040080,000242:
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Page 932
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040082,000244: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040083,000245:
040084,000246: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040085,000247: 15,2221 01463 LUNAFLAG
040086,000248: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040087,000249: 15,2223 77201 SETPD VLOAD
040088,000250: 15,2224 00001 0
040089,000251: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040090,000252: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040091,000253: 15,2227 02775 TALIGN
040092,000254: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040093,000255: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040094,000256: 15,2232 77742 VSR2
040095,000257: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040096,000258: 15,2234 02775 TALIGN
040097,000259: 15,2235 77624 CALL
040098,000260: 15,2236 30446 N89DISP
040099,000261: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040100,000262: 15,2240 02032 ALPHAV
040101,000263: 15,2241 37607 STCALL XSMD
040102,000264: 15,2242 11013 LSORIENT
040103,000265: 15,2243 77650 GOTO
040104,000266: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040105,000267:
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Page 933
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040107,000269: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040108,000270:
040109,000271: 14,2000 SETLOC P50S1
040110,000272: 14,2000 BANK
040111,000273: 14,2446 E5,1642 EBANK= XSM
040112,000274:
040113,000275: 14,2446 77620 N89DISP STQ
040114,000276: 14,2447 02746 QMAJ
040115,000277: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040116,000278: 14,2451 26351 LAT-LONG
040117,000279: 14,2452 70545 DLOAD SR1
040118,000280: 14,2453 01123 LONG
040119,000281: 14,2454 16711 STODL LANDLONG
040120,000282: 14,2455 01125 ALT
040121,000283: 14,2456 16713 STODL LANDALT
040122,000284: 14,2457 01121 LAT
040123,000285: 14,2460 16707 STODL LANDLAT
040124,000286: 14,2461 77776 EXIT
040125,000287:
040126,000288: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040127,000289: 14,2463 04616 TC BANKCALL
040128,000290: 14,2464 20476 CADR GOFLASH
040129,000291: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040130,000292: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040131,000293: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040132,000294:
040133,000295: 14,2470 06037 TC INTPRET
040134,000296: 14,2471 72545 DLOAD SL1
040135,000297: 14,2472 02711 LANDLONG
040136,000298: 14,2473 15123 STODL LONG
040137,000299: 14,2474 02713 LANDALT
040138,000300: 14,2475 15125 STODL ALT
040139,000301: 14,2476 02707 LANDLAT
040140,000302: 14,2477 15121 STODL LAT
040141,000303: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040142,000304: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040143,000305: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040144,000306: 14,2503 77650 GOTO
040145,000307: 14,2504 02746 QMAJ
040146,000308: 14,2505 01531 V06N89* VN 689
040147,000309:
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Page 934
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040149,000311: # NAME - S50 ALIAS LOCSAM
040150,000312: # BY
040151,000313: # VINCENT
040152,000314:
040153,000315: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040154,000316:
040155,000317: # DEFINE
040156,000318:
040157,000319: # U = UNIT( SUN WRT EARTH )
040158,000320: # ES
040159,000321:
040160,000322: # U = UNIT( MOON WRT EARTH )
040161,000323: # EM
040162,000324:
040163,000325: # R = POSITION VECTOR OF LEM
040164,000326: # L
040165,000327:
040166,000328: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040167,000329: # EM
040168,000330:
040169,000331: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040170,000332: # EM
040171,000333:
040172,000334: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040173,000335: # E
040174,000336:
040175,000337: # LOCSAM COMPUTES IN EARTH INFLUENCE
040176,000338:
040177,000339: # VSUN = U
040178,000340: # ES
040179,000341:
040180,000342: # VEARTH = -UNIT( R )
040181,000343: # L
040182,000344:
040183,000345: # VMOON = UNIT(R .U - R )
040184,000346: # EM EM L
040185,000347:
040186,000348: # CSUN = COS 90
040187,000349:
040188,000350: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040189,000351: # E L
040190,000352:
040191,000353: # CMOON = COS 5
040192,000354:
040193,000355: # INPUT - TIME IN MPAC
040194,000356:
040195,000357: # OUTPUT - LISTED ABOVE
040196,000358:
040197,000359: # SUBROUTINES - LSPOS, LEMPREC
040198,000360:
040199,000361: # DEBRIS - VAC AREA, TSIGHT
040200,000362:
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Page 935
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040202,000364: 14,2506 COUNT* $$/LOSAM
040203,000365:
040204,000366: 14,2506 14,2506 S50 = LOCSAM
040205,000367: 14,2506 77620 LOCSAM STQ
040206,000368: 14,2507 02745 QMIN
040207,000369: 14,2510 37562 STCALL TSIGHT
040208,000370: 14,2511 33664 LSPOS
040209,000371: 14,2512 77745 DLOAD
040210,000372: 14,2513 03562 TSIGHT
040211,000373: 14,2514 34041 STCALL TDEC1
040212,000374: 14,2515 27057 LEMPREC
040213,000375: 14,2516 61131 SSP TIX,2
040214,000376: 14,2517 00052 S2
040215,000377: 14,2520 00000 0
040216,000378: 14,2521 30543 MOONCNTR
040217,000379: 14,2522 74375 EARTCNTR VLOAD VXSC
040218,000380: 14,2523 02723 VMOON
040219,000381: 14,2524 30001 RSUBEM
040220,000382: 14,2525 52372 VSL1 VSU
040221,000383: 14,2526 00001 RATT
040222,000384: 14,2527 77656 UNIT
040223,000385: 14,2530 26723 STOVL VMOON
040224,000386: 14,2531 00001 RATT
040225,000387: 14,2532 57456 UNIT VCOMP
040226,000388: 14,2533 16707 STODL VEARTH
040227,000389: 14,2534 30005 RSUBE
040228,000390: 14,2535 77624 CALL
040229,000391: 14,2536 30575 OCCOS
040230,000392: 14,2537 14017 STODL CEARTH
040231,000393: 14,2540 30604 CSS5
040232,000394: 14,2541 34023 STCALL CMOON
040233,000395: 14,2542 30570 ENDSAM
040234,000396: 14,2543 74375 MOONCNTR VLOAD VXSC
040235,000397: 14,2544 02723 VMOON
040236,000398: 14,2545 30007 ROE
040237,000399: 14,2546 53445 BVSU UNIT
040238,000400: 14,2547 02715 VSUN
040239,000401: 14,2550 26715 STOVL VSUN
040240,000402: 14,2551 02723 VMOON
040241,000403: 14,2552 53361 VXSC VAD
040242,000404: 14,2553 30001 RSUBEM
040243,000405: 14,2554 00001 RATT
040244,000406: 14,2555 57456 UNIT VCOMP
040245,000407: 14,2556 26707 STOVL VEARTH
040246,000408: 14,2557 00001 RATT
040247,000409: 14,2560 57456 UNIT VCOMP
040248,000410: 14,2561 16723 STODL VMOON
040249,000411: 14,2562 30003 RSUBM
040250,000412: 14,2563 77624 CALL
040251,000413: 14,2564 30575 OCCOS
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Page 936
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040253,000415: 14,2565 14023 STODL CMOON
040254,000416: 14,2566 30604 CSS5
040255,000417: 14,2567 00017 STORE CEARTH
040256,000418: 14,2570 77745 ENDSAM DLOAD
040257,000419: 14,2571 30606 CSSUN
040258,000420: 14,2572 00021 STORE CSUN
040259,000421: 14,2573 77650 GOTO
040260,000422: 14,2574 02745 QMIN
040261,000423: 14,2575 70471 OCCOS DDV SR1
040262,000424: 14,2576 00045 36D
040263,000425: 14,2577 43336 ASIN DAD
040264,000426: 14,2600 30610 5DEGREES
040265,000427: 14,2601 70546 COS SR1
040266,000428: 14,2602 77616 RVQ
040267,000429: 14,2603 CEARTH = 14D
040268,000430: 14,2603 CSUN = 16D
040269,000431: 14,2603 CMOON = 18D
040270,000432: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040271,000433: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040272,000434: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040273,000435:
|
|
Page 937
|
040275,000437: # PROGRAM NAME - R56 DATE DEC 20 66
040276,000438: # MOD 1 LOG SECTION P51-P53
040277,000439: # ASSEMBLY SUNDISK REV40
040278,000440: # BY KEN VINCENT
040279,000441:
040280,000442: # FUNCTION
040281,000443: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040282,000444: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040283,000445: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040284,000446: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040285,000447: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040286,000448: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040287,000449: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040288,000450: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040289,000451: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040290,000452: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040291,000453: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040292,000454: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040293,000455:
040294,000456: # CALLING SEQUENCE
040295,000457: # L TC BANKCALL
040296,000458: # L+1 CADR R56
040297,000459: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040298,000460: # L+3 NORMAL RETURN
040299,000461:
040300,000462: # OUTPUT
040301,000463: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040302,000464: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040303,000465:
040304,000466: # INITIALIZATION
040305,000467: # 1) A CALL TO LOCSAM MUST BE MADE
040306,000468:
040307,000469: # DEBRIS
040308,000470: # WORKAREA
040309,000471: # X,Y,ZNB
040310,000472: # SINCDU, COSCDU
040311,000473: # STARAD - STAR +5
040312,000474:
040313,000475: 14,2611 14,2611 R56 = PICAPAR
040314,000476: 14,2611 COUNT* $$/R56
040315,000477: 14,2611 04645 PICAPAR TC MAKECADR
040316,000478: 14,2612 55745 TS QMIN
040317,000479: 14,2613 06037 TC INTPRET
040318,000480: 14,2614 77624 CALL
040319,000481: 14,2615 47537 CDUTRIG
040320,000482: 14,2616 77624 CALL
040321,000483: 14,2617 20030 CALCSMSC
040322,000484: 14,2620 77601 SETPD
040323,000485: 14,2621 00001 0
040324,000486: 14,2622 71214 SET DLOAD # VFLAG = 1
040325,000487: 14,2623 01465 VFLAG
|
|
Page 938
|
040327,000489: 14,2624 24007 DPZERO
040328,000490: 14,2625 26756 STOVL BESTI
040329,000491: 14,2626 02665 XNB
040330,000492: 14,2627 63361 VXSC PDVL
040331,000493: 14,2630 24005 HALFDP
040332,000494: 14,2631 02701 ZNB
040333,000495: 14,2632 74370 AXT,1 VXSC
040334,000496: 14,2633 00344 228D # X1 = 37 X 6 + 6
040335,000497: 14,2634 24005 HALFDP
040336,000498: 14,2635 77655 VAD
040337,000499: 14,2636 53505 VXM UNIT
040338,000500: 14,2637 01734 REFSMMAT
040339,000501: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
040340,000502: 14,2641 66331 SSP SSP # S1 = S2 = 6
040341,000503: 14,2642 00051 S1
040342,000504: 14,2643 00006 6
040343,000505: 14,2644 00052 S2
040344,000506: 14,2645 00006 6
040345,000507: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040346,000508: 14,2647 30651 PIC2
040347,000509: 14,2650 30766 PICEND
040348,000510: 14,2651 50373 PIC2 VLOAD* DOT
040349,000511: 14,2652 30347 CATLOG,1
040350,000512: 14,2653 02731 SAX
040351,000513: 14,2654 50025 DSU BMN
040352,000514: 14,2655 30765 CSS33
040353,000515: 14,2656 30646 PIC1
040354,000516: 14,2657 77754 LXA,2
040355,000517: 14,2660 00046 X1
040356,000518: 14,2661 52104 PIC3 TIX,2 GOTO
040357,000519: 14,2662 30664 PIC4
040358,000520: 14,2663 30646 PIC1
040359,000521: 14,2664 50373 PIC4 VLOAD* DOT
040360,000522: 14,2665 47430 CATLOG,2
040361,000523: 14,2666 02731 SAX
040362,000524: 14,2667 50025 DSU BMN
040363,000525: 14,2670 30765 CSS33
040364,000526: 14,2671 30661 PIC3
040365,000527: 14,2672 47773 VLOAD* DOT*
040366,000528: 14,2673 30347 CATLOG,1
040367,000529: 14,2674 47430 CATLOG,2
040368,000530: 14,2675 51025 DSU BPL
040369,000531: 14,2676 30763 CSS40
040370,000532: 14,2677 30661 PIC3
040371,000533: 14,2700 45173 VLOAD* CALL
040372,000534: 14,2701 30347 CATLOG,1
040373,000535: 14,2702 30740 OCCULT
040374,000536: 14,2703 77614 BON
040375,000537: 14,2704 01710 CULTFLAG
040376,000538: 14,2705 30646 PIC1
|
|
Page 939
|
040378,000540: 14,2706 45173 VLOAD* CALL
040379,000541: 14,2707 47430 CATLOG,2
040380,000542: 14,2710 30740 OCCULT
040381,000543: 14,2711 77614 BON
040382,000544: 14,2712 01710 CULTFLAG
040383,000545: 14,2713 30661 PIC3
040384,000546: 14,2714 77614 STRATGY BONCLR
040385,000547: 14,2715 01605 VFLAG
040386,000548: 14,2716 30733 NEWPAR
040387,000549: 14,2717 65120 XCHX,1 XCHX,2
040388,000550: 14,2720 02755 BESTI
040389,000551: 14,2721 02756 BESTJ
040390,000552: 14,2722 47773 STRAT VLOAD* DOT*
040391,000553: 14,2723 30347 CATLOG,1
040392,000554: 14,2724 47430 CATLOG,2
040393,000555: 14,2725 43006 PUSH BOFINV
040394,000556: 14,2726 01545 VFLAG
040395,000557: 14,2727 30717 STRAT -3
040396,000558: 14,2730 45345 DLOAD DSU
040397,000559: 14,2731 77644 BPL
040398,000560: 14,2732 30661 PIC3
040399,000561: 14,2733 67130 NEWPAR SXA,1 SXA,2
040400,000562: 14,2734 02755 BESTI
040401,000563: 14,2735 02756 BESTJ
040402,000564: 14,2736 77650 GOTO
040403,000565: 14,2737 30661 PIC3
040404,000566: 14,2740 51321 OCCULT MXV BVSU
040405,000567: 14,2741 02707 CULTRIX
040406,000568: 14,2742 00017 CSS
040407,000569: 14,2743 77654 BZE
040408,000570: 14,2744 30757 CULTED
040409,000571: 14,2745 75240 BMN SIGN
040410,000572: 14,2746 30757 CULTED
040411,000573: 14,2747 00160 MPAC +3
040412,000574: 14,2750 75240 BMN SIGN
040413,000575: 14,2751 30757 CULTED
040414,000576: 14,2752 00162 MPAC +5
040415,000577: 14,2753 43040 BMN CLRGO
040416,000578: 14,2754 30757 CULTED
040417,000579: 14,2755 01630 CULTFLAG
040418,000580: 14,2756 00052 QPRET
040419,000581: 14,2757 77614 CULTED SETGO
040420,000582: 14,2760 01430 CULTFLAG
040421,000583: 14,2761 00052 QPRET
040422,000584: 14,2762 0000016 CSS = CEARTH
040423,000585: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040424,000586: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040425,000587: 14,2766 77414 PICEND BOFF EXIT
040426,000588:
|
|
Page 940
|
040428,000590: 14,2767 01745 VFLAG
040429,000591: 14,2770 30772 PICGXT
040430,000592: 14,2771 03013 TC PICBXT
040431,000593: 14,2772 73150 PICGXT LXA,1 LXA,2
040432,000594: 14,2773 02755 BESTI
040433,000595: 14,2774 02756 BESTJ
040434,000596: 14,2775 47775 VLOAD DOT*
040435,000597: 14,2776 02731 SAX
040436,000598: 14,2777 30347 CATLOG,1
040437,000599: 14,3000 47715 PDVL DOT*
040438,000600: 14,3001 02731 SAX
040439,000601: 14,3002 47430 CATLOG,2
040440,000602: 14,3003 77625 DSU
040441,000603: 14,3004 66044 BPL SXA,1
040442,000604: 14,3005 31011 PICNSWP
040443,000605: 14,3006 02756 BESTJ
040444,000606: 14,3007 77734 SXA,2
040445,000607: 14,3010 02755 BESTI
040446,000608: 14,3011 77776 PICNSWP EXIT
040447,000609: 14,3012 25745 INCR QMIN
040448,000610: 14,3013 31745 PICBXT CA QMIN
040449,000611: 14,3014 04622 TC SWCALL
040450,000612: 14,3015 VPD = 0D
040451,000613: 14,3015 V0 = 6D
040452,000614: 14,3015 V1 = 12D
040453,000615: 14,3015 V2 = 18D
040454,000616: 14,3015 V3 = 24D
040455,000617: 14,3015 DP0 = 30D
040456,000618: 14,3015 DP1 = 32D
040457,000619:
|
|
Page 941
|
040459,000621: # NAME - R51 FINE ALIGN
040460,000622: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040461,000623: # CALLING SEQ - CALL R51
040462,000624: # INPUT - REFSMMAT
040463,000625: # OUTPUT - GYRO TORQUE PULSES
040464,000626: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040465,000627:
040466,000628: 14,3015 COUNT* $$/R51
040467,000629: 14,3015 77620 R51 STQ
040468,000630: 14,3016 02746 QMAJ
040469,000631: 14,3017 77776 R51.1 EXIT
040470,000632: 14,3020 05353 TC PHASCHNG
040471,000633: 14,3021 04024 OCT 04024
040472,000634:
040473,000635: 14,3022 34761 R51C CAF OCT15
040474,000636: 14,3023 04616 TC BANKCALL
040475,000637: 14,3024 20623 CADR GOPERF1
040476,000638: 14,3025 06001 TC GOTOPOOH
040477,000639: 14,3026 03030 TC +2 # V33E
040478,000640: 14,3027 03053 TC R51E # ENTER
040479,000641: 14,3030 06037 TC INTPRET
040480,000642: 14,3031 43234 RTB DAD
040481,000643: 14,3032 21573 LOADTIME
040482,000644: 14,3033 31163 TSIGHT1
040483,000645: 14,3034 77624 CALL
040484,000646: 14,3035 30506 LOCSAM
040485,000647: 14,3036 77776 EXIT
040486,000648: 14,3037 04616 TC BANKCALL
040487,000649: 14,3040 30611 CADR R56
040488,000650: 14,3041 03043 TC R51I
040489,000651: 14,3042 03053 R51F TC R51E
040490,000652: 14,3043 05567 R51I TC ALARM
040491,000653: 14,3044 00405 OCT 405
040492,000654: 14,3045 35006 CAF VB05N09
040493,000655: 14,3046 04616 TC BANKCALL
040494,000656: 14,3047 20476 CADR GOFLASH
040495,000657: 14,3050 06001 TC GOTOPOOH
040496,000658: 14,3051 03053 TC R51E
040497,000659: 14,3052 03022 TC R51C
040498,000660: 14,3053 34755 R51E CAF ZERO
040499,000661: 14,3054 55757 TS STARIND
040500,000662: 14,3055 06037 R51.2 TC INTPRET
040501,000663: 14,3056 77776 R51.3 EXIT
040502,000664: 14,3057 05353 TC PHASCHNG
040503,000665: 14,3060 04024 OCT 04024
040504,000666:
040505,000667: 14,3061 06037 TC INTPRET
040506,000668: 14,3062 77624 CALL
040507,000669: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
040508,000670: 14,3064 77776 EXIT
040509,000671: 14,3065 04616 TC BANKCALL
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|
Page 942
|
040511,000673: 14,3066 16000 CADR AOTMARK
040512,000674: 14,3067 04616 TC BANKCALL
040513,000675: 14,3070 17712 CADR OPTSTALL
040514,000676: 14,3071 05711 TC CURTAINS
040515,000677: 14,3072 11757 CCS STARIND
040516,000678: 14,3073 13075 TCF +2
040517,000679: 14,3074 03145 TC R51.4
040518,000680: 14,3075 06037 TC INTPRET
040519,000681: 14,3076 77775 VLOAD
040520,000682: 14,3077 02715 STARAD +6
040521,000683: 14,3100 02767 STORE STARSAV2
040522,000684: 14,3101 77776 EXIT
040523,000685: 14,3102 05353 TC PHASCHNG
040524,000686: 14,3103 04024 OCT 04024
040525,000687:
040526,000688: 14,3104 06037 TC INTPRET
040527,000689: 14,3105 45145 DLOAD CALL
040528,000690: 14,3106 03562 TSIGHT
040529,000691: 14,3107 32472 PLANET
040530,000692: 14,3110 53521 MXV UNIT
040531,000693: 14,3111 01734 REFSMMAT
040532,000694: 14,3112 26715 STOVL STARAD +6
040533,000695: 14,3113 03554 PLANVEC
040534,000696: 14,3114 53521 MXV UNIT
040535,000697: 14,3115 01734 REFSMMAT
040536,000698: 14,3116 26707 STOVL STARAD
040537,000699: 14,3117 02761 STARSAV1
040538,000700: 14,3120 24007 STOVL 6D
040539,000701: 14,3121 02767 STARSAV2
040540,000702: 14,3122 34015 STCALL 12D
040541,000703: 14,3123 31256 R54 # STAR DATA TEST
040542,000704: 14,3124 45014 BOFF CALL
040543,000705: 14,3125 00354 FREEFLAG
040544,000706: 14,3126 31134 R51K
040545,000707: 14,3127 47441 AXISGEN
040546,000708: 14,3130 77624 CALL
040547,000709: 14,3131 31224 R55 # GYRO TORQUE
040548,000710: 14,3132 77614 CLEAR
040549,000711: 14,3133 01273 PFRATFLG
040550,000712: 14,3134 77776 R51K EXIT
040551,000713: 14,3135 35751 R51P63 CAF OCT14
040552,000714: 14,3136 04616 TC BANKCALL
040553,000715: 14,3137 20623 CADR GOPERF1
040554,000716: 14,3140 06001 TC GOTOPOOH
040555,000717: 14,3141 03022 TC R51C
040556,000718: 14,3142 06037 TC INTPRET
040557,000719: 14,3143 77650 GOTO
040558,000720: 14,3144 02746 QMAJ
040559,000721: 14,3145 06037 R51.4 TC INTPRET
040560,000722: 14,3146 77775 VLOAD
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|
Page 943
|
040562,000724: 14,3147 02715 STARAD +6
040563,000725: 14,3150 02761 STORE STARSAV1
040564,000726: 14,3151 45145 DLOAD CALL
040565,000727: 14,3152 03562 TSIGHT
040566,000728: 14,3153 32472 PLANET
040567,000729: 14,3154 03554 STORE PLANVEC
040568,000730: 14,3155 77731 SSP
040569,000731: 14,3156 02760 STARIND
040570,000732: 14,3157 00001 1
040571,000733: 14,3160 77650 GOTO
040572,000734: 14,3161 31056 R51.3
040573,000735: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040574,000736:
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|
Page 944
|
040576,000738: # GYRO TORQUE COARSE ALIGNMENT
040577,000739:
040578,000740: 14,3164 45020 GYCOARS STQ CALL
040579,000741: 14,3165 02746 QMAJ
040580,000742: 14,3166 47247 CALCGTA
040581,000743: 14,3167 43014 CLEAR CLEAR
040582,000744: 14,3170 01260 DRIFTFLG
040583,000745: 14,3171 01662 REFSMFLG
040584,000746: 14,3172 77776 EXIT
040585,000747: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
040586,000748: 14,3174 04616 TC BANKCALL
040587,000749: 14,3175 20451 CADR GODSPR
040588,000750: 14,3176 33255 CA R55CDR
040589,000751: 14,3177 04616 TC BANKCALL
040590,000752: 14,3200 17323 CADR IMUPULSE
040591,000753: 14,3201 04616 TC BANKCALL
040592,000754: 14,3202 17716 CADR IMUSTALL
040593,000755: 14,3203 05711 TC CURTAINS
040594,000756: 14,3204 05353 TC PHASCHNG
040595,000757: 14,3205 04024 OCT 04024
040596,000758:
040597,000759: 14,3206 06037 TC INTPRET
040598,000760: 14,3207 75160 AXC,1 AXC,2
040599,000761: 14,3210 03606 XSMD
040600,000762: 14,3211 01733 REFSMMAT
040601,000763: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
040602,000764: 14,3213 31377 MATMOVE
040603,000765: 14,3214 43014 CLEAR SET
040604,000766: 14,3215 01273 PFRATFLG
040605,000767: 14,3216 01462 REFSMFLG
040606,000768: 14,3217 77624 CALL
040607,000769: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040608,000770: 14,3221 77650 GOTO
040609,000771: 14,3222 31134 R51K
040610,000772: 14,3223 04024 V16N20 VN 1620
040611,000773:
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|
Page 945
|
040613,000775: # R55 GYRO TORQUE
040614,000776: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040615,000777: # CALLING SEQ - CALL R55
040616,000778: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040617,000779: # OUTPUT - GYRO PULSES
040618,000780: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040619,000781:
040620,000782: 14,3224 COUNT* $$/R55
040621,000783: 14,3224 77620 R55 STQ
040622,000784: 14,3225 02745 QMIN
040623,000785: 14,3226 77624 CALL
040624,000786: 14,3227 47247 CALCGTA
040625,000787: 14,3230 77776 PULSEM EXIT
040626,000788: 14,3231 33254 R55.1 CAF V06N93
040627,000789: 14,3232 04616 TC BANKCALL
040628,000790: 14,3233 20476 CADR GOFLASH
040629,000791: 14,3234 06001 TC GOTOPOOH
040630,000792: 14,3235 03237 TC R55.2
040631,000793: 14,3236 03251 TC R55RET
040632,000794: 14,3237 05353 R55.2 TC PHASCHNG
040633,000795: 14,3240 00214 OCT 00214
040634,000796: 14,3241 33255 CA R55CDR
040635,000797: 14,3242 04616 TC BANKCALL
040636,000798: 14,3243 17323 CADR IMUPULSE
040637,000799: 14,3244 04616 TC BANKCALL
040638,000800: 14,3245 17716 CADR IMUSTALL
040639,000801: 14,3246 05711 TC CURTAINS
040640,000802: 14,3247 05353 TC PHASCHNG
040641,000803: 14,3250 04024 OCT 04024
040642,000804:
040643,000805: 14,3251 06037 R55RET TC INTPRET
040644,000806: 14,3252 77650 GOTO
040645,000807: 14,3253 02745 QMIN
040646,000808: 14,3254 01535 V06N93 VN 0693
040647,000809: 14,3255 02737 R55CDR ECADR OGC
040648,000810: 14,3256 14,3256 R54 = CHKSDATA
040649,000811:
040650,000812: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040651,000813: # MOD NO - 0 LOG SECTION - P51-P53
040652,000814: # MODIFICATION BY - LONSKE ASSEMBLY -
040653,000815:
040654,000816: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040655,000817: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040656,000818: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040657,000819: # OS1 = OBSERVED STAR 1 VECTOR
040658,000820: # OS2 = OBSERVED STAR 2 VECTOR
040659,000821: # SS1 = STORED STAR 1 VECTOR
040660,000822: # SS2 = STORED STAR 2 VECTOR
040661,000823: # A1 = ARCCOS(OS1 - OS2)
040662,000824: # A2 = ARCCOS(SS1 - SS2)
040663,000825: # A = ABS(2(A1 - A2))
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|
Page 946
|
040665,000827: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040666,000828:
040667,000829: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040668,000830: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040669,000831:
040670,000832: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040671,000833: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040672,000834:
040673,000835: # ERASABLE INITIALIZATION REQUIRED -
040674,000836: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040675,000837: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040676,000838:
040677,000839: # DEBRIS -
040678,000840:
040679,000841: 14,3256 COUNT* $$/R54
040680,000842: 14,3256 43020 CHKSDATA STQ SET
040681,000843: 14,3257 02745 QMIN
040682,000844: 14,3260 00074 FREEFLAG
040683,000845: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040684,000846: 14,3262 02706 STARAD
040685,000847:
040686,000848: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040687,000849: 14,3264 00001 0,1
040688,000850: 14,3265 00007 6,1
040689,000851: 14,3266 65552 SL1 ACOS
040690,000852: 14,3267 00025 STORE THETA
040691,000853: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040692,000854: 14,3271 00354 FREEFLAG
040693,000855: 14,3272 31302 CHKSD
040694,000856: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
040695,000857: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040696,000858: 14,3275 00006 6D
040697,000859: 14,3276 00025 THETA
040698,000860: 14,3277 00023 STORE 18D
040699,000861: 14,3300 77650 GOTO
040700,000862: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
040701,000863: 14,3302 45345 CHKSD DLOAD DSU
040702,000864: 14,3303 00025 THETA
040703,000865: 14,3304 00023 18D
040704,000866: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
040705,000867: 14,3306 21612 SGNAGREE
040706,000868: 14,3307 01046 STORE NORMTEM1
040707,000869: 14,3310 77414 SET EXIT
040708,000870: 14,3311 00074 FREEFLAG
040709,000871: 14,3312 33326 CAF VB6N5
040710,000872: 14,3313 04616 TC BANKCALL
040711,000873: 14,3314 20476 CADR GOFLASH
040712,000874: 14,3315 16001 TCF GOTOPOOH
040713,000875: 14,3316 03323 TC CHKSDA # PROCEED
040714,000876: 14,3317 06037 TC INTPRET
040715,000877: 14,3320 52014 CLEAR GOTO
040716,000878: 14,3321 00274 FREEFLAG
040717,000879: 14,3322 02745 QMIN
040718,000880: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947
|
040720,000882: 14,3324 77650 GOTO
040721,000883: 14,3325 02745 QMIN
040722,000884: 14,3326 01405 VB6N5 VN 605
040723,000885:
040724,000886: # NAME - CAL53A
040725,000887: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040726,000888: # CALLING SEQUENCE - CALL CAL53A
040727,000889: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040728,000890: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040729,000891: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040730,000892: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040731,000893:
040732,000894: 14,3327 COUNT* $$/R50
040733,000895: 14,3327 77624 CAL53A CALL
040734,000896: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040735,000897: 14,3331 66234 RTB SSP
040736,000898: 14,3332 31413 RDCDUS # READ CDUS
040737,000899: 14,3333 00051 S1
040738,000900: 14,3334 00001 1
040739,000901: 14,3335 40370 AXT,1 SETPD
040740,000902: 14,3336 00003 3
040741,000903: 14,3337 00005 4
040742,000904: 14,3340 70543 CALOOP DLOAD* SR1
040743,000905: 14,3341 00325 THETAD +3D,1
040744,000906: 14,3342 70523 PDDL* SR1
040745,000907: 14,3343 00005 4,1
040746,000908: 14,3344 51425 DSU ABS
040747,000909: 14,3345 45206 PUSH DSU
040748,000910: 14,3346 31412 DEGREE1
040749,000911: 14,3347 71240 BMN DLOAD
040750,000912: 14,3350 31366 CALOOP1
040751,000913: 14,3351 51025 DSU BPL
040752,000914: 14,3352 31413 DEG359
040753,000915: 14,3353 31366 CALOOP1
040754,000916: 14,3354 77776 EXIT
040755,000917: 14,3355 05353 TC PHASCHNG
040756,000918: 14,3356 04024 OCT 04024
040757,000919:
040758,000920: 14,3357 06037 TC INTPRET
040759,000921: 14,3360 77624 COARFINE CALL
040760,000922: 14,3361 31565 COARSE
040761,000923: 14,3362 77624 CALL
040762,000924: 14,3363 31602 NCOARSE
040763,000925: 14,3364 77650 GOTO
040764,000926: 14,3365 31370 FINEONLY
040765,000927: 14,3366 77700 CALOOP1 TIX,1
040766,000928: 14,3367 31340 CALOOP
040767,000929: 14,3370 75160 FINEONLY AXC,1 AXC,2
040768,000930: 14,3371 02642 XSM
040769,000931: 14,3372 01733 REFSMMAT
040770,000932: 14,3373 77624 CALL
040771,000933: 14,3374 31377 MATMOVE
|
|
Page 948
|
040773,000935: 14,3375 77650 GOTO
040774,000936: 14,3376 32161 COARSRET
040775,000937: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040776,000938: 14,3400 00001 0,1
040777,000939: 14,3401 10001 STORE 0,2
040778,000940: 14,3402 77773 VLOAD*
040779,000941: 14,3403 00007 6D,1
040780,000942: 14,3404 10007 STORE 6D,2
040781,000943: 14,3405 77773 VLOAD*
040782,000944: 14,3406 00015 12D,1
040783,000945: 14,3407 10015 STORE 12D,2
040784,000946: 14,3410 77616 RVQ
040785,000947: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040786,000948: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040787,000949: 14,3413 00004 RDCDUS INHINT # READ CDUS
040788,000950: 14,3414 30032 CA CDUX
040789,000951: 14,3415 50120 INDEX FIXLOC
040790,000952: 14,3416 54001 TS 1
040791,000953: 14,3417 30033 CA CDUY
040792,000954: 14,3420 50120 INDEX FIXLOC
040793,000955: 14,3421 54002 TS 2
040794,000956: 14,3422 30034 CA CDUZ
040795,000957: 14,3423 50120 INDEX FIXLOC
040796,000958: 14,3424 54003 TS 3
040797,000959: 14,3425 00003 RELINT
040798,000960: 14,3426 06061 TC DANZIG # +
040799,000961: 14,3427 COUNT* $$/INFLT
040800,000962:
|
|
Page 949
|
040802,000964: # NAME - P51 - IMU ORIENTATION DETERMINATION
040803,000965: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040804,000966: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040805,000967:
040806,000968: # FUNCTIONAL DESCRIPTION
040807,000969: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040808,000970: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040809,000971: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040810,000972: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040811,000973:
040812,000974: # CALLING SEQUENCE
040813,000975: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040814,000976:
040815,000977: # SUBROUTINES CALLED.
040816,000978: # GOPERF3
040817,000979: # GOPERF1
040818,000980: # GODSPR
040819,000981: # IMUCOARS
040820,000982: # IMUFIN20
040821,000983: # AOTMARK (R53)
040822,000984: # CHKSDATA (R54)
040823,000985: # MKRELEAS
040824,000986: # AXISGEN
040825,000987: # MATMOVE
040826,000988:
040827,000989: # ALARMS
040828,000990: # NONE.
040829,000991:
040830,000992: # ERASABLE INITIALIZATION
040831,000993: # IMU ZERO FLAG SHOULD BE SET.
040832,000994:
040833,000995: # OUTPUT
040834,000996: # REFSMMAT
040835,000997: # REFSMFLG
040836,000998:
040837,000999: # DEBRIS
040838,001000: # WORK AREA
040839,001001: # STARAD
040840,001002: # STARIND
040841,001003: # BESTI
040842,001004: # BESTJ
040843,001005:
040844,001006: 14,3427 COUNT* $$/P51
|
|
Page 950
|
040846,001008: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040847,001009: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040848,001010:
040849,001011: 14,3431 34761 CAF OCT15
040850,001012: 14,3432 04616 TC BANKCALL
040851,001013: 14,3433 20623 CADR GOPERF1
040852,001014: 14,3434 06001 TC GOTOPOOH # TERM.
040853,001015: 14,3435 13461 TCF P51B # V33
040854,001016: 14,3436 05353 TC PHASCHNG
040855,001017: 14,3437 04024 OCT 04024
040856,001018:
040857,001019: 14,3440 34755 CAF ZERO
040858,001020: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
040859,001021: 14,3442 54322 TS THETAD +1
040860,001022: 14,3443 54323 TS THETAD +2
040861,001023: 14,3444 35010 CAF V06N22
040862,001024: 14,3445 04616 TC BANKCALL
040863,001025: 14,3446 20446 CADR GODSPRET
040864,001026: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040865,001027: 14,3450 04616 TC BANKCALL
040866,001028: 14,3451 20446 CADR GODSPRET
040867,001029: 14,3452 06037 TC INTPRET
040868,001030: 14,3453 77624 CALL
040869,001031: 14,3454 31565 COARSE
040870,001032: 14,3455 77776 EXIT
040871,001033: 14,3456 05353 TC PHASCHNG
040872,001034: 14,3457 04024 OCT 04024
040873,001035: 14,3460 13431 TCF P51 +2
040874,001036:
040875,001037: 14,3461 05353 P51B TC PHASCHNG
040876,001038: 14,3462 00014 OCT 00014
040877,001039: 14,3463 06037 TC INTPRET
040878,001040: 14,3464 77624 CALL
040879,001041: 14,3465 31602 NCOARSE
040880,001042: 14,3466 40331 SSP SETPD
040881,001043: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
040882,001044: 14,3470 00000 0
040883,001045: 14,3471 00001 0
040884,001046: 14,3472 77776 P51C EXIT
040885,001047: 14,3473 05353 TC PHASCHNG
040886,001048: 14,3474 04024 OCT 04024
040887,001049:
040888,001050: 14,3475 04616 TC BANKCALL
040889,001051: 14,3476 16000 CADR AOTMARK # R53
040890,001052: 14,3477 04616 TC BANKCALL
040891,001053: 14,3500 17712 CADR AOTSTALL
040892,001054: 14,3501 05711 TC CURTAINS
040893,001055: 14,3502 11757 CCS STARIND
040894,001056: 14,3503 13511 TCF P51D +1
040895,001057: 14,3504 06037 TC INTPRET
|
|
Page 951
|
040897,001059: 14,3505 77775 VLOAD
040898,001060: 14,3506 02715 STARAD +6
040899,001061: 14,3507 02761 STORE STARSAV1
040900,001062: 14,3510 77776 P51D EXIT
040901,001063: 14,3511 05353 TC PHASCHNG
040902,001064: 14,3512 04024 OCT 04024
040903,001065:
040904,001066: 14,3513 11757 CCS STARIND
040905,001067: 14,3514 13530 TCF P51E
040906,001068: 14,3515 05353 TC PHASCHNG
040907,001069: 14,3516 04024 OCT 04024
040908,001070:
040909,001071: 14,3517 06037 TC INTPRET
040910,001072: 14,3520 45145 DLOAD CALL
040911,001073: 14,3521 03562 TSIGHT
040912,001074: 14,3522 32472 PLANET
040913,001075: 14,3523 03554 STORE PLANVEC
040914,001076: 14,3524 77776 EXIT
040915,001077: 14,3525 34753 CAF BIT1
040916,001078: 14,3526 55757 TS STARIND
040917,001079: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
040918,001080: 14,3530 05353 P51E TC PHASCHNG
040919,001081: 14,3531 04024 OCT 04024
040920,001082:
040921,001083: 14,3532 06037 TC INTPRET
040922,001084: 14,3533 45145 DLOAD CALL
040923,001085: 14,3534 03562 TSIGHT
040924,001086: 14,3535 32472 PLANET
040925,001087: 14,3536 24015 STOVL 12D
040926,001088: 14,3537 03554 PLANVEC
040927,001089: 14,3540 24007 STOVL 6D
040928,001090: 14,3541 02761 STARSAV1
040929,001091: 14,3542 26707 STOVL STARAD
040930,001092: 14,3543 02767 STARSAV2
040931,001093: 14,3544 36715 STCALL STARAD +6
040932,001094: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040933,001095: 14,3546 77414 BON EXIT
040934,001096: 14,3547 00314 FREEFLAG
040935,001097: 14,3550 31552 P51G
040936,001098: 14,3551 03431 TC P51 +2
040937,001099: 14,3552 77624 P51G CALL
040938,001100: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040939,001101: 14,3554 75160 AXC,1 AXC,2
040940,001102: 14,3555 02664 XDC
040941,001103: 14,3556 01733 REFSMMAT
040942,001104: 14,3557 77624 CALL
040943,001105: 14,3560 31377 MATMOVE
040944,001106: 14,3561 77414 SET EXIT
040945,001107: 14,3562 01462 REFSMFLG
040946,001108: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952
|
040948,001110: 14,3564 12200 V41K VN 4100
040949,001111: 14,3565 77776 COARSE EXIT
040950,001112: 14,3566 04616 TC BANKCALL
040951,001113: 14,3567 17000 CADR IMUCOARS
040952,001114: 14,3570 04616 TC BANKCALL
040953,001115: 14,3571 17716 CADR IMUSTALL
040954,001116: 14,3572 05711 TC CURTAINS
040955,001117: 14,3573 04616 TC BANKCALL
040956,001118: 14,3574 17210 CADR IMUFINE
040957,001119: 14,3575 04616 TC BANKCALL
040958,001120: 14,3576 17716 CADR IMUSTALL
040959,001121: 14,3577 05711 TC CURTAINS
040960,001122: 14,3600 06037 TC INTPRET
040961,001123: 14,3601 77616 RVQ
040962,001124: 14,3602 77776 NCOARSE EXIT
040963,001125: 14,3603 30025 CA TIME1
040964,001126: 14,3604 55075 TS 1/PIPADT
040965,001127: 14,3605 44755 CS ZERO
040966,001128: 14,3606 54037 TS PIPAX
040967,001129: 14,3607 54040 TS PIPAY
040968,001130: 14,3610 54041 TS PIPAZ
040969,001131: 14,3611 06037 TC INTPRET
040970,001132: 14,3612 77775 VLOAD
040971,001133: 14,3613 24007 ZEROVEC
040972,001134: 14,3614 01472 STORE GCOMP
040973,001135: 14,3615 43414 SET RVQ
040974,001136: 14,3616 01060 DRIFTFLG
040975,001137:
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|
Page 953
|
040977,001139: # NAME - S52.2
040978,001140: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040979,001141: # CALL - CALL S52.2
040980,001142: # INPUT - X,Y,ZSMD
040981,001143: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040982,001144: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040983,001145:
040984,001146: 14,3617 COUNT* $$/S52.1
040985,001147: 14,3617 45020 S52.2 STQ CALL
040986,001148: 14,3620 02746 QMAJ
040987,001149: 14,3621 47537 CDUTRIG
040988,001150: 14,3622 77624 CALL
040989,001151: 14,3623 20030 CALCSMSC
040990,001152: 14,3624 66370 AXT,1 SSP
040991,001153: 14,3625 00022 18D
040992,001154: 14,3626 00051 S1
040993,001155: 14,3627 00006 6D
040994,001156: 14,3630 61373 S52.2A VLOAD* VXM
040995,001157: 14,3631 02707 XNB +18D,1
040996,001158: 14,3632 01734 REFSMMAT
040997,001159: 14,3633 77656 UNIT
040998,001160: 14,3634 06707 STORE XNB +18D,1
040999,001161: 14,3635 77700 TIX,1
041000,001162: 14,3636 31630 S52.2A
041001,001163: 14,3637 75160 S52.2.1 AXC,1 AXC,2
041002,001164: 14,3640 03606 XSMD
041003,001165: 14,3641 02642 XSM
041004,001166: 14,3642 77624 CALL
041005,001167: 14,3643 31377 MATMOVE
041006,001168: 14,3644 77624 CALL
041007,001169: 14,3645 47353 CALCGA
041008,001170: 14,3646 77650 GOTO
041009,001171: 14,3647 02746 QMAJ
041010,001172:
|
|
Page 954
|
041012,001174: # NAME - S52.3
041013,001175: # FUNCTION XSMD= UNIT R
041014,001176: # YSMD= UNIT(V X R)
041015,001177: # ZSMD= UNIT(XSMD X YSMD)
041016,001178: # CALL DLOAD CALL
041017,001179: # TALIGN
041018,001180: # S52.3
041019,001181: # INPUT - TIME OF ALIGNMENT IN MPAC
041020,001182: # OUTPUT - X,Y,ZSMD
041021,001183: # SUBROUTINES - CSMCONIC
041022,001184:
041023,001185: 14,3650 COUNT* $$/S52.3
041024,001186: 14,3650 77620 S52.3 STQ
041025,001187: 14,3651 02746 QMAJ
041026,001188: 14,3652 34041 STCALL TDEC1
041027,001189: 14,3653 27100 LEMCONIC
041028,001190: 14,3654 53575 VLOAD UNIT
041029,001191: 14,3655 00001 RATT
041030,001192: 14,3656 27607 STOVL XSMD
041031,001193: 14,3657 00007 VATT
041032,001194: 14,3660 53435 VXV UNIT
041033,001195: 14,3661 00001 RATT
041034,001196: 14,3662 27615 STOVL YSMD
041035,001197: 14,3663 03607 XSMD
041036,001198: 14,3664 53435 VXV UNIT
041037,001199: 14,3665 03615 YSMD
041038,001200: 14,3666 37623 STCALL ZSMD
041039,001201: 14,3667 02746 QMAJ
041040,001202:
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|
Page 955
|
041042,001204: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041043,001205:
041044,001206: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041045,001207: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041046,001208:
041047,001209: # CALLING - CALL R52
041048,001210:
041049,001211: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
041050,001212:
041051,001213: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
041052,001214: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041053,001215: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041054,001216: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041055,001217:
041056,001218: # SUBROUT - R60LEM
041057,001219:
041058,001220: 14,3670 COUNT* $$/R52
041059,001221: 14,3670 77420 R52 STQ EXIT
041060,001222: 14,3671 03665 SAVQR52
041061,001223: 14,3672 51757 INDEX STARIND
041062,001224: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041063,001225: 14,3674 00006 EXTEND
041064,001226: 14,3675 73771 MP 1/6TH
041065,001227: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
041066,001228: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
041067,001229:
041068,001230: 14,3700 33772 R52A CAF V01N70
041069,001231: 14,3701 04616 TC BANKCALL
041070,001232: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041071,001233: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
041072,001234: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
041073,001235: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
041074,001236:
041075,001237: 14,3706 05516 R52B TC DOWNFLAG
041076,001238: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041077,001239: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
041078,001240: 14,3711 77744 MASK HIGH9
041079,001241: 14,3712 00006 EXTEND
041080,001242: 14,3713 74743 MP BIT9
041081,001243: 14,3714 54001 TS L # TEMP STORE DETENT
041082,001244:
041083,001245: 14,3715 00006 EXTEND
041084,001246: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041085,001247:
041086,001248: 14,3717 65660 AD NEG7
041087,001249: 14,3720 00006 EXTEND
041088,001250: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
041089,001251:
041090,001252: 14,3722 E7,1551 EBANK= XYMARK
041091,001253: 14,3722 35016 CA EBANK7
041092,001254: 14,3723 54003 TS EBANK
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|
Page 956
|
041094,001256: 14,3724 50001 INDEX L
041095,001257: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041096,001258: 14,3726 54001 TS L
041097,001259: 14,3727 E5,1642 EBANK= XSM
041098,001260: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041099,001261: 14,3730 54003 TS EBANK
041100,001262: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
041101,001263: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041102,001264: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
041103,001265:
041104,001266: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041105,001267: 14,3735 04616 TC BANKCALL
041106,001268: 14,3736 20476 CADR GOFLASH
041107,001269: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
041108,001270: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
041109,001271: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
041110,001272:
041111,001273: 14,3742 00006 EXTEND
041112,001274: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041113,001275: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041114,001276: 14,3745 52011 DXCH 8D
041115,001277: 14,3746 06037 TC INTPRET
041116,001278: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041117,001279: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041118,001280: 14,3751 45034 RTB CALL
041119,001281: 14,3752 21573 LOADTIME
041120,001282: 14,3753 32472 PLANET
041121,001283: 14,3754 53521 MXV UNIT
041122,001284: 14,3755 01734 REFSMMAT
041123,001285: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041124,001286:
041125,001287: 14,3757 77776 EXIT
041126,001288: 14,3760 04616 TC BANKCALL
041127,001289: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041128,001290:
041129,001291: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041130,001292: 14,3763 70735 MASK STARCODE
041131,001293: 14,3764 00006 EXTEND
041132,001294: 14,3765 13700 BZF R52A
041133,001295:
041134,001296: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041135,001297: 14,3767 77650 GOTO
041136,001298: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041137,001299:
041138,001300: 14,3771 05253 1/6TH DEC .1666667
041139,001301: 14,3772 00306 V01N70 VN 0170
041140,001302: 14,3773 01527 V06N87 VN 687
041141,001303:
|
|
Page 957
|
041143,001305: # LUNAR SURFACE STAR AQUISITION
041144,001306:
041145,001307: 15,2245 BANK 15
041146,001308: 15,2000 SETLOC P50S
041147,001309: 15,2000 BANK
041148,001310: 15,2245 COUNT* $$/R59
041149,001311:
041150,001312: 15,2245 40077 R59 CS FLAGWRD3
041151,001313: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041152,001314: 15,2247 10000 CCS A
041153,001315: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041154,001316:
041155,001317: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041156,001318: 15,2252 04616 TC BANKCALL
041157,001319: 15,2253 20476 CADR GOFLASH
041158,001320: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041159,001321: 15,2255 12257 TCF R59A # V33 - PROCEED
041160,001322: 15,2256 12245 TCF R59 # V32 - RECYCLE
041161,001323:
041162,001324: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041163,001325: 15,2260 70735 MASK AOTCODE
041164,001326: 15,2261 00006 EXTEND
041165,001327: 15,2262 76242 MP REVCNT # JUST 6
041166,001328: 15,2263 56001 XCH L
041167,001329: 15,2264 51757 INDEX STARIND
041168,001330: 15,2265 55755 TS BESTI
041169,001331: 15,2266 50120 INDEX FIXLOC
041170,001332: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041171,001333: 15,2270 00006 EXTEND
041172,001334: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041173,001335: 15,2272 40000 COM
041174,001336: 15,2273 62561 AD DEC227
041175,001337: 15,2274 00006 EXTEND
041176,001338: 15,2275 62455 BZMF R59OUT
041177,001339:
041178,001340: 15,2276 06037 TC INTPRET
041179,001341: 15,2277 64373 VLOAD* MXV
041180,001342: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041181,001343: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041182,001344: 15,2302 45056 UNIT CALL
041183,001345: 15,2303 47646 CDU*SMNB
041184,001346: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041185,001347: 15,2305 77776 EXIT
041186,001348:
041187,001349: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041188,001350: 15,2307 55242 TS POSCODE
041189,001351:
041190,001352: 15,2310 E7,1551 EBANK= XYMARK
041191,001353: 15,2310 35016 INCAZ CA EBANK7
041192,001354: 15,2311 54003 TS EBANK
041193,001355:
|
|
Page 958
|
041195,001357: 15,2312 51242 INDEX POSCODE
041196,001358: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041197,001359: 15,2314 54001 TS L
041198,001360:
041199,001361: 15,2315 E5,1642 EBANK= XSM
041200,001362: 15,2315 35014 CA EBANK5
041201,001363: 15,2316 54003 TS EBANK
041202,001364:
041203,001365: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041204,001366: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041205,001367: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041206,001368: 15,2322 50120 INDEX FIXLOC
041207,001369: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041208,001370:
041209,001371: 15,2324 06037 TC INTPRET
041210,001372: 15,2325 77624 CALL
041211,001373: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041212,001374: 15,2327 50375 VLOAD DOT
041213,001375: 15,2330 02731 STAR # DOT STAR WITH OA
041214,001376: 15,2331 03765 SCAXIS
041215,001377: 15,2332 65552 SL1 ARCCOS
041216,001378: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041217,001379:
041218,001380: 15,2334 51025 DSU BPL
041219,001381: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041220,001382: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041221,001383: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041222,001384: 15,2340 00031 24D
041223,001385: 15,2341 32470 DEG.5
041224,001386: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041225,001387: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041226,001388: 15,2344 00031 24D # GET SPIRAL
041227,001389: 15,2345 42405 DMP SL4
041228,001390: 15,2346 25764 3/4 # 12 SCALED AT 16
041229,001391: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041230,001392:
041231,001393: 15,2350 03765 SCAXIS # OA
041232,001394: 15,2351 53435 VXV UNIT
041233,001395: 15,2352 24005 XUNIT
041234,001396: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041235,001397: 15,2354 03765 SCAXIS
041236,001398: 15,2355 77676 VCOMP
041237,001399: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041238,001400: 15,2357 03765 SCAXIS
041239,001401: 15,2360 53435 VXV UNIT
041240,001402: 15,2361 02731 STAR
041241,001403: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041242,001404: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041243,001405: 15,2364 65552 SL1 ARCCOS
041244,001406: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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|
Page 959
|
041246,001408: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041247,001409: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041248,001410: 15,2370 32375 R59D
041249,001411: 15,2371 32047 ABOUTONE
041250,001412: 15,2372 77625 DSU
041251,001413: 15,2373 00033 26D
041252,001414: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041253,001415:
041254,001416: 15,2375 70535 R59D SLOAD SR1
041255,001417: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041256,001418: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041257,001419: 15,2400 00033 26D
041258,001420: 15,2401 77634 RTB
041259,001421: 15,2402 21614 1STO2S
041260,001422: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041261,001423: 15,2404 00031 24D # LOAD SROT IN REVS
041262,001424: 15,2405 77615 DAD # 12(SEP) + YROT
041263,001425: 15,2406 77634 RTB
041264,001426: 15,2407 21614 1STO2S
041265,001427: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041266,001428: 15,2411 77776 EXIT
041267,001429: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041268,001430:
041269,001431: 15,2413 77776 ZSPCR EXIT
041270,001432: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041271,001433: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041272,001434: 15,2416 55240 TS SPIRAL
041273,001435: 15,2417 12437 TCF 79DISP
041274,001436:
041275,001437: 15,2420 77776 NXAX EXIT
041276,001438: 15,2421 25242 INCR POSCODE
041277,001439: 15,2422 41242 CS POSCODE
041278,001440: 15,2423 64757 AD SEVEN
041279,001441: 15,2424 00006 EXTEND
041280,001442: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041281,001443: 15,2426 12310 TCF INCAZ
041282,001444:
041283,001445: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041284,001446: 15,2430 00404 OCT 404
041285,001447: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041286,001448: 15,2432 04616 TC BANKCALL
041287,001449: 15,2433 20476 CADR GOFLASH
041288,001450: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041289,001451: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041290,001452: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041291,001453:
041292,001454: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041293,001455: 15,2440 04616 TC BANKCALL
041294,001456: 15,2441 20476 CADR GOFLASH
041295,001457: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 960
|
041297,001459: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041298,001460: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041299,001461:
041300,001462: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041301,001463: 15,2446 71242 MASK POSCODE
041302,001464: 15,2447 00006 EXTEND
041303,001465: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041304,001466: 15,2451 47744 CS HIGH9
041305,001467: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041306,001468: 15,2453 60001 AD L
041307,001469: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041308,001470:
041309,001471: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041310,001472: 15,2456 16000 CADR AOTMARK
041311,001473: 15,2457 04616 TC BANKCALL
041312,001474: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041313,001475: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041314,001476: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041315,001477:
041316,001478: 15,2463 00306 V01N70* VN 170
041317,001479: 15,2464 01517 V06N79 VN 679
041318,001480: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041319,001481: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041320,001482: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041321,001483: 15,2472 1236 CURSOR EQUALS GDT/2
041322,001484: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041323,001485: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041324,001486:
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|
Page 961
|
041326,001488: # NAME - PLANET
041327,001489: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041328,001490: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041329,001491: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041330,001492: # BY DSDY INPUT
041331,001493: # CALL - CALL
041332,001494: # PLANET
041333,001495: # INPUT - TIME IN MPAC
041334,001496: # OUTPUT - VECTOR IN MPAC
041335,001497: # SUBROUTINES - LOCSAM
041336,001498: # DEBRIS - VAC, STARAD - STARAD +17
041337,001499:
041338,001500: 15,2000 SETLOC P50S
041339,001501: 15,2000 BANK
041340,001502: 15,2472 COUNT* $$/P51
041341,001503:
041342,001504: 15,2472 27562 PLANET STOVL TSIGHT
041343,001505: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
041344,001506: 15,2474 02707 STORE STARAD
041345,001507: 15,2475 77420 STQ EXIT
041346,001508: 15,2476 02736 GCTR
041347,001509: 15,2477 47744 CS HIGH9
041348,001510: 15,2500 70735 MASK AOTCODE
041349,001511: 15,2501 00006 EXTEND
041350,001512: 15,2502 76242 MP REVCNT
041351,001513: 15,2503 56001 XCH L
041352,001514: 15,2504 51757 INDEX STARIND
041353,001515: 15,2505 55755 TS BESTI
041354,001516: 15,2506 10000 CCS A
041355,001517: 15,2507 12523 TCF NOTPLAN
041356,001518: 15,2510 32562 CAF VNPLANV
041357,001519: 15,2511 04616 TC BANKCALL
041358,001520: 15,2512 20476 CADR GOFLASH
041359,001521: 15,2513 02510 TC -3
041360,001522: 15,2514 02516 TC +2
041361,001523: 15,2515 02510 TC -5
041362,001524: 15,2516 06037 TC INTPRET
041363,001525: 15,2517 53575 VLOAD UNIT
041364,001526: 15,2520 02707 STARAD
041365,001527: 15,2521 77650 GOTO
041366,001528: 15,2522 02736 GCTR
041367,001529: 15,2523 40000 NOTPLAN CS A
041368,001530: 15,2524 62561 AD DEC227
041369,001531: 15,2525 00006 EXTEND
041370,001532: 15,2526 62537 BZMF CALSAM1
041371,001533: 15,2527 51757 INDEX STARIND
041372,001534: 15,2530 31755 CA BESTI
041373,001535: 15,2531 50120 INDEX FIXLOC
041374,001536: 15,2532 54046 TS X1
041375,001537: 15,2533 06037 TC INTPRET
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|
Page 962
|
041377,001539: 15,2534 52173 VLOAD* GOTO
041378,001540: 15,2535 30347 CATLOG,1
041379,001541: 15,2536 02736 GCTR
041380,001542: 15,2537 06037 CALSAM1 TC INTPRET
041381,001543: 15,2540 45145 CALSAM DLOAD CALL
041382,001544: 15,2541 03562 TSIGHT
041383,001545: 15,2542 30506 LOCSAM
041384,001546: 15,2543 77340 LXC,1 VLOAD
041385,001547: 15,2544 02757 STARIND
041386,001548: 15,2545 02707 VEARTH
041387,001549: 15,2546 24001 STOVL 0D
041388,001550: 15,2547 02715 VSUN
041389,001551: 15,2550 26707 STOVL VEARTH
041390,001552: 15,2551 00001 0D
041391,001553: 15,2552 02715 STORE VSUN
041392,001554: 15,2553 70143 DLOAD* LXC,1
041393,001555: 15,2554 02756 BESTI,1
041394,001556: 15,2555 00154 MPAC
041395,001557: 15,2556 52173 VLOAD* GOTO
041396,001558: 15,2557 02343 STARAD -228D,1
041397,001559: 15,2560 02736 GCTR
041398,001560: 15,2561 00343 DEC227 DEC 227 B-14
041399,001561: 15,2562 01530 VNPLANV VN 0688
041400,001562: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041401,001563:
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|
Page 963
|
041403,001565: # GRAVITY VECTOR DETERMINATION ROUTINE
041404,001566: # BY KEN VINCENT
041405,001567:
041406,001568: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041407,001569:
041408,001570: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041409,001571: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041410,001572: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041411,001573: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041412,001574: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041413,001575: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041414,001576: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041415,001577: # READINGS.
041416,001578:
041417,001579: # CALL -
041418,001580: # TC BANKCALL
041419,001581: # CADR GVDETER
041420,001582:
041421,001583: # INPUTS -
041422,001584: # PIPAS, CDUS
041423,001585:
041424,001586: # OUTPUTS -
041425,001587: # STARSAV1 = UNIT GRAVITY
041426,001588: # GSAV = DITTO
041427,001589: # GRAVBIT = 1
041428,001590:
041429,001591: # SUBROUTINES -
041430,001592: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041431,001593: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041432,001594:
041433,001595: # DEBRIS -
041434,001596: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041435,001597:
041436,001598: 15,2563 32772 GVDETER CAF 42DEG
041437,001599: 15,2564 54321 TS THETAD
041438,001600: 15,2565 40000 COM
041439,001601: 15,2566 54322 TS THETAD +1
041440,001602: 15,2567 32773 CAF 35DEG
041441,001603: 15,2570 54323 TS THETAD +2
041442,001604: 15,2571 06037 TC INTPRET
041443,001605: 15,2572 45014 CLEAR CALL
041444,001606: 15,2573 01662 REFSMFLG
041445,001607: 15,2574 32670 LUNG
041446,001608:
041447,001609: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041448,001610:
041449,001611: # DEFINE G COOR SYS
041450,001612: # -
041451,001613: # X UNIT G
041452,001614: # * - -
041453,001615: # M = Y = UNITEZSM * X )
041454,001616: # - - -
041455,001617: # Z UNIT(X * Y )
041456,001618:
041457,001619: # THEN ROTATED SM WRT PRESENT IS
041458,001620:
041459,001621: # 1, 0, 0
041460,001622: # * *T * * *
|
|
Page 964
|
041462,001624: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041463,001625: # I J
041464,001626: # 0, 0, -1
041465,001627:
041466,001628: # ALSO NB WRT PRES SM IS
041467,001629:
041468,001630: # * * *
041469,001631: # XNB = NBSM I
041470,001632: # * *
041471,001633: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041472,001634:
041473,001635: 15,2000 SETLOC P50S
041474,001636: 15,2000 BANK
041475,001637: 15,2575 COUNT* $$/P57
041476,001638: 15,2575 66370 AXT,1 SSP # X1=18
041477,001639: 15,2576 00022 18D # S1=6
041478,001640: 15,2577 00051 S1 # X2, -2
041479,001641: 15,2600 00006 6D
041480,001642: 15,2601 77744 LXC,2
041481,001643: 15,2602 00050 S1
041482,001644: 15,2603 45173 GRAVEL VLOAD* CALL
041483,001645: 15,2604 54000 XUNIT -6,2
041484,001646: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
041485,001647: 15,2606 06707 STORE XNB +18D,1
041486,001648: 15,2607 77775 VLOAD
041487,001649: 15,2610 02731 STAR
041488,001650: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041489,001651: 15,2612 00047 X2
041490,001652: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
041491,001653: 15,2614 71152 VSL2 LXC,2
041492,001654: 15,2615 00047 X2
041493,001655: 15,2616 63047 VSU* INCR,2
041494,001656: 15,2617 54000 XUNIT -6,2
041495,001657: 15,2620 00002 2D
041496,001658: 15,2621 06665 STORE XSM +18D,1
041497,001659: 15,2622 45100 TIX,1 CALL
041498,001660: 15,2623 32603 GRAVEL
041499,001661: 15,2624 47353 CALCGA
041500,001662: 15,2625 74575 VLOAD VSR1
041501,001663: 15,2626 02715 GOUT
041502,001664: 15,2627 36723 STCALL STARAD +12D
041503,001665: 15,2630 32670 LUNG
041504,001666: 15,2631 74575 VLOAD VSR1
041505,001667: 15,2632 02715 GOUT
041506,001668: 15,2633 53455 VAD UNIT
041507,001669: 15,2634 02723 STARAD +12D
041508,001670: 15,2635 02761 STORE STARSAV1
041509,001671: 15,2636 77641 DOT
041510,001672: 15,2637 02231 GSAV
041511,001673: 15,2640 65552 SL1 ACOS
|
|
Page 965
|
041513,001675: 15,2641 01046 STORE DSPTEM1
041514,001676: 15,2642 77776 EXIT
041515,001677: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041516,001678: 15,2644 00014 ADRES FREEFLAG
041517,001679:
041518,001680: 15,2645 32771 CA DISGRVER
041519,001681: 15,2646 04616 TC BANKCALL
041520,001682: 15,2647 20476 CADR GOFLASH
041521,001683: 15,2650 06001 TC GOTOPOOH
041522,001684: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
041523,001685: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041524,001686: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041525,001687:
041526,001688: 15,2654 05353 PROGRAV TC PHASCHNG
041527,001689: 15,2655 04024 OCT 04024
041528,001690:
041529,001691: 15,2656 06037 TC INTPRET
041530,001692: 15,2657 77775 VLOAD
041531,001693: 15,2660 02761 STARSAV1
041532,001694: 15,2661 02231 STORE GSAV
041533,001695: 15,2662 77776 EXIT
041534,001696: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041535,001697: 15,2664 70074 MASK FLAGWRD0
041536,001698: 15,2665 10000 CCS A
041537,001699: 15,2666 12563 TCF GVDETER # SET
041538,001700: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
041539,001701:
041540,001702: 15,2670 77220 LUNG STQ VLOAD
041541,001703: 15,2671 02745 QMIN
041542,001704: 15,2672 24007 ZEROVEC
041543,001705: 15,2673 02707 STORE GACC
041544,001706: 15,2674 77776 EXIT
041545,001707: 15,2675 05353 TC PHASCHNG
041546,001708: 15,2676 04024 OCT 04024
041547,001709:
041548,001710: 15,2677 04616 TC BANKCALL
041549,001711: 15,2700 17000 CADR IMUCOARS
041550,001712: 15,2701 04616 TC BANKCALL
041551,001713: 15,2702 17716 CADR IMUSTALL
041552,001714: 15,2703 05711 TC CURTAINS
041553,001715: 15,2704 04616 TC BANKCALL
041554,001716: 15,2705 17210 CADR IMUFINE
041555,001717: 15,2706 04616 TC BANKCALL
041556,001718: 15,2707 17716 CADR IMUSTALL
041557,001719: 15,2710 05711 TC CURTAINS
041558,001720: 15,2711 32770 CA T/2SEC
041559,001721: 15,2712 55736 TS GCTR
041560,001722: 15,2713 37716 CA PRIO31
041561,001723: 15,2714 55075 TS 1/PIPADT
041562,001724: 15,2715 04616 TC BANKCALL
|
|
Page 966
|
041564,001726: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
041565,001727: 15,2717 05353 TC PHASCHNG
041566,001728: 15,2720 04024 OCT 04024
041567,001729:
041568,001730: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041569,001731: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041570,001732: 15,2723 06037 TC INTPRET
041571,001733: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041572,001734: 15,2725 35000 CAF 2SECS
041573,001735: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041574,001736: 15,2727 02731 ADRES GRABGRAV
041575,001737:
041576,001738: 15,2730 05155 TC ENDOFJOB
041577,001739:
041578,001740: 15,2731 04674 GRABGRAV TC IBNKCALL
041579,001741: 15,2732 77544 CADR PIPSRINE
041580,001742: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041581,001743: 15,2734 05105 TC FINDVAC
041582,001744: 15,2735 E5,1706 EBANK= STARAD
041583,001745: 15,2735 02740 32065 2CADR ADDGRAV
041584,001746:
041585,001747: 15,2737 05261 TC TASKOVER
041586,001748:
041587,001749: 15,2740 04616 ADDGRAV TC BANKCALL
041588,001750: 15,2741 15263 CADR 1/PIPA
041589,001751: 15,2742 25736 INCR GCTR
041590,001752: 15,2743 06037 TC INTPRET
041591,001753: 15,2744 53375 VLOAD VAD
041592,001754: 15,2745 00325 DELV
041593,001755: 15,2746 02707 GACC
041594,001756: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
041595,001757: 15,2750 50135 SLOAD BMN
041596,001758: 15,2751 02737 GCTR
041597,001759: 15,2752 32724 GREED
041598,001760: 15,2753 53575 VLOAD UNIT
041599,001761: 15,2754 02707 GACC
041600,001762: 15,2755 36731 STCALL STAR
041601,001763: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041602,001764: 15,2757 77624 CALL # IN OUTPUT
041603,001765: 15,2760 47671 *SMNB*
041604,001766: 15,2761 02715 STORE GOUT
041605,001767: 15,2762 77776 EXIT
041606,001768: 15,2763 05353 TC PHASCHNG
041607,001769: 15,2764 04024 OCT 04024
041608,001770:
041609,001771: 15,2765 06037 QMINEXIT TC INTPRET
041610,001772: 15,2766 77650 GOTO
041611,001773: 15,2767 02745 QMIN
041612,001774: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967
|
041614,001776: 15,2771 01404 DISGRVER VN 0604
041615,001777: 15,2772 07357 42DEG OCT 07357
041616,001778: 15,2773 06211 35DEG OCT 06211
041617,001779:
|
|
Page 968
|
041619,001781: # NAME GYROTRIM
041620,001782:
041621,001783: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041622,001784: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041623,001785: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041624,001786:
041625,001787: # CALL CALL
041626,001788: # GYROTRIM
041627,001789:
041628,001790: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041629,001791: # CDUX,CDUY,CDUZ
041630,001792:
041631,001793: # OUTPUT - GYRO TORQUE PULSES
041632,001794:
041633,001795: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041634,001796: # IMPULSE, IMUSTALL
041635,001797: # - - - * * -
041636,001798: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041637,001799:
041638,001800: 15,2774 COUNT* $$/P57
041639,001801: 15,2774 71220 GYROTRIM STQ DLOAD
041640,001802: 15,2775 02745 QMIN
041641,001803: 15,2776 00322 THETAD
041642,001804: 15,2777 65325 PDDL PDDL
041643,001805: 15,3000 00324 THETAD +2
041644,001806: 15,3001 00323 THETAD +1
041645,001807: 15,3002 77666 VDEF
041646,001808: 15,3003 24767 STOVL CDUSPOT
041647,001809: 15,3004 24005 XUNIT
041648,001810: 15,3005 77624 CALL
041649,001811: 15,3006 47664 TRG*NBSM
041650,001812: 15,3007 26707 STOVL STARAD
041651,001813: 15,3010 24003 YUNIT
041652,001814: 15,3011 77624 CALL
041653,001815: 15,3012 47673 *NBSM*
041654,001816: 15,3013 36715 STCALL STARAD +6
041655,001817: 15,3014 47537 CDUTRIG
041656,001818: 15,3015 77624 CALL
041657,001819: 15,3016 20030 CALCSMSC
041658,001820: 15,3017 77775 VLOAD
041659,001821: 15,3020 02665 XNB
041660,001822: 15,3021 24007 STOVL 6D
041661,001823: 15,3022 02673 YNB
041662,001824: 15,3023 34015 STCALL 12D
041663,001825: 15,3024 47441 AXISGEN
041664,001826: 15,3025 77624 CALL
041665,001827: 15,3026 47247 CALCGTA
041666,001828: 15,3027 77776 JUSTTRIM EXIT
041667,001829: 15,3030 04616 TC BANKCALL
041668,001830: 15,3031 17210 CADR IMUFINE
041669,001831: 15,3032 04616 TC BANKCALL
|
|
Page 969
|
041671,001833: 15,3033 17716 CADR IMUSTALL
041672,001834: 15,3034 05711 TC CURTAINS
041673,001835: 15,3035 33044 CA GYRCDR
041674,001836: 15,3036 04616 TC BANKCALL
041675,001837: 15,3037 17323 CADR IMUPULSE
041676,001838: 15,3040 04616 TC BANKCALL
041677,001839: 15,3041 17716 CADR IMUSTALL
041678,001840: 15,3042 05711 TC CURTAINS
041679,001841: 15,3043 12765 TCF QMINEXIT
041680,001842:
041681,001843: 15,3044 02737 GYRCDR ECADR OGC
041682,001844:
|
|
Page 970
|
041684,001846: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041685,001847:
041686,001848: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
041687,001849: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041688,001850: 15,3047 34753 1STAR CAF BIT1
041689,001851: 15,3050 55757 TS STARIND
041690,001852:
041691,001853: 15,3051 05353 TC PHASCHNG
041692,001854: 15,3052 04024 OCT 04024
041693,001855:
041694,001856: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041695,001857:
041696,001858: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041697,001859: 15,3055 00006 EXTEND
041698,001860: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
041699,001861:
041700,001862: 15,3057 05353 TC PHASCHNG
041701,001863: 15,3060 04024 OCT 04024
041702,001864:
041703,001865: 15,3061 06037 TC INTPRET
041704,001866: 15,3062 45145 DLOAD CALL
041705,001867: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
041706,001868: 15,3064 32472 PLANET
041707,001869: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041708,001870: 15,3066 33101 SURFLINE
041709,001871:
041710,001872: 15,3067 06037 ASTAR TC INTPRET
041711,001873: 15,3070 77775 VLOAD
041712,001874: 15,3071 02715 STARAD +6
041713,001875: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041714,001876: 15,3073 45145 DLOAD CALL
041715,001877: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
041716,001878: 15,3075 32472 PLANET
041717,001879: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041718,001880: 15,3077 77776 EXIT
041719,001881: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
041720,001882:
|
|
Page 971
|
041722,001884: # DO FINE OR COARSE ALIGNMENT OF IMU
041723,001885:
041724,001886: 15,3101 77131 SURFLINE SSP AXT,2
041725,001887: 15,3102 00052 S2
041726,001888: 15,3103 00006 6
041727,001889: 15,3104 00014 12D
041728,001890: 15,3105 64373 WRTDESIR VLOAD* MXV
041729,001891: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041730,001892: 15,3107 03607 XSMD
041731,001893: 15,3110 77656 UNIT
041732,001894: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
041733,001895: 15,3112 77773 VLOAD*
041734,001896: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041735,001897: 15,3114 10023 STORE 18D,2
041736,001898: 15,3115 43104 TIX,2 BON
041737,001899: 15,3116 33105 WRTDESIR
041738,001900: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041739,001901: 15,3120 33126 INITBY
041740,001902: 15,3121 77624 DOALIGN CALL
041741,001903: 15,3122 31256 R54 # DO CHKSDATA
041742,001904: 15,3123 77614 BOFF
041743,001905: 15,3124 00354 FREEFLAG
041744,001906: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041745,001907: 15,3126 77624 INITBY CALL
041746,001908: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041747,001909: 15,3130 77624 CALL
041748,001910: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041749,001911: 15,3132 77776 EXIT
041750,001912: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041751,001913: 15,3134 70104 MASK FLAGWRD8
041752,001914: 15,3135 10000 CCS A
041753,001915: 15,3136 13145 TCF 5DEGTEST
041754,001916: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041755,001917: 15,3140 04616 TC BANKCALL
041756,001918: 15,3141 20476 CADR GOFLASH
041757,001919: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
041758,001920: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041759,001921: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041760,001922:
041761,001923: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041762,001924: 15,3146 40175 VLOAD BOV
041763,001925: 15,3147 02740 OGC
041764,001926: 15,3150 33151 SURFSUP
041765,001927: 15,3151 02750 SURFSUP STORE OGCT
041766,001928: 15,3152 40141 V/SC BOV
041767,001929: 15,3153 30610 5DEGREES
041768,001930: 15,3154 33254 COATRIM
041769,001931: 15,3155 52131 SSP GOTO
041770,001932: 15,3156 02746 QMIN
041771,001933: 15,3157 33161 SURFDISP
|
|
Page 972
|
041773,001935: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041774,001936:
041775,001937: 15,3161 77776 SURFDISP EXIT
041776,001938: 15,3162 05353 TC PHASCHNG
041777,001939: 15,3163 04024 OCT 04024
041778,001940:
041779,001941: 15,3164 06037 TC INTPRET
041780,001942: 15,3165 75160 AXC,1 AXC,2
041781,001943: 15,3166 03606 XSMD
041782,001944: 15,3167 01733 REFSMMAT
041783,001945: 15,3170 45014 SET CALL
041784,001946: 15,3171 01462 REFSMFLG
041785,001947: 15,3172 31377 MATMOVE
041786,001948: 15,3173 77776 EXIT
041787,001949: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
041788,001950: 15,3175 13177 TCF B2F8
041789,001951: 15,3176 13207 TCF P57POST +1
041790,001952:
041791,001953: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041792,001954: 15,3200 70104 MASK FLAGWRD8
041793,001955: 15,3201 10000 CCS A
041794,001956: 15,3202 13561 TCF P57JUMP # ITS SET
041795,001957: 15,3203 06037 TC INTPRET
041796,001958: 15,3204 77624 CALL
041797,001959: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041798,001960: 15,3206 77776 P57POST EXIT
041799,001961: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041800,001962: 15,3210 04616 TC BANKCALL
041801,001963: 15,3211 20623 CADR GOPERF1
041802,001964: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
041803,001965: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041804,001966: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041805,001967: 15,3215 61145 AD OPTION2
041806,001968: 15,3216 00006 EXTEND
041807,001969: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
041808,001970: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
041809,001971: 15,3221 05353 TC PHASCHNG # RESTART PLACE
041810,001972: 15,3222 04024 OCT 04024
041811,001973: 15,3223 06037 TC INTPRET
041812,001974: 15,3224 45175 VLOAD CALL # USE GNB
041813,001975: 15,3225 02231 GSAV
041814,001976: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
041815,001977: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
041816,001978: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041817,001979: 15,3231 01463 LUNAFLAG
041818,001980: 15,3232 51515 PDVL ABVAL
041819,001981: 15,3233 02023 RLS
041820,001982: 15,3234 45561 VXSC STADR
041821,001983: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041822,001984: 15,3236 47014 CLEAR RTB
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|
Page 973
|
041824,001986: 15,3237 00662 ERADFLAG
041825,001987: 15,3240 21573 LOADTIME
041826,001988: 15,3241 77624 CALL
041827,001989: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041828,001990: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
041829,001991: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041830,001992: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041831,001993: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
041832,001994: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
041833,001995: 15,3250 51670 R-TO-RP
041834,001996: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041835,001997: 15,3252 77776 EXIT
041836,001998: 15,3253 16001 TCF GOTOPOOH # EXIT P57
041837,001999:
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|
Page 974
|
041839,002001: # COARSE AND FINE ALIGN IMU
041840,002002:
041841,002003: 15,3254 75160 COATRIM AXC,1 AXC,2
041842,002004: 15,3255 02664 XDC
041843,002005: 15,3256 02642 XSM
041844,002006: 15,3257 77624 CALL
041845,002007: 15,3260 31377 MATMOVE
041846,002008: 15,3261 77624 CALL
041847,002009: 15,3262 47537 CDUTRIG
041848,002010: 15,3263 77624 CALL
041849,002011: 15,3264 20030 CALCSMSC
041850,002012: 15,3265 77624 CALL
041851,002013: 15,3266 47353 CALCGA
041852,002014: 15,3267 77414 BOFF EXIT
041853,002015: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041854,002016: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041855,002017: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
041856,002018: 15,3273 04616 TC BANKCALL
041857,002019: 15,3274 20476 CADR GOFLASH
041858,002020: 15,3275 06001 TC GOTOPOOH
041859,002021: 15,3276 13300 TCF +2
041860,002022: 15,3277 13272 TCF -5
041861,002023: 15,3300 05353 TC PHASCHNG
041862,002024: 15,3301 04024 OCT 04024
041863,002025:
041864,002026: 15,3302 06037 TC INTPRET
041865,002027: 15,3303 77624 CORSIT CALL
041866,002028: 15,3304 31565 COARSE
041867,002029: 15,3305 77624 CALL
041868,002030: 15,3306 31602 NCOARSE
041869,002031: 15,3307 77624 CALL
041870,002032: 15,3310 32774 GYROTRIM
041871,002033: 15,3311 77650 GOTO
041872,002034: 15,3312 33161 SURFDISP
041873,002035: 15,3313 01535 DISPGYRO VN 0693
041874,002036:
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|
Page 975
|
041876,002038: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041877,002039:
041878,002040: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041879,002041: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041880,002042:
041881,002043: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041882,002044: 15,3317 55145 TS OPTION2
041883,002045: 15,3320 34753 P57OPT CAF BIT1
041884,002046: 15,3321 04616 TC BANKCALL
041885,002047: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041886,002048: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
041887,002049: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
041888,002050: 15,3325 13320 TCF P57OPT # V32 RECYCLE
041889,002051:
041890,002052: 15,3326 05353 TC PHASCHNG
041891,002053: 15,3327 00014 OCT 00014
041892,002054: 15,3330 05155 TC ENDOFJOB
041893,002055:
041894,002056: 15,3331 31145 ALIGNOPT CA OPTION2
041895,002057: 15,3332 76245 MASK THREE
041896,002058: 15,3333 50000 INDEX A
041897,002059: 15,3334 13335 TCF +1
041898,002060: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
041899,002061: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
041900,002062: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041901,002063: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
041902,002064: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041903,002065: 15,3342 01733 REFSMMAT
041904,002066: 15,3343 03606 XSMD
041905,002067: 15,3344 77624 CALL
041906,002068: 15,3345 31377 MATMOVE
041907,002069: 15,3346 77650 GOTO
041908,002070: 15,3347 33410 PACKOPTN -1
041909,002071:
041910,002072: 15,3350 06037 TDISP TC INTPRET
041911,002073: 15,3351 77745 DLOAD
041912,002074: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041913,002075: 15,3353 01046 P57A STORE DSPTEM1
041914,002076: 15,3354 77776 EXIT
041915,002077: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041916,002078: 15,3356 04616 TC BANKCALL
041917,002079: 15,3357 20476 CADR GOFLASH
041918,002080: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
041919,002081: 15,3361 13363 TCF +2
041920,002082: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
041921,002083:
041922,002084: 15,3363 06037 TC INTPRET
041923,002085: 15,3364 65234 RTB PDDL
041924,002086: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041925,002087: 15,3366 01046 DSPTEM1
|
|
Page 976
|
041927,002089: 15,3367 65254 BZE PDDL
041928,002090: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041929,002091: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041930,002092: 15,3372 01046 DSPTEM1
041931,002093: 15,3373 33400 P57C
041932,002094: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041933,002095: 15,3375 74335 STORE TIG # STORE IT IN TIG
041934,002096: 15,3376 36775 STCALL TALIGN
041935,002097: 15,3377 33402 P57D
041936,002098: 15,3400 45545 P57C DLOAD STADR
041937,002099: 15,3401 75002 STORE TALIGN
041938,002100: 15,3402 34041 P57D STCALL TDEC1
041939,002101: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041940,002102: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
041941,002103: 15,3405 00001 RATT
041942,002104: 15,3406 37607 STCALL XSMD
041943,002105: 15,3407 11013 LSORIENT
041944,002106: 15,3410 77776 EXIT
041945,002107: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041946,002108: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041947,002109: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041948,002110: 15,3414 34737 CAF REFSMBIT
041949,002111: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
041950,002112: 15,3416 10000 CCS A
041951,002113: 15,3417 34745 CAF BIT7 # SET
041952,002114: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
041953,002115: 15,3421 34753 CAF ATTFLBIT
041954,002116: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
041955,002117: 15,3423 10000 CCS A
041956,002118: 15,3424 34750 CAF BIT4 # SET
041957,002119: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
041958,002120: 15,3426 34750 CAF BIT4
041959,002121: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041960,002122:
041961,002123: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041962,002124: 15,3431 04616 TC BANKCALL
041963,002125: 15,3432 20476 CADR GOFLASH
041964,002126: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
041965,002127: 15,3434 13436 TCF +2 # V33 - PROCEED
041966,002128: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
041967,002129:
041968,002130: 15,3436 34737 CAF REFSMBIT
041969,002131: 15,3437 70077 MASK FLAGWRD3
041970,002132: 15,3440 10000 CCS A
041971,002133: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041972,002134: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041973,002135: 15,3443 70102 MASK FLAGWRD6
041974,002136: 15,3444 10000 CCS A
041975,002137: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041976,002138: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
|
|
Page 977
|
041978,002140: 15,3447 71145 MASK OPTION2
041979,002141: 15,3450 10000 CCS A
041980,002142: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041981,002143: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041982,002144: 15,3453 00701 OCT 701
041983,002145: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041984,002146: 15,3455 04616 TC BANKCALL
041985,002147: 15,3456 20476 CADR GOFLASH
041986,002148: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
041987,002149: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
041988,002150: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041989,002151:
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|
Page 978
|
041991,002153: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041992,002154:
041993,002155: 15,3462 40220 MFREF STQ SETPD
041994,002156: 15,3463 02746 QMAJ
041995,002157: 15,3464 00001 0
041996,002158: 15,3465 77634 RTB
041997,002159: 15,3466 21573 LOADTIME
041998,002160: 15,3467 27562 STOVL TSIGHT
041999,002161: 15,3470 02723 VEC1
042000,002162: 15,3471 41525 PDDL PUSH
042001,002163: 15,3472 03562 TSIGHT
042002,002164: 15,3473 77624 CALL
042003,002165: 15,3474 55716 RP-TO-R
042004,002166: 15,3475 26723 STOVL VEC1
042005,002167: 15,3476 02731 VEC2
042006,002168: 15,3477 65201 SETPD PDDL
042007,002169: 15,3500 00001 0
042008,002170: 15,3501 03562 TSIGHT
042009,002171: 15,3502 45006 PUSH CALL
042010,002172: 15,3503 55716 RP-TO-R
042011,002173: 15,3504 36731 STCALL VEC2
042012,002174: 15,3505 02746 QMAJ
042013,002175:
|
|
Page 979
|
042015,002177: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042016,002178: # STORE IN YNBSAV AND ZNBSAV
042017,002179:
042018,002180: 15,3506 45020 REFMF STQ CALL
042019,002181: 15,3507 02746 QMAJ
042020,002182: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
042021,002183: 15,3511 40234 RTB SETPD
042022,002184: 15,3512 21573 LOADTIME
042023,002185: 15,3513 00001 0
042024,002186: 15,3514 37562 STCALL TSIGHT
042025,002187: 15,3515 20030 CALCSMSC # GET YNB IN SM
042026,002188: 15,3516 61375 VLOAD VXM
042027,002189: 15,3517 02673 YNB
042028,002190: 15,3520 01734 REFSMMAT # YNB TO REF
042029,002191: 15,3521 65256 UNIT PDDL
042030,002192: 15,3522 03562 TSIGHT
042031,002193: 15,3523 45006 PUSH CALL
042032,002194: 15,3524 51670 R-TO-RP
042033,002195: 15,3525 26237 STOVL YNBSAV # YNB TO MF
042034,002196: 15,3526 02701 ZNB
042035,002197: 15,3527 53505 VXM UNIT
042036,002198: 15,3530 01734 REFSMMAT # ZNB TO REF
042037,002199: 15,3531 41525 PDDL PUSH
042038,002200: 15,3532 03562 TSIGHT
042039,002201: 15,3533 77624 CALL
042040,002202: 15,3534 51670 R-TO-RP # ZNB TO MF
042041,002203: 15,3535 02245 STORE ZNBSAV
042042,002204: 15,3536 77614 SETGO
042043,002205: 15,3537 03036 ATTFLAG
042044,002206: 15,3540 02746 QMAJ
042045,002207:
|
|
Page 980
|
042047,002209: # BRANCH TO ALIGNMENT OPTION
042048,002210:
042049,002211: 15,3541 06037 GETLMATT TC INTPRET
042050,002212: 15,3542 77624 CALL
042051,002213: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
042052,002214: 15,3544 77776 EXIT
042053,002215:
042054,002216: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042055,002217: 15,3546 00205 ADRES INITALGN
042056,002218: 15,3547 34753 CAF BIT1
042057,002219: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
042058,002220: 15,3551 10000 CCS A
042059,002221: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042060,002222:
042061,002223: 15,3553 05353 ATTCHK TC PHASCHNG
042062,002224: 15,3554 04024 OCT 04024
042063,002225:
042064,002226: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042065,002227: 15,3556 70102 MASK FLAGWRD6
042066,002228: 15,3557 10000 CCS A
042067,002229: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042068,002230: 15,3561 05353 P57JUMP TC PHASCHNG
042069,002231: 15,3562 04024 OCT 04024
042070,002232:
042071,002233: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
042072,002234: 15,3564 00205 ADRES INITALGN
042073,002235: 15,3565 36245 CAF THREE
042074,002236: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
042075,002237: 15,3567 50000 INDEX A
042076,002238: 15,3570 13571 TCF +1
042077,002239: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
042078,002240: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
042079,002241: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
042080,002242: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
042081,002243:
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|
Page 981
|
042083,002245: # OPTION 0, GET TWO ATTITUDE VECS
042084,002246:
042085,002247: 15,3575 06037 P57OPT0 TC INTPRET
042086,002248: 15,3576 77775 VLOAD
042087,002249: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042088,002250: 15,3600 26723 STOVL VEC1
042089,002251: 15,3601 02245 ZNBSAV
042090,002252: 15,3602 36731 STCALL VEC2
042091,002253: 15,3603 47537 CDUTRIG
042092,002254: 15,3604 77624 CALL
042093,002255: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042094,002256: 15,3606 77775 VLOAD
042095,002257: 15,3607 02673 YNB
042096,002258: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042097,002259: 15,3611 02701 ZNB
042098,002260: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042099,002261: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042100,002262: 15,3614 77650 GOTO
042101,002263: 15,3615 33101 SURFLINE
042102,002264:
042103,002265: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042104,002266:
042105,002267: 15,3616 06037 P57OPT1 TC INTPRET
042106,002268: 15,3617 53575 VLOAD UNIT
042107,002269: 15,3620 02023 RLS # LANDING SITE VEC
042108,002270: 15,3621 26723 STOVL VEC1
042109,002271: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
042110,002272: 15,3623 36731 STCALL VEC2
042111,002273: 15,3624 47537 CDUTRIG
042112,002274: 15,3625 77624 CALL
042113,002275: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042114,002276: 15,3627 45175 VLOAD CALL
042115,002277: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042116,002278: 15,3631 47661 CDU*NBSM
042117,002279: 15,3632 77650 GOTO
042118,002280: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042119,002281:
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|
Page 982
|
042121,002283: # OPTION 2, GET TWO STAR SIGHTINGS
042122,002284:
042123,002285: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042124,002286:
042125,002287: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042126,002288:
042127,002289: 15,3635 06037 P57OPT3 TC INTPRET
042128,002290: 15,3636 53575 VLOAD UNIT
042129,002291: 15,3637 02023 RLS # LANDING SITE VEC
042130,002292: 15,3640 02723 STORE VEC1
042131,002293: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042132,002294: 15,3642 02231 GSAV # GRAVITY VEC NB
042133,002295: 15,3643 77624 CALL
042134,002296: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042135,002297: 15,3645 36761 STCALL STARSAV1
042136,002298: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042137,002299: 15,3647 77776 EXIT
042138,002300: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042139,002301:
042140,002302: 15,3651 01206 VB05N06 VN 506
042141,002303:
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|
Page 983
|
042143,002305: # CHECK IMODES30 TO VARIFY IMU IS ON
042144,002306:
042145,002307: 15,3652 41302 IMUCHK CS IMODES30
042146,002308: 15,3653 74743 MASK BIT9
042147,002309: 15,3654 10000 CCS A # IS IMU ON
042148,002310: 15,3655 13661 TCF +4 # YES
042149,002311:
042150,002312: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042151,002313: 15,3657 00210 OCT 210
042152,002314: 15,3660 06001 TC GOTOPOOH
042153,002315:
042154,002316: 15,3661 05504 TC UPFLAG
042155,002317: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042156,002318:
042157,002319: 15,3663 04631 TC SWRETURN
042158,002320:
042159,002321: 04,3013 BANK 04
042160,002322: 04,2000 SETLOC AOTMARK2
042161,002323: 04,2000 BANK
042162,002324: 04,3013 COUNT* $$/P57
042163,002325:
042164,002326: 04,3013 77220 LSORIENT STQ VLOAD
042165,002327: 04,3014 02746 QMAJ
042166,002328: 04,3015 01555 RRECTCSM
042167,002329: 04,3016 47235 VXV VXV
042168,002330: 04,3017 01563 VRECTCSM
042169,002331: 04,3020 03607 XSMD
042170,002332: 04,3021 77656 UNIT
042171,002333: 04,3022 03623 STORE ZSMD
042172,002334: 04,3023 53435 VXV UNIT
042173,002335: 04,3024 03607 XSMD
042174,002336: 04,3025 37615 STCALL YSMD
042175,002337: 04,3026 02746 QMAJ
042176,002338:
End of include-file P51-P53.agc. Parent file is MAIN.agc