GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
040522,000002: ## Copyright: Public domain.
040523,000003: ## Filename: P51-P53.agc
040524,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
040525,000005: ## It is part of the source code for the Lunar Module's (LM)
040526,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
040527,000007: ## Assembler: yaYUL
040528,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
040529,000009: ## Website: www.ibiblio.org/apollo.
040530,000010: ## Pages: 926-983
040531,000011: ## Mod history: 2009-05-31 HG Transcribed from page images.
040532,000012: ## 2009-06-07 RSB Corrected a typo.
040533,000013: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
040534,000014: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
040535,000015: ## and corrected the errors found.
040536,000016: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
040537,000017: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
040538,000018: ## side-by-side diff of Luminary 69/99/116/131/210.
040539,000019:
040540,000020: ## This source code has been transcribed or otherwise adapted from
040541,000021: ## digitized images of a hardcopy from the MIT Museum. The digitization
040542,000022: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
040543,000023: ## the Museum. Many thanks to both. The images (with suitable reduction
040544,000024: ## in storage size and consequent reduction in image quality as well) are
040545,000025: ## available online at www.ibiblio.org/apollo. If for some reason you
040546,000026: ## find that the images are illegible, contact me at info@sandroid.org
040547,000027: ## about getting access to the (much) higher-quality images which Paul
040548,000028: ## actually created.
040549,000029: ##
040550,000030: ## Notations on the hardcopy document read, in part:
040551,000031: ##
040552,000032: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
040553,000033: ## 16:27 JULY 14, 1969
040554,000034:
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Page 926 |
040556,000036: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
040557,000037: # MOD NO - 0 LOG SECTION - P51-P53
040558,000038: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
040559,000039:
040560,000040: # FUNCTIONAL DESCRIPTION -
040561,000041:
040562,000042: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040563,000043: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
040564,000044:
040565,000045: # (A) PREFERRED ORIENTATION
040566,000046:
040567,000047: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
040568,000048: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040569,000049:
040570,000050: # (B) NOMINAL ORIENTATION
040571,000051:
040572,000052: # X = UNIT ( R )
040573,000053: # -SM
040574,000054:
040575,000055: # Y = UNIT (V X R)
040576,000056: # SM
040577,000057:
040578,000058: # Z = UNIT (X X Y )
040579,000059: # SM SM SM
040580,000060:
040581,000061: # WHERE_
040582,000062:
040583,000063: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040584,000064: # -
040585,000065:
040586,000066: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040587,000067: # -
040588,000068:
040589,000069: # (C) REFSMMAT ORIENTATION
040590,000070:
040591,000071: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040592,000072:
040593,000073: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040594,000074: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040595,000075: # SINCE THE LAST ALIGNMENT).
040596,000076:
040597,000077: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040598,000078: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040599,000079: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040600,000080: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040601,000081: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040602,000082: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040603,000083: # REQUESTED.
040604,000084:
040605,000085: # CALLING SEQUENCE -
040606,000086:
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Page 927 |
040608,000088: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040609,000089:
040610,000090: # SUBROUTINES CALLED -
040611,000091:
040612,000092: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040613,000093: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040614,000094: # 3. GOPERF4 9. FLAGUP
040615,000095: # 4. MATMOVE 10. R56
040616,000096: # 5. GOFLASH 11. R51
040617,000097: # 6. S52.3 12. GOPERF3
040618,000098:
040619,000099: # NORMAL EXIT MODES -
040620,000100:
040621,000101: # EXITS TO ENDOFJOB
040622,000102:
040623,000103: # ALARM OR ABORT EXIT MODES -
040624,000104:
040625,000105: # NONE
040626,000106:
040627,000107: # OUTPUT -
040628,000108:
040629,000109: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040630,000110: # 1. IMU ORIENTATION CODE
040631,000111: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
040632,000112: # 3. TIME OF NEXT IGNITION
040633,000113: # 4. GIMBAL ANGLES
040634,000114: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
040635,000115: # 6. PLEASE PERFORM P00
040636,000116: # THE MODE DISPLAY MAY BE CHANGED TO 20
040637,000117:
040638,000118: # ERASABLE INITIALIZATION REQUIRED -
040639,000119:
040640,000120: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
040641,000121: # XSMD, YSMD, ZSMD.
040642,000122:
040643,000123: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040644,000124:
040645,000125: # DEBRIS -
040646,000126:
040647,000127: # WORK AREA
040648,000128:
040649,000129: 33,3777 BANK 33
040650,000130: 15,2000 SETLOC P50S
040651,000131: 15,2000 BANK
040652,000132:
040653,000133: 15,2050 E5,1755 EBANK= BESTI
040654,000134: 15,2050 COUNT* $$/P52
040655,000135: 15,2050 04616 PROG52 TC BANKCALL
040656,000136: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
040657,000137: 15,2052 34750 CAF PFRATBIT
040658,000138: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040659,000139: 15,2054 10000 CCS A
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Page 928 |
040661,000141: 15,2055 02060 TC P52A # YES
040662,000142: 15,2056 34752 CAF BIT2 # NO
040663,000143: 15,2057 02061 TC P52A +1
040664,000144: 15,2060 34753 P52A CAF BIT1
040665,000145: 15,2061 55145 TS OPTION2
040666,000146: 15,2062 34753 P52B CAF BIT1
040667,000147: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040668,000148: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
040669,000149: 15,2065 06001 TC GOTOPOOH
040670,000150: 15,2066 12073 TCF +5 # V33 - PROCEED
040671,000151: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040672,000152: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
040673,000153: 15,2071 00014 OCT 00014
040674,000154: 15,2072 05155 TC ENDOFJOB
040675,000155:
040676,000156: 15,2073 31145 CA OPTION2
040677,000157: 15,2074 76245 MASK THREE
040678,000158: 15,2075 50000 INDEX A
040679,000159: 15,2076 02077 TC +1
040680,000160: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
040681,000161: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
040682,000162: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
040683,000163: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
040684,000164: 15,2103 77650 GOTO
040685,000165: 15,2104 32164 P52F # GO DO R51
040686,000166:
040687,000167: 15,2105 00006 OPT4 EXTEND
040688,000168: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040689,000169: 15,2107 12112 TCF P52T +2
040690,000170:
040691,000171: 15,2110 00006 P52T EXTEND
040692,000172: 15,2111 34755 DCA NEG0
040693,000173: 15,2112 53046 DXCH DSPTEM1
040694,000174: 15,2113 32170 CAF V06N34*
040695,000175: 15,2114 04616 TC BANKCALL
040696,000176: 15,2115 20476 CADR GOFLASH
040697,000177: 15,2116 06001 TC GOTOPOOH
040698,000178: 15,2117 02121 TC +2
040699,000179: 15,2120 02113 TC -5
040700,000180: 15,2121 53046 DXCH DSPTEM1
040701,000181: 15,2122 00006 EXTEND
040702,000182: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040703,000183: 15,2124 12127 TCF +3
040704,000184: 15,2125 00006 EXTEND
040705,000185: 15,2126 30025 DCA TIME2
040706,000186: 15,2127 53775 DXCH TALIGN
040707,000187: 15,2130 31145 P52V CA OPTION2
040708,000188: 15,2131 74752 MASK BIT2
040709,000189: 15,2132 10000 CCS A
040710,000190: 15,2133 02137 TC P52W
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Page 929 |
040712,000192: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040713,000193: 15,2135 77650 GOTO
040714,000194: 15,2136 32220 P52LS
040715,000195:
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Page 930 |
040717,000197: # START ALIGNMENT
040718,000198:
040719,000199: 15,2137 06037 P52W TC INTPRET
040720,000200: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
040721,000201: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
040722,000202: 15,2142 31650 S52.3 # ORIENTATION
040723,000203: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040724,000204: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
040725,000205: 15,2145 77776 EXIT
040726,000206: 15,2146 35010 CAF V06N22
040727,000207: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040728,000208: 15,2150 20476 CADR GOFLASH
040729,000209: 15,2151 06001 TC GOTOPOOH
040730,000210: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
040731,000211: 15,2153 06037 P52H TC INTPRET
040732,000212: 15,2154 77650 GOTO
040733,000213: 15,2155 32143 P52D
040734,000214: 15,2156 06037 REGCOARS TC INTPRET
040735,000215: 15,2157 77624 CALL # DO COARSE ALIGN
040736,000216: 15,2160 31327 CAL53A # ROUTINE
040737,000217: 15,2161 43014 COARSRET SET CLEAR
040738,000218: 15,2162 01462 REFSMFLG
040739,000219: 15,2163 01273 PFRATFLG
040740,000220: 15,2164 77624 P52F CALL
040741,000221: 15,2165 31015 R51
040742,000222: 15,2166 77776 P52OUT EXIT
040743,000223: 15,2167 06001 TC GOTOPOOH
040744,000224: 15,2170 5006 VB05N09 = V05N09
040745,000225: 15,2170 01442 V06N34* VN 634
040746,000226:
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Page 931 |
040748,000228: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040749,000229:
040750,000230: 15,2171 32217 COARSTYP CAF OCT13
040751,000231: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040752,000232: 15,2173 20623 CADR GOPERF1
040753,000233: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
040754,000234: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
040755,000235: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
040756,000236: 15,2177 64375 VLOAD MXV
040757,000237: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040758,000238: 15,2201 01734 REFSMMAT
040759,000239: 15,2202 77656 UNIT
040760,000240: 15,2203 26665 STOVL XDC
040761,000241: 15,2204 03615 YSMD
040762,000242: 15,2205 53521 MXV UNIT
040763,000243: 15,2206 01734 REFSMMAT
040764,000244: 15,2207 26673 STOVL YDC
040765,000245: 15,2210 03623 ZSMD
040766,000246: 15,2211 53521 MXV UNIT
040767,000247: 15,2212 01734 REFSMMAT
040768,000248: 15,2213 36701 STCALL ZDC
040769,000249: 15,2214 31164 GYCOARS
040770,000250: 15,2215 77650 GOTO
040771,000251: 15,2216 32166 P52OUT
040772,000252: 15,2217 00013 OCT13 OCT 13
040773,000253:
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Page 932 |
040775,000255: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040776,000256:
040777,000257: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040778,000258: 15,2221 01463 LUNAFLAG
040779,000259: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040780,000260: 15,2223 77201 SETPD VLOAD
040781,000261: 15,2224 00001 0
040782,000262: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040783,000263: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040784,000264: 15,2227 02775 TALIGN
040785,000265: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040786,000266: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040787,000267: 15,2232 77742 VSR2
040788,000268: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040789,000269: 15,2234 02775 TALIGN
040790,000270: 15,2235 77624 CALL
040791,000271: 15,2236 30446 N89DISP
040792,000272: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040793,000273: 15,2240 02032 ALPHAV
040794,000274: 15,2241 37607 STCALL XSMD
040795,000275: 15,2242 11013 LSORIENT
040796,000276: 15,2243 77650 GOTO
040797,000277: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040798,000278:
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Page 933 |
040800,000280: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040801,000281:
040802,000282: 14,2000 SETLOC P50S1
040803,000283: 14,2000 BANK
040804,000284: 14,2446 E5,1642 EBANK= XSM
040805,000285:
040806,000286: 14,2446 77620 N89DISP STQ
040807,000287: 14,2447 02746 QMAJ
040808,000288: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040809,000289: 14,2451 26351 LAT-LONG
040810,000290: 14,2452 70545 DLOAD SR1
040811,000291: 14,2453 01123 LONG
040812,000292: 14,2454 16711 STODL LANDLONG
040813,000293: 14,2455 01125 ALT
040814,000294: 14,2456 16713 STODL LANDALT
040815,000295: 14,2457 01121 LAT
040816,000296: 14,2460 16707 STODL LANDLAT
040817,000297: 14,2461 77776 EXIT
040818,000298:
040819,000299: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040820,000300: 14,2463 04616 TC BANKCALL
040821,000301: 14,2464 20476 CADR GOFLASH
040822,000302: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040823,000303: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040824,000304: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040825,000305:
040826,000306: 14,2470 06037 TC INTPRET
040827,000307: 14,2471 72545 DLOAD SL1
040828,000308: 14,2472 02711 LANDLONG
040829,000309: 14,2473 15123 STODL LONG
040830,000310: 14,2474 02713 LANDALT
040831,000311: 14,2475 15125 STODL ALT
040832,000312: 14,2476 02707 LANDLAT
040833,000313: 14,2477 15121 STODL LAT
040834,000314: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040835,000315: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040836,000316: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040837,000317: 14,2503 77650 GOTO
040838,000318: 14,2504 02746 QMAJ
040839,000319: 14,2505 01531 V06N89* VN 689
040840,000320:
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Page 934 |
040842,000322: # NAME - S50 ALIAS LOCSAM
040843,000323: # BY
040844,000324: # VINCENT
040845,000325:
040846,000326: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040847,000327:
040848,000328: # DEFINE
040849,000329:
040850,000330: # U = UNIT( SUN WRT EARTH )
040851,000331: # ES
040852,000332:
040853,000333: # U = UNIT( MOON WRT EARTH )
040854,000334: # EM
040855,000335:
040856,000336: # R = POSITION VECTOR OF LEM
040857,000337: # L
040858,000338:
040859,000339: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040860,000340: # EM
040861,000341:
040862,000342: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040863,000343: # EM
040864,000344:
040865,000345: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040866,000346: # E
040867,000347:
040868,000348: # LOCSAM COMPUTES IN EARTH INFLUENCE
040869,000349:
040870,000350: # VSUN = U
040871,000351: # ES
040872,000352:
040873,000353: # VEARTH = -UNIT( R )
040874,000354: # L
040875,000355:
040876,000356: # VMOON = UNIT(R .U - R )
040877,000357: # EM EM L
040878,000358:
040879,000359: # CSUN = COS 90
040880,000360:
040881,000361: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040882,000362: # E L
040883,000363:
040884,000364: # CMOON = COS 5
040885,000365:
040886,000366: # INPUT - TIME IN MPAC
040887,000367:
040888,000368: # OUTPUT - LISTED ABOVE
040889,000369:
040890,000370: # SUBROUTINES - LSPOS, LEMPREC
040891,000371:
040892,000372: # DEBRIS - VAC AREA, TSIGHT
040893,000373:
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Page 935 |
040895,000375: 14,2506 COUNT* $$/LOSAM
040896,000376:
040897,000377: 14,2506 14,2506 S50 = LOCSAM
040898,000378: 14,2506 77620 LOCSAM STQ
040899,000379: 14,2507 02745 QMIN
040900,000380: 14,2510 37562 STCALL TSIGHT
040901,000381: 14,2511 33664 LSPOS
040902,000382: 14,2512 77745 DLOAD
040903,000383: 14,2513 03562 TSIGHT
040904,000384: 14,2514 34041 STCALL TDEC1
040905,000385: 14,2515 27057 LEMPREC
040906,000386: 14,2516 61131 SSP TIX,2
040907,000387: 14,2517 00052 S2
040908,000388: 14,2520 00000 0
040909,000389: 14,2521 30543 MOONCNTR
040910,000390: 14,2522 74375 EARTCNTR VLOAD VXSC
040911,000391: 14,2523 02723 VMOON
040912,000392: 14,2524 30001 RSUBEM
040913,000393: 14,2525 52372 VSL1 VSU
040914,000394: 14,2526 00001 RATT
040915,000395: 14,2527 77656 UNIT
040916,000396: 14,2530 26723 STOVL VMOON
040917,000397: 14,2531 00001 RATT
040918,000398: 14,2532 57456 UNIT VCOMP
040919,000399: 14,2533 16707 STODL VEARTH
040920,000400: 14,2534 30005 RSUBE
040921,000401: 14,2535 77624 CALL
040922,000402: 14,2536 30575 OCCOS
040923,000403: 14,2537 14017 STODL CEARTH
040924,000404: 14,2540 30604 CSS5
040925,000405: 14,2541 34023 STCALL CMOON
040926,000406: 14,2542 30570 ENDSAM
040927,000407: 14,2543 74375 MOONCNTR VLOAD VXSC
040928,000408: 14,2544 02723 VMOON
040929,000409: 14,2545 30007 ROE
040930,000410: 14,2546 53445 BVSU UNIT
040931,000411: 14,2547 02715 VSUN
040932,000412: 14,2550 26715 STOVL VSUN
040933,000413: 14,2551 02723 VMOON
040934,000414: 14,2552 53361 VXSC VAD
040935,000415: 14,2553 30001 RSUBEM
040936,000416: 14,2554 00001 RATT
040937,000417: 14,2555 57456 UNIT VCOMP
040938,000418: 14,2556 26707 STOVL VEARTH
040939,000419: 14,2557 00001 RATT
040940,000420: 14,2560 57456 UNIT VCOMP
040941,000421: 14,2561 16723 STODL VMOON
040942,000422: 14,2562 30003 RSUBM
040943,000423: 14,2563 77624 CALL
040944,000424: 14,2564 30575 OCCOS
|
|
Page 936 |
040946,000426: 14,2565 14023 STODL CMOON
040947,000427: 14,2566 30604 CSS5
040948,000428: 14,2567 00017 STORE CEARTH
040949,000429: 14,2570 77745 ENDSAM DLOAD
040950,000430: 14,2571 30606 CSSUN
040951,000431: 14,2572 00021 STORE CSUN
040952,000432: 14,2573 77650 GOTO
040953,000433: 14,2574 02745 QMIN
040954,000434: 14,2575 70471 OCCOS DDV SR1
040955,000435: 14,2576 00045 36D
040956,000436: 14,2577 43336 ASIN DAD
040957,000437: 14,2600 30610 5DEGREES
040958,000438: 14,2601 70546 COS SR1
040959,000439: 14,2602 77616 RVQ
040960,000440: 14,2603 CEARTH = 14D
040961,000441: 14,2603 CSUN = 16D
040962,000442: 14,2603 CMOON = 18D
040963,000443: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040964,000444: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040965,000445: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040966,000446:
|
|
Page 937 |
040968,000448: # PROGRAM NAME - R56 DATE DEC 20 66
040969,000449: # MOD 1 LOG SECTION P51-P53
040970,000450: # ASSEMBLY SUNDISK REV40
040971,000451: # BY KEN VINCENT
040972,000452:
040973,000453: # FUNCTION
040974,000454: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040975,000455: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040976,000456: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040977,000457: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040978,000458: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040979,000459: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040980,000460: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040981,000461: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040982,000462: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040983,000463: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040984,000464: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040985,000465: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040986,000466:
040987,000467: # CALLING SEQUENCE
040988,000468: # L TC BANKCALL
040989,000469: # L+1 CADR R56
040990,000470: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040991,000471: # L+3 NORMAL RETURN
040992,000472:
040993,000473: # OUTPUT
040994,000474: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040995,000475: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040996,000476:
040997,000477: # INITIALIZATION
040998,000478: # 1) A CALL TO LOCSAM MUST BE MADE
040999,000479:
041000,000480: # DEBRIS
041001,000481: # WORKAREA
041002,000482: # X,Y,ZNB
041003,000483: # SINCDU, COSCDU
041004,000484: # STARAD - STAR +5
041005,000485:
041006,000486: 14,2611 14,2611 R56 = PICAPAR
041007,000487: 14,2611 COUNT* $$/R56
041008,000488: 14,2611 04645 PICAPAR TC MAKECADR
041009,000489: 14,2612 55745 TS QMIN
041010,000490: 14,2613 06037 TC INTPRET
041011,000491: 14,2614 77624 CALL
041012,000492: 14,2615 47537 CDUTRIG
041013,000493: 14,2616 77624 CALL
041014,000494: 14,2617 20030 CALCSMSC
041015,000495: 14,2620 77601 SETPD
041016,000496: 14,2621 00001 0
041017,000497: 14,2622 71214 SET DLOAD # VFLAG = 1
041018,000498: 14,2623 01465 VFLAG
|
|
Page 938 |
041020,000500: 14,2624 24007 DPZERO
041021,000501: 14,2625 26756 STOVL BESTI
041022,000502: 14,2626 02665 XNB
041023,000503: 14,2627 63361 VXSC PDVL
041024,000504: 14,2630 24005 HALFDP
041025,000505: 14,2631 02701 ZNB
041026,000506: 14,2632 74370 AXT,1 VXSC
041027,000507: 14,2633 00344 228D # X1 = 37 X 6 + 6
041028,000508: 14,2634 24005 HALFDP
041029,000509: 14,2635 77655 VAD
041030,000510: 14,2636 53505 VXM UNIT
041031,000511: 14,2637 01734 REFSMMAT
041032,000512: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
041033,000513: 14,2641 66331 SSP SSP # S1 = S2 = 6
041034,000514: 14,2642 00051 S1
041035,000515: 14,2643 00006 6
041036,000516: 14,2644 00052 S2
041037,000517: 14,2645 00006 6
041038,000518: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041039,000519: 14,2647 30651 PIC2
041040,000520: 14,2650 30766 PICEND
041041,000521: 14,2651 50373 PIC2 VLOAD* DOT
041042,000522: 14,2652 30347 CATLOG,1
041043,000523: 14,2653 02731 SAX
041044,000524: 14,2654 50025 DSU BMN
041045,000525: 14,2655 30765 CSS33
041046,000526: 14,2656 30646 PIC1
041047,000527: 14,2657 77754 LXA,2
041048,000528: 14,2660 00046 X1
041049,000529: 14,2661 52104 PIC3 TIX,2 GOTO
041050,000530: 14,2662 30664 PIC4
041051,000531: 14,2663 30646 PIC1
041052,000532: 14,2664 50373 PIC4 VLOAD* DOT
041053,000533: 14,2665 47430 CATLOG,2
041054,000534: 14,2666 02731 SAX
041055,000535: 14,2667 50025 DSU BMN
041056,000536: 14,2670 30765 CSS33
041057,000537: 14,2671 30661 PIC3
041058,000538: 14,2672 47773 VLOAD* DOT*
041059,000539: 14,2673 30347 CATLOG,1
041060,000540: 14,2674 47430 CATLOG,2
041061,000541: 14,2675 51025 DSU BPL
041062,000542: 14,2676 30763 CSS40
041063,000543: 14,2677 30661 PIC3
041064,000544: 14,2700 45173 VLOAD* CALL
041065,000545: 14,2701 30347 CATLOG,1
041066,000546: 14,2702 30740 OCCULT
041067,000547: 14,2703 77614 BON
041068,000548: 14,2704 01710 CULTFLAG
041069,000549: 14,2705 30646 PIC1
|
|
Page 939 |
041071,000551: 14,2706 45173 VLOAD* CALL
041072,000552: 14,2707 47430 CATLOG,2
041073,000553: 14,2710 30740 OCCULT
041074,000554: 14,2711 77614 BON
041075,000555: 14,2712 01710 CULTFLAG
041076,000556: 14,2713 30661 PIC3
041077,000557: 14,2714 77614 STRATGY BONCLR
041078,000558: 14,2715 01605 VFLAG
041079,000559: 14,2716 30733 NEWPAR
041080,000560: 14,2717 65120 XCHX,1 XCHX,2
041081,000561: 14,2720 02755 BESTI
041082,000562: 14,2721 02756 BESTJ
041083,000563: 14,2722 47773 STRAT VLOAD* DOT*
041084,000564: 14,2723 30347 CATLOG,1
041085,000565: 14,2724 47430 CATLOG,2
041086,000566: 14,2725 43006 PUSH BOFINV
041087,000567: 14,2726 01545 VFLAG
041088,000568: 14,2727 30717 STRAT -3
041089,000569: 14,2730 45345 DLOAD DSU
041090,000570: 14,2731 77644 BPL
041091,000571: 14,2732 30661 PIC3
041092,000572: 14,2733 67130 NEWPAR SXA,1 SXA,2
041093,000573: 14,2734 02755 BESTI
041094,000574: 14,2735 02756 BESTJ
041095,000575: 14,2736 77650 GOTO
041096,000576: 14,2737 30661 PIC3
041097,000577: 14,2740 51321 OCCULT MXV BVSU
041098,000578: 14,2741 02707 CULTRIX
041099,000579: 14,2742 00017 CSS
041100,000580: 14,2743 77654 BZE
041101,000581: 14,2744 30757 CULTED
041102,000582: 14,2745 75240 BMN SIGN
041103,000583: 14,2746 30757 CULTED
041104,000584: 14,2747 00160 MPAC +3
041105,000585: 14,2750 75240 BMN SIGN
041106,000586: 14,2751 30757 CULTED
041107,000587: 14,2752 00162 MPAC +5
041108,000588: 14,2753 43040 BMN CLRGO
041109,000589: 14,2754 30757 CULTED
041110,000590: 14,2755 01630 CULTFLAG
041111,000591: 14,2756 00052 QPRET
041112,000592: 14,2757 77614 CULTED SETGO
041113,000593: 14,2760 01430 CULTFLAG
041114,000594: 14,2761 00052 QPRET
041115,000595: 14,2762 0000016 CSS = CEARTH
041116,000596: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041117,000597: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041118,000598: 14,2766 77414 PICEND BOFF EXIT
041119,000599:
|
|
Page 940 |
041121,000601: 14,2767 01745 VFLAG
041122,000602: 14,2770 30772 PICGXT
041123,000603: 14,2771 03013 TC PICBXT
041124,000604: 14,2772 73150 PICGXT LXA,1 LXA,2
041125,000605: 14,2773 02755 BESTI
041126,000606: 14,2774 02756 BESTJ
041127,000607: 14,2775 47775 VLOAD DOT*
041128,000608: 14,2776 02731 SAX
041129,000609: 14,2777 30347 CATLOG,1
041130,000610: 14,3000 47715 PDVL DOT*
041131,000611: 14,3001 02731 SAX
041132,000612: 14,3002 47430 CATLOG,2
041133,000613: 14,3003 77625 DSU
041134,000614: 14,3004 66044 BPL SXA,1
041135,000615: 14,3005 31011 PICNSWP
041136,000616: 14,3006 02756 BESTJ
041137,000617: 14,3007 77734 SXA,2
041138,000618: 14,3010 02755 BESTI
041139,000619: 14,3011 77776 PICNSWP EXIT
041140,000620: 14,3012 25745 INCR QMIN
041141,000621: 14,3013 31745 PICBXT CA QMIN
041142,000622: 14,3014 04622 TC SWCALL
041143,000623: 14,3015 VPD = 0D
041144,000624: 14,3015 V0 = 6D
041145,000625: 14,3015 V1 = 12D
041146,000626: 14,3015 V2 = 18D
041147,000627: 14,3015 V3 = 24D
041148,000628: 14,3015 DP0 = 30D
041149,000629: 14,3015 DP1 = 32D
041150,000630:
|
|
Page 941 |
041152,000632: # NAME - R51 FINE ALIGN
041153,000633: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
041154,000634: # CALLING SEQ - CALL R51
041155,000635: # INPUT - REFSMMAT
041156,000636: # OUTPUT - GYRO TORQUE PULSES
041157,000637: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
041158,000638:
041159,000639: 14,3015 COUNT* $$/R51
041160,000640: 14,3015 77620 R51 STQ
041161,000641: 14,3016 02746 QMAJ
041162,000642: 14,3017 77776 R51.1 EXIT
041163,000643: 14,3020 05353 TC PHASCHNG
041164,000644: 14,3021 04024 OCT 04024
041165,000645:
041166,000646: 14,3022 34761 R51C CAF OCT15
041167,000647: 14,3023 04616 TC BANKCALL
041168,000648: 14,3024 20623 CADR GOPERF1
041169,000649: 14,3025 06001 TC GOTOPOOH
041170,000650: 14,3026 03030 TC +2 # V33E
041171,000651: 14,3027 03053 TC R51E # ENTER
041172,000652: 14,3030 06037 TC INTPRET
041173,000653: 14,3031 43234 RTB DAD
041174,000654: 14,3032 21573 LOADTIME
041175,000655: 14,3033 31163 TSIGHT1
041176,000656: 14,3034 77624 CALL
041177,000657: 14,3035 30506 LOCSAM
041178,000658: 14,3036 77776 EXIT
041179,000659: 14,3037 04616 TC BANKCALL
041180,000660: 14,3040 30611 CADR R56
041181,000661: 14,3041 03043 TC R51I
041182,000662: 14,3042 03053 R51F TC R51E
041183,000663: 14,3043 05567 R51I TC ALARM
041184,000664: 14,3044 00405 OCT 405
041185,000665: 14,3045 35006 CAF VB05N09
041186,000666: 14,3046 04616 TC BANKCALL
041187,000667: 14,3047 20476 CADR GOFLASH
041188,000668: 14,3050 06001 TC GOTOPOOH
041189,000669: 14,3051 03053 TC R51E
041190,000670: 14,3052 03022 TC R51C
041191,000671: 14,3053 34755 R51E CAF ZERO
041192,000672: 14,3054 55757 TS STARIND
041193,000673: 14,3055 06037 R51.2 TC INTPRET
041194,000674: 14,3056 77776 R51.3 EXIT
041195,000675: 14,3057 05353 TC PHASCHNG
041196,000676: 14,3060 04024 OCT 04024
041197,000677:
041198,000678: 14,3061 06037 TC INTPRET
041199,000679: 14,3062 77624 CALL
041200,000680: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
041201,000681: 14,3064 77776 EXIT
041202,000682: 14,3065 04616 TC BANKCALL
|
|
Page 942 |
041204,000684: 14,3066 16000 CADR AOTMARK
041205,000685: 14,3067 04616 TC BANKCALL
041206,000686: 14,3070 17712 CADR OPTSTALL
041207,000687: 14,3071 05711 TC CURTAINS
041208,000688: 14,3072 11757 CCS STARIND
041209,000689: 14,3073 13075 TCF +2
041210,000690: 14,3074 03145 TC R51.4
041211,000691: 14,3075 06037 TC INTPRET
041212,000692: 14,3076 77775 VLOAD
041213,000693: 14,3077 02715 STARAD +6
041214,000694: 14,3100 02767 STORE STARSAV2
041215,000695: 14,3101 77776 EXIT
041216,000696: 14,3102 05353 TC PHASCHNG
041217,000697: 14,3103 04024 OCT 04024
041218,000698:
041219,000699: 14,3104 06037 TC INTPRET
041220,000700: 14,3105 45145 DLOAD CALL
041221,000701: 14,3106 03562 TSIGHT
041222,000702: 14,3107 32472 PLANET
041223,000703: 14,3110 53521 MXV UNIT
041224,000704: 14,3111 01734 REFSMMAT
041225,000705: 14,3112 26715 STOVL STARAD +6
041226,000706: 14,3113 03554 PLANVEC
041227,000707: 14,3114 53521 MXV UNIT
041228,000708: 14,3115 01734 REFSMMAT
041229,000709: 14,3116 26707 STOVL STARAD
041230,000710: 14,3117 02761 STARSAV1
041231,000711: 14,3120 24007 STOVL 6D
041232,000712: 14,3121 02767 STARSAV2
041233,000713: 14,3122 34015 STCALL 12D
041234,000714: 14,3123 31256 R54 # STAR DATA TEST
041235,000715: 14,3124 45014 BOFF CALL
041236,000716: 14,3125 00354 FREEFLAG
041237,000717: 14,3126 31134 R51K
041238,000718: 14,3127 47441 AXISGEN
041239,000719: 14,3130 77624 CALL
041240,000720: 14,3131 31224 R55 # GYRO TORQUE
041241,000721: 14,3132 77614 CLEAR
041242,000722: 14,3133 01273 PFRATFLG
041243,000723: 14,3134 77776 R51K EXIT
041244,000724: 14,3135 35751 R51P63 CAF OCT14
041245,000725: 14,3136 04616 TC BANKCALL
041246,000726: 14,3137 20623 CADR GOPERF1
041247,000727: 14,3140 06001 TC GOTOPOOH
041248,000728: 14,3141 03022 TC R51C
041249,000729: 14,3142 06037 TC INTPRET
041250,000730: 14,3143 77650 GOTO
041251,000731: 14,3144 02746 QMAJ
041252,000732: 14,3145 06037 R51.4 TC INTPRET
041253,000733: 14,3146 77775 VLOAD
|
|
Page 943 |
041255,000735: 14,3147 02715 STARAD +6
041256,000736: 14,3150 02761 STORE STARSAV1
041257,000737: 14,3151 45145 DLOAD CALL
041258,000738: 14,3152 03562 TSIGHT
041259,000739: 14,3153 32472 PLANET
041260,000740: 14,3154 03554 STORE PLANVEC
041261,000741: 14,3155 77731 SSP
041262,000742: 14,3156 02760 STARIND
041263,000743: 14,3157 00001 1
041264,000744: 14,3160 77650 GOTO
041265,000745: 14,3161 31056 R51.3
041266,000746: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041267,000747:
|
|
Page 944 |
041269,000749: # GYRO TORQUE COARSE ALIGNMENT
041270,000750:
041271,000751: 14,3164 45020 GYCOARS STQ CALL
041272,000752: 14,3165 02746 QMAJ
041273,000753: 14,3166 47247 CALCGTA
041274,000754: 14,3167 43014 CLEAR CLEAR
041275,000755: 14,3170 01260 DRIFTFLG
041276,000756: 14,3171 01662 REFSMFLG
041277,000757: 14,3172 77776 EXIT
041278,000758: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
041279,000759: 14,3174 04616 TC BANKCALL
041280,000760: 14,3175 20451 CADR GODSPR
041281,000761: 14,3176 33255 CA R55CDR
041282,000762: 14,3177 04616 TC BANKCALL
041283,000763: 14,3200 17323 CADR IMUPULSE
041284,000764: 14,3201 04616 TC BANKCALL
041285,000765: 14,3202 17716 CADR IMUSTALL
041286,000766: 14,3203 05711 TC CURTAINS
041287,000767: 14,3204 05353 TC PHASCHNG
041288,000768: 14,3205 04024 OCT 04024
041289,000769:
041290,000770: 14,3206 06037 TC INTPRET
041291,000771: 14,3207 75160 AXC,1 AXC,2
041292,000772: 14,3210 03606 XSMD
041293,000773: 14,3211 01733 REFSMMAT
041294,000774: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
041295,000775: 14,3213 31377 MATMOVE
041296,000776: 14,3214 43014 CLEAR SET
041297,000777: 14,3215 01273 PFRATFLG
041298,000778: 14,3216 01462 REFSMFLG
041299,000779: 14,3217 77624 CALL
041300,000780: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041301,000781: 14,3221 77650 GOTO
041302,000782: 14,3222 31134 R51K
041303,000783: 14,3223 04024 V16N20 VN 1620
041304,000784:
|
|
Page 945 |
041306,000786: # R55 GYRO TORQUE
041307,000787: # FUNCTION - COMPUTE AND SEND GYRO PULSES
041308,000788: # CALLING SEQ - CALL R55
041309,000789: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
041310,000790: # OUTPUT - GYRO PULSES
041311,000791: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
041312,000792:
041313,000793: 14,3224 COUNT* $$/R55
041314,000794: 14,3224 77620 R55 STQ
041315,000795: 14,3225 02745 QMIN
041316,000796: 14,3226 77624 CALL
041317,000797: 14,3227 47247 CALCGTA
041318,000798: 14,3230 77776 PULSEM EXIT
041319,000799: 14,3231 33254 R55.1 CAF V06N93
041320,000800: 14,3232 04616 TC BANKCALL
041321,000801: 14,3233 20476 CADR GOFLASH
041322,000802: 14,3234 06001 TC GOTOPOOH
041323,000803: 14,3235 03237 TC R55.2
041324,000804: 14,3236 03251 TC R55RET
041325,000805: 14,3237 05353 R55.2 TC PHASCHNG
041326,000806: 14,3240 00214 OCT 00214
041327,000807: 14,3241 33255 CA R55CDR
041328,000808: 14,3242 04616 TC BANKCALL
041329,000809: 14,3243 17323 CADR IMUPULSE
041330,000810: 14,3244 04616 TC BANKCALL
041331,000811: 14,3245 17716 CADR IMUSTALL
041332,000812: 14,3246 05711 TC CURTAINS
041333,000813: 14,3247 05353 TC PHASCHNG
041334,000814: 14,3250 04024 OCT 04024
041335,000815:
041336,000816: 14,3251 06037 R55RET TC INTPRET
041337,000817: 14,3252 77650 GOTO
041338,000818: 14,3253 02745 QMIN
041339,000819: 14,3254 01535 V06N93 VN 0693
041340,000820: 14,3255 02737 R55CDR ECADR OGC
041341,000821: 14,3256 14,3256 R54 = CHKSDATA
041342,000822:
041343,000823: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
041344,000824: # MOD NO - 0 LOG SECTION - P51-P53
041345,000825: # MODIFICATION BY - LONSKE ASSEMBLY -
041346,000826:
041347,000827: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041348,000828: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041349,000829: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041350,000830: # OS1 = OBSERVED STAR 1 VECTOR
041351,000831: # OS2 = OBSERVED STAR 2 VECTOR
041352,000832: # SS1 = STORED STAR 1 VECTOR
041353,000833: # SS2 = STORED STAR 2 VECTOR
041354,000834: # A1 = ARCCOS(OS1 - OS2)
041355,000835: # A2 = ARCCOS(SS1 - SS2)
041356,000836: # A = ABS(2(A1 - A2))
|
|
Page 946 |
041358,000838: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041359,000839:
041360,000840: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041361,000841: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041362,000842:
041363,000843: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041364,000844: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041365,000845:
041366,000846: # ERASABLE INITIALIZATION REQUIRED -
041367,000847: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041368,000848: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
041369,000849:
041370,000850: # DEBRIS -
041371,000851:
041372,000852: 14,3256 COUNT* $$/R54
041373,000853: 14,3256 43020 CHKSDATA STQ SET
041374,000854: 14,3257 02745 QMIN
041375,000855: 14,3260 00074 FREEFLAG
041376,000856: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041377,000857: 14,3262 02706 STARAD
041378,000858:
041379,000859: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041380,000860: 14,3264 00001 0,1
041381,000861: 14,3265 00007 6,1
041382,000862: 14,3266 65552 SL1 ACOS
041383,000863: 14,3267 00025 STORE THETA
041384,000864: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041385,000865: 14,3271 00354 FREEFLAG
041386,000866: 14,3272 31302 CHKSD
041387,000867: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
041388,000868: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041389,000869: 14,3275 00006 6D
041390,000870: 14,3276 00025 THETA
041391,000871: 14,3277 00023 STORE 18D
041392,000872: 14,3300 77650 GOTO
041393,000873: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
041394,000874: 14,3302 45345 CHKSD DLOAD DSU
041395,000875: 14,3303 00025 THETA
041396,000876: 14,3304 00023 18D
041397,000877: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
041398,000878: 14,3306 21612 SGNAGREE
041399,000879: 14,3307 01046 STORE NORMTEM1
041400,000880: 14,3310 77414 SET EXIT
041401,000881: 14,3311 00074 FREEFLAG
041402,000882: 14,3312 33326 CAF VB6N5
041403,000883: 14,3313 04616 TC BANKCALL
041404,000884: 14,3314 20476 CADR GOFLASH
041405,000885: 14,3315 16001 TCF GOTOPOOH
041406,000886: 14,3316 03323 TC CHKSDA # PROCEED
041407,000887: 14,3317 06037 TC INTPRET
041408,000888: 14,3320 52014 CLEAR GOTO
041409,000889: 14,3321 00274 FREEFLAG
041410,000890: 14,3322 02745 QMIN
041411,000891: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947 |
041413,000893: 14,3324 77650 GOTO
041414,000894: 14,3325 02745 QMIN
041415,000895: 14,3326 01405 VB6N5 VN 605
041416,000896:
041417,000897: # NAME - CAL53A
041418,000898: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041419,000899: # CALLING SEQUENCE - CALL CAL53A
041420,000900: # INPUT - X,Y,ZSMD, CDUX,Y,Z
041421,000901: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041422,000902: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041423,000903: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
041424,000904:
041425,000905: 14,3327 COUNT* $$/R50
041426,000906: 14,3327 77624 CAL53A CALL
041427,000907: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
041428,000908: 14,3331 66234 RTB SSP
041429,000909: 14,3332 31413 RDCDUS # READ CDUS
041430,000910: 14,3333 00051 S1
041431,000911: 14,3334 00001 1
041432,000912: 14,3335 40370 AXT,1 SETPD
041433,000913: 14,3336 00003 3
041434,000914: 14,3337 00005 4
041435,000915: 14,3340 70543 CALOOP DLOAD* SR1
041436,000916: 14,3341 00325 THETAD +3D,1
041437,000917: 14,3342 70523 PDDL* SR1
041438,000918: 14,3343 00005 4,1
041439,000919: 14,3344 51425 DSU ABS
041440,000920: 14,3345 45206 PUSH DSU
041441,000921: 14,3346 31412 DEGREE1
041442,000922: 14,3347 71240 BMN DLOAD
041443,000923: 14,3350 31366 CALOOP1
041444,000924: 14,3351 51025 DSU BPL
041445,000925: 14,3352 31413 DEG359
041446,000926: 14,3353 31366 CALOOP1
041447,000927: 14,3354 77776 EXIT
041448,000928: 14,3355 05353 TC PHASCHNG
041449,000929: 14,3356 04024 OCT 04024
041450,000930:
041451,000931: 14,3357 06037 TC INTPRET
041452,000932: 14,3360 77624 COARFINE CALL
041453,000933: 14,3361 31565 COARSE
041454,000934: 14,3362 77624 CALL
041455,000935: 14,3363 31602 NCOARSE
041456,000936: 14,3364 77650 GOTO
041457,000937: 14,3365 31370 FINEONLY
041458,000938: 14,3366 77700 CALOOP1 TIX,1
041459,000939: 14,3367 31340 CALOOP
041460,000940: 14,3370 75160 FINEONLY AXC,1 AXC,2
041461,000941: 14,3371 02642 XSM
041462,000942: 14,3372 01733 REFSMMAT
041463,000943: 14,3373 77624 CALL
041464,000944: 14,3374 31377 MATMOVE
|
|
Page 948 |
041466,000946: 14,3375 77650 GOTO
041467,000947: 14,3376 32161 COARSRET
041468,000948: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041469,000949: 14,3400 00001 0,1
041470,000950: 14,3401 10001 STORE 0,2
041471,000951: 14,3402 77773 VLOAD*
041472,000952: 14,3403 00007 6D,1
041473,000953: 14,3404 10007 STORE 6D,2
041474,000954: 14,3405 77773 VLOAD*
041475,000955: 14,3406 00015 12D,1
041476,000956: 14,3407 10015 STORE 12D,2
041477,000957: 14,3410 77616 RVQ
041478,000958: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041479,000959: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041480,000960: 14,3413 00004 RDCDUS INHINT # READ CDUS
041481,000961: 14,3414 30032 CA CDUX
041482,000962: 14,3415 50120 INDEX FIXLOC
041483,000963: 14,3416 54001 TS 1
041484,000964: 14,3417 30033 CA CDUY
041485,000965: 14,3420 50120 INDEX FIXLOC
041486,000966: 14,3421 54002 TS 2
041487,000967: 14,3422 30034 CA CDUZ
041488,000968: 14,3423 50120 INDEX FIXLOC
041489,000969: 14,3424 54003 TS 3
041490,000970: 14,3425 00003 RELINT
041491,000971: 14,3426 06061 TC DANZIG # +
041492,000972: 14,3427 COUNT* $$/INFLT
041493,000973:
|
|
Page 949 |
041495,000975: # NAME - P51 - IMU ORIENTATION DETERMINATION
041496,000976: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
041497,000977: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041498,000978:
041499,000979: # FUNCTIONAL DESCRIPTION
041500,000980: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041501,000981: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
041502,000982: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041503,000983: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041504,000984:
041505,000985: # CALLING SEQUENCE
041506,000986: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041507,000987:
041508,000988: # SUBROUTINES CALLED.
041509,000989: # GOPERF3
041510,000990: # GOPERF1
041511,000991: # GODSPR
041512,000992: # IMUCOARS
041513,000993: # IMUFIN20
041514,000994: # AOTMARK (R53)
041515,000995: # CHKSDATA (R54)
041516,000996: # MKRELEAS
041517,000997: # AXISGEN
041518,000998: # MATMOVE
041519,000999:
041520,001000: # ALARMS
041521,001001: # NONE.
041522,001002:
041523,001003: # ERASABLE INITIALIZATION
041524,001004: # IMU ZERO FLAG SHOULD BE SET.
041525,001005:
041526,001006: # OUTPUT
041527,001007: # REFSMMAT
041528,001008: # REFSMFLG
041529,001009:
041530,001010: # DEBRIS
041531,001011: # WORK AREA
041532,001012: # STARAD
041533,001013: # STARIND
041534,001014: # BESTI
041535,001015: # BESTJ
041536,001016:
041537,001017: 14,3427 COUNT* $$/P51
|
|
Page 950 |
041539,001019: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041540,001020: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041541,001021:
041542,001022: 14,3431 34761 CAF OCT15
041543,001023: 14,3432 04616 TC BANKCALL
041544,001024: 14,3433 20623 CADR GOPERF1
041545,001025: 14,3434 06001 TC GOTOPOOH # TERM.
041546,001026: 14,3435 13461 TCF P51B # V33
041547,001027: 14,3436 05353 TC PHASCHNG
041548,001028: 14,3437 04024 OCT 04024
041549,001029:
041550,001030: 14,3440 34755 CAF ZERO
041551,001031: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
041552,001032: 14,3442 54322 TS THETAD +1
041553,001033: 14,3443 54323 TS THETAD +2
041554,001034: 14,3444 35010 CAF V06N22
041555,001035: 14,3445 04616 TC BANKCALL
041556,001036: 14,3446 20446 CADR GODSPRET
041557,001037: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041558,001038: 14,3450 04616 TC BANKCALL
041559,001039: 14,3451 20446 CADR GODSPRET
041560,001040: 14,3452 06037 TC INTPRET
041561,001041: 14,3453 77624 CALL
041562,001042: 14,3454 31565 COARSE
041563,001043: 14,3455 77776 EXIT
041564,001044: 14,3456 05353 TC PHASCHNG
041565,001045: 14,3457 04024 OCT 04024
041566,001046: 14,3460 13431 TCF P51 +2
041567,001047:
041568,001048: 14,3461 05353 P51B TC PHASCHNG
041569,001049: 14,3462 00014 OCT 00014
041570,001050: 14,3463 06037 TC INTPRET
041571,001051: 14,3464 77624 CALL
041572,001052: 14,3465 31602 NCOARSE
041573,001053: 14,3466 40331 SSP SETPD
041574,001054: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
041575,001055: 14,3470 00000 0
041576,001056: 14,3471 00001 0
041577,001057: 14,3472 77776 P51C EXIT
041578,001058: 14,3473 05353 TC PHASCHNG
041579,001059: 14,3474 04024 OCT 04024
041580,001060:
041581,001061: 14,3475 04616 TC BANKCALL
041582,001062: 14,3476 16000 CADR AOTMARK # R53
041583,001063: 14,3477 04616 TC BANKCALL
041584,001064: 14,3500 17712 CADR AOTSTALL
041585,001065: 14,3501 05711 TC CURTAINS
041586,001066: 14,3502 11757 CCS STARIND
041587,001067: 14,3503 13511 TCF P51D +1
041588,001068: 14,3504 06037 TC INTPRET
|
|
Page 951 |
041590,001070: 14,3505 77775 VLOAD
041591,001071: 14,3506 02715 STARAD +6
041592,001072: 14,3507 02761 STORE STARSAV1
041593,001073: 14,3510 77776 P51D EXIT
041594,001074: 14,3511 05353 TC PHASCHNG
041595,001075: 14,3512 04024 OCT 04024
041596,001076:
041597,001077: 14,3513 11757 CCS STARIND
041598,001078: 14,3514 13530 TCF P51E
041599,001079: 14,3515 05353 TC PHASCHNG
041600,001080: 14,3516 04024 OCT 04024
041601,001081:
041602,001082: 14,3517 06037 TC INTPRET
041603,001083: 14,3520 45145 DLOAD CALL
041604,001084: 14,3521 03562 TSIGHT
041605,001085: 14,3522 32472 PLANET
041606,001086: 14,3523 03554 STORE PLANVEC
041607,001087: 14,3524 77776 EXIT
041608,001088: 14,3525 34753 CAF BIT1
041609,001089: 14,3526 55757 TS STARIND
041610,001090: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
041611,001091: 14,3530 05353 P51E TC PHASCHNG
041612,001092: 14,3531 04024 OCT 04024
041613,001093:
041614,001094: 14,3532 06037 TC INTPRET
041615,001095: 14,3533 45145 DLOAD CALL
041616,001096: 14,3534 03562 TSIGHT
041617,001097: 14,3535 32472 PLANET
041618,001098: 14,3536 24015 STOVL 12D
041619,001099: 14,3537 03554 PLANVEC
041620,001100: 14,3540 24007 STOVL 6D
041621,001101: 14,3541 02761 STARSAV1
041622,001102: 14,3542 26707 STOVL STARAD
041623,001103: 14,3543 02767 STARSAV2
041624,001104: 14,3544 36715 STCALL STARAD +6
041625,001105: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041626,001106: 14,3546 77414 BON EXIT
041627,001107: 14,3547 00314 FREEFLAG
041628,001108: 14,3550 31552 P51G
041629,001109: 14,3551 03431 TC P51 +2
041630,001110: 14,3552 77624 P51G CALL
041631,001111: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041632,001112: 14,3554 75160 AXC,1 AXC,2
041633,001113: 14,3555 02664 XDC
041634,001114: 14,3556 01733 REFSMMAT
041635,001115: 14,3557 77624 CALL
041636,001116: 14,3560 31377 MATMOVE
041637,001117: 14,3561 77414 SET EXIT
041638,001118: 14,3562 01462 REFSMFLG
041639,001119: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952 |
041641,001121: 14,3564 12200 V41K VN 4100
041642,001122: 14,3565 77776 COARSE EXIT
041643,001123: 14,3566 04616 TC BANKCALL
041644,001124: 14,3567 17000 CADR IMUCOARS
041645,001125: 14,3570 04616 TC BANKCALL
041646,001126: 14,3571 17716 CADR IMUSTALL
041647,001127: 14,3572 05711 TC CURTAINS
041648,001128: 14,3573 04616 TC BANKCALL
041649,001129: 14,3574 17210 CADR IMUFINE
041650,001130: 14,3575 04616 TC BANKCALL
041651,001131: 14,3576 17716 CADR IMUSTALL
041652,001132: 14,3577 05711 TC CURTAINS
041653,001133: 14,3600 06037 TC INTPRET
041654,001134: 14,3601 77616 RVQ
041655,001135: 14,3602 77776 NCOARSE EXIT
041656,001136: 14,3603 30025 CA TIME1
041657,001137: 14,3604 55075 TS 1/PIPADT
041658,001138: 14,3605 44755 CS ZERO
041659,001139: 14,3606 54037 TS PIPAX
041660,001140: 14,3607 54040 TS PIPAY
041661,001141: 14,3610 54041 TS PIPAZ
041662,001142: 14,3611 06037 TC INTPRET
041663,001143: 14,3612 77775 VLOAD
041664,001144: 14,3613 24007 ZEROVEC
041665,001145: 14,3614 01472 STORE GCOMP
041666,001146: 14,3615 43414 SET RVQ
041667,001147: 14,3616 01060 DRIFTFLG
041668,001148:
|
|
Page 953 |
041670,001150: # NAME - S52.2
041671,001151: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041672,001152: # CALL - CALL S52.2
041673,001153: # INPUT - X,Y,ZSMD
041674,001154: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
041675,001155: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
041676,001156:
041677,001157: 14,3617 COUNT* $$/S52.1
041678,001158: 14,3617 45020 S52.2 STQ CALL
041679,001159: 14,3620 02746 QMAJ
041680,001160: 14,3621 47537 CDUTRIG
041681,001161: 14,3622 77624 CALL
041682,001162: 14,3623 20030 CALCSMSC
041683,001163: 14,3624 66370 AXT,1 SSP
041684,001164: 14,3625 00022 18D
041685,001165: 14,3626 00051 S1
041686,001166: 14,3627 00006 6D
041687,001167: 14,3630 61373 S52.2A VLOAD* VXM
041688,001168: 14,3631 02707 XNB +18D,1
041689,001169: 14,3632 01734 REFSMMAT
041690,001170: 14,3633 77656 UNIT
041691,001171: 14,3634 06707 STORE XNB +18D,1
041692,001172: 14,3635 77700 TIX,1
041693,001173: 14,3636 31630 S52.2A
041694,001174: 14,3637 75160 S52.2.1 AXC,1 AXC,2
041695,001175: 14,3640 03606 XSMD
041696,001176: 14,3641 02642 XSM
041697,001177: 14,3642 77624 CALL
041698,001178: 14,3643 31377 MATMOVE
041699,001179: 14,3644 77624 CALL
041700,001180: 14,3645 47353 CALCGA
041701,001181: 14,3646 77650 GOTO
041702,001182: 14,3647 02746 QMAJ
041703,001183:
|
|
Page 954 |
041705,001185: # NAME - S52.3
041706,001186: # FUNCTION XSMD= UNIT R
041707,001187: # YSMD= UNIT(V X R)
041708,001188: # ZSMD= UNIT(XSMD X YSMD)
041709,001189: # CALL DLOAD CALL
041710,001190: # TALIGN
041711,001191: # S52.3
041712,001192: # INPUT - TIME OF ALIGNMENT IN MPAC
041713,001193: # OUTPUT - X,Y,ZSMD
041714,001194: # SUBROUTINES - CSMCONIC
041715,001195:
041716,001196: 14,3650 COUNT* $$/S52.3
041717,001197: 14,3650 77620 S52.3 STQ
041718,001198: 14,3651 02746 QMAJ
041719,001199: 14,3652 34041 STCALL TDEC1
041720,001200: 14,3653 27100 LEMCONIC
041721,001201: 14,3654 53575 VLOAD UNIT
041722,001202: 14,3655 00001 RATT
041723,001203: 14,3656 27607 STOVL XSMD
041724,001204: 14,3657 00007 VATT
041725,001205: 14,3660 53435 VXV UNIT
041726,001206: 14,3661 00001 RATT
041727,001207: 14,3662 27615 STOVL YSMD
041728,001208: 14,3663 03607 XSMD
041729,001209: 14,3664 53435 VXV UNIT
041730,001210: 14,3665 03615 YSMD
041731,001211: 14,3666 37623 STCALL ZSMD
041732,001212: 14,3667 02746 QMAJ
041733,001213:
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|
Page 955 |
041735,001215: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041736,001216:
041737,001217: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041738,001218: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041739,001219:
041740,001220: # CALLING - CALL R52
041741,001221:
041742,001222: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
041743,001223:
041744,001224: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
041745,001225: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041746,001226: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041747,001227: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041748,001228:
041749,001229: # SUBROUT - R60LEM
041750,001230:
041751,001231: 14,3670 COUNT* $$/R52
041752,001232: 14,3670 77420 R52 STQ EXIT
041753,001233: 14,3671 03665 SAVQR52
041754,001234: 14,3672 51757 INDEX STARIND
041755,001235: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041756,001236: 14,3674 00006 EXTEND
041757,001237: 14,3675 73771 MP 1/6TH
041758,001238: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
041759,001239: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
041760,001240:
041761,001241: 14,3700 33772 R52A CAF V01N70
041762,001242: 14,3701 04616 TC BANKCALL
041763,001243: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041764,001244: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
041765,001245: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
041766,001246: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
041767,001247:
041768,001248: 14,3706 05516 R52B TC DOWNFLAG
041769,001249: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041770,001250: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
041771,001251: 14,3711 77744 MASK HIGH9
041772,001252: 14,3712 00006 EXTEND
041773,001253: 14,3713 74743 MP BIT9
041774,001254: 14,3714 54001 TS L # TEMP STORE DETENT
041775,001255:
041776,001256: 14,3715 00006 EXTEND
041777,001257: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041778,001258:
041779,001259: 14,3717 65660 AD NEG7
041780,001260: 14,3720 00006 EXTEND
041781,001261: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
041782,001262:
041783,001263: 14,3722 E7,1551 EBANK= XYMARK
041784,001264: 14,3722 35016 CA EBANK7
041785,001265: 14,3723 54003 TS EBANK
|
|
Page 956 |
041787,001267: 14,3724 50001 INDEX L
041788,001268: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041789,001269: 14,3726 54001 TS L
041790,001270: 14,3727 E5,1642 EBANK= XSM
041791,001271: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041792,001272: 14,3730 54003 TS EBANK
041793,001273: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
041794,001274: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041795,001275: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
041796,001276:
041797,001277: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041798,001278: 14,3735 04616 TC BANKCALL
041799,001279: 14,3736 20476 CADR GOFLASH
041800,001280: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
041801,001281: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
041802,001282: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
041803,001283:
041804,001284: 14,3742 00006 EXTEND
041805,001285: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041806,001286: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041807,001287: 14,3745 52011 DXCH 8D
041808,001288: 14,3746 06037 TC INTPRET
041809,001289: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041810,001290: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041811,001291: 14,3751 45034 RTB CALL
041812,001292: 14,3752 21573 LOADTIME
041813,001293: 14,3753 32472 PLANET
041814,001294: 14,3754 53521 MXV UNIT
041815,001295: 14,3755 01734 REFSMMAT
041816,001296: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041817,001297:
041818,001298: 14,3757 77776 EXIT
041819,001299: 14,3760 04616 TC BANKCALL
041820,001300: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041821,001301:
041822,001302: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041823,001303: 14,3763 70735 MASK STARCODE
041824,001304: 14,3764 00006 EXTEND
041825,001305: 14,3765 13700 BZF R52A
041826,001306:
041827,001307: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041828,001308: 14,3767 77650 GOTO
041829,001309: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041830,001310:
041831,001311: 14,3771 05253 1/6TH DEC .1666667
041832,001312: 14,3772 00306 V01N70 VN 0170
041833,001313: 14,3773 01527 V06N87 VN 687
041834,001314:
|
|
Page 957 |
041836,001316: # LUNAR SURFACE STAR AQUISITION
041837,001317:
041838,001318: 15,2245 BANK 15
041839,001319: 15,2000 SETLOC P50S
041840,001320: 15,2000 BANK
041841,001321: 15,2245 COUNT* $$/R59
041842,001322:
041843,001323: 15,2245 40077 R59 CS FLAGWRD3
041844,001324: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041845,001325: 15,2247 10000 CCS A
041846,001326: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041847,001327:
041848,001328: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041849,001329: 15,2252 04616 TC BANKCALL
041850,001330: 15,2253 20476 CADR GOFLASH
041851,001331: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041852,001332: 15,2255 12257 TCF R59A # V33 - PROCEED
041853,001333: 15,2256 12245 TCF R59 # V32 - RECYCLE
041854,001334:
041855,001335: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041856,001336: 15,2260 70735 MASK AOTCODE
041857,001337: 15,2261 00006 EXTEND
041858,001338: 15,2262 76242 MP REVCNT # JUST 6
041859,001339: 15,2263 56001 XCH L
041860,001340: 15,2264 51757 INDEX STARIND
041861,001341: 15,2265 55755 TS BESTI
041862,001342: 15,2266 50120 INDEX FIXLOC
041863,001343: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041864,001344: 15,2270 00006 EXTEND
041865,001345: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041866,001346: 15,2272 40000 COM
041867,001347: 15,2273 62561 AD DEC227
041868,001348: 15,2274 00006 EXTEND
041869,001349: 15,2275 62455 BZMF R59OUT
041870,001350:
041871,001351: 15,2276 06037 TC INTPRET
041872,001352: 15,2277 64373 VLOAD* MXV
041873,001353: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041874,001354: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041875,001355: 15,2302 45056 UNIT CALL
041876,001356: 15,2303 47646 CDU*SMNB
041877,001357: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041878,001358: 15,2305 77776 EXIT
041879,001359:
041880,001360: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041881,001361: 15,2307 55242 TS POSCODE
041882,001362:
041883,001363: 15,2310 E7,1551 EBANK= XYMARK
041884,001364: 15,2310 35016 INCAZ CA EBANK7
041885,001365: 15,2311 54003 TS EBANK
041886,001366:
|
|
Page 958 |
041888,001368: 15,2312 51242 INDEX POSCODE
041889,001369: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041890,001370: 15,2314 54001 TS L
041891,001371:
041892,001372: 15,2315 E5,1642 EBANK= XSM
041893,001373: 15,2315 35014 CA EBANK5
041894,001374: 15,2316 54003 TS EBANK
041895,001375:
041896,001376: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041897,001377: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041898,001378: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041899,001379: 15,2322 50120 INDEX FIXLOC
041900,001380: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041901,001381:
041902,001382: 15,2324 06037 TC INTPRET
041903,001383: 15,2325 77624 CALL
041904,001384: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041905,001385: 15,2327 50375 VLOAD DOT
041906,001386: 15,2330 02731 STAR # DOT STAR WITH OA
041907,001387: 15,2331 03765 SCAXIS
041908,001388: 15,2332 65552 SL1 ARCCOS
041909,001389: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041910,001390:
041911,001391: 15,2334 51025 DSU BPL
041912,001392: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041913,001393: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041914,001394: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041915,001395: 15,2340 00031 24D
041916,001396: 15,2341 32470 DEG.5
041917,001397: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041918,001398: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041919,001399: 15,2344 00031 24D # GET SPIRAL
041920,001400: 15,2345 42405 DMP SL4
041921,001401: 15,2346 25764 3/4 # 12 SCALED AT 16
041922,001402: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041923,001403:
041924,001404: 15,2350 03765 SCAXIS # OA
041925,001405: 15,2351 53435 VXV UNIT
041926,001406: 15,2352 24005 XUNIT
041927,001407: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041928,001408: 15,2354 03765 SCAXIS
041929,001409: 15,2355 77676 VCOMP
041930,001410: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041931,001411: 15,2357 03765 SCAXIS
041932,001412: 15,2360 53435 VXV UNIT
041933,001413: 15,2361 02731 STAR
041934,001414: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041935,001415: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041936,001416: 15,2364 65552 SL1 ARCCOS
041937,001417: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
|
|
Page 959 |
041939,001419: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041940,001420: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041941,001421: 15,2370 32375 R59D
041942,001422: 15,2371 32047 ABOUTONE
041943,001423: 15,2372 77625 DSU
041944,001424: 15,2373 00033 26D
041945,001425: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041946,001426:
041947,001427: 15,2375 70535 R59D SLOAD SR1
041948,001428: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041949,001429: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041950,001430: 15,2400 00033 26D
041951,001431: 15,2401 77634 RTB
041952,001432: 15,2402 21614 1STO2S
041953,001433: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041954,001434: 15,2404 00031 24D # LOAD SROT IN REVS
041955,001435: 15,2405 77615 DAD # 12(SEP) + YROT
041956,001436: 15,2406 77634 RTB
041957,001437: 15,2407 21614 1STO2S
041958,001438: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041959,001439: 15,2411 77776 EXIT
041960,001440: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041961,001441:
041962,001442: 15,2413 77776 ZSPCR EXIT
041963,001443: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041964,001444: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041965,001445: 15,2416 55240 TS SPIRAL
041966,001446: 15,2417 12437 TCF 79DISP
041967,001447:
041968,001448: 15,2420 77776 NXAX EXIT
041969,001449: 15,2421 25242 INCR POSCODE
041970,001450: 15,2422 41242 CS POSCODE
041971,001451: 15,2423 64757 AD SEVEN
041972,001452: 15,2424 00006 EXTEND
041973,001453: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041974,001454: 15,2426 12310 TCF INCAZ
041975,001455:
041976,001456: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041977,001457: 15,2430 00404 OCT 404
041978,001458: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041979,001459: 15,2432 04616 TC BANKCALL
041980,001460: 15,2433 20476 CADR GOFLASH
041981,001461: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041982,001462: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041983,001463: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041984,001464:
041985,001465: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041986,001466: 15,2440 04616 TC BANKCALL
041987,001467: 15,2441 20476 CADR GOFLASH
041988,001468: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
|
|
Page 960 |
041990,001470: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041991,001471: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041992,001472:
041993,001473: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041994,001474: 15,2446 71242 MASK POSCODE
041995,001475: 15,2447 00006 EXTEND
041996,001476: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041997,001477: 15,2451 47744 CS HIGH9
041998,001478: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041999,001479: 15,2453 60001 AD L
042000,001480: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
042001,001481:
042002,001482: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
042003,001483: 15,2456 16000 CADR AOTMARK
042004,001484: 15,2457 04616 TC BANKCALL
042005,001485: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042006,001486: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
042007,001487: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042008,001488:
042009,001489: 15,2463 00306 V01N70* VN 170
042010,001490: 15,2464 01517 V06N79 VN 679
042011,001491: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042012,001492: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042013,001493: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042014,001494: 15,2472 1236 CURSOR EQUALS GDT/2
042015,001495: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
042016,001496: 15,2472 1242 POSCODE EQUALS GDT/2 +4
042017,001497:
|
|
Page 961 |
042019,001499: # NAME - PLANET
042020,001500: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042021,001501: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
042022,001502: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
042023,001503: # BY DSDY INPUT
042024,001504: # CALL - CALL
042025,001505: # PLANET
042026,001506: # INPUT - TIME IN MPAC
042027,001507: # OUTPUT - VECTOR IN MPAC
042028,001508: # SUBROUTINES - LOCSAM
042029,001509: # DEBRIS - VAC, STARAD - STARAD +17
042030,001510:
042031,001511: 15,2000 SETLOC P50S
042032,001512: 15,2000 BANK
042033,001513: 15,2472 COUNT* $$/P51
042034,001514:
042035,001515: 15,2472 27562 PLANET STOVL TSIGHT
042036,001516: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
042037,001517: 15,2474 02707 STORE STARAD
042038,001518: 15,2475 77420 STQ EXIT
042039,001519: 15,2476 02736 GCTR
042040,001520: 15,2477 47744 CS HIGH9
042041,001521: 15,2500 70735 MASK AOTCODE
042042,001522: 15,2501 00006 EXTEND
042043,001523: 15,2502 76242 MP REVCNT
042044,001524: 15,2503 56001 XCH L
042045,001525: 15,2504 51757 INDEX STARIND
042046,001526: 15,2505 55755 TS BESTI
042047,001527: 15,2506 10000 CCS A
042048,001528: 15,2507 12523 TCF NOTPLAN
042049,001529: 15,2510 32562 CAF VNPLANV
042050,001530: 15,2511 04616 TC BANKCALL
042051,001531: 15,2512 20476 CADR GOFLASH
042052,001532: 15,2513 02510 TC -3
042053,001533: 15,2514 02516 TC +2
042054,001534: 15,2515 02510 TC -5
042055,001535: 15,2516 06037 TC INTPRET
042056,001536: 15,2517 53575 VLOAD UNIT
042057,001537: 15,2520 02707 STARAD
042058,001538: 15,2521 77650 GOTO
042059,001539: 15,2522 02736 GCTR
042060,001540: 15,2523 40000 NOTPLAN CS A
042061,001541: 15,2524 62561 AD DEC227
042062,001542: 15,2525 00006 EXTEND
042063,001543: 15,2526 62537 BZMF CALSAM1
042064,001544: 15,2527 51757 INDEX STARIND
042065,001545: 15,2530 31755 CA BESTI
042066,001546: 15,2531 50120 INDEX FIXLOC
042067,001547: 15,2532 54046 TS X1
042068,001548: 15,2533 06037 TC INTPRET
|
|
Page 962 |
042070,001550: 15,2534 52173 VLOAD* GOTO
042071,001551: 15,2535 30347 CATLOG,1
042072,001552: 15,2536 02736 GCTR
042073,001553: 15,2537 06037 CALSAM1 TC INTPRET
042074,001554: 15,2540 45145 CALSAM DLOAD CALL
042075,001555: 15,2541 03562 TSIGHT
042076,001556: 15,2542 30506 LOCSAM
042077,001557: 15,2543 77340 LXC,1 VLOAD
042078,001558: 15,2544 02757 STARIND
042079,001559: 15,2545 02707 VEARTH
042080,001560: 15,2546 24001 STOVL 0D
042081,001561: 15,2547 02715 VSUN
042082,001562: 15,2550 26707 STOVL VEARTH
042083,001563: 15,2551 00001 0D
042084,001564: 15,2552 02715 STORE VSUN
042085,001565: 15,2553 70143 DLOAD* LXC,1
042086,001566: 15,2554 02756 BESTI,1
042087,001567: 15,2555 00154 MPAC
042088,001568: 15,2556 52173 VLOAD* GOTO
042089,001569: 15,2557 02343 STARAD -228D,1
042090,001570: 15,2560 02736 GCTR
042091,001571: 15,2561 00343 DEC227 DEC 227 B-14
042092,001572: 15,2562 01530 VNPLANV VN 0688
042093,001573: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042094,001574:
|
|
Page 963 |
042096,001576: # GRAVITY VECTOR DETERMINATION ROUTINE
042097,001577: # BY KEN VINCENT
042098,001578:
042099,001579: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042100,001580:
042101,001581: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042102,001582: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042103,001583: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042104,001584: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042105,001585: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042106,001586: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042107,001587: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042108,001588: # READINGS.
042109,001589:
042110,001590: # CALL -
042111,001591: # TC BANKCALL
042112,001592: # CADR GVDETER
042113,001593:
042114,001594: # INPUTS -
042115,001595: # PIPAS, CDUS
042116,001596:
042117,001597: # OUTPUTS -
042118,001598: # STARSAV1 = UNIT GRAVITY
042119,001599: # GSAV = DITTO
042120,001600: # GRAVBIT = 1
042121,001601:
042122,001602: # SUBROUTINES -
042123,001603: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
042124,001604: # *NBSM*, *SNMB*, CALCGA, FOFLASH
042125,001605:
042126,001606: # DEBRIS -
042127,001607: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
042128,001608:
042129,001609: 15,2563 32772 GVDETER CAF 42DEG
042130,001610: 15,2564 54321 TS THETAD
042131,001611: 15,2565 40000 COM
042132,001612: 15,2566 54322 TS THETAD +1
042133,001613: 15,2567 32773 CAF 35DEG
042134,001614: 15,2570 54323 TS THETAD +2
042135,001615: 15,2571 06037 TC INTPRET
042136,001616: 15,2572 45014 CLEAR CALL
042137,001617: 15,2573 01662 REFSMFLG
042138,001618: 15,2574 32670 LUNG
042139,001619:
042140,001620: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
042141,001621:
042142,001622: # DEFINE G COOR SYS
042143,001623: # -
042144,001624: # X UNIT G
042145,001625: # * - -
042146,001626: # M = Y = UNITEZSM * X )
042147,001627: # - - -
042148,001628: # Z UNIT(X * Y )
042149,001629:
042150,001630: # THEN ROTATED SM WRT PRESENT IS
042151,001631:
042152,001632: # 1, 0, 0
042153,001633: # * *T * * *
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|
Page 964 |
042155,001635: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
042156,001636: # I J
042157,001637: # 0, 0, -1
042158,001638:
042159,001639: # ALSO NB WRT PRES SM IS
042160,001640:
042161,001641: # * * *
042162,001642: # XNB = NBSM I
042163,001643: # * *
042164,001644: # GIMBAL ANGLES = CALCGA( XSM, XNB )
042165,001645:
042166,001646: 15,2000 SETLOC P50S
042167,001647: 15,2000 BANK
042168,001648: 15,2575 COUNT* $$/P57
042169,001649: 15,2575 66370 AXT,1 SSP # X1=18
042170,001650: 15,2576 00022 18D # S1=6
042171,001651: 15,2577 00051 S1 # X2, -2
042172,001652: 15,2600 00006 6D
042173,001653: 15,2601 77744 LXC,2
042174,001654: 15,2602 00050 S1
042175,001655: 15,2603 45173 GRAVEL VLOAD* CALL
042176,001656: 15,2604 54000 XUNIT -6,2
042177,001657: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
042178,001658: 15,2606 06707 STORE XNB +18D,1
042179,001659: 15,2607 77775 VLOAD
042180,001660: 15,2610 02731 STAR
042181,001661: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
042182,001662: 15,2612 00047 X2
042183,001663: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
042184,001664: 15,2614 71152 VSL2 LXC,2
042185,001665: 15,2615 00047 X2
042186,001666: 15,2616 63047 VSU* INCR,2
042187,001667: 15,2617 54000 XUNIT -6,2
042188,001668: 15,2620 00002 2D
042189,001669: 15,2621 06665 STORE XSM +18D,1
042190,001670: 15,2622 45100 TIX,1 CALL
042191,001671: 15,2623 32603 GRAVEL
042192,001672: 15,2624 47353 CALCGA
042193,001673: 15,2625 74575 VLOAD VSR1
042194,001674: 15,2626 02715 GOUT
042195,001675: 15,2627 36723 STCALL STARAD +12D
042196,001676: 15,2630 32670 LUNG
042197,001677: 15,2631 74575 VLOAD VSR1
042198,001678: 15,2632 02715 GOUT
042199,001679: 15,2633 53455 VAD UNIT
042200,001680: 15,2634 02723 STARAD +12D
042201,001681: 15,2635 02761 STORE STARSAV1
042202,001682: 15,2636 77641 DOT
042203,001683: 15,2637 02231 GSAV
042204,001684: 15,2640 65552 SL1 ACOS
|
|
Page 965 |
042206,001686: 15,2641 01046 STORE DSPTEM1
042207,001687: 15,2642 77776 EXIT
042208,001688: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042209,001689: 15,2644 00014 ADRES FREEFLAG
042210,001690:
042211,001691: 15,2645 32771 CA DISGRVER
042212,001692: 15,2646 04616 TC BANKCALL
042213,001693: 15,2647 20476 CADR GOFLASH
042214,001694: 15,2650 06001 TC GOTOPOOH
042215,001695: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
042216,001696: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
042217,001697: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042218,001698:
042219,001699: 15,2654 05353 PROGRAV TC PHASCHNG
042220,001700: 15,2655 04024 OCT 04024
042221,001701:
042222,001702: 15,2656 06037 TC INTPRET
042223,001703: 15,2657 77775 VLOAD
042224,001704: 15,2660 02761 STARSAV1
042225,001705: 15,2661 02231 STORE GSAV
042226,001706: 15,2662 77776 EXIT
042227,001707: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042228,001708: 15,2664 70074 MASK FLAGWRD0
042229,001709: 15,2665 10000 CCS A
042230,001710: 15,2666 12563 TCF GVDETER # SET
042231,001711: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
042232,001712:
042233,001713: 15,2670 77220 LUNG STQ VLOAD
042234,001714: 15,2671 02745 QMIN
042235,001715: 15,2672 24007 ZEROVEC
042236,001716: 15,2673 02707 STORE GACC
042237,001717: 15,2674 77776 EXIT
042238,001718: 15,2675 05353 TC PHASCHNG
042239,001719: 15,2676 04024 OCT 04024
042240,001720:
042241,001721: 15,2677 04616 TC BANKCALL
042242,001722: 15,2700 17000 CADR IMUCOARS
042243,001723: 15,2701 04616 TC BANKCALL
042244,001724: 15,2702 17716 CADR IMUSTALL
042245,001725: 15,2703 05711 TC CURTAINS
042246,001726: 15,2704 04616 TC BANKCALL
042247,001727: 15,2705 17210 CADR IMUFINE
042248,001728: 15,2706 04616 TC BANKCALL
042249,001729: 15,2707 17716 CADR IMUSTALL
042250,001730: 15,2710 05711 TC CURTAINS
042251,001731: 15,2711 32770 CA T/2SEC
042252,001732: 15,2712 55736 TS GCTR
042253,001733: 15,2713 37716 CA PRIO31
042254,001734: 15,2714 55075 TS 1/PIPADT
042255,001735: 15,2715 04616 TC BANKCALL
|
|
Page 966 |
042257,001737: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
042258,001738: 15,2717 05353 TC PHASCHNG
042259,001739: 15,2720 04024 OCT 04024
042260,001740:
042261,001741: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042262,001742: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042263,001743: 15,2723 06037 TC INTPRET
042264,001744: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042265,001745: 15,2725 35000 CAF 2SECS
042266,001746: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042267,001747: 15,2727 02731 ADRES GRABGRAV
042268,001748:
042269,001749: 15,2730 05155 TC ENDOFJOB
042270,001750:
042271,001751: 15,2731 04674 GRABGRAV TC IBNKCALL
042272,001752: 15,2732 77544 CADR PIPSRINE
042273,001753: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042274,001754: 15,2734 05105 TC FINDVAC
042275,001755: 15,2735 E5,1706 EBANK= STARAD
042276,001756: 15,2735 02740 32065 2CADR ADDGRAV
042277,001757:
042278,001758: 15,2737 05261 TC TASKOVER
042279,001759:
042280,001760: 15,2740 04616 ADDGRAV TC BANKCALL
042281,001761: 15,2741 15263 CADR 1/PIPA
042282,001762: 15,2742 25736 INCR GCTR
042283,001763: 15,2743 06037 TC INTPRET
042284,001764: 15,2744 53375 VLOAD VAD
042285,001765: 15,2745 00325 DELV
042286,001766: 15,2746 02707 GACC
042287,001767: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
042288,001768: 15,2750 50135 SLOAD BMN
042289,001769: 15,2751 02737 GCTR
042290,001770: 15,2752 32724 GREED
042291,001771: 15,2753 53575 VLOAD UNIT
042292,001772: 15,2754 02707 GACC
042293,001773: 15,2755 36731 STCALL STAR
042294,001774: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042295,001775: 15,2757 77624 CALL # IN OUTPUT
042296,001776: 15,2760 47671 *SMNB*
042297,001777: 15,2761 02715 STORE GOUT
042298,001778: 15,2762 77776 EXIT
042299,001779: 15,2763 05353 TC PHASCHNG
042300,001780: 15,2764 04024 OCT 04024
042301,001781:
042302,001782: 15,2765 06037 QMINEXIT TC INTPRET
042303,001783: 15,2766 77650 GOTO
042304,001784: 15,2767 02745 QMIN
042305,001785: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967 |
042307,001787: 15,2771 01404 DISGRVER VN 0604
042308,001788: 15,2772 07357 42DEG OCT 07357
042309,001789: 15,2773 06211 35DEG OCT 06211
042310,001790:
|
|
Page 968 |
042312,001792: # NAME GYROTRIM
042313,001793:
042314,001794: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042315,001795: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042316,001796: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042317,001797:
042318,001798: # CALL CALL
042319,001799: # GYROTRIM
042320,001800:
042321,001801: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042322,001802: # CDUX,CDUY,CDUZ
042323,001803:
042324,001804: # OUTPUT - GYRO TORQUE PULSES
042325,001805:
042326,001806: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
042327,001807: # IMPULSE, IMUSTALL
042328,001808: # - - - * * -
042329,001809: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
042330,001810:
042331,001811: 15,2774 COUNT* $$/P57
042332,001812: 15,2774 71220 GYROTRIM STQ DLOAD
042333,001813: 15,2775 02745 QMIN
042334,001814: 15,2776 00322 THETAD
042335,001815: 15,2777 65325 PDDL PDDL
042336,001816: 15,3000 00324 THETAD +2
042337,001817: 15,3001 00323 THETAD +1
042338,001818: 15,3002 77666 VDEF
042339,001819: 15,3003 24767 STOVL CDUSPOT
042340,001820: 15,3004 24005 XUNIT
042341,001821: 15,3005 77624 CALL
042342,001822: 15,3006 47664 TRG*NBSM
042343,001823: 15,3007 26707 STOVL STARAD
042344,001824: 15,3010 24003 YUNIT
042345,001825: 15,3011 77624 CALL
042346,001826: 15,3012 47673 *NBSM*
042347,001827: 15,3013 36715 STCALL STARAD +6
042348,001828: 15,3014 47537 CDUTRIG
042349,001829: 15,3015 77624 CALL
042350,001830: 15,3016 20030 CALCSMSC
042351,001831: 15,3017 77775 VLOAD
042352,001832: 15,3020 02665 XNB
042353,001833: 15,3021 24007 STOVL 6D
042354,001834: 15,3022 02673 YNB
042355,001835: 15,3023 34015 STCALL 12D
042356,001836: 15,3024 47441 AXISGEN
042357,001837: 15,3025 77624 CALL
042358,001838: 15,3026 47247 CALCGTA
042359,001839: 15,3027 77776 JUSTTRIM EXIT
042360,001840: 15,3030 04616 TC BANKCALL
042361,001841: 15,3031 17210 CADR IMUFINE
042362,001842: 15,3032 04616 TC BANKCALL
|
|
Page 969 |
042364,001844: 15,3033 17716 CADR IMUSTALL
042365,001845: 15,3034 05711 TC CURTAINS
042366,001846: 15,3035 33044 CA GYRCDR
042367,001847: 15,3036 04616 TC BANKCALL
042368,001848: 15,3037 17323 CADR IMUPULSE
042369,001849: 15,3040 04616 TC BANKCALL
042370,001850: 15,3041 17716 CADR IMUSTALL
042371,001851: 15,3042 05711 TC CURTAINS
042372,001852: 15,3043 12765 TCF QMINEXIT
042373,001853:
042374,001854: 15,3044 02737 GYRCDR ECADR OGC
042375,001855:
|
|
Page 970 |
042377,001857: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042378,001858:
042379,001859: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
042380,001860: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042381,001861: 15,3047 34753 1STAR CAF BIT1
042382,001862: 15,3050 55757 TS STARIND
042383,001863:
042384,001864: 15,3051 05353 TC PHASCHNG
042385,001865: 15,3052 04024 OCT 04024
042386,001866:
042387,001867: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042388,001868:
042389,001869: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042390,001870: 15,3055 00006 EXTEND
042391,001871: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
042392,001872:
042393,001873: 15,3057 05353 TC PHASCHNG
042394,001874: 15,3060 04024 OCT 04024
042395,001875:
042396,001876: 15,3061 06037 TC INTPRET
042397,001877: 15,3062 45145 DLOAD CALL
042398,001878: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
042399,001879: 15,3064 32472 PLANET
042400,001880: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042401,001881: 15,3066 33101 SURFLINE
042402,001882:
042403,001883: 15,3067 06037 ASTAR TC INTPRET
042404,001884: 15,3070 77775 VLOAD
042405,001885: 15,3071 02715 STARAD +6
042406,001886: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042407,001887: 15,3073 45145 DLOAD CALL
042408,001888: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
042409,001889: 15,3075 32472 PLANET
042410,001890: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042411,001891: 15,3077 77776 EXIT
042412,001892: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
042413,001893:
|
|
Page 971 |
042415,001895: # DO FINE OR COARSE ALIGNMENT OF IMU
042416,001896:
042417,001897: 15,3101 77131 SURFLINE SSP AXT,2
042418,001898: 15,3102 00052 S2
042419,001899: 15,3103 00006 6
042420,001900: 15,3104 00014 12D
042421,001901: 15,3105 64373 WRTDESIR VLOAD* MXV
042422,001902: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042423,001903: 15,3107 03607 XSMD
042424,001904: 15,3110 77656 UNIT
042425,001905: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
042426,001906: 15,3112 77773 VLOAD*
042427,001907: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042428,001908: 15,3114 10023 STORE 18D,2
042429,001909: 15,3115 43104 TIX,2 BON
042430,001910: 15,3116 33105 WRTDESIR
042431,001911: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042432,001912: 15,3120 33126 INITBY
042433,001913: 15,3121 77624 DOALIGN CALL
042434,001914: 15,3122 31256 R54 # DO CHKSDATA
042435,001915: 15,3123 77614 BOFF
042436,001916: 15,3124 00354 FREEFLAG
042437,001917: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042438,001918: 15,3126 77624 INITBY CALL
042439,001919: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
042440,001920: 15,3130 77624 CALL
042441,001921: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042442,001922: 15,3132 77776 EXIT
042443,001923: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042444,001924: 15,3134 70104 MASK FLAGWRD8
042445,001925: 15,3135 10000 CCS A
042446,001926: 15,3136 13145 TCF 5DEGTEST
042447,001927: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042448,001928: 15,3140 04616 TC BANKCALL
042449,001929: 15,3141 20476 CADR GOFLASH
042450,001930: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
042451,001931: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
042452,001932: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
042453,001933:
042454,001934: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042455,001935: 15,3146 40175 VLOAD BOV
042456,001936: 15,3147 02740 OGC
042457,001937: 15,3150 33151 SURFSUP
042458,001938: 15,3151 02750 SURFSUP STORE OGCT
042459,001939: 15,3152 40141 V/SC BOV
042460,001940: 15,3153 30610 5DEGREES
042461,001941: 15,3154 33254 COATRIM
042462,001942: 15,3155 52131 SSP GOTO
042463,001943: 15,3156 02746 QMIN
042464,001944: 15,3157 33161 SURFDISP
|
|
Page 972 |
042466,001946: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042467,001947:
042468,001948: 15,3161 77776 SURFDISP EXIT
042469,001949: 15,3162 05353 TC PHASCHNG
042470,001950: 15,3163 04024 OCT 04024
042471,001951:
042472,001952: 15,3164 06037 TC INTPRET
042473,001953: 15,3165 75160 AXC,1 AXC,2
042474,001954: 15,3166 03606 XSMD
042475,001955: 15,3167 01733 REFSMMAT
042476,001956: 15,3170 45014 SET CALL
042477,001957: 15,3171 01462 REFSMFLG
042478,001958: 15,3172 31377 MATMOVE
042479,001959: 15,3173 77776 EXIT
042480,001960: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042481,001961: 15,3175 13177 TCF B2F8
042482,001962: 15,3176 13207 TCF P57POST +1
042483,001963:
042484,001964: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042485,001965: 15,3200 70104 MASK FLAGWRD8
042486,001966: 15,3201 10000 CCS A
042487,001967: 15,3202 13561 TCF P57JUMP # ITS SET
042488,001968: 15,3203 06037 TC INTPRET
042489,001969: 15,3204 77624 CALL
042490,001970: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042491,001971: 15,3206 77776 P57POST EXIT
042492,001972: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042493,001973: 15,3210 04616 TC BANKCALL
042494,001974: 15,3211 20623 CADR GOPERF1
042495,001975: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
042496,001976: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
042497,001977: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
042498,001978: 15,3215 61145 AD OPTION2
042499,001979: 15,3216 00006 EXTEND
042500,001980: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
042501,001981: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
042502,001982: 15,3221 05353 TC PHASCHNG # RESTART PLACE
042503,001983: 15,3222 04024 OCT 04024
042504,001984: 15,3223 06037 TC INTPRET
042505,001985: 15,3224 45175 VLOAD CALL # USE GNB
042506,001986: 15,3225 02231 GSAV
042507,001987: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
042508,001988: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
042509,001989: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
042510,001990: 15,3231 01463 LUNAFLAG
042511,001991: 15,3232 51515 PDVL ABVAL
042512,001992: 15,3233 02023 RLS
042513,001993: 15,3234 45561 VXSC STADR
042514,001994: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
042515,001995: 15,3236 47014 CLEAR RTB
|
|
Page 973 |
042517,001997: 15,3237 00662 ERADFLAG
042518,001998: 15,3240 21573 LOADTIME
042519,001999: 15,3241 77624 CALL
042520,002000: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
042521,002001: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
042522,002002: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
042523,002003: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
042524,002004: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
042525,002005: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
042526,002006: 15,3250 51670 R-TO-RP
042527,002007: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
042528,002008: 15,3252 77776 EXIT
042529,002009: 15,3253 16001 TCF GOTOPOOH # EXIT P57
042530,002010:
|
|
Page 974 |
042532,002012: # COARSE AND FINE ALIGN IMU
042533,002013:
042534,002014: 15,3254 75160 COATRIM AXC,1 AXC,2
042535,002015: 15,3255 02664 XDC
042536,002016: 15,3256 02642 XSM
042537,002017: 15,3257 77624 CALL
042538,002018: 15,3260 31377 MATMOVE
042539,002019: 15,3261 77624 CALL
042540,002020: 15,3262 47537 CDUTRIG
042541,002021: 15,3263 77624 CALL
042542,002022: 15,3264 20030 CALCSMSC
042543,002023: 15,3265 77624 CALL
042544,002024: 15,3266 47353 CALCGA
042545,002025: 15,3267 77414 BOFF EXIT
042546,002026: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
042547,002027: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
042548,002028: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
042549,002029: 15,3273 04616 TC BANKCALL
042550,002030: 15,3274 20476 CADR GOFLASH
042551,002031: 15,3275 06001 TC GOTOPOOH
042552,002032: 15,3276 13300 TCF +2
042553,002033: 15,3277 13272 TCF -5
042554,002034: 15,3300 05353 TC PHASCHNG
042555,002035: 15,3301 04024 OCT 04024
042556,002036:
042557,002037: 15,3302 06037 TC INTPRET
042558,002038: 15,3303 77624 CORSIT CALL
042559,002039: 15,3304 31565 COARSE
042560,002040: 15,3305 77624 CALL
042561,002041: 15,3306 31602 NCOARSE
042562,002042: 15,3307 77624 CALL
042563,002043: 15,3310 32774 GYROTRIM
042564,002044: 15,3311 77650 GOTO
042565,002045: 15,3312 33161 SURFDISP
042566,002046: 15,3313 01535 DISPGYRO VN 0693
042567,002047:
|
|
Page 975 |
042569,002049: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042570,002050:
042571,002051: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042572,002052: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
042573,002053:
042574,002054: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042575,002055: 15,3317 55145 TS OPTION2
042576,002056: 15,3320 34753 P57OPT CAF BIT1
042577,002057: 15,3321 04616 TC BANKCALL
042578,002058: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
042579,002059: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
042580,002060: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
042581,002061: 15,3325 13320 TCF P57OPT # V32 RECYCLE
042582,002062:
042583,002063: 15,3326 05353 TC PHASCHNG
042584,002064: 15,3327 00014 OCT 00014
042585,002065: 15,3330 05155 TC ENDOFJOB
042586,002066:
042587,002067: 15,3331 31145 ALIGNOPT CA OPTION2
042588,002068: 15,3332 76245 MASK THREE
042589,002069: 15,3333 50000 INDEX A
042590,002070: 15,3334 13335 TCF +1
042591,002071: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
042592,002072: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
042593,002073: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
042594,002074: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
042595,002075: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
042596,002076: 15,3342 01733 REFSMMAT
042597,002077: 15,3343 03606 XSMD
042598,002078: 15,3344 77624 CALL
042599,002079: 15,3345 31377 MATMOVE
042600,002080: 15,3346 77650 GOTO
042601,002081: 15,3347 33410 PACKOPTN -1
042602,002082:
042603,002083: 15,3350 06037 TDISP TC INTPRET
042604,002084: 15,3351 77745 DLOAD
042605,002085: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042606,002086: 15,3353 01046 P57A STORE DSPTEM1
042607,002087: 15,3354 77776 EXIT
042608,002088: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042609,002089: 15,3356 04616 TC BANKCALL
042610,002090: 15,3357 20476 CADR GOFLASH
042611,002091: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
042612,002092: 15,3361 13363 TCF +2
042613,002093: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
042614,002094:
042615,002095: 15,3363 06037 TC INTPRET
042616,002096: 15,3364 65234 RTB PDDL
042617,002097: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042618,002098: 15,3366 01046 DSPTEM1
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|
Page 976 |
042620,002100: 15,3367 65254 BZE PDDL
042621,002101: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
042622,002102: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042623,002103: 15,3372 01046 DSPTEM1
042624,002104: 15,3373 33400 P57C
042625,002105: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042626,002106: 15,3375 74335 STORE TIG # STORE IT IN TIG
042627,002107: 15,3376 36775 STCALL TALIGN
042628,002108: 15,3377 33402 P57D
042629,002109: 15,3400 45545 P57C DLOAD STADR
042630,002110: 15,3401 75002 STORE TALIGN
042631,002111: 15,3402 34041 P57D STCALL TDEC1
042632,002112: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042633,002113: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
042634,002114: 15,3405 00001 RATT
042635,002115: 15,3406 37607 STCALL XSMD
042636,002116: 15,3407 11013 LSORIENT
042637,002117: 15,3410 77776 EXIT
042638,002118: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042639,002119: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042640,002120: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042641,002121: 15,3414 34737 CAF REFSMBIT
042642,002122: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
042643,002123: 15,3416 10000 CCS A
042644,002124: 15,3417 34745 CAF BIT7 # SET
042645,002125: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
042646,002126: 15,3421 34753 CAF ATTFLBIT
042647,002127: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
042648,002128: 15,3423 10000 CCS A
042649,002129: 15,3424 34750 CAF BIT4 # SET
042650,002130: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
042651,002131: 15,3426 34750 CAF BIT4
042652,002132: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042653,002133:
042654,002134: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042655,002135: 15,3431 04616 TC BANKCALL
042656,002136: 15,3432 20476 CADR GOFLASH
042657,002137: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
042658,002138: 15,3434 13436 TCF +2 # V33 - PROCEED
042659,002139: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
042660,002140:
042661,002141: 15,3436 34737 CAF REFSMBIT
042662,002142: 15,3437 70077 MASK FLAGWRD3
042663,002143: 15,3440 10000 CCS A
042664,002144: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042665,002145: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
042666,002146: 15,3443 70102 MASK FLAGWRD6
042667,002147: 15,3444 10000 CCS A
042668,002148: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042669,002149: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 977 |
042671,002151: 15,3447 71145 MASK OPTION2
042672,002152: 15,3450 10000 CCS A
042673,002153: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042674,002154: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
042675,002155: 15,3453 00701 OCT 701
042676,002156: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042677,002157: 15,3455 04616 TC BANKCALL
042678,002158: 15,3456 20476 CADR GOFLASH
042679,002159: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
042680,002160: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
042681,002161: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
042682,002162:
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|
Page 978 |
042684,002164: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042685,002165:
042686,002166: 15,3462 40220 MFREF STQ SETPD
042687,002167: 15,3463 02746 QMAJ
042688,002168: 15,3464 00001 0
042689,002169: 15,3465 77634 RTB
042690,002170: 15,3466 21573 LOADTIME
042691,002171: 15,3467 27562 STOVL TSIGHT
042692,002172: 15,3470 02723 VEC1
042693,002173: 15,3471 41525 PDDL PUSH
042694,002174: 15,3472 03562 TSIGHT
042695,002175: 15,3473 77624 CALL
042696,002176: 15,3474 55716 RP-TO-R
042697,002177: 15,3475 26723 STOVL VEC1
042698,002178: 15,3476 02731 VEC2
042699,002179: 15,3477 65201 SETPD PDDL
042700,002180: 15,3500 00001 0
042701,002181: 15,3501 03562 TSIGHT
042702,002182: 15,3502 45006 PUSH CALL
042703,002183: 15,3503 55716 RP-TO-R
042704,002184: 15,3504 36731 STCALL VEC2
042705,002185: 15,3505 02746 QMAJ
042706,002186:
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|
Page 979 |
042708,002188: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042709,002189: # STORE IN YNBSAV AND ZNBSAV
042710,002190:
042711,002191: 15,3506 45020 REFMF STQ CALL
042712,002192: 15,3507 02746 QMAJ
042713,002193: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
042714,002194: 15,3511 40234 RTB SETPD
042715,002195: 15,3512 21573 LOADTIME
042716,002196: 15,3513 00001 0
042717,002197: 15,3514 37562 STCALL TSIGHT
042718,002198: 15,3515 20030 CALCSMSC # GET YNB IN SM
042719,002199: 15,3516 61375 VLOAD VXM
042720,002200: 15,3517 02673 YNB
042721,002201: 15,3520 01734 REFSMMAT # YNB TO REF
042722,002202: 15,3521 65256 UNIT PDDL
042723,002203: 15,3522 03562 TSIGHT
042724,002204: 15,3523 45006 PUSH CALL
042725,002205: 15,3524 51670 R-TO-RP
042726,002206: 15,3525 26237 STOVL YNBSAV # YNB TO MF
042727,002207: 15,3526 02701 ZNB
042728,002208: 15,3527 53505 VXM UNIT
042729,002209: 15,3530 01734 REFSMMAT # ZNB TO REF
042730,002210: 15,3531 41525 PDDL PUSH
042731,002211: 15,3532 03562 TSIGHT
042732,002212: 15,3533 77624 CALL
042733,002213: 15,3534 51670 R-TO-RP # ZNB TO MF
042734,002214: 15,3535 02245 STORE ZNBSAV
042735,002215: 15,3536 77614 SETGO
042736,002216: 15,3537 03036 ATTFLAG
042737,002217: 15,3540 02746 QMAJ
042738,002218:
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|
Page 980 |
042740,002220: # BRANCH TO ALIGNMENT OPTION
042741,002221:
042742,002222: 15,3541 06037 GETLMATT TC INTPRET
042743,002223: 15,3542 77624 CALL
042744,002224: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
042745,002225: 15,3544 77776 EXIT
042746,002226:
042747,002227: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042748,002228: 15,3546 00205 ADRES INITALGN
042749,002229: 15,3547 34753 CAF BIT1
042750,002230: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
042751,002231: 15,3551 10000 CCS A
042752,002232: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042753,002233:
042754,002234: 15,3553 05353 ATTCHK TC PHASCHNG
042755,002235: 15,3554 04024 OCT 04024
042756,002236:
042757,002237: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042758,002238: 15,3556 70102 MASK FLAGWRD6
042759,002239: 15,3557 10000 CCS A
042760,002240: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042761,002241: 15,3561 05353 P57JUMP TC PHASCHNG
042762,002242: 15,3562 04024 OCT 04024
042763,002243:
042764,002244: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
042765,002245: 15,3564 00205 ADRES INITALGN
042766,002246: 15,3565 36245 CAF THREE
042767,002247: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
042768,002248: 15,3567 50000 INDEX A
042769,002249: 15,3570 13571 TCF +1
042770,002250: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
042771,002251: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
042772,002252: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
042773,002253: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
042774,002254:
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|
Page 981 |
042776,002256: # OPTION 0, GET TWO ATTITUDE VECS
042777,002257:
042778,002258: 15,3575 06037 P57OPT0 TC INTPRET
042779,002259: 15,3576 77775 VLOAD
042780,002260: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042781,002261: 15,3600 26723 STOVL VEC1
042782,002262: 15,3601 02245 ZNBSAV
042783,002263: 15,3602 36731 STCALL VEC2
042784,002264: 15,3603 47537 CDUTRIG
042785,002265: 15,3604 77624 CALL
042786,002266: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042787,002267: 15,3606 77775 VLOAD
042788,002268: 15,3607 02673 YNB
042789,002269: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042790,002270: 15,3611 02701 ZNB
042791,002271: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042792,002272: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042793,002273: 15,3614 77650 GOTO
042794,002274: 15,3615 33101 SURFLINE
042795,002275:
042796,002276: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042797,002277:
042798,002278: 15,3616 06037 P57OPT1 TC INTPRET
042799,002279: 15,3617 53575 VLOAD UNIT
042800,002280: 15,3620 02023 RLS # LANDING SITE VEC
042801,002281: 15,3621 26723 STOVL VEC1
042802,002282: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
042803,002283: 15,3623 36731 STCALL VEC2
042804,002284: 15,3624 47537 CDUTRIG
042805,002285: 15,3625 77624 CALL
042806,002286: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042807,002287: 15,3627 45175 VLOAD CALL
042808,002288: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042809,002289: 15,3631 47661 CDU*NBSM
042810,002290: 15,3632 77650 GOTO
042811,002291: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042812,002292:
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|
Page 982 |
042814,002294: # OPTION 2, GET TWO STAR SIGHTINGS
042815,002295:
042816,002296: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042817,002297:
042818,002298: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042819,002299:
042820,002300: 15,3635 06037 P57OPT3 TC INTPRET
042821,002301: 15,3636 53575 VLOAD UNIT
042822,002302: 15,3637 02023 RLS # LANDING SITE VEC
042823,002303: 15,3640 02723 STORE VEC1
042824,002304: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042825,002305: 15,3642 02231 GSAV # GRAVITY VEC NB
042826,002306: 15,3643 77624 CALL
042827,002307: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042828,002308: 15,3645 36761 STCALL STARSAV1
042829,002309: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042830,002310: 15,3647 77776 EXIT
042831,002311: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042832,002312:
042833,002313: 15,3651 01206 VB05N06 VN 506
042834,002314:
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|
Page 983 |
042836,002316: # CHECK IMODES30 TO VARIFY IMU IS ON
042837,002317:
042838,002318: 15,3652 41302 IMUCHK CS IMODES30
042839,002319: 15,3653 74743 MASK BIT9
042840,002320: 15,3654 10000 CCS A # IS IMU ON
042841,002321: 15,3655 13661 TCF +4 # YES
042842,002322:
042843,002323: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042844,002324: 15,3657 00210 OCT 210
042845,002325: 15,3660 06001 TC GOTOPOOH
042846,002326:
042847,002327: 15,3661 05504 TC UPFLAG
042848,002328: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042849,002329:
042850,002330: 15,3663 04631 TC SWRETURN
042851,002331:
042852,002332: 04,3013 BANK 04
042853,002333: 04,2000 SETLOC AOTMARK2
042854,002334: 04,2000 BANK
042855,002335: 04,3013 COUNT* $$/P57
042856,002336:
042857,002337: 04,3013 77220 LSORIENT STQ VLOAD
042858,002338: 04,3014 02746 QMAJ
042859,002339: 04,3015 01555 RRECTCSM
042860,002340: 04,3016 47235 VXV VXV
042861,002341: 04,3017 01563 VRECTCSM
042862,002342: 04,3020 03607 XSMD
042863,002343: 04,3021 77656 UNIT
042864,002344: 04,3022 03623 STORE ZSMD
042865,002345: 04,3023 53435 VXV UNIT
042866,002346: 04,3024 03607 XSMD
042867,002347: 04,3025 37615 STCALL YSMD
042868,002348: 04,3026 02746 QMAJ
042869,002349:
End of include-file P51-P53.agc. Parent file is MAIN.agc