Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
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 memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
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 98 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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039542,000002: ## Copyright: Public domain.
039543,000003: ## Filename: P51-P53.agc
039544,000004: ## Purpose: A section of Luminary revision 98.
039545,000005: ## It is part of the reconstructed source code for the a
039546,000006: ## development version of the flight software for the Lunar
039547,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
039548,000008: ## The code has been recreated from a copy of Luminary 99
039549,000009: ## revision 001, using asterisks indicating changed lines in
039550,000010: ## the listing and Luminary Memo #85, which lists changes between
039551,000011: ## Luminary 98 and 99.
039552,000012: ## Reference: pp. 926-983
039553,000013: ## Assembler: yaYUL
039554,000014: ## Contact: Ron Burkey <info@sandroid.org>.
039555,000015: ## Website: www.ibiblio.org/apollo/index.html
039556,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
039557,000017:
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Page 926
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039559,000019: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039560,000020: # MOD NO - 0 LOG SECTION - P51-P53
039561,000021: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039562,000022:
039563,000023: # FUNCTIONAL DESCRIPTION -
039564,000024:
039565,000025: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039566,000026: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039567,000027:
039568,000028: # (A) PREFERRED ORIENTATION
039569,000029:
039570,000030: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039571,000031: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039572,000032:
039573,000033: # (B) NOMINAL ORIENTATION
039574,000034:
039575,000035: # X = UNIT ( R )
039576,000036: # -SM
039577,000037:
039578,000038: # Y = UNIT (V X R)
039579,000039: # SM
039580,000040:
039581,000041: # Z = UNIT (X X Y )
039582,000042: # SM SM SM
039583,000043:
039584,000044: # WHERE_
039585,000045:
039586,000046: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039587,000047: # -
039588,000048:
039589,000049: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039590,000050: # -
039591,000051:
039592,000052: # (C) REFSMMAT ORIENTATION
039593,000053:
039594,000054: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039595,000055:
039596,000056: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039597,000057: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039598,000058: # SINCE THE LAST ALIGNMENT).
039599,000059:
039600,000060: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039601,000061: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039602,000062: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039603,000063: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039604,000064: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039605,000065: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039606,000066: # REQUESTED.
039607,000067:
039608,000068: # CALLING SEQUENCE -
039609,000069:
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Page 927
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039611,000071: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039612,000072:
039613,000073: # SUBROUTINES CALLED -
039614,000074:
039615,000075: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039616,000076: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039617,000077: # 3. GOPERF4 9. FLAGUP
039618,000078: # 4. MATMOVE 10. R56
039619,000079: # 5. GOFLASH 11. R51
039620,000080: # 6. S52.3 12. GOPERF3
039621,000081:
039622,000082: # NORMAL EXIT MODES -
039623,000083:
039624,000084: # EXITS TO ENDOFJOB
039625,000085:
039626,000086: # ALARM OR ABORT EXIT MODES -
039627,000087:
039628,000088: # NONE
039629,000089:
039630,000090: # OUTPUT -
039631,000091:
039632,000092: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039633,000093: # 1. IMU ORIENTATION CODE
039634,000094: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039635,000095: # 3. TIME OF NEXT IGNITION
039636,000096: # 4. GIMBAL ANGLES
039637,000097: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039638,000098: # 6. PLEASE PERFORM P00
039639,000099: # THE MODE DISPLAY MAY BE CHANGED TO 20
039640,000100:
039641,000101: # ERASABLE INITIALIZATION REQUIRED -
039642,000102:
039643,000103: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039644,000104: # XSMD, YSMD, ZSMD.
039645,000105:
039646,000106: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039647,000107:
039648,000108: # DEBRIS -
039649,000109:
039650,000110: # WORK AREA
039651,000111:
039652,000112: 33,3757 BANK 33
039653,000113: 15,2000 SETLOC P50S
039654,000114: 15,2000 BANK
039655,000115:
039656,000116: 15,2050 E5,1755 EBANK= BESTI
039657,000117: 15,2050 COUNT* $$/P52
039658,000118: 15,2050 04616 PROG52 TC BANKCALL
039659,000119: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
039660,000120: 15,2052 34750 CAF PFRATBIT
039661,000121: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039662,000122: 15,2054 10000 CCS A
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Page 928
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039664,000124: 15,2055 02060 TC P52A # YES
039665,000125: 15,2056 34752 CAF BIT2 # NO
039666,000126: 15,2057 02061 TC P52A +1
039667,000127: 15,2060 34753 P52A CAF BIT1
039668,000128: 15,2061 55145 TS OPTION2
039669,000129: 15,2062 34753 P52B CAF BIT1
039670,000130: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039671,000131: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
039672,000132: 15,2065 06001 TC GOTOPOOH
039673,000133: 15,2066 12073 TCF +5 # V33 - PROCEED
039674,000134: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039675,000135: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039676,000136: 15,2071 00014 OCT 00014
039677,000137: 15,2072 05155 TC ENDOFJOB
039678,000138:
039679,000139: 15,2073 31145 CA OPTION2
039680,000140: 15,2074 76245 MASK THREE
039681,000141: 15,2075 50000 INDEX A
039682,000142: 15,2076 02077 TC +1
039683,000143: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039684,000144: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039685,000145: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039686,000146: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
039687,000147: 15,2103 77650 GOTO
039688,000148: 15,2104 32164 P52F # GO DO R51
039689,000149:
039690,000150: 15,2105 00006 OPT4 EXTEND
039691,000151: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039692,000152: 15,2107 12112 TCF P52T +2
039693,000153:
039694,000154: 15,2110 00006 P52T EXTEND
039695,000155: 15,2111 34755 DCA NEG0
039696,000156: 15,2112 53046 DXCH DSPTEM1
039697,000157: 15,2113 32170 CAF V06N34*
039698,000158: 15,2114 04616 TC BANKCALL
039699,000159: 15,2115 20476 CADR GOFLASH
039700,000160: 15,2116 06001 TC GOTOPOOH
039701,000161: 15,2117 02121 TC +2
039702,000162: 15,2120 02113 TC -5
039703,000163: 15,2121 53046 DXCH DSPTEM1
039704,000164: 15,2122 00006 EXTEND
039705,000165: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039706,000166: 15,2124 12127 TCF +3
039707,000167: 15,2125 00006 EXTEND
039708,000168: 15,2126 30025 DCA TIME2
039709,000169: 15,2127 53775 DXCH TALIGN
039710,000170: 15,2130 31145 P52V CA OPTION2
039711,000171: 15,2131 74752 MASK BIT2
039712,000172: 15,2132 10000 CCS A
039713,000173: 15,2133 02137 TC P52W
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Page 929
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039715,000175: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039716,000176: 15,2135 77650 GOTO
039717,000177: 15,2136 32220 P52LS
039718,000178:
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Page 930
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039720,000180: # START ALIGNMENT
039721,000181:
039722,000182: 15,2137 06037 P52W TC INTPRET
039723,000183: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039724,000184: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039725,000185: 15,2142 31650 S52.3 # ORIENTATION
039726,000186: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039727,000187: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
039728,000188: 15,2145 77776 EXIT
039729,000189: 15,2146 35010 CAF V06N22
039730,000190: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039731,000191: 15,2150 20476 CADR GOFLASH
039732,000192: 15,2151 06001 TC GOTOPOOH
039733,000193: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039734,000194: 15,2153 06037 P52H TC INTPRET
039735,000195: 15,2154 77650 GOTO
039736,000196: 15,2155 32143 P52D
039737,000197: 15,2156 06037 REGCOARS TC INTPRET
039738,000198: 15,2157 77624 CALL # DO COARSE ALIGN
039739,000199: 15,2160 31327 CAL53A # ROUTINE
039740,000200: 15,2161 43014 COARSRET SET CLEAR
039741,000201: 15,2162 01462 REFSMFLG
039742,000202: 15,2163 01273 PFRATFLG
039743,000203: 15,2164 77624 P52F CALL
039744,000204: 15,2165 31015 R51
039745,000205: 15,2166 77776 P52OUT EXIT
039746,000206: 15,2167 06001 TC GOTOPOOH
039747,000207: 15,2170 5006 VB05N09 = V05N09
039748,000208: 15,2170 01442 V06N34* VN 634
039749,000209:
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Page 931
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039751,000211: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039752,000212:
039753,000213: 15,2171 32217 COARSTYP CAF OCT13
039754,000214: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039755,000215: 15,2173 20623 CADR GOPERF1
039756,000216: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039757,000217: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039758,000218: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
039759,000219: 15,2177 64375 VLOAD MXV
039760,000220: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039761,000221: 15,2201 01734 REFSMMAT
039762,000222: 15,2202 77656 UNIT
039763,000223: 15,2203 26665 STOVL XDC
039764,000224: 15,2204 03615 YSMD
039765,000225: 15,2205 53521 MXV UNIT
039766,000226: 15,2206 01734 REFSMMAT
039767,000227: 15,2207 26673 STOVL YDC
039768,000228: 15,2210 03623 ZSMD
039769,000229: 15,2211 53521 MXV UNIT
039770,000230: 15,2212 01734 REFSMMAT
039771,000231: 15,2213 36701 STCALL ZDC
039772,000232: 15,2214 31164 GYCOARS
039773,000233: 15,2215 77650 GOTO
039774,000234: 15,2216 32166 P52OUT
039775,000235: 15,2217 00013 OCT13 OCT 13
039776,000236:
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Page 932
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039778,000238: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039779,000239:
039780,000240: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039781,000241: 15,2221 01463 LUNAFLAG
039782,000242: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039783,000243: 15,2223 77201 SETPD VLOAD
039784,000244: 15,2224 00001 0
039785,000245: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039786,000246: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039787,000247: 15,2227 02775 TALIGN
039788,000248: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039789,000249: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039790,000250: 15,2232 77742 VSR2
039791,000251: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039792,000252: 15,2234 02775 TALIGN
039793,000253: 15,2235 77624 CALL
039794,000254: 15,2236 30446 N89DISP
039795,000255: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
039796,000256: 15,2240 02032 ALPHAV
039797,000257: 15,2241 37607 STCALL XSMD
039798,000258: 15,2242 11013 LSORIENT
039799,000259: 15,2243 77650 GOTO
039800,000260: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
039801,000261:
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Page 933
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039803,000263: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039804,000264:
039805,000265: 14,2000 SETLOC P50S1
039806,000266: 14,2000 BANK
039807,000267: 14,2446 E5,1642 EBANK= XSM
039808,000268:
039809,000269: 14,2446 77620 N89DISP STQ
039810,000270: 14,2447 02746 QMAJ
039811,000271: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
039812,000272: 14,2451 26351 LAT-LONG
039813,000273: 14,2452 70545 DLOAD SR1
039814,000274: 14,2453 01123 LONG
039815,000275: 14,2454 16711 STODL LANDLONG
039816,000276: 14,2455 01125 ALT
039817,000277: 14,2456 16713 STODL LANDALT
039818,000278: 14,2457 01121 LAT
039819,000279: 14,2460 16707 STODL LANDLAT
039820,000280: 14,2461 77776 EXIT
039821,000281:
039822,000282: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
039823,000283: 14,2463 04616 TC BANKCALL
039824,000284: 14,2464 20476 CADR GOFLASH
039825,000285: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
039826,000286: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
039827,000287: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
039828,000288:
039829,000289: 14,2470 06037 TC INTPRET
039830,000290: 14,2471 72545 DLOAD SL1
039831,000291: 14,2472 02711 LANDLONG
039832,000292: 14,2473 15123 STODL LONG
039833,000293: 14,2474 02713 LANDALT
039834,000294: 14,2475 15125 STODL ALT
039835,000295: 14,2476 02707 LANDLAT
039836,000296: 14,2477 15121 STODL LAT
039837,000297: 14,2500 01243 GDT/2 +4 # PICK UP TIME
039838,000298: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
039839,000299: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
039840,000300: 14,2503 77650 GOTO
039841,000301: 14,2504 02746 QMAJ
039842,000302: 14,2505 01531 V06N89* VN 689
039843,000303:
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Page 934
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039845,000305: # NAME - S50 ALIAS LOCSAM
039846,000306: # BY
039847,000307: # VINCENT
039848,000308:
039849,000309: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
039850,000310:
039851,000311: # DEFINE
039852,000312:
039853,000313: # U = UNIT( SUN WRT EARTH )
039854,000314: # ES
039855,000315:
039856,000316: # U = UNIT( MOON WRT EARTH )
039857,000317: # EM
039858,000318:
039859,000319: # R = POSITION VECTOR OF LEM
039860,000320: # L
039861,000321:
039862,000322: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039863,000323: # EM
039864,000324:
039865,000325: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
039866,000326: # EM
039867,000327:
039868,000328: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
039869,000329: # E
039870,000330:
039871,000331: # LOCSAM COMPUTES IN EARTH INFLUENCE
039872,000332:
039873,000333: # VSUN = U
039874,000334: # ES
039875,000335:
039876,000336: # VEARTH = -UNIT( R )
039877,000337: # L
039878,000338:
039879,000339: # VMOON = UNIT(R .U - R )
039880,000340: # EM EM L
039881,000341:
039882,000342: # CSUN = COS 90
039883,000343:
039884,000344: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039885,000345: # E L
039886,000346:
039887,000347: # CMOON = COS 5
039888,000348:
039889,000349: # INPUT - TIME IN MPAC
039890,000350:
039891,000351: # OUTPUT - LISTED ABOVE
039892,000352:
039893,000353: # SUBROUTINES - LSPOS, LEMPREC
039894,000354:
039895,000355: # DEBRIS - VAC AREA, TSIGHT
039896,000356:
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Page 935
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039898,000358: 14,2506 COUNT* $$/LOSAM
039899,000359:
039900,000360: 14,2506 14,2506 S50 = LOCSAM
039901,000361: 14,2506 77620 LOCSAM STQ
039902,000362: 14,2507 02745 QMIN
039903,000363: 14,2510 37562 STCALL TSIGHT
039904,000364: 14,2511 33664 LSPOS
039905,000365: 14,2512 77745 DLOAD
039906,000366: 14,2513 03562 TSIGHT
039907,000367: 14,2514 34041 STCALL TDEC1
039908,000368: 14,2515 27057 LEMPREC
039909,000369: 14,2516 61131 SSP TIX,2
039910,000370: 14,2517 00052 S2
039911,000371: 14,2520 00000 0
039912,000372: 14,2521 30543 MOONCNTR
039913,000373: 14,2522 74375 EARTCNTR VLOAD VXSC
039914,000374: 14,2523 02723 VMOON
039915,000375: 14,2524 30001 RSUBEM
039916,000376: 14,2525 52372 VSL1 VSU
039917,000377: 14,2526 00001 RATT
039918,000378: 14,2527 77656 UNIT
039919,000379: 14,2530 26723 STOVL VMOON
039920,000380: 14,2531 00001 RATT
039921,000381: 14,2532 57456 UNIT VCOMP
039922,000382: 14,2533 16707 STODL VEARTH
039923,000383: 14,2534 30005 RSUBE
039924,000384: 14,2535 77624 CALL
039925,000385: 14,2536 30575 OCCOS
039926,000386: 14,2537 14017 STODL CEARTH
039927,000387: 14,2540 30604 CSS5
039928,000388: 14,2541 34023 STCALL CMOON
039929,000389: 14,2542 30570 ENDSAM
039930,000390: 14,2543 74375 MOONCNTR VLOAD VXSC
039931,000391: 14,2544 02723 VMOON
039932,000392: 14,2545 30007 ROE
039933,000393: 14,2546 53445 BVSU UNIT
039934,000394: 14,2547 02715 VSUN
039935,000395: 14,2550 26715 STOVL VSUN
039936,000396: 14,2551 02723 VMOON
039937,000397: 14,2552 53361 VXSC VAD
039938,000398: 14,2553 30001 RSUBEM
039939,000399: 14,2554 00001 RATT
039940,000400: 14,2555 57456 UNIT VCOMP
039941,000401: 14,2556 26707 STOVL VEARTH
039942,000402: 14,2557 00001 RATT
039943,000403: 14,2560 57456 UNIT VCOMP
039944,000404: 14,2561 16723 STODL VMOON
039945,000405: 14,2562 30003 RSUBM
039946,000406: 14,2563 77624 CALL
039947,000407: 14,2564 30575 OCCOS
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Page 936
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039949,000409: 14,2565 14023 STODL CMOON
039950,000410: 14,2566 30604 CSS5
039951,000411: 14,2567 00017 STORE CEARTH
039952,000412: 14,2570 77745 ENDSAM DLOAD
039953,000413: 14,2571 30606 CSSUN
039954,000414: 14,2572 00021 STORE CSUN
039955,000415: 14,2573 77650 GOTO
039956,000416: 14,2574 02745 QMIN
039957,000417: 14,2575 70471 OCCOS DDV SR1
039958,000418: 14,2576 00045 36D
039959,000419: 14,2577 43336 ASIN DAD
039960,000420: 14,2600 30610 5DEGREES
039961,000421: 14,2601 70546 COS SR1
039962,000422: 14,2602 77616 RVQ
039963,000423: 14,2603 CEARTH = 14D
039964,000424: 14,2603 CSUN = 16D
039965,000425: 14,2603 CMOON = 18D
039966,000426: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
039967,000427: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
039968,000428: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
039969,000429:
|
|
Page 937
|
039971,000431: # PROGRAM NAME - R56 DATE DEC 20 66
039972,000432: # MOD 1 LOG SECTION P51-P53
039973,000433: # ASSEMBLY SUNDISK REV40
039974,000434: # BY KEN VINCENT
039975,000435:
039976,000436: # FUNCTION
039977,000437: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
039978,000438: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
039979,000439: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
039980,000440: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
039981,000441: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
039982,000442: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
039983,000443: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
039984,000444: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
039985,000445: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
039986,000446: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
039987,000447: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
039988,000448: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
039989,000449:
039990,000450: # CALLING SEQUENCE
039991,000451: # L TC BANKCALL
039992,000452: # L+1 CADR R56
039993,000453: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
039994,000454: # L+3 NORMAL RETURN
039995,000455:
039996,000456: # OUTPUT
039997,000457: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
039998,000458: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
039999,000459:
040000,000460: # INITIALIZATION
040001,000461: # 1) A CALL TO LOCSAM MUST BE MADE
040002,000462:
040003,000463: # DEBRIS
040004,000464: # WORKAREA
040005,000465: # X,Y,ZNB
040006,000466: # SINCDU, COSCDU
040007,000467: # STARAD - STAR +5
040008,000468:
040009,000469: 14,2611 14,2611 R56 = PICAPAR
040010,000470: 14,2611 COUNT* $$/R56
040011,000471: 14,2611 04645 PICAPAR TC MAKECADR
040012,000472: 14,2612 55745 TS QMIN
040013,000473: 14,2613 06037 TC INTPRET
040014,000474: 14,2614 77624 CALL
040015,000475: 14,2615 47537 CDUTRIG
040016,000476: 14,2616 77624 CALL
040017,000477: 14,2617 20030 CALCSMSC
040018,000478: 14,2620 77601 SETPD
040019,000479: 14,2621 00001 0
040020,000480: 14,2622 71214 SET DLOAD # VFLAG = 1
040021,000481: 14,2623 01465 VFLAG
|
|
Page 938
|
040023,000483: 14,2624 24007 DPZERO
040024,000484: 14,2625 26756 STOVL BESTI
040025,000485: 14,2626 02665 XNB
040026,000486: 14,2627 63361 VXSC PDVL
040027,000487: 14,2630 24005 HALFDP
040028,000488: 14,2631 02701 ZNB
040029,000489: 14,2632 74370 AXT,1 VXSC
040030,000490: 14,2633 00344 228D # X1 = 37 X 6 + 6
040031,000491: 14,2634 24005 HALFDP
040032,000492: 14,2635 77655 VAD
040033,000493: 14,2636 53505 VXM UNIT
040034,000494: 14,2637 01734 REFSMMAT
040035,000495: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
040036,000496: 14,2641 66331 SSP SSP # S1 = S2 = 6
040037,000497: 14,2642 00051 S1
040038,000498: 14,2643 00006 6
040039,000499: 14,2644 00052 S2
040040,000500: 14,2645 00006 6
040041,000501: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040042,000502: 14,2647 30651 PIC2
040043,000503: 14,2650 30766 PICEND
040044,000504: 14,2651 50373 PIC2 VLOAD* DOT
040045,000505: 14,2652 30347 CATLOG,1
040046,000506: 14,2653 02731 SAX
040047,000507: 14,2654 50025 DSU BMN
040048,000508: 14,2655 30765 CSS33
040049,000509: 14,2656 30646 PIC1
040050,000510: 14,2657 77754 LXA,2
040051,000511: 14,2660 00046 X1
040052,000512: 14,2661 52104 PIC3 TIX,2 GOTO
040053,000513: 14,2662 30664 PIC4
040054,000514: 14,2663 30646 PIC1
040055,000515: 14,2664 50373 PIC4 VLOAD* DOT
040056,000516: 14,2665 47430 CATLOG,2
040057,000517: 14,2666 02731 SAX
040058,000518: 14,2667 50025 DSU BMN
040059,000519: 14,2670 30765 CSS33
040060,000520: 14,2671 30661 PIC3
040061,000521: 14,2672 47773 VLOAD* DOT*
040062,000522: 14,2673 30347 CATLOG,1
040063,000523: 14,2674 47430 CATLOG,2
040064,000524: 14,2675 51025 DSU BPL
040065,000525: 14,2676 30763 CSS40
040066,000526: 14,2677 30661 PIC3
040067,000527: 14,2700 45173 VLOAD* CALL
040068,000528: 14,2701 30347 CATLOG,1
040069,000529: 14,2702 30740 OCCULT
040070,000530: 14,2703 77614 BON
040071,000531: 14,2704 01710 CULTFLAG
040072,000532: 14,2705 30646 PIC1
|
|
Page 939
|
040074,000534: 14,2706 45173 VLOAD* CALL
040075,000535: 14,2707 47430 CATLOG,2
040076,000536: 14,2710 30740 OCCULT
040077,000537: 14,2711 77614 BON
040078,000538: 14,2712 01710 CULTFLAG
040079,000539: 14,2713 30661 PIC3
040080,000540: 14,2714 77614 STRATGY BONCLR
040081,000541: 14,2715 01605 VFLAG
040082,000542: 14,2716 30733 NEWPAR
040083,000543: 14,2717 65120 XCHX,1 XCHX,2
040084,000544: 14,2720 02755 BESTI
040085,000545: 14,2721 02756 BESTJ
040086,000546: 14,2722 47773 STRAT VLOAD* DOT*
040087,000547: 14,2723 30347 CATLOG,1
040088,000548: 14,2724 47430 CATLOG,2
040089,000549: 14,2725 43006 PUSH BOFINV
040090,000550: 14,2726 01545 VFLAG
040091,000551: 14,2727 30717 STRAT -3
040092,000552: 14,2730 45345 DLOAD DSU
040093,000553: 14,2731 77644 BPL
040094,000554: 14,2732 30661 PIC3
040095,000555: 14,2733 67130 NEWPAR SXA,1 SXA,2
040096,000556: 14,2734 02755 BESTI
040097,000557: 14,2735 02756 BESTJ
040098,000558: 14,2736 77650 GOTO
040099,000559: 14,2737 30661 PIC3
040100,000560: 14,2740 51321 OCCULT MXV BVSU
040101,000561: 14,2741 02707 CULTRIX
040102,000562: 14,2742 00017 CSS
040103,000563: 14,2743 77654 BZE
040104,000564: 14,2744 30757 CULTED
040105,000565: 14,2745 75240 BMN SIGN
040106,000566: 14,2746 30757 CULTED
040107,000567: 14,2747 00160 MPAC +3
040108,000568: 14,2750 75240 BMN SIGN
040109,000569: 14,2751 30757 CULTED
040110,000570: 14,2752 00162 MPAC +5
040111,000571: 14,2753 43040 BMN CLRGO
040112,000572: 14,2754 30757 CULTED
040113,000573: 14,2755 01630 CULTFLAG
040114,000574: 14,2756 00052 QPRET
040115,000575: 14,2757 77614 CULTED SETGO
040116,000576: 14,2760 01430 CULTFLAG
040117,000577: 14,2761 00052 QPRET
040118,000578: 14,2762 0000016 CSS = CEARTH
040119,000579: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040120,000580: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040121,000581: 14,2766 77414 PICEND BOFF EXIT
040122,000582:
|
|
Page 940
|
040124,000584: 14,2767 01745 VFLAG
040125,000585: 14,2770 30772 PICGXT
040126,000586: 14,2771 03013 TC PICBXT
040127,000587: 14,2772 73150 PICGXT LXA,1 LXA,2
040128,000588: 14,2773 02755 BESTI
040129,000589: 14,2774 02756 BESTJ
040130,000590: 14,2775 47775 VLOAD DOT*
040131,000591: 14,2776 02731 SAX
040132,000592: 14,2777 30347 CATLOG,1
040133,000593: 14,3000 47715 PDVL DOT*
040134,000594: 14,3001 02731 SAX
040135,000595: 14,3002 47430 CATLOG,2
040136,000596: 14,3003 77625 DSU
040137,000597: 14,3004 66044 BPL SXA,1
040138,000598: 14,3005 31011 PICNSWP
040139,000599: 14,3006 02756 BESTJ
040140,000600: 14,3007 77734 SXA,2
040141,000601: 14,3010 02755 BESTI
040142,000602: 14,3011 77776 PICNSWP EXIT
040143,000603: 14,3012 25745 INCR QMIN
040144,000604: 14,3013 31745 PICBXT CA QMIN
040145,000605: 14,3014 04622 TC SWCALL
040146,000606: 14,3015 VPD = 0D
040147,000607: 14,3015 V0 = 6D
040148,000608: 14,3015 V1 = 12D
040149,000609: 14,3015 V2 = 18D
040150,000610: 14,3015 V3 = 24D
040151,000611: 14,3015 DP0 = 30D
040152,000612: 14,3015 DP1 = 32D
040153,000613:
|
|
Page 941
|
040155,000615: # NAME - R51 FINE ALIGN
040156,000616: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040157,000617: # CALLING SEQ - CALL R51
040158,000618: # INPUT - REFSMMAT
040159,000619: # OUTPUT - GYRO TORQUE PULSES
040160,000620: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040161,000621:
040162,000622: 14,3015 COUNT* $$/R51
040163,000623: 14,3015 77620 R51 STQ
040164,000624: 14,3016 02746 QMAJ
040165,000625: 14,3017 77776 R51.1 EXIT
040166,000626: 14,3020 05353 TC PHASCHNG
040167,000627: 14,3021 04024 OCT 04024
040168,000628:
040169,000629: 14,3022 34761 R51C CAF OCT15
040170,000630: 14,3023 04616 TC BANKCALL
040171,000631: 14,3024 20623 CADR GOPERF1
040172,000632: 14,3025 06001 TC GOTOPOOH
040173,000633: 14,3026 03030 TC +2 # V33E
040174,000634: 14,3027 03053 TC R51E # ENTER
040175,000635: 14,3030 06037 TC INTPRET
040176,000636: 14,3031 43234 RTB DAD
040177,000637: 14,3032 21573 LOADTIME
040178,000638: 14,3033 31163 TSIGHT1
040179,000639: 14,3034 77624 CALL
040180,000640: 14,3035 30506 LOCSAM
040181,000641: 14,3036 77776 EXIT
040182,000642: 14,3037 04616 TC BANKCALL
040183,000643: 14,3040 30611 CADR R56
040184,000644: 14,3041 03043 TC R51I
040185,000645: 14,3042 03053 R51F TC R51E
040186,000646: 14,3043 05567 R51I TC ALARM
040187,000647: 14,3044 00405 OCT 405
040188,000648: 14,3045 35006 CAF VB05N09
040189,000649: 14,3046 04616 TC BANKCALL
040190,000650: 14,3047 20476 CADR GOFLASH
040191,000651: 14,3050 06001 TC GOTOPOOH
040192,000652: 14,3051 03053 TC R51E
040193,000653: 14,3052 03022 TC R51C
040194,000654: 14,3053 34755 R51E CAF ZERO
040195,000655: 14,3054 55757 TS STARIND
040196,000656: 14,3055 06037 R51.2 TC INTPRET
040197,000657: 14,3056 77776 R51.3 EXIT
040198,000658: 14,3057 05353 TC PHASCHNG
040199,000659: 14,3060 04024 OCT 04024
040200,000660:
040201,000661: 14,3061 06037 TC INTPRET
040202,000662: 14,3062 77624 CALL
040203,000663: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
040204,000664: 14,3064 77776 EXIT
040205,000665: 14,3065 04616 TC BANKCALL
|
|
Page 942
|
040207,000667: 14,3066 16000 CADR AOTMARK
040208,000668: 14,3067 04616 TC BANKCALL
040209,000669: 14,3070 17712 CADR OPTSTALL
040210,000670: 14,3071 05711 TC CURTAINS
040211,000671: 14,3072 11757 CCS STARIND
040212,000672: 14,3073 13075 TCF +2
040213,000673: 14,3074 03145 TC R51.4
040214,000674: 14,3075 06037 TC INTPRET
040215,000675: 14,3076 77775 VLOAD
040216,000676: 14,3077 02715 STARAD +6
040217,000677: 14,3100 02767 STORE STARSAV2
040218,000678: 14,3101 77776 EXIT
040219,000679: 14,3102 05353 TC PHASCHNG
040220,000680: 14,3103 04024 OCT 04024
040221,000681:
040222,000682: 14,3104 06037 TC INTPRET
040223,000683: 14,3105 45145 DLOAD CALL
040224,000684: 14,3106 03562 TSIGHT
040225,000685: 14,3107 32472 PLANET
040226,000686: 14,3110 53521 MXV UNIT
040227,000687: 14,3111 01734 REFSMMAT
040228,000688: 14,3112 26715 STOVL STARAD +6
040229,000689: 14,3113 03554 PLANVEC
040230,000690: 14,3114 53521 MXV UNIT
040231,000691: 14,3115 01734 REFSMMAT
040232,000692: 14,3116 26707 STOVL STARAD
040233,000693: 14,3117 02761 STARSAV1
040234,000694: 14,3120 24007 STOVL 6D
040235,000695: 14,3121 02767 STARSAV2
040236,000696: 14,3122 34015 STCALL 12D
040237,000697: 14,3123 31256 R54 # STAR DATA TEST
040238,000698: 14,3124 45014 BOFF CALL
040239,000699: 14,3125 00354 FREEFLAG
040240,000700: 14,3126 31134 R51K
040241,000701: 14,3127 47441 AXISGEN
040242,000702: 14,3130 77624 CALL
040243,000703: 14,3131 31224 R55 # GYRO TORQUE
040244,000704: 14,3132 77614 CLEAR
040245,000705: 14,3133 01273 PFRATFLG
040246,000706: 14,3134 77776 R51K EXIT
040247,000707: 14,3135 35751 R51P63 CAF OCT14
040248,000708: 14,3136 04616 TC BANKCALL
040249,000709: 14,3137 20623 CADR GOPERF1
040250,000710: 14,3140 06001 TC GOTOPOOH
040251,000711: 14,3141 03022 TC R51C
040252,000712: 14,3142 06037 TC INTPRET
040253,000713: 14,3143 77650 GOTO
040254,000714: 14,3144 02746 QMAJ
040255,000715: 14,3145 06037 R51.4 TC INTPRET
040256,000716: 14,3146 77775 VLOAD
|
|
Page 943
|
040258,000718: 14,3147 02715 STARAD +6
040259,000719: 14,3150 02761 STORE STARSAV1
040260,000720: 14,3151 45145 DLOAD CALL
040261,000721: 14,3152 03562 TSIGHT
040262,000722: 14,3153 32472 PLANET
040263,000723: 14,3154 03554 STORE PLANVEC
040264,000724: 14,3155 77731 SSP
040265,000725: 14,3156 02760 STARIND
040266,000726: 14,3157 00001 1
040267,000727: 14,3160 77650 GOTO
040268,000728: 14,3161 31056 R51.3
040269,000729: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040270,000730:
|
|
Page 944
|
040272,000732: # GYRO TORQUE COARSE ALIGNMENT
040273,000733:
040274,000734: 14,3164 45020 GYCOARS STQ CALL
040275,000735: 14,3165 02746 QMAJ
040276,000736: 14,3166 47247 CALCGTA
040277,000737: 14,3167 43014 CLEAR CLEAR
040278,000738: 14,3170 01260 DRIFTFLG
040279,000739: 14,3171 01662 REFSMFLG
040280,000740: 14,3172 77776 EXIT
040281,000741: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
040282,000742: 14,3174 04616 TC BANKCALL
040283,000743: 14,3175 20451 CADR GODSPR
040284,000744: 14,3176 33255 CA R55CDR
040285,000745: 14,3177 04616 TC BANKCALL
040286,000746: 14,3200 17323 CADR IMUPULSE
040287,000747: 14,3201 04616 TC BANKCALL
040288,000748: 14,3202 17716 CADR IMUSTALL
040289,000749: 14,3203 05711 TC CURTAINS
040290,000750: 14,3204 05353 TC PHASCHNG
040291,000751: 14,3205 04024 OCT 04024
040292,000752:
040293,000753: 14,3206 06037 TC INTPRET
040294,000754: 14,3207 75160 AXC,1 AXC,2
040295,000755: 14,3210 03606 XSMD
040296,000756: 14,3211 01733 REFSMMAT
040297,000757: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
040298,000758: 14,3213 31377 MATMOVE
040299,000759: 14,3214 43014 CLEAR SET
040300,000760: 14,3215 01273 PFRATFLG
040301,000761: 14,3216 01462 REFSMFLG
040302,000762: 14,3217 77624 CALL
040303,000763: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040304,000764: 14,3221 77650 GOTO
040305,000765: 14,3222 31134 R51K
040306,000766: 14,3223 04024 V16N20 VN 1620
040307,000767:
|
|
Page 945
|
040309,000769: # R55 GYRO TORQUE
040310,000770: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040311,000771: # CALLING SEQ - CALL R55
040312,000772: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040313,000773: # OUTPUT - GYRO PULSES
040314,000774: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040315,000775:
040316,000776: 14,3224 COUNT* $$/R55
040317,000777: 14,3224 77620 R55 STQ
040318,000778: 14,3225 02745 QMIN
040319,000779: 14,3226 77624 CALL
040320,000780: 14,3227 47247 CALCGTA
040321,000781: 14,3230 77776 PULSEM EXIT
040322,000782: 14,3231 33254 R55.1 CAF V06N93
040323,000783: 14,3232 04616 TC BANKCALL
040324,000784: 14,3233 20476 CADR GOFLASH
040325,000785: 14,3234 06001 TC GOTOPOOH
040326,000786: 14,3235 03237 TC R55.2
040327,000787: 14,3236 03251 TC R55RET
040328,000788: 14,3237 05353 R55.2 TC PHASCHNG
040329,000789: 14,3240 00214 OCT 00214
040330,000790: 14,3241 33255 CA R55CDR
040331,000791: 14,3242 04616 TC BANKCALL
040332,000792: 14,3243 17323 CADR IMUPULSE
040333,000793: 14,3244 04616 TC BANKCALL
040334,000794: 14,3245 17716 CADR IMUSTALL
040335,000795: 14,3246 05711 TC CURTAINS
040336,000796: 14,3247 05353 TC PHASCHNG
040337,000797: 14,3250 04024 OCT 04024
040338,000798:
040339,000799: 14,3251 06037 R55RET TC INTPRET
040340,000800: 14,3252 77650 GOTO
040341,000801: 14,3253 02745 QMIN
040342,000802: 14,3254 01535 V06N93 VN 0693
040343,000803: 14,3255 02737 R55CDR ECADR OGC
040344,000804: 14,3256 14,3256 R54 = CHKSDATA
040345,000805:
040346,000806: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040347,000807: # MOD NO - 0 LOG SECTION - P51-P53
040348,000808: # MODIFICATION BY - LONSKE ASSEMBLY -
040349,000809:
040350,000810: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040351,000811: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040352,000812: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040353,000813: # OS1 = OBSERVED STAR 1 VECTOR
040354,000814: # OS2 = OBSERVED STAR 2 VECTOR
040355,000815: # SS1 = STORED STAR 1 VECTOR
040356,000816: # SS2 = STORED STAR 2 VECTOR
040357,000817: # A1 = ARCCOS(OS1 - OS2)
040358,000818: # A2 = ARCCOS(SS1 - SS2)
040359,000819: # A = ABS(2(A1 - A2))
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|
Page 946
|
040361,000821: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040362,000822:
040363,000823: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040364,000824: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040365,000825:
040366,000826: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040367,000827: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040368,000828:
040369,000829: # ERASABLE INITIALIZATION REQUIRED -
040370,000830: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040371,000831: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040372,000832:
040373,000833: # DEBRIS -
040374,000834:
040375,000835: 14,3256 COUNT* $$/R54
040376,000836: 14,3256 43020 CHKSDATA STQ SET
040377,000837: 14,3257 02745 QMIN
040378,000838: 14,3260 00074 FREEFLAG
040379,000839: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040380,000840: 14,3262 02706 STARAD
040381,000841:
040382,000842: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040383,000843: 14,3264 00001 0,1
040384,000844: 14,3265 00007 6,1
040385,000845: 14,3266 65552 SL1 ACOS
040386,000846: 14,3267 00025 STORE THETA
040387,000847: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040388,000848: 14,3271 00354 FREEFLAG
040389,000849: 14,3272 31302 CHKSD
040390,000850: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
040391,000851: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040392,000852: 14,3275 00006 6D
040393,000853: 14,3276 00025 THETA
040394,000854: 14,3277 00023 STORE 18D
040395,000855: 14,3300 77650 GOTO
040396,000856: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
040397,000857: 14,3302 45345 CHKSD DLOAD DSU
040398,000858: 14,3303 00025 THETA
040399,000859: 14,3304 00023 18D
040400,000860: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
040401,000861: 14,3306 21612 SGNAGREE
040402,000862: 14,3307 01046 STORE NORMTEM1
040403,000863: 14,3310 77414 SET EXIT
040404,000864: 14,3311 00074 FREEFLAG
040405,000865: 14,3312 33326 CAF VB6N5
040406,000866: 14,3313 04616 TC BANKCALL
040407,000867: 14,3314 20476 CADR GOFLASH
040408,000868: 14,3315 16001 TCF GOTOPOOH
040409,000869: 14,3316 03323 TC CHKSDA # PROCEED
040410,000870: 14,3317 06037 TC INTPRET
040411,000871: 14,3320 52014 CLEAR GOTO
040412,000872: 14,3321 00274 FREEFLAG
040413,000873: 14,3322 02745 QMIN
040414,000874: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947
|
040416,000876: 14,3324 77650 GOTO
040417,000877: 14,3325 02745 QMIN
040418,000878: 14,3326 01405 VB6N5 VN 605
040419,000879:
040420,000880: # NAME - CAL53A
040421,000881: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040422,000882: # CALLING SEQUENCE - CALL CAL53A
040423,000883: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040424,000884: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040425,000885: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040426,000886: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040427,000887:
040428,000888: 14,3327 COUNT* $$/R50
040429,000889: 14,3327 77624 CAL53A CALL
040430,000890: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040431,000891: 14,3331 66234 RTB SSP
040432,000892: 14,3332 31413 RDCDUS # READ CDUS
040433,000893: 14,3333 00051 S1
040434,000894: 14,3334 00001 1
040435,000895: 14,3335 40370 AXT,1 SETPD
040436,000896: 14,3336 00003 3
040437,000897: 14,3337 00005 4
040438,000898: 14,3340 70543 CALOOP DLOAD* SR1
040439,000899: 14,3341 00325 THETAD +3D,1
040440,000900: 14,3342 70523 PDDL* SR1
040441,000901: 14,3343 00005 4,1
040442,000902: 14,3344 51425 DSU ABS
040443,000903: 14,3345 45206 PUSH DSU
040444,000904: 14,3346 31412 DEGREE1
040445,000905: 14,3347 71240 BMN DLOAD
040446,000906: 14,3350 31366 CALOOP1
040447,000907: 14,3351 51025 DSU BPL
040448,000908: 14,3352 31413 DEG359
040449,000909: 14,3353 31366 CALOOP1
040450,000910: 14,3354 77776 EXIT
040451,000911: 14,3355 05353 TC PHASCHNG
040452,000912: 14,3356 04024 OCT 04024
040453,000913:
040454,000914: 14,3357 06037 TC INTPRET
040455,000915: 14,3360 77624 COARFINE CALL
040456,000916: 14,3361 31565 COARSE
040457,000917: 14,3362 77624 CALL
040458,000918: 14,3363 31602 NCOARSE
040459,000919: 14,3364 77650 GOTO
040460,000920: 14,3365 31370 FINEONLY
040461,000921: 14,3366 77700 CALOOP1 TIX,1
040462,000922: 14,3367 31340 CALOOP
040463,000923: 14,3370 75160 FINEONLY AXC,1 AXC,2
040464,000924: 14,3371 02642 XSM
040465,000925: 14,3372 01733 REFSMMAT
040466,000926: 14,3373 77624 CALL
040467,000927: 14,3374 31377 MATMOVE
|
|
Page 948
|
040469,000929: 14,3375 77650 GOTO
040470,000930: 14,3376 32161 COARSRET
040471,000931: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040472,000932: 14,3400 00001 0,1
040473,000933: 14,3401 10001 STORE 0,2
040474,000934: 14,3402 77773 VLOAD*
040475,000935: 14,3403 00007 6D,1
040476,000936: 14,3404 10007 STORE 6D,2
040477,000937: 14,3405 77773 VLOAD*
040478,000938: 14,3406 00015 12D,1
040479,000939: 14,3407 10015 STORE 12D,2
040480,000940: 14,3410 77616 RVQ
040481,000941: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040482,000942: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040483,000943: 14,3413 00004 RDCDUS INHINT # READ CDUS
040484,000944: 14,3414 30032 CA CDUX
040485,000945: 14,3415 50120 INDEX FIXLOC
040486,000946: 14,3416 54001 TS 1
040487,000947: 14,3417 30033 CA CDUY
040488,000948: 14,3420 50120 INDEX FIXLOC
040489,000949: 14,3421 54002 TS 2
040490,000950: 14,3422 30034 CA CDUZ
040491,000951: 14,3423 50120 INDEX FIXLOC
040492,000952: 14,3424 54003 TS 3
040493,000953: 14,3425 00003 RELINT
040494,000954: 14,3426 06061 TC DANZIG # +
040495,000955: 14,3427 COUNT* $$/INFLT
040496,000956:
|
|
Page 949
|
040498,000958: # NAME - P51 - IMU ORIENTATION DETERMINATION
040499,000959: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040500,000960: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040501,000961:
040502,000962: # FUNCTIONAL DESCRIPTION
040503,000963: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040504,000964: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040505,000965: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040506,000966: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040507,000967:
040508,000968: # CALLING SEQUENCE
040509,000969: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040510,000970:
040511,000971: # SUBROUTINES CALLED.
040512,000972: # GOPERF3
040513,000973: # GOPERF1
040514,000974: # GODSPR
040515,000975: # IMUCOARS
040516,000976: # IMUFIN20
040517,000977: # AOTMARK (R53)
040518,000978: # CHKSDATA (R54)
040519,000979: # MKRELEAS
040520,000980: # AXISGEN
040521,000981: # MATMOVE
040522,000982:
040523,000983: # ALARMS
040524,000984: # NONE.
040525,000985:
040526,000986: # ERASABLE INITIALIZATION
040527,000987: # IMU ZERO FLAG SHOULD BE SET.
040528,000988:
040529,000989: # OUTPUT
040530,000990: # REFSMMAT
040531,000991: # REFSMFLG
040532,000992:
040533,000993: # DEBRIS
040534,000994: # WORK AREA
040535,000995: # STARAD
040536,000996: # STARIND
040537,000997: # BESTI
040538,000998: # BESTJ
040539,000999:
040540,001000: 14,3427 COUNT* $$/P51
|
|
Page 950
|
040542,001002: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040543,001003: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040544,001004:
040545,001005: 14,3431 34761 CAF OCT15
040546,001006: 14,3432 04616 TC BANKCALL
040547,001007: 14,3433 20623 CADR GOPERF1
040548,001008: 14,3434 06001 TC GOTOPOOH # TERM.
040549,001009: 14,3435 13461 TCF P51B # V33
040550,001010: 14,3436 05353 TC PHASCHNG
040551,001011: 14,3437 04024 OCT 04024
040552,001012:
040553,001013: 14,3440 34755 CAF ZERO
040554,001014: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
040555,001015: 14,3442 54322 TS THETAD +1
040556,001016: 14,3443 54323 TS THETAD +2
040557,001017: 14,3444 35010 CAF V06N22
040558,001018: 14,3445 04616 TC BANKCALL
040559,001019: 14,3446 20446 CADR GODSPRET
040560,001020: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040561,001021: 14,3450 04616 TC BANKCALL
040562,001022: 14,3451 20446 CADR GODSPRET
040563,001023: 14,3452 06037 TC INTPRET
040564,001024: 14,3453 77624 CALL
040565,001025: 14,3454 31565 COARSE
040566,001026: 14,3455 77776 EXIT
040567,001027: 14,3456 05353 TC PHASCHNG
040568,001028: 14,3457 04024 OCT 04024
040569,001029: 14,3460 13431 TCF P51 +2
040570,001030:
040571,001031: 14,3461 05353 P51B TC PHASCHNG
040572,001032: 14,3462 00014 OCT 00014
040573,001033: 14,3463 06037 TC INTPRET
040574,001034: 14,3464 77624 CALL
040575,001035: 14,3465 31602 NCOARSE
040576,001036: 14,3466 40331 SSP SETPD
040577,001037: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
040578,001038: 14,3470 00000 0
040579,001039: 14,3471 00001 0
040580,001040: 14,3472 77776 P51C EXIT
040581,001041: 14,3473 05353 TC PHASCHNG
040582,001042: 14,3474 04024 OCT 04024
040583,001043:
040584,001044: 14,3475 04616 TC BANKCALL
040585,001045: 14,3476 16000 CADR AOTMARK # R53
040586,001046: 14,3477 04616 TC BANKCALL
040587,001047: 14,3500 17712 CADR AOTSTALL
040588,001048: 14,3501 05711 TC CURTAINS
040589,001049: 14,3502 11757 CCS STARIND
040590,001050: 14,3503 13511 TCF P51D +1
040591,001051: 14,3504 06037 TC INTPRET
|
|
Page 951
|
040593,001053: 14,3505 77775 VLOAD
040594,001054: 14,3506 02715 STARAD +6
040595,001055: 14,3507 02761 STORE STARSAV1
040596,001056: 14,3510 77776 P51D EXIT
040597,001057: 14,3511 05353 TC PHASCHNG
040598,001058: 14,3512 04024 OCT 04024
040599,001059:
040600,001060: 14,3513 11757 CCS STARIND
040601,001061: 14,3514 13530 TCF P51E
040602,001062: 14,3515 05353 TC PHASCHNG
040603,001063: 14,3516 04024 OCT 04024
040604,001064:
040605,001065: 14,3517 06037 TC INTPRET
040606,001066: 14,3520 45145 DLOAD CALL
040607,001067: 14,3521 03562 TSIGHT
040608,001068: 14,3522 32472 PLANET
040609,001069: 14,3523 03554 STORE PLANVEC
040610,001070: 14,3524 77776 EXIT
040611,001071: 14,3525 34753 CAF BIT1
040612,001072: 14,3526 55757 TS STARIND
040613,001073: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
040614,001074: 14,3530 05353 P51E TC PHASCHNG
040615,001075: 14,3531 04024 OCT 04024
040616,001076:
040617,001077: 14,3532 06037 TC INTPRET
040618,001078: 14,3533 45145 DLOAD CALL
040619,001079: 14,3534 03562 TSIGHT
040620,001080: 14,3535 32472 PLANET
040621,001081: 14,3536 24015 STOVL 12D
040622,001082: 14,3537 03554 PLANVEC
040623,001083: 14,3540 24007 STOVL 6D
040624,001084: 14,3541 02761 STARSAV1
040625,001085: 14,3542 26707 STOVL STARAD
040626,001086: 14,3543 02767 STARSAV2
040627,001087: 14,3544 36715 STCALL STARAD +6
040628,001088: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040629,001089: 14,3546 77414 BON EXIT
040630,001090: 14,3547 00314 FREEFLAG
040631,001091: 14,3550 31552 P51G
040632,001092: 14,3551 03431 TC P51 +2
040633,001093: 14,3552 77624 P51G CALL
040634,001094: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040635,001095: 14,3554 75160 AXC,1 AXC,2
040636,001096: 14,3555 02664 XDC
040637,001097: 14,3556 01733 REFSMMAT
040638,001098: 14,3557 77624 CALL
040639,001099: 14,3560 31377 MATMOVE
040640,001100: 14,3561 77414 SET EXIT
040641,001101: 14,3562 01462 REFSMFLG
040642,001102: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952
|
040644,001104: 14,3564 12200 V41K VN 4100
040645,001105: 14,3565 77776 COARSE EXIT
040646,001106: 14,3566 04616 TC BANKCALL
040647,001107: 14,3567 17000 CADR IMUCOARS
040648,001108: 14,3570 04616 TC BANKCALL
040649,001109: 14,3571 17716 CADR IMUSTALL
040650,001110: 14,3572 05711 TC CURTAINS
040651,001111: 14,3573 04616 TC BANKCALL
040652,001112: 14,3574 17210 CADR IMUFINE
040653,001113: 14,3575 04616 TC BANKCALL
040654,001114: 14,3576 17716 CADR IMUSTALL
040655,001115: 14,3577 05711 TC CURTAINS
040656,001116: 14,3600 06037 TC INTPRET
040657,001117: 14,3601 77616 RVQ
040658,001118: 14,3602 77776 NCOARSE EXIT
040659,001119: 14,3603 30025 CA TIME1
040660,001120: 14,3604 55075 TS 1/PIPADT
040661,001121: 14,3605 44755 CS ZERO
040662,001122: 14,3606 54037 TS PIPAX
040663,001123: 14,3607 54040 TS PIPAY
040664,001124: 14,3610 54041 TS PIPAZ
040665,001125: 14,3611 06037 TC INTPRET
040666,001126: 14,3612 77775 VLOAD
040667,001127: 14,3613 24007 ZEROVEC
040668,001128: 14,3614 01472 STORE GCOMP
040669,001129: 14,3615 43414 SET RVQ
040670,001130: 14,3616 01060 DRIFTFLG
040671,001131:
|
|
Page 953
|
040673,001133: # NAME - S52.2
040674,001134: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040675,001135: # CALL - CALL S52.2
040676,001136: # INPUT - X,Y,ZSMD
040677,001137: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040678,001138: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040679,001139:
040680,001140: 14,3617 COUNT* $$/S52.1
040681,001141: 14,3617 45020 S52.2 STQ CALL
040682,001142: 14,3620 02746 QMAJ
040683,001143: 14,3621 47537 CDUTRIG
040684,001144: 14,3622 77624 CALL
040685,001145: 14,3623 20030 CALCSMSC
040686,001146: 14,3624 66370 AXT,1 SSP
040687,001147: 14,3625 00022 18D
040688,001148: 14,3626 00051 S1
040689,001149: 14,3627 00006 6D
040690,001150: 14,3630 61373 S52.2A VLOAD* VXM
040691,001151: 14,3631 02707 XNB +18D,1
040692,001152: 14,3632 01734 REFSMMAT
040693,001153: 14,3633 77656 UNIT
040694,001154: 14,3634 06707 STORE XNB +18D,1
040695,001155: 14,3635 77700 TIX,1
040696,001156: 14,3636 31630 S52.2A
040697,001157: 14,3637 75160 S52.2.1 AXC,1 AXC,2
040698,001158: 14,3640 03606 XSMD
040699,001159: 14,3641 02642 XSM
040700,001160: 14,3642 77624 CALL
040701,001161: 14,3643 31377 MATMOVE
040702,001162: 14,3644 77624 CALL
040703,001163: 14,3645 47353 CALCGA
040704,001164: 14,3646 77650 GOTO
040705,001165: 14,3647 02746 QMAJ
040706,001166:
|
|
Page 954
|
040708,001168: # NAME - S52.3
040709,001169: # FUNCTION XSMD= UNIT R
040710,001170: # YSMD= UNIT(V X R)
040711,001171: # ZSMD= UNIT(XSMD X YSMD)
040712,001172: # CALL DLOAD CALL
040713,001173: # TALIGN
040714,001174: # S52.3
040715,001175: # INPUT - TIME OF ALIGNMENT IN MPAC
040716,001176: # OUTPUT - X,Y,ZSMD
040717,001177: # SUBROUTINES - CSMCONIC
040718,001178:
040719,001179: 14,3650 COUNT* $$/S52.3
040720,001180: 14,3650 77620 S52.3 STQ
040721,001181: 14,3651 02746 QMAJ
040722,001182: 14,3652 34041 STCALL TDEC1
040723,001183: 14,3653 27100 LEMCONIC
040724,001184: 14,3654 53575 VLOAD UNIT
040725,001185: 14,3655 00001 RATT
040726,001186: 14,3656 27607 STOVL XSMD
040727,001187: 14,3657 00007 VATT
040728,001188: 14,3660 53435 VXV UNIT
040729,001189: 14,3661 00001 RATT
040730,001190: 14,3662 27615 STOVL YSMD
040731,001191: 14,3663 03607 XSMD
040732,001192: 14,3664 53435 VXV UNIT
040733,001193: 14,3665 03615 YSMD
040734,001194: 14,3666 37623 STCALL ZSMD
040735,001195: 14,3667 02746 QMAJ
040736,001196:
|
|
Page 955
|
040738,001198: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040739,001199:
040740,001200: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040741,001201: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040742,001202:
040743,001203: # CALLING - CALL R52
040744,001204:
040745,001205: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040746,001206:
040747,001207: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040748,001208: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040749,001209: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040750,001210: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040751,001211:
040752,001212: # SUBROUT - R60LEM
040753,001213:
040754,001214: 14,3670 COUNT* $$/R52
040755,001215: 14,3670 77420 R52 STQ EXIT
040756,001216: 14,3671 03665 SAVQR52
040757,001217: 14,3672 51757 INDEX STARIND
040758,001218: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040759,001219: 14,3674 00006 EXTEND
040760,001220: 14,3675 73771 MP 1/6TH
040761,001221: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
040762,001222: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
040763,001223:
040764,001224: 14,3700 33772 R52A CAF V01N70
040765,001225: 14,3701 04616 TC BANKCALL
040766,001226: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040767,001227: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
040768,001228: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
040769,001229: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040770,001230:
040771,001231: 14,3706 05516 R52B TC DOWNFLAG
040772,001232: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040773,001233: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
040774,001234: 14,3711 77744 MASK HIGH9
040775,001235: 14,3712 00006 EXTEND
040776,001236: 14,3713 74743 MP BIT9
040777,001237: 14,3714 54001 TS L # TEMP STORE DETENT
040778,001238:
040779,001239: 14,3715 00006 EXTEND
040780,001240: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040781,001241:
040782,001242: 14,3717 65660 AD NEG7
040783,001243: 14,3720 00006 EXTEND
040784,001244: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
040785,001245:
040786,001246: 14,3722 E7,1551 EBANK= XYMARK
040787,001247: 14,3722 35016 CA EBANK7
040788,001248: 14,3723 54003 TS EBANK
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|
Page 956
|
040790,001250: 14,3724 50001 INDEX L
040791,001251: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
040792,001252: 14,3726 54001 TS L
040793,001253: 14,3727 E5,1642 EBANK= XSM
040794,001254: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
040795,001255: 14,3730 54003 TS EBANK
040796,001256: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
040797,001257: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040798,001258: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
040799,001259:
040800,001260: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
040801,001261: 14,3735 04616 TC BANKCALL
040802,001262: 14,3736 20476 CADR GOFLASH
040803,001263: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
040804,001264: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
040805,001265: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
040806,001266:
040807,001267: 14,3742 00006 EXTEND
040808,001268: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
040809,001269: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
040810,001270: 14,3745 52011 DXCH 8D
040811,001271: 14,3746 06037 TC INTPRET
040812,001272: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
040813,001273: 14,3750 10536 OANB # SCAXIS IN NB COORDS
040814,001274: 14,3751 45034 RTB CALL
040815,001275: 14,3752 21573 LOADTIME
040816,001276: 14,3753 32472 PLANET
040817,001277: 14,3754 53521 MXV UNIT
040818,001278: 14,3755 01734 REFSMMAT
040819,001279: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
040820,001280:
040821,001281: 14,3757 77776 EXIT
040822,001282: 14,3760 04616 TC BANKCALL
040823,001283: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
040824,001284:
040825,001285: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
040826,001286: 14,3763 70735 MASK STARCODE
040827,001287: 14,3764 00006 EXTEND
040828,001288: 14,3765 13700 BZF R52A
040829,001289:
040830,001290: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
040831,001291: 14,3767 77650 GOTO
040832,001292: 14,3770 03665 SAVQR52 # RETURN TO CALLER
040833,001293:
040834,001294: 14,3771 05253 1/6TH DEC .1666667
040835,001295: 14,3772 00306 V01N70 VN 0170
040836,001296: 14,3773 01527 V06N87 VN 687
040837,001297:
|
|
Page 957
|
040839,001299: # LUNAR SURFACE STAR AQUISITION
040840,001300:
040841,001301: 15,2245 BANK 15
040842,001302: 15,2000 SETLOC P50S
040843,001303: 15,2000 BANK
040844,001304: 15,2245 COUNT* $$/R59
040845,001305:
040846,001306: 15,2245 40077 R59 CS FLAGWRD3
040847,001307: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
040848,001308: 15,2247 10000 CCS A
040849,001309: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
040850,001310:
040851,001311: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
040852,001312: 15,2252 04616 TC BANKCALL
040853,001313: 15,2253 20476 CADR GOFLASH
040854,001314: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
040855,001315: 15,2255 12257 TCF R59A # V33 - PROCEED
040856,001316: 15,2256 12245 TCF R59 # V32 - RECYCLE
040857,001317:
040858,001318: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
040859,001319: 15,2260 70735 MASK AOTCODE
040860,001320: 15,2261 00006 EXTEND
040861,001321: 15,2262 76242 MP REVCNT # JUST 6
040862,001322: 15,2263 56001 XCH L
040863,001323: 15,2264 51757 INDEX STARIND
040864,001324: 15,2265 55755 TS BESTI
040865,001325: 15,2266 50120 INDEX FIXLOC
040866,001326: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
040867,001327: 15,2270 00006 EXTEND
040868,001328: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
040869,001329: 15,2272 40000 COM
040870,001330: 15,2273 62561 AD DEC227
040871,001331: 15,2274 00006 EXTEND
040872,001332: 15,2275 62455 BZMF R59OUT
040873,001333:
040874,001334: 15,2276 06037 TC INTPRET
040875,001335: 15,2277 64373 VLOAD* MXV
040876,001336: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
040877,001337: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
040878,001338: 15,2302 45056 UNIT CALL
040879,001339: 15,2303 47646 CDU*SMNB
040880,001340: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
040881,001341: 15,2305 77776 EXIT
040882,001342:
040883,001343: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
040884,001344: 15,2307 55242 TS POSCODE
040885,001345:
040886,001346: 15,2310 E7,1551 EBANK= XYMARK
040887,001347: 15,2310 35016 INCAZ CA EBANK7
040888,001348: 15,2311 54003 TS EBANK
040889,001349:
|
|
Page 958
|
040891,001351: 15,2312 51242 INDEX POSCODE
040892,001352: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
040893,001353: 15,2314 54001 TS L
040894,001354:
040895,001355: 15,2315 E5,1642 EBANK= XSM
040896,001356: 15,2315 35014 CA EBANK5
040897,001357: 15,2316 54003 TS EBANK
040898,001358:
040899,001359: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
040900,001360: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040901,001361: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
040902,001362: 15,2322 50120 INDEX FIXLOC
040903,001363: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
040904,001364:
040905,001365: 15,2324 06037 TC INTPRET
040906,001366: 15,2325 77624 CALL
040907,001367: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
040908,001368: 15,2327 50375 VLOAD DOT
040909,001369: 15,2330 02731 STAR # DOT STAR WITH OA
040910,001370: 15,2331 03765 SCAXIS
040911,001371: 15,2332 65552 SL1 ARCCOS
040912,001372: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
040913,001373:
040914,001374: 15,2334 51025 DSU BPL
040915,001375: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
040916,001376: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
040917,001377: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
040918,001378: 15,2340 00031 24D
040919,001379: 15,2341 32470 DEG.5
040920,001380: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
040921,001381: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
040922,001382: 15,2344 00031 24D # GET SPIRAL
040923,001383: 15,2345 42405 DMP SL4
040924,001384: 15,2346 25764 3/4 # 12 SCALED AT 16
040925,001385: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
040926,001386:
040927,001387: 15,2350 03765 SCAXIS # OA
040928,001388: 15,2351 53435 VXV UNIT
040929,001389: 15,2352 24005 XUNIT
040930,001390: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
040931,001391: 15,2354 03765 SCAXIS
040932,001392: 15,2355 77676 VCOMP
040933,001393: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
040934,001394: 15,2357 03765 SCAXIS
040935,001395: 15,2360 53435 VXV UNIT
040936,001396: 15,2361 02731 STAR
040937,001397: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
040938,001398: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
040939,001399: 15,2364 65552 SL1 ARCCOS
040940,001400: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
|
|
Page 959
|
040942,001402: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
040943,001403: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
040944,001404: 15,2370 32375 R59D
040945,001405: 15,2371 32047 ABOUTONE
040946,001406: 15,2372 77625 DSU
040947,001407: 15,2373 00033 26D
040948,001408: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
040949,001409:
040950,001410: 15,2375 70535 R59D SLOAD SR1
040951,001411: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
040952,001412: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
040953,001413: 15,2400 00033 26D
040954,001414: 15,2401 77634 RTB
040955,001415: 15,2402 21614 1STO2S
040956,001416: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
040957,001417: 15,2404 00031 24D # LOAD SROT IN REVS
040958,001418: 15,2405 77615 DAD # 12(SEP) + YROT
040959,001419: 15,2406 77634 RTB
040960,001420: 15,2407 21614 1STO2S
040961,001421: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
040962,001422: 15,2411 77776 EXIT
040963,001423: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
040964,001424:
040965,001425: 15,2413 77776 ZSPCR EXIT
040966,001426: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
040967,001427: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
040968,001428: 15,2416 55240 TS SPIRAL
040969,001429: 15,2417 12437 TCF 79DISP
040970,001430:
040971,001431: 15,2420 77776 NXAX EXIT
040972,001432: 15,2421 25242 INCR POSCODE
040973,001433: 15,2422 41242 CS POSCODE
040974,001434: 15,2423 64757 AD SEVEN
040975,001435: 15,2424 00006 EXTEND
040976,001436: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
040977,001437: 15,2426 12310 TCF INCAZ
040978,001438:
040979,001439: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
040980,001440: 15,2430 00404 OCT 404
040981,001441: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
040982,001442: 15,2432 04616 TC BANKCALL
040983,001443: 15,2433 20476 CADR GOFLASH
040984,001444: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
040985,001445: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
040986,001446: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
040987,001447:
040988,001448: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
040989,001449: 15,2440 04616 TC BANKCALL
040990,001450: 15,2441 20476 CADR GOFLASH
040991,001451: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 960
|
040993,001453: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
040994,001454: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
040995,001455:
040996,001456: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
040997,001457: 15,2446 71242 MASK POSCODE
040998,001458: 15,2447 00006 EXTEND
040999,001459: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041000,001460: 15,2451 47744 CS HIGH9
041001,001461: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041002,001462: 15,2453 60001 AD L
041003,001463: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041004,001464:
041005,001465: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041006,001466: 15,2456 16000 CADR AOTMARK
041007,001467: 15,2457 04616 TC BANKCALL
041008,001468: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041009,001469: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041010,001470: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041011,001471:
041012,001472: 15,2463 00306 V01N70* VN 170
041013,001473: 15,2464 01517 V06N79 VN 679
041014,001474: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041015,001475: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041016,001476: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041017,001477: 15,2472 1236 CURSOR EQUALS GDT/2
041018,001478: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041019,001479: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041020,001480:
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|
Page 961
|
041022,001482: # NAME - PLANET
041023,001483: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041024,001484: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041025,001485: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041026,001486: # BY DSDY INPUT
041027,001487: # CALL - CALL
041028,001488: # PLANET
041029,001489: # INPUT - TIME IN MPAC
041030,001490: # OUTPUT - VECTOR IN MPAC
041031,001491: # SUBROUTINES - LOCSAM
041032,001492: # DEBRIS - VAC, STARAD - STARAD +17
041033,001493:
041034,001494: 15,2000 SETLOC P50S
041035,001495: 15,2000 BANK
041036,001496: 15,2472 COUNT* $$/P51
041037,001497:
041038,001498: 15,2472 27562 PLANET STOVL TSIGHT
041039,001499: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
041040,001500: 15,2474 02707 STORE STARAD
041041,001501: 15,2475 77420 STQ EXIT
041042,001502: 15,2476 02736 GCTR
041043,001503: 15,2477 47744 CS HIGH9
041044,001504: 15,2500 70735 MASK AOTCODE
041045,001505: 15,2501 00006 EXTEND
041046,001506: 15,2502 76242 MP REVCNT
041047,001507: 15,2503 56001 XCH L
041048,001508: 15,2504 51757 INDEX STARIND
041049,001509: 15,2505 55755 TS BESTI
041050,001510: 15,2506 10000 CCS A
041051,001511: 15,2507 12523 TCF NOTPLAN
041052,001512: 15,2510 32562 CAF VNPLANV
041053,001513: 15,2511 04616 TC BANKCALL
041054,001514: 15,2512 20476 CADR GOFLASH
041055,001515: 15,2513 02510 TC -3
041056,001516: 15,2514 02516 TC +2
041057,001517: 15,2515 02510 TC -5
041058,001518: 15,2516 06037 TC INTPRET
041059,001519: 15,2517 53575 VLOAD UNIT
041060,001520: 15,2520 02707 STARAD
041061,001521: 15,2521 77650 GOTO
041062,001522: 15,2522 02736 GCTR
041063,001523: 15,2523 40000 NOTPLAN CS A
041064,001524: 15,2524 62561 AD DEC227
041065,001525: 15,2525 00006 EXTEND
041066,001526: 15,2526 62537 BZMF CALSAM1
041067,001527: 15,2527 51757 INDEX STARIND
041068,001528: 15,2530 31755 CA BESTI
041069,001529: 15,2531 50120 INDEX FIXLOC
041070,001530: 15,2532 54046 TS X1
041071,001531: 15,2533 06037 TC INTPRET
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|
Page 962
|
041073,001533: 15,2534 52173 VLOAD* GOTO
041074,001534: 15,2535 30347 CATLOG,1
041075,001535: 15,2536 02736 GCTR
041076,001536: 15,2537 06037 CALSAM1 TC INTPRET
041077,001537: 15,2540 45145 CALSAM DLOAD CALL
041078,001538: 15,2541 03562 TSIGHT
041079,001539: 15,2542 30506 LOCSAM
041080,001540: 15,2543 77340 LXC,1 VLOAD
041081,001541: 15,2544 02757 STARIND
041082,001542: 15,2545 02707 VEARTH
041083,001543: 15,2546 24001 STOVL 0D
041084,001544: 15,2547 02715 VSUN
041085,001545: 15,2550 26707 STOVL VEARTH
041086,001546: 15,2551 00001 0D
041087,001547: 15,2552 02715 STORE VSUN
041088,001548: 15,2553 70143 DLOAD* LXC,1
041089,001549: 15,2554 02756 BESTI,1
041090,001550: 15,2555 00154 MPAC
041091,001551: 15,2556 52173 VLOAD* GOTO
041092,001552: 15,2557 02343 STARAD -228D,1
041093,001553: 15,2560 02736 GCTR
041094,001554: 15,2561 00343 DEC227 DEC 227 B-14
041095,001555: 15,2562 01530 VNPLANV VN 0688
041096,001556: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041097,001557:
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|
Page 963
|
041099,001559: # GRAVITY VECTOR DETERMINATION ROUTINE
041100,001560: # BY KEN VINCENT
041101,001561:
041102,001562: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041103,001563:
041104,001564: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041105,001565: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041106,001566: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041107,001567: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041108,001568: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041109,001569: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041110,001570: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041111,001571: # READINGS.
041112,001572:
041113,001573: # CALL -
041114,001574: # TC BANKCALL
041115,001575: # CADR GVDETER
041116,001576:
041117,001577: # INPUTS -
041118,001578: # PIPAS, CDUS
041119,001579:
041120,001580: # OUTPUTS -
041121,001581: # STARSAV1 = UNIT GRAVITY
041122,001582: # GSAV = DITTO
041123,001583: # GRAVBIT = 1
041124,001584:
041125,001585: # SUBROUTINES -
041126,001586: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041127,001587: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041128,001588:
041129,001589: # DEBRIS -
041130,001590: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041131,001591:
041132,001592: 15,2563 32772 GVDETER CAF 42DEG
041133,001593: 15,2564 54321 TS THETAD
041134,001594: 15,2565 40000 COM
041135,001595: 15,2566 54322 TS THETAD +1
041136,001596: 15,2567 32773 CAF 35DEG
041137,001597: 15,2570 54323 TS THETAD +2
041138,001598: 15,2571 06037 TC INTPRET
041139,001599: 15,2572 45014 CLEAR CALL
041140,001600: 15,2573 01662 REFSMFLG
041141,001601: 15,2574 32670 LUNG
041142,001602:
041143,001603: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041144,001604:
041145,001605: # DEFINE G COOR SYS
041146,001606: # -
041147,001607: # X UNIT G
041148,001608: # * - -
041149,001609: # M = Y = UNITEZSM * X )
041150,001610: # - - -
041151,001611: # Z UNIT(X * Y )
041152,001612:
041153,001613: # THEN ROTATED SM WRT PRESENT IS
041154,001614:
041155,001615: # 1, 0, 0
041156,001616: # * *T * * *
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|
Page 964
|
041158,001618: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041159,001619: # I J
041160,001620: # 0, 0, -1
041161,001621:
041162,001622: # ALSO NB WRT PRES SM IS
041163,001623:
041164,001624: # * * *
041165,001625: # XNB = NBSM I
041166,001626: # * *
041167,001627: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041168,001628:
041169,001629: 15,2000 SETLOC P50S
041170,001630: 15,2000 BANK
041171,001631: 15,2575 COUNT* $$/P57
041172,001632: 15,2575 66370 AXT,1 SSP # X1=18
041173,001633: 15,2576 00022 18D # S1=6
041174,001634: 15,2577 00051 S1 # X2, -2
041175,001635: 15,2600 00006 6D
041176,001636: 15,2601 77744 LXC,2
041177,001637: 15,2602 00050 S1
041178,001638: 15,2603 45173 GRAVEL VLOAD* CALL
041179,001639: 15,2604 54000 XUNIT -6,2
041180,001640: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
041181,001641: 15,2606 06707 STORE XNB +18D,1
041182,001642: 15,2607 77775 VLOAD
041183,001643: 15,2610 02731 STAR
041184,001644: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041185,001645: 15,2612 00047 X2
041186,001646: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
041187,001647: 15,2614 71152 VSL2 LXC,2
041188,001648: 15,2615 00047 X2
041189,001649: 15,2616 63047 VSU* INCR,2
041190,001650: 15,2617 54000 XUNIT -6,2
041191,001651: 15,2620 00002 2D
041192,001652: 15,2621 06665 STORE XSM +18D,1
041193,001653: 15,2622 45100 TIX,1 CALL
041194,001654: 15,2623 32603 GRAVEL
041195,001655: 15,2624 47353 CALCGA
041196,001656: 15,2625 74575 VLOAD VSR1
041197,001657: 15,2626 02715 GOUT
041198,001658: 15,2627 36723 STCALL STARAD +12D
041199,001659: 15,2630 32670 LUNG
041200,001660: 15,2631 74575 VLOAD VSR1
041201,001661: 15,2632 02715 GOUT
041202,001662: 15,2633 53455 VAD UNIT
041203,001663: 15,2634 02723 STARAD +12D
041204,001664: 15,2635 02761 STORE STARSAV1
041205,001665: 15,2636 77641 DOT
041206,001666: 15,2637 02231 GSAV
041207,001667: 15,2640 65552 SL1 ACOS
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|
Page 965
|
041209,001669: 15,2641 01046 STORE DSPTEM1
041210,001670: 15,2642 77776 EXIT
041211,001671: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041212,001672: 15,2644 00014 ADRES FREEFLAG
041213,001673:
041214,001674: 15,2645 32771 CA DISGRVER
041215,001675: 15,2646 04616 TC BANKCALL
041216,001676: 15,2647 20476 CADR GOFLASH
041217,001677: 15,2650 06001 TC GOTOPOOH
041218,001678: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
041219,001679: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041220,001680: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041221,001681:
041222,001682: 15,2654 05353 PROGRAV TC PHASCHNG
041223,001683: 15,2655 04024 OCT 04024
041224,001684:
041225,001685: 15,2656 06037 TC INTPRET
041226,001686: 15,2657 77775 VLOAD
041227,001687: 15,2660 02761 STARSAV1
041228,001688: 15,2661 02231 STORE GSAV
041229,001689: 15,2662 77776 EXIT
041230,001690: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041231,001691: 15,2664 70074 MASK FLAGWRD0
041232,001692: 15,2665 10000 CCS A
041233,001693: 15,2666 12563 TCF GVDETER # SET
041234,001694: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
041235,001695:
041236,001696: 15,2670 77220 LUNG STQ VLOAD
041237,001697: 15,2671 02745 QMIN
041238,001698: 15,2672 24007 ZEROVEC
041239,001699: 15,2673 02707 STORE GACC
041240,001700: 15,2674 77776 EXIT
041241,001701: 15,2675 05353 TC PHASCHNG
041242,001702: 15,2676 04024 OCT 04024
041243,001703:
041244,001704: 15,2677 04616 TC BANKCALL
041245,001705: 15,2700 17000 CADR IMUCOARS
041246,001706: 15,2701 04616 TC BANKCALL
041247,001707: 15,2702 17716 CADR IMUSTALL
041248,001708: 15,2703 05711 TC CURTAINS
041249,001709: 15,2704 04616 TC BANKCALL
041250,001710: 15,2705 17210 CADR IMUFINE
041251,001711: 15,2706 04616 TC BANKCALL
041252,001712: 15,2707 17716 CADR IMUSTALL
041253,001713: 15,2710 05711 TC CURTAINS
041254,001714: 15,2711 32770 CA T/2SEC
041255,001715: 15,2712 55736 TS GCTR
041256,001716: 15,2713 37716 CA PRIO31
041257,001717: 15,2714 55075 TS 1/PIPADT
041258,001718: 15,2715 04616 TC BANKCALL
|
|
Page 966
|
041260,001720: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
041261,001721: 15,2717 05353 TC PHASCHNG
041262,001722: 15,2720 04024 OCT 04024
041263,001723:
041264,001724: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041265,001725: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041266,001726: 15,2723 06037 TC INTPRET
041267,001727: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041268,001728: 15,2725 35000 CAF 2SECS
041269,001729: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041270,001730: 15,2727 02731 ADRES GRABGRAV
041271,001731:
041272,001732: 15,2730 05155 TC ENDOFJOB
041273,001733:
041274,001734: 15,2731 04674 GRABGRAV TC IBNKCALL
041275,001735: 15,2732 77544 CADR PIPSRINE
041276,001736: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041277,001737: 15,2734 05105 TC FINDVAC
041278,001738: 15,2735 E5,1706 EBANK= STARAD
041279,001739: 15,2735 02740 32065 2CADR ADDGRAV
041280,001740:
041281,001741: 15,2737 05261 TC TASKOVER
041282,001742:
041283,001743: 15,2740 04616 ADDGRAV TC BANKCALL
041284,001744: 15,2741 15263 CADR 1/PIPA
041285,001745: 15,2742 25736 INCR GCTR
041286,001746: 15,2743 06037 TC INTPRET
041287,001747: 15,2744 53375 VLOAD VAD
041288,001748: 15,2745 00325 DELV
041289,001749: 15,2746 02707 GACC
041290,001750: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
041291,001751: 15,2750 50135 SLOAD BMN
041292,001752: 15,2751 02737 GCTR
041293,001753: 15,2752 32724 GREED
041294,001754: 15,2753 53575 VLOAD UNIT
041295,001755: 15,2754 02707 GACC
041296,001756: 15,2755 36731 STCALL STAR
041297,001757: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041298,001758: 15,2757 77624 CALL # IN OUTPUT
041299,001759: 15,2760 47671 *SMNB*
041300,001760: 15,2761 02715 STORE GOUT
041301,001761: 15,2762 77776 EXIT
041302,001762: 15,2763 05353 TC PHASCHNG
041303,001763: 15,2764 04024 OCT 04024
041304,001764:
041305,001765: 15,2765 06037 QMINEXIT TC INTPRET
041306,001766: 15,2766 77650 GOTO
041307,001767: 15,2767 02745 QMIN
041308,001768: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967
|
041310,001770: 15,2771 01404 DISGRVER VN 0604
041311,001771: 15,2772 07357 42DEG OCT 07357
041312,001772: 15,2773 06211 35DEG OCT 06211
041313,001773:
|
|
Page 968
|
041315,001775: # NAME GYROTRIM
041316,001776:
041317,001777: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041318,001778: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041319,001779: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041320,001780:
041321,001781: # CALL CALL
041322,001782: # GYROTRIM
041323,001783:
041324,001784: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041325,001785: # CDUX,CDUY,CDUZ
041326,001786:
041327,001787: # OUTPUT - GYRO TORQUE PULSES
041328,001788:
041329,001789: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041330,001790: # IMPULSE, IMUSTALL
041331,001791: # - - - * * -
041332,001792: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041333,001793:
041334,001794: 15,2774 COUNT* $$/P57
041335,001795: 15,2774 71220 GYROTRIM STQ DLOAD
041336,001796: 15,2775 02745 QMIN
041337,001797: 15,2776 00322 THETAD
041338,001798: 15,2777 65325 PDDL PDDL
041339,001799: 15,3000 00324 THETAD +2
041340,001800: 15,3001 00323 THETAD +1
041341,001801: 15,3002 77666 VDEF
041342,001802: 15,3003 24767 STOVL CDUSPOT
041343,001803: 15,3004 24005 XUNIT
041344,001804: 15,3005 77624 CALL
041345,001805: 15,3006 47664 TRG*NBSM
041346,001806: 15,3007 26707 STOVL STARAD
041347,001807: 15,3010 24003 YUNIT
041348,001808: 15,3011 77624 CALL
041349,001809: 15,3012 47673 *NBSM*
041350,001810: 15,3013 36715 STCALL STARAD +6
041351,001811: 15,3014 47537 CDUTRIG
041352,001812: 15,3015 77624 CALL
041353,001813: 15,3016 20030 CALCSMSC
041354,001814: 15,3017 77775 VLOAD
041355,001815: 15,3020 02665 XNB
041356,001816: 15,3021 24007 STOVL 6D
041357,001817: 15,3022 02673 YNB
041358,001818: 15,3023 34015 STCALL 12D
041359,001819: 15,3024 47441 AXISGEN
041360,001820: 15,3025 77624 CALL
041361,001821: 15,3026 47247 CALCGTA
041362,001822: 15,3027 77776 JUSTTRIM EXIT
041363,001823: 15,3030 04616 TC BANKCALL
041364,001824: 15,3031 17210 CADR IMUFINE
041365,001825: 15,3032 04616 TC BANKCALL
|
|
Page 969
|
041367,001827: 15,3033 17716 CADR IMUSTALL
041368,001828: 15,3034 05711 TC CURTAINS
041369,001829: 15,3035 33044 CA GYRCDR
041370,001830: 15,3036 04616 TC BANKCALL
041371,001831: 15,3037 17323 CADR IMUPULSE
041372,001832: 15,3040 04616 TC BANKCALL
041373,001833: 15,3041 17716 CADR IMUSTALL
041374,001834: 15,3042 05711 TC CURTAINS
041375,001835: 15,3043 12765 TCF QMINEXIT
041376,001836:
041377,001837: 15,3044 02737 GYRCDR ECADR OGC
041378,001838:
|
|
Page 970
|
041380,001840: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041381,001841:
041382,001842: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
041383,001843: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041384,001844: 15,3047 34753 1STAR CAF BIT1
041385,001845: 15,3050 55757 TS STARIND
041386,001846:
041387,001847: 15,3051 05353 TC PHASCHNG
041388,001848: 15,3052 04024 OCT 04024
041389,001849:
041390,001850: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041391,001851:
041392,001852: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041393,001853: 15,3055 00006 EXTEND
041394,001854: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
041395,001855:
041396,001856: 15,3057 05353 TC PHASCHNG
041397,001857: 15,3060 04024 OCT 04024
041398,001858:
041399,001859: 15,3061 06037 TC INTPRET
041400,001860: 15,3062 45145 DLOAD CALL
041401,001861: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
041402,001862: 15,3064 32472 PLANET
041403,001863: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041404,001864: 15,3066 33101 SURFLINE
041405,001865:
041406,001866: 15,3067 06037 ASTAR TC INTPRET
041407,001867: 15,3070 77775 VLOAD
041408,001868: 15,3071 02715 STARAD +6
041409,001869: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041410,001870: 15,3073 45145 DLOAD CALL
041411,001871: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
041412,001872: 15,3075 32472 PLANET
041413,001873: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041414,001874: 15,3077 77776 EXIT
041415,001875: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
041416,001876:
|
|
Page 971
|
041418,001878: # DO FINE OR COARSE ALIGNMENT OF IMU
041419,001879:
041420,001880: 15,3101 77131 SURFLINE SSP AXT,2
041421,001881: 15,3102 00052 S2
041422,001882: 15,3103 00006 6
041423,001883: 15,3104 00014 12D
041424,001884: 15,3105 64373 WRTDESIR VLOAD* MXV
041425,001885: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041426,001886: 15,3107 03607 XSMD
041427,001887: 15,3110 77656 UNIT
041428,001888: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
041429,001889: 15,3112 77773 VLOAD*
041430,001890: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041431,001891: 15,3114 10023 STORE 18D,2
041432,001892: 15,3115 43104 TIX,2 BON
041433,001893: 15,3116 33105 WRTDESIR
041434,001894: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041435,001895: 15,3120 33126 INITBY
041436,001896: 15,3121 77624 DOALIGN CALL
041437,001897: 15,3122 31256 R54 # DO CHKSDATA
041438,001898: 15,3123 77614 BOFF
041439,001899: 15,3124 00354 FREEFLAG
041440,001900: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041441,001901: 15,3126 77624 INITBY CALL
041442,001902: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041443,001903: 15,3130 77624 CALL
041444,001904: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041445,001905: 15,3132 77776 EXIT
041446,001906: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041447,001907: 15,3134 70104 MASK FLAGWRD8
041448,001908: 15,3135 10000 CCS A
041449,001909: 15,3136 13145 TCF 5DEGTEST
041450,001910: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041451,001911: 15,3140 04616 TC BANKCALL
041452,001912: 15,3141 20476 CADR GOFLASH
041453,001913: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
041454,001914: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041455,001915: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041456,001916:
041457,001917: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041458,001918: 15,3146 40175 VLOAD BOV
041459,001919: 15,3147 02740 OGC
041460,001920: 15,3150 33151 SURFSUP
041461,001921: 15,3151 02750 SURFSUP STORE OGCT
041462,001922: 15,3152 40141 V/SC BOV
041463,001923: 15,3153 30610 5DEGREES
041464,001924: 15,3154 33254 COATRIM
041465,001925: 15,3155 52131 SSP GOTO
041466,001926: 15,3156 02746 QMIN
041467,001927: 15,3157 33161 SURFDISP
|
|
Page 972
|
041469,001929: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041470,001930:
041471,001931: 15,3161 77776 SURFDISP EXIT
041472,001932: 15,3162 05353 TC PHASCHNG
041473,001933: 15,3163 04024 OCT 04024
041474,001934:
041475,001935: 15,3164 06037 TC INTPRET
041476,001936: 15,3165 75160 AXC,1 AXC,2
041477,001937: 15,3166 03606 XSMD
041478,001938: 15,3167 01733 REFSMMAT
041479,001939: 15,3170 45014 SET CALL
041480,001940: 15,3171 01462 REFSMFLG
041481,001941: 15,3172 31377 MATMOVE
041482,001942: 15,3173 77776 EXIT
041483,001943: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
041484,001944: 15,3175 13177 TCF B2F8
041485,001945: 15,3176 13207 TCF P57POST +1
041486,001946:
041487,001947: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041488,001948: 15,3200 70104 MASK FLAGWRD8
041489,001949: 15,3201 10000 CCS A
041490,001950: 15,3202 13561 TCF P57JUMP # ITS SET
041491,001951: 15,3203 06037 TC INTPRET
041492,001952: 15,3204 77624 CALL
041493,001953: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041494,001954: 15,3206 77776 P57POST EXIT
041495,001955: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041496,001956: 15,3210 04616 TC BANKCALL
041497,001957: 15,3211 20623 CADR GOPERF1
041498,001958: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
041499,001959: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041500,001960: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041501,001961: 15,3215 61145 AD OPTION2
041502,001962: 15,3216 00006 EXTEND
041503,001963: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
041504,001964: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
041505,001965: 15,3221 05353 TC PHASCHNG # RESTART PLACE
041506,001966: 15,3222 04024 OCT 04024
041507,001967: 15,3223 06037 TC INTPRET
041508,001968: 15,3224 45175 VLOAD CALL # USE GNB
041509,001969: 15,3225 02231 GSAV
041510,001970: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
041511,001971: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
041512,001972: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041513,001973: 15,3231 01463 LUNAFLAG
041514,001974: 15,3232 51515 PDVL ABVAL
041515,001975: 15,3233 02023 RLS
041516,001976: 15,3234 45561 VXSC STADR
041517,001977: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041518,001978: 15,3236 47014 CLEAR RTB
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|
Page 973
|
041520,001980: 15,3237 00662 ERADFLAG
041521,001981: 15,3240 21573 LOADTIME
041522,001982: 15,3241 77624 CALL
041523,001983: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041524,001984: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
041525,001985: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041526,001986: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041527,001987: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
041528,001988: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
041529,001989: 15,3250 51670 R-TO-RP
041530,001990: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041531,001991: 15,3252 77776 EXIT
041532,001992: 15,3253 16001 TCF GOTOPOOH # EXIT P57
041533,001993:
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|
Page 974
|
041535,001995: # COARSE AND FINE ALIGN IMU
041536,001996:
041537,001997: 15,3254 75160 COATRIM AXC,1 AXC,2
041538,001998: 15,3255 02664 XDC
041539,001999: 15,3256 02642 XSM
041540,002000: 15,3257 77624 CALL
041541,002001: 15,3260 31377 MATMOVE
041542,002002: 15,3261 77624 CALL
041543,002003: 15,3262 47537 CDUTRIG
041544,002004: 15,3263 77624 CALL
041545,002005: 15,3264 20030 CALCSMSC
041546,002006: 15,3265 77624 CALL
041547,002007: 15,3266 47353 CALCGA
041548,002008: 15,3267 77414 BOFF EXIT
041549,002009: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041550,002010: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041551,002011: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
041552,002012: 15,3273 04616 TC BANKCALL
041553,002013: 15,3274 20476 CADR GOFLASH
041554,002014: 15,3275 06001 TC GOTOPOOH
041555,002015: 15,3276 13300 TCF +2
041556,002016: 15,3277 13272 TCF -5
041557,002017: 15,3300 05353 TC PHASCHNG
041558,002018: 15,3301 04024 OCT 04024
041559,002019:
041560,002020: 15,3302 06037 TC INTPRET
041561,002021: 15,3303 77624 CORSIT CALL
041562,002022: 15,3304 31565 COARSE
041563,002023: 15,3305 77624 CALL
041564,002024: 15,3306 31602 NCOARSE
041565,002025: 15,3307 77624 CALL
041566,002026: 15,3310 32774 GYROTRIM
041567,002027: 15,3311 77650 GOTO
041568,002028: 15,3312 33161 SURFDISP
041569,002029: 15,3313 01535 DISPGYRO VN 0693
041570,002030:
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|
Page 975
|
041572,002032: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041573,002033:
041574,002034: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041575,002035: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041576,002036:
041577,002037: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041578,002038: 15,3317 55145 TS OPTION2
041579,002039: 15,3320 34753 P57OPT CAF BIT1
041580,002040: 15,3321 04616 TC BANKCALL
041581,002041: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041582,002042: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
041583,002043: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
041584,002044: 15,3325 13320 TCF P57OPT # V32 RECYCLE
041585,002045:
041586,002046: 15,3326 05353 TC PHASCHNG
041587,002047: 15,3327 00014 OCT 00014
041588,002048: 15,3330 05155 TC ENDOFJOB
041589,002049:
041590,002050: 15,3331 31145 ALIGNOPT CA OPTION2
041591,002051: 15,3332 76245 MASK THREE
041592,002052: 15,3333 50000 INDEX A
041593,002053: 15,3334 13335 TCF +1
041594,002054: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
041595,002055: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
041596,002056: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041597,002057: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
041598,002058: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041599,002059: 15,3342 01733 REFSMMAT
041600,002060: 15,3343 03606 XSMD
041601,002061: 15,3344 77624 CALL
041602,002062: 15,3345 31377 MATMOVE
041603,002063: 15,3346 77650 GOTO
041604,002064: 15,3347 33410 PACKOPTN -1
041605,002065:
041606,002066: 15,3350 06037 TDISP TC INTPRET
041607,002067: 15,3351 77745 DLOAD
041608,002068: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041609,002069: 15,3353 01046 P57A STORE DSPTEM1
041610,002070: 15,3354 77776 EXIT
041611,002071: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041612,002072: 15,3356 04616 TC BANKCALL
041613,002073: 15,3357 20476 CADR GOFLASH
041614,002074: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
041615,002075: 15,3361 13363 TCF +2
041616,002076: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
041617,002077:
041618,002078: 15,3363 06037 TC INTPRET
041619,002079: 15,3364 65234 RTB PDDL
041620,002080: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041621,002081: 15,3366 01046 DSPTEM1
|
|
Page 976
|
041623,002083: 15,3367 65254 BZE PDDL
041624,002084: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041625,002085: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041626,002086: 15,3372 01046 DSPTEM1
041627,002087: 15,3373 33400 P57C
041628,002088: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041629,002089: 15,3375 74335 STORE TIG # STORE IT IN TIG
041630,002090: 15,3376 36775 STCALL TALIGN
041631,002091: 15,3377 33402 P57D
041632,002092: 15,3400 45545 P57C DLOAD STADR
041633,002093: 15,3401 75002 STORE TALIGN
041634,002094: 15,3402 34041 P57D STCALL TDEC1
041635,002095: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041636,002096: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
041637,002097: 15,3405 00001 RATT
041638,002098: 15,3406 37607 STCALL XSMD
041639,002099: 15,3407 11013 LSORIENT
041640,002100: 15,3410 77776 EXIT
041641,002101: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041642,002102: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041643,002103: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041644,002104: 15,3414 34737 CAF REFSMBIT
041645,002105: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
041646,002106: 15,3416 10000 CCS A
041647,002107: 15,3417 34745 CAF BIT7 # SET
041648,002108: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
041649,002109: 15,3421 34753 CAF ATTFLBIT
041650,002110: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
041651,002111: 15,3423 10000 CCS A
041652,002112: 15,3424 34750 CAF BIT4 # SET
041653,002113: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
041654,002114: 15,3426 34750 CAF BIT4
041655,002115: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041656,002116:
041657,002117: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041658,002118: 15,3431 04616 TC BANKCALL
041659,002119: 15,3432 20476 CADR GOFLASH
041660,002120: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
041661,002121: 15,3434 13436 TCF +2 # V33 - PROCEED
041662,002122: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
041663,002123:
041664,002124: 15,3436 34737 CAF REFSMBIT
041665,002125: 15,3437 70077 MASK FLAGWRD3
041666,002126: 15,3440 10000 CCS A
041667,002127: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041668,002128: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041669,002129: 15,3443 70102 MASK FLAGWRD6
041670,002130: 15,3444 10000 CCS A
041671,002131: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041672,002132: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
|
|
Page 977
|
041674,002134: 15,3447 71145 MASK OPTION2
041675,002135: 15,3450 10000 CCS A
041676,002136: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041677,002137: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041678,002138: 15,3453 00701 OCT 701
041679,002139: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041680,002140: 15,3455 04616 TC BANKCALL
041681,002141: 15,3456 20476 CADR GOFLASH
041682,002142: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
041683,002143: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
041684,002144: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041685,002145:
|
|
Page 978
|
041687,002147: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041688,002148:
041689,002149: 15,3462 40220 MFREF STQ SETPD
041690,002150: 15,3463 02746 QMAJ
041691,002151: 15,3464 00001 0
041692,002152: 15,3465 77634 RTB
041693,002153: 15,3466 21573 LOADTIME
041694,002154: 15,3467 27562 STOVL TSIGHT
041695,002155: 15,3470 02723 VEC1
041696,002156: 15,3471 41525 PDDL PUSH
041697,002157: 15,3472 03562 TSIGHT
041698,002158: 15,3473 77624 CALL
041699,002159: 15,3474 55716 RP-TO-R
041700,002160: 15,3475 26723 STOVL VEC1
041701,002161: 15,3476 02731 VEC2
041702,002162: 15,3477 65201 SETPD PDDL
041703,002163: 15,3500 00001 0
041704,002164: 15,3501 03562 TSIGHT
041705,002165: 15,3502 45006 PUSH CALL
041706,002166: 15,3503 55716 RP-TO-R
041707,002167: 15,3504 36731 STCALL VEC2
041708,002168: 15,3505 02746 QMAJ
041709,002169:
|
|
Page 979
|
041711,002171: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041712,002172: # STORE IN YNBSAV AND ZNBSAV
041713,002173:
041714,002174: 15,3506 45020 REFMF STQ CALL
041715,002175: 15,3507 02746 QMAJ
041716,002176: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
041717,002177: 15,3511 40234 RTB SETPD
041718,002178: 15,3512 21573 LOADTIME
041719,002179: 15,3513 00001 0
041720,002180: 15,3514 37562 STCALL TSIGHT
041721,002181: 15,3515 20030 CALCSMSC # GET YNB IN SM
041722,002182: 15,3516 61375 VLOAD VXM
041723,002183: 15,3517 02673 YNB
041724,002184: 15,3520 01734 REFSMMAT # YNB TO REF
041725,002185: 15,3521 65256 UNIT PDDL
041726,002186: 15,3522 03562 TSIGHT
041727,002187: 15,3523 45006 PUSH CALL
041728,002188: 15,3524 51670 R-TO-RP
041729,002189: 15,3525 26237 STOVL YNBSAV # YNB TO MF
041730,002190: 15,3526 02701 ZNB
041731,002191: 15,3527 53505 VXM UNIT
041732,002192: 15,3530 01734 REFSMMAT # ZNB TO REF
041733,002193: 15,3531 41525 PDDL PUSH
041734,002194: 15,3532 03562 TSIGHT
041735,002195: 15,3533 77624 CALL
041736,002196: 15,3534 51670 R-TO-RP # ZNB TO MF
041737,002197: 15,3535 02245 STORE ZNBSAV
041738,002198: 15,3536 77614 SETGO
041739,002199: 15,3537 03036 ATTFLAG
041740,002200: 15,3540 02746 QMAJ
041741,002201:
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|
Page 980
|
041743,002203: # BRANCH TO ALIGNMENT OPTION
041744,002204:
041745,002205: 15,3541 06037 GETLMATT TC INTPRET
041746,002206: 15,3542 77624 CALL
041747,002207: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041748,002208: 15,3544 77776 EXIT
041749,002209:
041750,002210: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041751,002211: 15,3546 00205 ADRES INITALGN
041752,002212: 15,3547 34753 CAF BIT1
041753,002213: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
041754,002214: 15,3551 10000 CCS A
041755,002215: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041756,002216:
041757,002217: 15,3553 05353 ATTCHK TC PHASCHNG
041758,002218: 15,3554 04024 OCT 04024
041759,002219:
041760,002220: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041761,002221: 15,3556 70102 MASK FLAGWRD6
041762,002222: 15,3557 10000 CCS A
041763,002223: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041764,002224: 15,3561 05353 P57JUMP TC PHASCHNG
041765,002225: 15,3562 04024 OCT 04024
041766,002226:
041767,002227: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041768,002228: 15,3564 00205 ADRES INITALGN
041769,002229: 15,3565 36245 CAF THREE
041770,002230: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
041771,002231: 15,3567 50000 INDEX A
041772,002232: 15,3570 13571 TCF +1
041773,002233: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
041774,002234: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
041775,002235: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
041776,002236: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
041777,002237:
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|
Page 981
|
041779,002239: # OPTION 0, GET TWO ATTITUDE VECS
041780,002240:
041781,002241: 15,3575 06037 P57OPT0 TC INTPRET
041782,002242: 15,3576 77775 VLOAD
041783,002243: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041784,002244: 15,3600 26723 STOVL VEC1
041785,002245: 15,3601 02245 ZNBSAV
041786,002246: 15,3602 36731 STCALL VEC2
041787,002247: 15,3603 47537 CDUTRIG
041788,002248: 15,3604 77624 CALL
041789,002249: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041790,002250: 15,3606 77775 VLOAD
041791,002251: 15,3607 02673 YNB
041792,002252: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041793,002253: 15,3611 02701 ZNB
041794,002254: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041795,002255: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041796,002256: 15,3614 77650 GOTO
041797,002257: 15,3615 33101 SURFLINE
041798,002258:
041799,002259: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041800,002260:
041801,002261: 15,3616 06037 P57OPT1 TC INTPRET
041802,002262: 15,3617 53575 VLOAD UNIT
041803,002263: 15,3620 02023 RLS # LANDING SITE VEC
041804,002264: 15,3621 26723 STOVL VEC1
041805,002265: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
041806,002266: 15,3623 36731 STCALL VEC2
041807,002267: 15,3624 47537 CDUTRIG
041808,002268: 15,3625 77624 CALL
041809,002269: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
041810,002270: 15,3627 45175 VLOAD CALL
041811,002271: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
041812,002272: 15,3631 47661 CDU*NBSM
041813,002273: 15,3632 77650 GOTO
041814,002274: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
041815,002275:
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|
Page 982
|
041817,002277: # OPTION 2, GET TWO STAR SIGHTINGS
041818,002278:
041819,002279: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
041820,002280:
041821,002281: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041822,002282:
041823,002283: 15,3635 06037 P57OPT3 TC INTPRET
041824,002284: 15,3636 53575 VLOAD UNIT
041825,002285: 15,3637 02023 RLS # LANDING SITE VEC
041826,002286: 15,3640 02723 STORE VEC1
041827,002287: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
041828,002288: 15,3642 02231 GSAV # GRAVITY VEC NB
041829,002289: 15,3643 77624 CALL
041830,002290: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
041831,002291: 15,3645 36761 STCALL STARSAV1
041832,002292: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
041833,002293: 15,3647 77776 EXIT
041834,002294: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
041835,002295:
041836,002296: 15,3651 01206 VB05N06 VN 506
041837,002297:
|
|
Page 983
|
041839,002299: # CHECK IMODES30 TO VARIFY IMU IS ON
041840,002300:
041841,002301: 15,3652 41302 IMUCHK CS IMODES30
041842,002302: 15,3653 74743 MASK BIT9
041843,002303: 15,3654 10000 CCS A # IS IMU ON
041844,002304: 15,3655 13661 TCF +4 # YES
041845,002305:
041846,002306: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
041847,002307: 15,3657 00210 OCT 210
041848,002308: 15,3660 06001 TC GOTOPOOH
041849,002309:
041850,002310: 15,3661 05504 TC UPFLAG
041851,002311: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
041852,002312:
041853,002313: 15,3663 04631 TC SWRETURN
041854,002314:
041855,002315: 04,3013 BANK 04
041856,002316: 04,2000 SETLOC AOTMARK2
041857,002317: 04,2000 BANK
041858,002318: 04,3013 COUNT* $$/P57
041859,002319:
041860,002320: 04,3013 77220 LSORIENT STQ VLOAD
041861,002321: 04,3014 02746 QMAJ
041862,002322: 04,3015 01555 RRECTCSM
041863,002323: 04,3016 47235 VXV VXV
041864,002324: 04,3017 01563 VRECTCSM
041865,002325: 04,3020 03607 XSMD
041866,002326: 04,3021 77656 UNIT
041867,002327: 04,3022 03623 STORE ZSMD
041868,002328: 04,3023 53435 VXV UNIT
041869,002329: 04,3024 03607 XSMD
041870,002330: 04,3025 37615 STCALL YSMD
041871,002331: 04,3026 02746 QMAJ
041872,002332:
End of include-file P51-P53.agc. Parent file is MAIN.agc