GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were 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 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
040510,000002: ## Copyright: Public domain.
040511,000003: ## Filename: P51-P53.agc
040512,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
040513,000005: ## It is part of the source code for the Lunar Module's (LM)
040514,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
040515,000007: ## Assembler: yaYUL
040516,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
040517,000009: ## Website: www.ibiblio.org/apollo.
040518,000010: ## Pages: 926-983
040519,000011: ## Mod history: 2009-05-31 HG Transcribed from page images.
040520,000012: ## 2009-06-07 RSB Corrected a typo.
040521,000013: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
040522,000014: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
040523,000015: ## and corrected the errors found.
040524,000016: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
040525,000017: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
040526,000018: ## side-by-side diff of Luminary 69/99/116/131/210.
040527,000019:
040528,000020: ## This source code has been transcribed or otherwise adapted from
040529,000021: ## digitized images of a hardcopy from the MIT Museum. The digitization
040530,000022: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
040531,000023: ## the Museum. Many thanks to both. The images (with suitable reduction
040532,000024: ## in storage size and consequent reduction in image quality as well) are
040533,000025: ## available online at www.ibiblio.org/apollo. If for some reason you
040534,000026: ## find that the images are illegible, contact me at info@sandroid.org
040535,000027: ## about getting access to the (much) higher-quality images which Paul
040536,000028: ## actually created.
040537,000029: ##
040538,000030: ## Notations on the hardcopy document read, in part:
040539,000031: ##
040540,000032: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
040541,000033: ## 16:27 JULY 14, 1969
040542,000034:
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Page 926 |
040544,000036: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
040545,000037: # MOD NO - 0 LOG SECTION - P51-P53
040546,000038: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
040547,000039:
040548,000040: # FUNCTIONAL DESCRIPTION -
040549,000041:
040550,000042: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040551,000043: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
040552,000044:
040553,000045: # (A) PREFERRED ORIENTATION
040554,000046:
040555,000047: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
040556,000048: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040557,000049:
040558,000050: # (B) NOMINAL ORIENTATION
040559,000051:
040560,000052: # X = UNIT ( R )
040561,000053: # -SM
040562,000054:
040563,000055: # Y = UNIT (V X R)
040564,000056: # SM
040565,000057:
040566,000058: # Z = UNIT (X X Y )
040567,000059: # SM SM SM
040568,000060:
040569,000061: # WHERE_
040570,000062:
040571,000063: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040572,000064: # -
040573,000065:
040574,000066: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040575,000067: # -
040576,000068:
040577,000069: # (C) REFSMMAT ORIENTATION
040578,000070:
040579,000071: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040580,000072:
040581,000073: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040582,000074: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040583,000075: # SINCE THE LAST ALIGNMENT).
040584,000076:
040585,000077: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040586,000078: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040587,000079: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040588,000080: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040589,000081: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040590,000082: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040591,000083: # REQUESTED.
040592,000084:
040593,000085: # CALLING SEQUENCE -
040594,000086:
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Page 927 |
040596,000088: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040597,000089:
040598,000090: # SUBROUTINES CALLED -
040599,000091:
040600,000092: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040601,000093: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040602,000094: # 3. GOPERF4 9. FLAGUP
040603,000095: # 4. MATMOVE 10. R56
040604,000096: # 5. GOFLASH 11. R51
040605,000097: # 6. S52.3 12. GOPERF3
040606,000098:
040607,000099: # NORMAL EXIT MODES -
040608,000100:
040609,000101: # EXITS TO ENDOFJOB
040610,000102:
040611,000103: # ALARM OR ABORT EXIT MODES -
040612,000104:
040613,000105: # NONE
040614,000106:
040615,000107: # OUTPUT -
040616,000108:
040617,000109: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040618,000110: # 1. IMU ORIENTATION CODE
040619,000111: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
040620,000112: # 3. TIME OF NEXT IGNITION
040621,000113: # 4. GIMBAL ANGLES
040622,000114: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
040623,000115: # 6. PLEASE PERFORM P00
040624,000116: # THE MODE DISPLAY MAY BE CHANGED TO 20
040625,000117:
040626,000118: # ERASABLE INITIALIZATION REQUIRED -
040627,000119:
040628,000120: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
040629,000121: # XSMD, YSMD, ZSMD.
040630,000122:
040631,000123: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040632,000124:
040633,000125: # DEBRIS -
040634,000126:
040635,000127: # WORK AREA
040636,000128:
040637,000129: 33,3777 BANK 33
040638,000130: 15,2000 SETLOC P50S
040639,000131: 15,2000 BANK
040640,000132:
040641,000133: 15,2050 E5,1755 EBANK= BESTI
040642,000134: 15,2050 COUNT* $$/P52
040643,000135: 15,2050 04616 PROG52 TC BANKCALL
040644,000136: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
040645,000137: 15,2052 34750 CAF PFRATBIT
040646,000138: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040647,000139: 15,2054 10000 CCS A
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Page 928 |
040649,000141: 15,2055 02060 TC P52A # YES
040650,000142: 15,2056 34752 CAF BIT2 # NO
040651,000143: 15,2057 02061 TC P52A +1
040652,000144: 15,2060 34753 P52A CAF BIT1
040653,000145: 15,2061 55145 TS OPTION2
040654,000146: 15,2062 34753 P52B CAF BIT1
040655,000147: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040656,000148: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
040657,000149: 15,2065 06001 TC GOTOPOOH
040658,000150: 15,2066 12073 TCF +5 # V33 - PROCEED
040659,000151: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040660,000152: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
040661,000153: 15,2071 00014 OCT 00014
040662,000154: 15,2072 05155 TC ENDOFJOB
040663,000155:
040664,000156: 15,2073 31145 CA OPTION2
040665,000157: 15,2074 76245 MASK THREE
040666,000158: 15,2075 50000 INDEX A
040667,000159: 15,2076 02077 TC +1
040668,000160: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
040669,000161: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
040670,000162: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
040671,000163: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
040672,000164: 15,2103 77650 GOTO
040673,000165: 15,2104 32164 P52F # GO DO R51
040674,000166:
040675,000167: 15,2105 00006 OPT4 EXTEND
040676,000168: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040677,000169: 15,2107 12112 TCF P52T +2
040678,000170:
040679,000171: 15,2110 00006 P52T EXTEND
040680,000172: 15,2111 34755 DCA NEG0
040681,000173: 15,2112 53046 DXCH DSPTEM1
040682,000174: 15,2113 32170 CAF V06N34*
040683,000175: 15,2114 04616 TC BANKCALL
040684,000176: 15,2115 20476 CADR GOFLASH
040685,000177: 15,2116 06001 TC GOTOPOOH
040686,000178: 15,2117 02121 TC +2
040687,000179: 15,2120 02113 TC -5
040688,000180: 15,2121 53046 DXCH DSPTEM1
040689,000181: 15,2122 00006 EXTEND
040690,000182: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040691,000183: 15,2124 12127 TCF +3
040692,000184: 15,2125 00006 EXTEND
040693,000185: 15,2126 30025 DCA TIME2
040694,000186: 15,2127 53775 DXCH TALIGN
040695,000187: 15,2130 31145 P52V CA OPTION2
040696,000188: 15,2131 74752 MASK BIT2
040697,000189: 15,2132 10000 CCS A
040698,000190: 15,2133 02137 TC P52W
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Page 929 |
040700,000192: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040701,000193: 15,2135 77650 GOTO
040702,000194: 15,2136 32220 P52LS
040703,000195:
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Page 930 |
040705,000197: # START ALIGNMENT
040706,000198:
040707,000199: 15,2137 06037 P52W TC INTPRET
040708,000200: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
040709,000201: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
040710,000202: 15,2142 31650 S52.3 # ORIENTATION
040711,000203: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040712,000204: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
040713,000205: 15,2145 77776 EXIT
040714,000206: 15,2146 35010 CAF V06N22
040715,000207: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040716,000208: 15,2150 20476 CADR GOFLASH
040717,000209: 15,2151 06001 TC GOTOPOOH
040718,000210: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
040719,000211: 15,2153 06037 P52H TC INTPRET
040720,000212: 15,2154 77650 GOTO
040721,000213: 15,2155 32143 P52D
040722,000214: 15,2156 06037 REGCOARS TC INTPRET
040723,000215: 15,2157 77624 CALL # DO COARSE ALIGN
040724,000216: 15,2160 31327 CAL53A # ROUTINE
040725,000217: 15,2161 43014 COARSRET SET CLEAR
040726,000218: 15,2162 01462 REFSMFLG
040727,000219: 15,2163 01273 PFRATFLG
040728,000220: 15,2164 77624 P52F CALL
040729,000221: 15,2165 31015 R51
040730,000222: 15,2166 77776 P52OUT EXIT
040731,000223: 15,2167 06001 TC GOTOPOOH
040732,000224: 15,2170 5006 VB05N09 = V05N09
040733,000225: 15,2170 01442 V06N34* VN 634
040734,000226:
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Page 931 |
040736,000228: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040737,000229:
040738,000230: 15,2171 32217 COARSTYP CAF OCT13
040739,000231: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040740,000232: 15,2173 20623 CADR GOPERF1
040741,000233: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
040742,000234: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
040743,000235: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
040744,000236: 15,2177 64375 VLOAD MXV
040745,000237: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040746,000238: 15,2201 01734 REFSMMAT
040747,000239: 15,2202 77656 UNIT
040748,000240: 15,2203 26665 STOVL XDC
040749,000241: 15,2204 03615 YSMD
040750,000242: 15,2205 53521 MXV UNIT
040751,000243: 15,2206 01734 REFSMMAT
040752,000244: 15,2207 26673 STOVL YDC
040753,000245: 15,2210 03623 ZSMD
040754,000246: 15,2211 53521 MXV UNIT
040755,000247: 15,2212 01734 REFSMMAT
040756,000248: 15,2213 36701 STCALL ZDC
040757,000249: 15,2214 31164 GYCOARS
040758,000250: 15,2215 77650 GOTO
040759,000251: 15,2216 32166 P52OUT
040760,000252: 15,2217 00013 OCT13 OCT 13
040761,000253:
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Page 932 |
040763,000255: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040764,000256:
040765,000257: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040766,000258: 15,2221 01463 LUNAFLAG
040767,000259: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040768,000260: 15,2223 77201 SETPD VLOAD
040769,000261: 15,2224 00001 0
040770,000262: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040771,000263: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040772,000264: 15,2227 02775 TALIGN
040773,000265: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040774,000266: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040775,000267: 15,2232 77742 VSR2
040776,000268: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040777,000269: 15,2234 02775 TALIGN
040778,000270: 15,2235 77624 CALL
040779,000271: 15,2236 30446 N89DISP
040780,000272: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040781,000273: 15,2240 02032 ALPHAV
040782,000274: 15,2241 37607 STCALL XSMD
040783,000275: 15,2242 11013 LSORIENT
040784,000276: 15,2243 77650 GOTO
040785,000277: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040786,000278:
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Page 933 |
040788,000280: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040789,000281:
040790,000282: 14,2000 SETLOC P50S1
040791,000283: 14,2000 BANK
040792,000284: 14,2446 E5,1642 EBANK= XSM
040793,000285:
040794,000286: 14,2446 77620 N89DISP STQ
040795,000287: 14,2447 02746 QMAJ
040796,000288: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040797,000289: 14,2451 26351 LAT-LONG
040798,000290: 14,2452 70545 DLOAD SR1
040799,000291: 14,2453 01123 LONG
040800,000292: 14,2454 16711 STODL LANDLONG
040801,000293: 14,2455 01125 ALT
040802,000294: 14,2456 16713 STODL LANDALT
040803,000295: 14,2457 01121 LAT
040804,000296: 14,2460 16707 STODL LANDLAT
040805,000297: 14,2461 77776 EXIT
040806,000298:
040807,000299: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040808,000300: 14,2463 04616 TC BANKCALL
040809,000301: 14,2464 20476 CADR GOFLASH
040810,000302: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040811,000303: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040812,000304: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040813,000305:
040814,000306: 14,2470 06037 TC INTPRET
040815,000307: 14,2471 72545 DLOAD SL1
040816,000308: 14,2472 02711 LANDLONG
040817,000309: 14,2473 15123 STODL LONG
040818,000310: 14,2474 02713 LANDALT
040819,000311: 14,2475 15125 STODL ALT
040820,000312: 14,2476 02707 LANDLAT
040821,000313: 14,2477 15121 STODL LAT
040822,000314: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040823,000315: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040824,000316: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040825,000317: 14,2503 77650 GOTO
040826,000318: 14,2504 02746 QMAJ
040827,000319: 14,2505 01531 V06N89* VN 689
040828,000320:
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Page 934 |
040830,000322: # NAME - S50 ALIAS LOCSAM
040831,000323: # BY
040832,000324: # VINCENT
040833,000325:
040834,000326: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040835,000327:
040836,000328: # DEFINE
040837,000329:
040838,000330: # U = UNIT( SUN WRT EARTH )
040839,000331: # ES
040840,000332:
040841,000333: # U = UNIT( MOON WRT EARTH )
040842,000334: # EM
040843,000335:
040844,000336: # R = POSITION VECTOR OF LEM
040845,000337: # L
040846,000338:
040847,000339: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040848,000340: # EM
040849,000341:
040850,000342: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040851,000343: # EM
040852,000344:
040853,000345: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040854,000346: # E
040855,000347:
040856,000348: # LOCSAM COMPUTES IN EARTH INFLUENCE
040857,000349:
040858,000350: # VSUN = U
040859,000351: # ES
040860,000352:
040861,000353: # VEARTH = -UNIT( R )
040862,000354: # L
040863,000355:
040864,000356: # VMOON = UNIT(R .U - R )
040865,000357: # EM EM L
040866,000358:
040867,000359: # CSUN = COS 90
040868,000360:
040869,000361: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040870,000362: # E L
040871,000363:
040872,000364: # CMOON = COS 5
040873,000365:
040874,000366: # INPUT - TIME IN MPAC
040875,000367:
040876,000368: # OUTPUT - LISTED ABOVE
040877,000369:
040878,000370: # SUBROUTINES - LSPOS, LEMPREC
040879,000371:
040880,000372: # DEBRIS - VAC AREA, TSIGHT
040881,000373:
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Page 935 |
040883,000375: 14,2506 COUNT* $$/LOSAM
040884,000376:
040885,000377: 14,2506 14,2506 S50 = LOCSAM
040886,000378: 14,2506 77620 LOCSAM STQ
040887,000379: 14,2507 02745 QMIN
040888,000380: 14,2510 37562 STCALL TSIGHT
040889,000381: 14,2511 33664 LSPOS
040890,000382: 14,2512 77745 DLOAD
040891,000383: 14,2513 03562 TSIGHT
040892,000384: 14,2514 34041 STCALL TDEC1
040893,000385: 14,2515 27057 LEMPREC
040894,000386: 14,2516 61131 SSP TIX,2
040895,000387: 14,2517 00052 S2
040896,000388: 14,2520 00000 0
040897,000389: 14,2521 30543 MOONCNTR
040898,000390: 14,2522 74375 EARTCNTR VLOAD VXSC
040899,000391: 14,2523 02723 VMOON
040900,000392: 14,2524 30001 RSUBEM
040901,000393: 14,2525 52372 VSL1 VSU
040902,000394: 14,2526 00001 RATT
040903,000395: 14,2527 77656 UNIT
040904,000396: 14,2530 26723 STOVL VMOON
040905,000397: 14,2531 00001 RATT
040906,000398: 14,2532 57456 UNIT VCOMP
040907,000399: 14,2533 16707 STODL VEARTH
040908,000400: 14,2534 30005 RSUBE
040909,000401: 14,2535 77624 CALL
040910,000402: 14,2536 30575 OCCOS
040911,000403: 14,2537 14017 STODL CEARTH
040912,000404: 14,2540 30604 CSS5
040913,000405: 14,2541 34023 STCALL CMOON
040914,000406: 14,2542 30570 ENDSAM
040915,000407: 14,2543 74375 MOONCNTR VLOAD VXSC
040916,000408: 14,2544 02723 VMOON
040917,000409: 14,2545 30007 ROE
040918,000410: 14,2546 53445 BVSU UNIT
040919,000411: 14,2547 02715 VSUN
040920,000412: 14,2550 26715 STOVL VSUN
040921,000413: 14,2551 02723 VMOON
040922,000414: 14,2552 53361 VXSC VAD
040923,000415: 14,2553 30001 RSUBEM
040924,000416: 14,2554 00001 RATT
040925,000417: 14,2555 57456 UNIT VCOMP
040926,000418: 14,2556 26707 STOVL VEARTH
040927,000419: 14,2557 00001 RATT
040928,000420: 14,2560 57456 UNIT VCOMP
040929,000421: 14,2561 16723 STODL VMOON
040930,000422: 14,2562 30003 RSUBM
040931,000423: 14,2563 77624 CALL
040932,000424: 14,2564 30575 OCCOS
|
|
Page 936 |
040934,000426: 14,2565 14023 STODL CMOON
040935,000427: 14,2566 30604 CSS5
040936,000428: 14,2567 00017 STORE CEARTH
040937,000429: 14,2570 77745 ENDSAM DLOAD
040938,000430: 14,2571 30606 CSSUN
040939,000431: 14,2572 00021 STORE CSUN
040940,000432: 14,2573 77650 GOTO
040941,000433: 14,2574 02745 QMIN
040942,000434: 14,2575 70471 OCCOS DDV SR1
040943,000435: 14,2576 00045 36D
040944,000436: 14,2577 43336 ASIN DAD
040945,000437: 14,2600 30610 5DEGREES
040946,000438: 14,2601 70546 COS SR1
040947,000439: 14,2602 77616 RVQ
040948,000440: 14,2603 CEARTH = 14D
040949,000441: 14,2603 CSUN = 16D
040950,000442: 14,2603 CMOON = 18D
040951,000443: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040952,000444: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040953,000445: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040954,000446:
|
|
Page 937 |
040956,000448: # PROGRAM NAME - R56 DATE DEC 20 66
040957,000449: # MOD 1 LOG SECTION P51-P53
040958,000450: # ASSEMBLY SUNDISK REV40
040959,000451: # BY KEN VINCENT
040960,000452:
040961,000453: # FUNCTION
040962,000454: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040963,000455: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040964,000456: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040965,000457: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040966,000458: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040967,000459: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040968,000460: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040969,000461: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040970,000462: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040971,000463: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040972,000464: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040973,000465: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040974,000466:
040975,000467: # CALLING SEQUENCE
040976,000468: # L TC BANKCALL
040977,000469: # L+1 CADR R56
040978,000470: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040979,000471: # L+3 NORMAL RETURN
040980,000472:
040981,000473: # OUTPUT
040982,000474: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040983,000475: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040984,000476:
040985,000477: # INITIALIZATION
040986,000478: # 1) A CALL TO LOCSAM MUST BE MADE
040987,000479:
040988,000480: # DEBRIS
040989,000481: # WORKAREA
040990,000482: # X,Y,ZNB
040991,000483: # SINCDU, COSCDU
040992,000484: # STARAD - STAR +5
040993,000485:
040994,000486: 14,2611 14,2611 R56 = PICAPAR
040995,000487: 14,2611 COUNT* $$/R56
040996,000488: 14,2611 04645 PICAPAR TC MAKECADR
040997,000489: 14,2612 55745 TS QMIN
040998,000490: 14,2613 06037 TC INTPRET
040999,000491: 14,2614 77624 CALL
041000,000492: 14,2615 47537 CDUTRIG
041001,000493: 14,2616 77624 CALL
041002,000494: 14,2617 20030 CALCSMSC
041003,000495: 14,2620 77601 SETPD
041004,000496: 14,2621 00001 0
041005,000497: 14,2622 71214 SET DLOAD # VFLAG = 1
041006,000498: 14,2623 01465 VFLAG
|
|
Page 938 |
041008,000500: 14,2624 24007 DPZERO
041009,000501: 14,2625 26756 STOVL BESTI
041010,000502: 14,2626 02665 XNB
041011,000503: 14,2627 63361 VXSC PDVL
041012,000504: 14,2630 24005 HALFDP
041013,000505: 14,2631 02701 ZNB
041014,000506: 14,2632 74370 AXT,1 VXSC
041015,000507: 14,2633 00344 228D # X1 = 37 X 6 + 6
041016,000508: 14,2634 24005 HALFDP
041017,000509: 14,2635 77655 VAD
041018,000510: 14,2636 53505 VXM UNIT
041019,000511: 14,2637 01734 REFSMMAT
041020,000512: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
041021,000513: 14,2641 66331 SSP SSP # S1 = S2 = 6
041022,000514: 14,2642 00051 S1
041023,000515: 14,2643 00006 6
041024,000516: 14,2644 00052 S2
041025,000517: 14,2645 00006 6
041026,000518: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041027,000519: 14,2647 30651 PIC2
041028,000520: 14,2650 30766 PICEND
041029,000521: 14,2651 50373 PIC2 VLOAD* DOT
041030,000522: 14,2652 30347 CATLOG,1
041031,000523: 14,2653 02731 SAX
041032,000524: 14,2654 50025 DSU BMN
041033,000525: 14,2655 30765 CSS33
041034,000526: 14,2656 30646 PIC1
041035,000527: 14,2657 77754 LXA,2
041036,000528: 14,2660 00046 X1
041037,000529: 14,2661 52104 PIC3 TIX,2 GOTO
041038,000530: 14,2662 30664 PIC4
041039,000531: 14,2663 30646 PIC1
041040,000532: 14,2664 50373 PIC4 VLOAD* DOT
041041,000533: 14,2665 47430 CATLOG,2
041042,000534: 14,2666 02731 SAX
041043,000535: 14,2667 50025 DSU BMN
041044,000536: 14,2670 30765 CSS33
041045,000537: 14,2671 30661 PIC3
041046,000538: 14,2672 47773 VLOAD* DOT*
041047,000539: 14,2673 30347 CATLOG,1
041048,000540: 14,2674 47430 CATLOG,2
041049,000541: 14,2675 51025 DSU BPL
041050,000542: 14,2676 30763 CSS40
041051,000543: 14,2677 30661 PIC3
041052,000544: 14,2700 45173 VLOAD* CALL
041053,000545: 14,2701 30347 CATLOG,1
041054,000546: 14,2702 30740 OCCULT
041055,000547: 14,2703 77614 BON
041056,000548: 14,2704 01710 CULTFLAG
041057,000549: 14,2705 30646 PIC1
|
|
Page 939 |
041059,000551: 14,2706 45173 VLOAD* CALL
041060,000552: 14,2707 47430 CATLOG,2
041061,000553: 14,2710 30740 OCCULT
041062,000554: 14,2711 77614 BON
041063,000555: 14,2712 01710 CULTFLAG
041064,000556: 14,2713 30661 PIC3
041065,000557: 14,2714 77614 STRATGY BONCLR
041066,000558: 14,2715 01605 VFLAG
041067,000559: 14,2716 30733 NEWPAR
041068,000560: 14,2717 65120 XCHX,1 XCHX,2
041069,000561: 14,2720 02755 BESTI
041070,000562: 14,2721 02756 BESTJ
041071,000563: 14,2722 47773 STRAT VLOAD* DOT*
041072,000564: 14,2723 30347 CATLOG,1
041073,000565: 14,2724 47430 CATLOG,2
041074,000566: 14,2725 43006 PUSH BOFINV
041075,000567: 14,2726 01545 VFLAG
041076,000568: 14,2727 30717 STRAT -3
041077,000569: 14,2730 45345 DLOAD DSU
041078,000570: 14,2731 77644 BPL
041079,000571: 14,2732 30661 PIC3
041080,000572: 14,2733 67130 NEWPAR SXA,1 SXA,2
041081,000573: 14,2734 02755 BESTI
041082,000574: 14,2735 02756 BESTJ
041083,000575: 14,2736 77650 GOTO
041084,000576: 14,2737 30661 PIC3
041085,000577: 14,2740 51321 OCCULT MXV BVSU
041086,000578: 14,2741 02707 CULTRIX
041087,000579: 14,2742 00017 CSS
041088,000580: 14,2743 77654 BZE
041089,000581: 14,2744 30757 CULTED
041090,000582: 14,2745 75240 BMN SIGN
041091,000583: 14,2746 30757 CULTED
041092,000584: 14,2747 00160 MPAC +3
041093,000585: 14,2750 75240 BMN SIGN
041094,000586: 14,2751 30757 CULTED
041095,000587: 14,2752 00162 MPAC +5
041096,000588: 14,2753 43040 BMN CLRGO
041097,000589: 14,2754 30757 CULTED
041098,000590: 14,2755 01630 CULTFLAG
041099,000591: 14,2756 00052 QPRET
041100,000592: 14,2757 77614 CULTED SETGO
041101,000593: 14,2760 01430 CULTFLAG
041102,000594: 14,2761 00052 QPRET
041103,000595: 14,2762 0000016 CSS = CEARTH
041104,000596: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041105,000597: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041106,000598: 14,2766 77414 PICEND BOFF EXIT
041107,000599:
|
|
Page 940 |
041109,000601: 14,2767 01745 VFLAG
041110,000602: 14,2770 30772 PICGXT
041111,000603: 14,2771 03013 TC PICBXT
041112,000604: 14,2772 73150 PICGXT LXA,1 LXA,2
041113,000605: 14,2773 02755 BESTI
041114,000606: 14,2774 02756 BESTJ
041115,000607: 14,2775 47775 VLOAD DOT*
041116,000608: 14,2776 02731 SAX
041117,000609: 14,2777 30347 CATLOG,1
041118,000610: 14,3000 47715 PDVL DOT*
041119,000611: 14,3001 02731 SAX
041120,000612: 14,3002 47430 CATLOG,2
041121,000613: 14,3003 77625 DSU
041122,000614: 14,3004 66044 BPL SXA,1
041123,000615: 14,3005 31011 PICNSWP
041124,000616: 14,3006 02756 BESTJ
041125,000617: 14,3007 77734 SXA,2
041126,000618: 14,3010 02755 BESTI
041127,000619: 14,3011 77776 PICNSWP EXIT
041128,000620: 14,3012 25745 INCR QMIN
041129,000621: 14,3013 31745 PICBXT CA QMIN
041130,000622: 14,3014 04622 TC SWCALL
041131,000623: 14,3015 VPD = 0D
041132,000624: 14,3015 V0 = 6D
041133,000625: 14,3015 V1 = 12D
041134,000626: 14,3015 V2 = 18D
041135,000627: 14,3015 V3 = 24D
041136,000628: 14,3015 DP0 = 30D
041137,000629: 14,3015 DP1 = 32D
041138,000630:
|
|
Page 941 |
041140,000632: # NAME - R51 FINE ALIGN
041141,000633: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
041142,000634: # CALLING SEQ - CALL R51
041143,000635: # INPUT - REFSMMAT
041144,000636: # OUTPUT - GYRO TORQUE PULSES
041145,000637: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
041146,000638:
041147,000639: 14,3015 COUNT* $$/R51
041148,000640: 14,3015 77620 R51 STQ
041149,000641: 14,3016 02746 QMAJ
041150,000642: 14,3017 77776 R51.1 EXIT
041151,000643: 14,3020 05353 TC PHASCHNG
041152,000644: 14,3021 04024 OCT 04024
041153,000645:
041154,000646: 14,3022 34761 R51C CAF OCT15
041155,000647: 14,3023 04616 TC BANKCALL
041156,000648: 14,3024 20623 CADR GOPERF1
041157,000649: 14,3025 06001 TC GOTOPOOH
041158,000650: 14,3026 03030 TC +2 # V33E
041159,000651: 14,3027 03053 TC R51E # ENTER
041160,000652: 14,3030 06037 TC INTPRET
041161,000653: 14,3031 43234 RTB DAD
041162,000654: 14,3032 21573 LOADTIME
041163,000655: 14,3033 31163 TSIGHT1
041164,000656: 14,3034 77624 CALL
041165,000657: 14,3035 30506 LOCSAM
041166,000658: 14,3036 77776 EXIT
041167,000659: 14,3037 04616 TC BANKCALL
041168,000660: 14,3040 30611 CADR R56
041169,000661: 14,3041 03043 TC R51I
041170,000662: 14,3042 03053 R51F TC R51E
041171,000663: 14,3043 05567 R51I TC ALARM
041172,000664: 14,3044 00405 OCT 405
041173,000665: 14,3045 35006 CAF VB05N09
041174,000666: 14,3046 04616 TC BANKCALL
041175,000667: 14,3047 20476 CADR GOFLASH
041176,000668: 14,3050 06001 TC GOTOPOOH
041177,000669: 14,3051 03053 TC R51E
041178,000670: 14,3052 03022 TC R51C
041179,000671: 14,3053 34755 R51E CAF ZERO
041180,000672: 14,3054 55757 TS STARIND
041181,000673: 14,3055 06037 R51.2 TC INTPRET
041182,000674: 14,3056 77776 R51.3 EXIT
041183,000675: 14,3057 05353 TC PHASCHNG
041184,000676: 14,3060 04024 OCT 04024
041185,000677:
041186,000678: 14,3061 06037 TC INTPRET
041187,000679: 14,3062 77624 CALL
041188,000680: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
041189,000681: 14,3064 77776 EXIT
041190,000682: 14,3065 04616 TC BANKCALL
|
|
Page 942 |
041192,000684: 14,3066 16000 CADR AOTMARK
041193,000685: 14,3067 04616 TC BANKCALL
041194,000686: 14,3070 17712 CADR OPTSTALL
041195,000687: 14,3071 05711 TC CURTAINS
041196,000688: 14,3072 11757 CCS STARIND
041197,000689: 14,3073 13075 TCF +2
041198,000690: 14,3074 03145 TC R51.4
041199,000691: 14,3075 06037 TC INTPRET
041200,000692: 14,3076 77775 VLOAD
041201,000693: 14,3077 02715 STARAD +6
041202,000694: 14,3100 02767 STORE STARSAV2
041203,000695: 14,3101 77776 EXIT
041204,000696: 14,3102 05353 TC PHASCHNG
041205,000697: 14,3103 04024 OCT 04024
041206,000698:
041207,000699: 14,3104 06037 TC INTPRET
041208,000700: 14,3105 45145 DLOAD CALL
041209,000701: 14,3106 03562 TSIGHT
041210,000702: 14,3107 32472 PLANET
041211,000703: 14,3110 53521 MXV UNIT
041212,000704: 14,3111 01734 REFSMMAT
041213,000705: 14,3112 26715 STOVL STARAD +6
041214,000706: 14,3113 03554 PLANVEC
041215,000707: 14,3114 53521 MXV UNIT
041216,000708: 14,3115 01734 REFSMMAT
041217,000709: 14,3116 26707 STOVL STARAD
041218,000710: 14,3117 02761 STARSAV1
041219,000711: 14,3120 24007 STOVL 6D
041220,000712: 14,3121 02767 STARSAV2
041221,000713: 14,3122 34015 STCALL 12D
041222,000714: 14,3123 31256 R54 # STAR DATA TEST
041223,000715: 14,3124 45014 BOFF CALL
041224,000716: 14,3125 00354 FREEFLAG
041225,000717: 14,3126 31134 R51K
041226,000718: 14,3127 47441 AXISGEN
041227,000719: 14,3130 77624 CALL
041228,000720: 14,3131 31224 R55 # GYRO TORQUE
041229,000721: 14,3132 77614 CLEAR
041230,000722: 14,3133 01273 PFRATFLG
041231,000723: 14,3134 77776 R51K EXIT
041232,000724: 14,3135 35751 R51P63 CAF OCT14
041233,000725: 14,3136 04616 TC BANKCALL
041234,000726: 14,3137 20623 CADR GOPERF1
041235,000727: 14,3140 06001 TC GOTOPOOH
041236,000728: 14,3141 03022 TC R51C
041237,000729: 14,3142 06037 TC INTPRET
041238,000730: 14,3143 77650 GOTO
041239,000731: 14,3144 02746 QMAJ
041240,000732: 14,3145 06037 R51.4 TC INTPRET
041241,000733: 14,3146 77775 VLOAD
|
|
Page 943 |
041243,000735: 14,3147 02715 STARAD +6
041244,000736: 14,3150 02761 STORE STARSAV1
041245,000737: 14,3151 45145 DLOAD CALL
041246,000738: 14,3152 03562 TSIGHT
041247,000739: 14,3153 32472 PLANET
041248,000740: 14,3154 03554 STORE PLANVEC
041249,000741: 14,3155 77731 SSP
041250,000742: 14,3156 02760 STARIND
041251,000743: 14,3157 00001 1
041252,000744: 14,3160 77650 GOTO
041253,000745: 14,3161 31056 R51.3
041254,000746: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041255,000747:
|
|
Page 944 |
041257,000749: # GYRO TORQUE COARSE ALIGNMENT
041258,000750:
041259,000751: 14,3164 45020 GYCOARS STQ CALL
041260,000752: 14,3165 02746 QMAJ
041261,000753: 14,3166 47247 CALCGTA
041262,000754: 14,3167 43014 CLEAR CLEAR
041263,000755: 14,3170 01260 DRIFTFLG
041264,000756: 14,3171 01662 REFSMFLG
041265,000757: 14,3172 77776 EXIT
041266,000758: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
041267,000759: 14,3174 04616 TC BANKCALL
041268,000760: 14,3175 20451 CADR GODSPR
041269,000761: 14,3176 33255 CA R55CDR
041270,000762: 14,3177 04616 TC BANKCALL
041271,000763: 14,3200 17323 CADR IMUPULSE
041272,000764: 14,3201 04616 TC BANKCALL
041273,000765: 14,3202 17716 CADR IMUSTALL
041274,000766: 14,3203 05711 TC CURTAINS
041275,000767: 14,3204 05353 TC PHASCHNG
041276,000768: 14,3205 04024 OCT 04024
041277,000769:
041278,000770: 14,3206 06037 TC INTPRET
041279,000771: 14,3207 75160 AXC,1 AXC,2
041280,000772: 14,3210 03606 XSMD
041281,000773: 14,3211 01733 REFSMMAT
041282,000774: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
041283,000775: 14,3213 31377 MATMOVE
041284,000776: 14,3214 43014 CLEAR SET
041285,000777: 14,3215 01273 PFRATFLG
041286,000778: 14,3216 01462 REFSMFLG
041287,000779: 14,3217 77624 CALL
041288,000780: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041289,000781: 14,3221 77650 GOTO
041290,000782: 14,3222 31134 R51K
041291,000783: 14,3223 04024 V16N20 VN 1620
041292,000784:
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|
Page 945 |
041294,000786: # R55 GYRO TORQUE
041295,000787: # FUNCTION - COMPUTE AND SEND GYRO PULSES
041296,000788: # CALLING SEQ - CALL R55
041297,000789: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
041298,000790: # OUTPUT - GYRO PULSES
041299,000791: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
041300,000792:
041301,000793: 14,3224 COUNT* $$/R55
041302,000794: 14,3224 77620 R55 STQ
041303,000795: 14,3225 02745 QMIN
041304,000796: 14,3226 77624 CALL
041305,000797: 14,3227 47247 CALCGTA
041306,000798: 14,3230 77776 PULSEM EXIT
041307,000799: 14,3231 33254 R55.1 CAF V06N93
041308,000800: 14,3232 04616 TC BANKCALL
041309,000801: 14,3233 20476 CADR GOFLASH
041310,000802: 14,3234 06001 TC GOTOPOOH
041311,000803: 14,3235 03237 TC R55.2
041312,000804: 14,3236 03251 TC R55RET
041313,000805: 14,3237 05353 R55.2 TC PHASCHNG
041314,000806: 14,3240 00214 OCT 00214
041315,000807: 14,3241 33255 CA R55CDR
041316,000808: 14,3242 04616 TC BANKCALL
041317,000809: 14,3243 17323 CADR IMUPULSE
041318,000810: 14,3244 04616 TC BANKCALL
041319,000811: 14,3245 17716 CADR IMUSTALL
041320,000812: 14,3246 05711 TC CURTAINS
041321,000813: 14,3247 05353 TC PHASCHNG
041322,000814: 14,3250 04024 OCT 04024
041323,000815:
041324,000816: 14,3251 06037 R55RET TC INTPRET
041325,000817: 14,3252 77650 GOTO
041326,000818: 14,3253 02745 QMIN
041327,000819: 14,3254 01535 V06N93 VN 0693
041328,000820: 14,3255 02737 R55CDR ECADR OGC
041329,000821: 14,3256 14,3256 R54 = CHKSDATA
041330,000822:
041331,000823: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
041332,000824: # MOD NO - 0 LOG SECTION - P51-P53
041333,000825: # MODIFICATION BY - LONSKE ASSEMBLY -
041334,000826:
041335,000827: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041336,000828: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041337,000829: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041338,000830: # OS1 = OBSERVED STAR 1 VECTOR
041339,000831: # OS2 = OBSERVED STAR 2 VECTOR
041340,000832: # SS1 = STORED STAR 1 VECTOR
041341,000833: # SS2 = STORED STAR 2 VECTOR
041342,000834: # A1 = ARCCOS(OS1 - OS2)
041343,000835: # A2 = ARCCOS(SS1 - SS2)
041344,000836: # A = ABS(2(A1 - A2))
|
|
Page 946 |
041346,000838: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041347,000839:
041348,000840: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041349,000841: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041350,000842:
041351,000843: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041352,000844: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041353,000845:
041354,000846: # ERASABLE INITIALIZATION REQUIRED -
041355,000847: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041356,000848: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
041357,000849:
041358,000850: # DEBRIS -
041359,000851:
041360,000852: 14,3256 COUNT* $$/R54
041361,000853: 14,3256 43020 CHKSDATA STQ SET
041362,000854: 14,3257 02745 QMIN
041363,000855: 14,3260 00074 FREEFLAG
041364,000856: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041365,000857: 14,3262 02706 STARAD
041366,000858:
041367,000859: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041368,000860: 14,3264 00001 0,1
041369,000861: 14,3265 00007 6,1
041370,000862: 14,3266 65552 SL1 ACOS
041371,000863: 14,3267 00025 STORE THETA
041372,000864: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041373,000865: 14,3271 00354 FREEFLAG
041374,000866: 14,3272 31302 CHKSD
041375,000867: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
041376,000868: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041377,000869: 14,3275 00006 6D
041378,000870: 14,3276 00025 THETA
041379,000871: 14,3277 00023 STORE 18D
041380,000872: 14,3300 77650 GOTO
041381,000873: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
041382,000874: 14,3302 45345 CHKSD DLOAD DSU
041383,000875: 14,3303 00025 THETA
041384,000876: 14,3304 00023 18D
041385,000877: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
041386,000878: 14,3306 21612 SGNAGREE
041387,000879: 14,3307 01046 STORE NORMTEM1
041388,000880: 14,3310 77414 SET EXIT
041389,000881: 14,3311 00074 FREEFLAG
041390,000882: 14,3312 33326 CAF VB6N5
041391,000883: 14,3313 04616 TC BANKCALL
041392,000884: 14,3314 20476 CADR GOFLASH
041393,000885: 14,3315 16001 TCF GOTOPOOH
041394,000886: 14,3316 03323 TC CHKSDA # PROCEED
041395,000887: 14,3317 06037 TC INTPRET
041396,000888: 14,3320 52014 CLEAR GOTO
041397,000889: 14,3321 00274 FREEFLAG
041398,000890: 14,3322 02745 QMIN
041399,000891: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947 |
041401,000893: 14,3324 77650 GOTO
041402,000894: 14,3325 02745 QMIN
041403,000895: 14,3326 01405 VB6N5 VN 605
041404,000896:
041405,000897: # NAME - CAL53A
041406,000898: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041407,000899: # CALLING SEQUENCE - CALL CAL53A
041408,000900: # INPUT - X,Y,ZSMD, CDUX,Y,Z
041409,000901: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041410,000902: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041411,000903: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
041412,000904:
041413,000905: 14,3327 COUNT* $$/R50
041414,000906: 14,3327 77624 CAL53A CALL
041415,000907: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
041416,000908: 14,3331 66234 RTB SSP
041417,000909: 14,3332 31413 RDCDUS # READ CDUS
041418,000910: 14,3333 00051 S1
041419,000911: 14,3334 00001 1
041420,000912: 14,3335 40370 AXT,1 SETPD
041421,000913: 14,3336 00003 3
041422,000914: 14,3337 00005 4
041423,000915: 14,3340 70543 CALOOP DLOAD* SR1
041424,000916: 14,3341 00325 THETAD +3D,1
041425,000917: 14,3342 70523 PDDL* SR1
041426,000918: 14,3343 00005 4,1
041427,000919: 14,3344 51425 DSU ABS
041428,000920: 14,3345 45206 PUSH DSU
041429,000921: 14,3346 31412 DEGREE1
041430,000922: 14,3347 71240 BMN DLOAD
041431,000923: 14,3350 31366 CALOOP1
041432,000924: 14,3351 51025 DSU BPL
041433,000925: 14,3352 31413 DEG359
041434,000926: 14,3353 31366 CALOOP1
041435,000927: 14,3354 77776 EXIT
041436,000928: 14,3355 05353 TC PHASCHNG
041437,000929: 14,3356 04024 OCT 04024
041438,000930:
041439,000931: 14,3357 06037 TC INTPRET
041440,000932: 14,3360 77624 COARFINE CALL
041441,000933: 14,3361 31565 COARSE
041442,000934: 14,3362 77624 CALL
041443,000935: 14,3363 31602 NCOARSE
041444,000936: 14,3364 77650 GOTO
041445,000937: 14,3365 31370 FINEONLY
041446,000938: 14,3366 77700 CALOOP1 TIX,1
041447,000939: 14,3367 31340 CALOOP
041448,000940: 14,3370 75160 FINEONLY AXC,1 AXC,2
041449,000941: 14,3371 02642 XSM
041450,000942: 14,3372 01733 REFSMMAT
041451,000943: 14,3373 77624 CALL
041452,000944: 14,3374 31377 MATMOVE
|
|
Page 948 |
041454,000946: 14,3375 77650 GOTO
041455,000947: 14,3376 32161 COARSRET
041456,000948: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041457,000949: 14,3400 00001 0,1
041458,000950: 14,3401 10001 STORE 0,2
041459,000951: 14,3402 77773 VLOAD*
041460,000952: 14,3403 00007 6D,1
041461,000953: 14,3404 10007 STORE 6D,2
041462,000954: 14,3405 77773 VLOAD*
041463,000955: 14,3406 00015 12D,1
041464,000956: 14,3407 10015 STORE 12D,2
041465,000957: 14,3410 77616 RVQ
041466,000958: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041467,000959: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041468,000960: 14,3413 00004 RDCDUS INHINT # READ CDUS
041469,000961: 14,3414 30032 CA CDUX
041470,000962: 14,3415 50120 INDEX FIXLOC
041471,000963: 14,3416 54001 TS 1
041472,000964: 14,3417 30033 CA CDUY
041473,000965: 14,3420 50120 INDEX FIXLOC
041474,000966: 14,3421 54002 TS 2
041475,000967: 14,3422 30034 CA CDUZ
041476,000968: 14,3423 50120 INDEX FIXLOC
041477,000969: 14,3424 54003 TS 3
041478,000970: 14,3425 00003 RELINT
041479,000971: 14,3426 06061 TC DANZIG # +
041480,000972: 14,3427 COUNT* $$/INFLT
041481,000973:
|
|
Page 949 |
041483,000975: # NAME - P51 - IMU ORIENTATION DETERMINATION
041484,000976: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
041485,000977: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041486,000978:
041487,000979: # FUNCTIONAL DESCRIPTION
041488,000980: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041489,000981: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
041490,000982: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041491,000983: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041492,000984:
041493,000985: # CALLING SEQUENCE
041494,000986: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041495,000987:
041496,000988: # SUBROUTINES CALLED.
041497,000989: # GOPERF3
041498,000990: # GOPERF1
041499,000991: # GODSPR
041500,000992: # IMUCOARS
041501,000993: # IMUFIN20
041502,000994: # AOTMARK (R53)
041503,000995: # CHKSDATA (R54)
041504,000996: # MKRELEAS
041505,000997: # AXISGEN
041506,000998: # MATMOVE
041507,000999:
041508,001000: # ALARMS
041509,001001: # NONE.
041510,001002:
041511,001003: # ERASABLE INITIALIZATION
041512,001004: # IMU ZERO FLAG SHOULD BE SET.
041513,001005:
041514,001006: # OUTPUT
041515,001007: # REFSMMAT
041516,001008: # REFSMFLG
041517,001009:
041518,001010: # DEBRIS
041519,001011: # WORK AREA
041520,001012: # STARAD
041521,001013: # STARIND
041522,001014: # BESTI
041523,001015: # BESTJ
041524,001016:
041525,001017: 14,3427 COUNT* $$/P51
|
|
Page 950 |
041527,001019: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041528,001020: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041529,001021:
041530,001022: 14,3431 34761 CAF OCT15
041531,001023: 14,3432 04616 TC BANKCALL
041532,001024: 14,3433 20623 CADR GOPERF1
041533,001025: 14,3434 06001 TC GOTOPOOH # TERM.
041534,001026: 14,3435 13461 TCF P51B # V33
041535,001027: 14,3436 05353 TC PHASCHNG
041536,001028: 14,3437 04024 OCT 04024
041537,001029:
041538,001030: 14,3440 34755 CAF ZERO
041539,001031: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
041540,001032: 14,3442 54322 TS THETAD +1
041541,001033: 14,3443 54323 TS THETAD +2
041542,001034: 14,3444 35010 CAF V06N22
041543,001035: 14,3445 04616 TC BANKCALL
041544,001036: 14,3446 20446 CADR GODSPRET
041545,001037: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041546,001038: 14,3450 04616 TC BANKCALL
041547,001039: 14,3451 20446 CADR GODSPRET
041548,001040: 14,3452 06037 TC INTPRET
041549,001041: 14,3453 77624 CALL
041550,001042: 14,3454 31565 COARSE
041551,001043: 14,3455 77776 EXIT
041552,001044: 14,3456 05353 TC PHASCHNG
041553,001045: 14,3457 04024 OCT 04024
041554,001046: 14,3460 13431 TCF P51 +2
041555,001047:
041556,001048: 14,3461 05353 P51B TC PHASCHNG
041557,001049: 14,3462 00014 OCT 00014
041558,001050: 14,3463 06037 TC INTPRET
041559,001051: 14,3464 77624 CALL
041560,001052: 14,3465 31602 NCOARSE
041561,001053: 14,3466 40331 SSP SETPD
041562,001054: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
041563,001055: 14,3470 00000 0
041564,001056: 14,3471 00001 0
041565,001057: 14,3472 77776 P51C EXIT
041566,001058: 14,3473 05353 TC PHASCHNG
041567,001059: 14,3474 04024 OCT 04024
041568,001060:
041569,001061: 14,3475 04616 TC BANKCALL
041570,001062: 14,3476 16000 CADR AOTMARK # R53
041571,001063: 14,3477 04616 TC BANKCALL
041572,001064: 14,3500 17712 CADR AOTSTALL
041573,001065: 14,3501 05711 TC CURTAINS
041574,001066: 14,3502 11757 CCS STARIND
041575,001067: 14,3503 13511 TCF P51D +1
041576,001068: 14,3504 06037 TC INTPRET
|
|
Page 951 |
041578,001070: 14,3505 77775 VLOAD
041579,001071: 14,3506 02715 STARAD +6
041580,001072: 14,3507 02761 STORE STARSAV1
041581,001073: 14,3510 77776 P51D EXIT
041582,001074: 14,3511 05353 TC PHASCHNG
041583,001075: 14,3512 04024 OCT 04024
041584,001076:
041585,001077: 14,3513 11757 CCS STARIND
041586,001078: 14,3514 13530 TCF P51E
041587,001079: 14,3515 05353 TC PHASCHNG
041588,001080: 14,3516 04024 OCT 04024
041589,001081:
041590,001082: 14,3517 06037 TC INTPRET
041591,001083: 14,3520 45145 DLOAD CALL
041592,001084: 14,3521 03562 TSIGHT
041593,001085: 14,3522 32472 PLANET
041594,001086: 14,3523 03554 STORE PLANVEC
041595,001087: 14,3524 77776 EXIT
041596,001088: 14,3525 34753 CAF BIT1
041597,001089: 14,3526 55757 TS STARIND
041598,001090: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
041599,001091: 14,3530 05353 P51E TC PHASCHNG
041600,001092: 14,3531 04024 OCT 04024
041601,001093:
041602,001094: 14,3532 06037 TC INTPRET
041603,001095: 14,3533 45145 DLOAD CALL
041604,001096: 14,3534 03562 TSIGHT
041605,001097: 14,3535 32472 PLANET
041606,001098: 14,3536 24015 STOVL 12D
041607,001099: 14,3537 03554 PLANVEC
041608,001100: 14,3540 24007 STOVL 6D
041609,001101: 14,3541 02761 STARSAV1
041610,001102: 14,3542 26707 STOVL STARAD
041611,001103: 14,3543 02767 STARSAV2
041612,001104: 14,3544 36715 STCALL STARAD +6
041613,001105: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041614,001106: 14,3546 77414 BON EXIT
041615,001107: 14,3547 00314 FREEFLAG
041616,001108: 14,3550 31552 P51G
041617,001109: 14,3551 03431 TC P51 +2
041618,001110: 14,3552 77624 P51G CALL
041619,001111: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041620,001112: 14,3554 75160 AXC,1 AXC,2
041621,001113: 14,3555 02664 XDC
041622,001114: 14,3556 01733 REFSMMAT
041623,001115: 14,3557 77624 CALL
041624,001116: 14,3560 31377 MATMOVE
041625,001117: 14,3561 77414 SET EXIT
041626,001118: 14,3562 01462 REFSMFLG
041627,001119: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952 |
041629,001121: 14,3564 12200 V41K VN 4100
041630,001122: 14,3565 77776 COARSE EXIT
041631,001123: 14,3566 04616 TC BANKCALL
041632,001124: 14,3567 17000 CADR IMUCOARS
041633,001125: 14,3570 04616 TC BANKCALL
041634,001126: 14,3571 17716 CADR IMUSTALL
041635,001127: 14,3572 05711 TC CURTAINS
041636,001128: 14,3573 04616 TC BANKCALL
041637,001129: 14,3574 17210 CADR IMUFINE
041638,001130: 14,3575 04616 TC BANKCALL
041639,001131: 14,3576 17716 CADR IMUSTALL
041640,001132: 14,3577 05711 TC CURTAINS
041641,001133: 14,3600 06037 TC INTPRET
041642,001134: 14,3601 77616 RVQ
041643,001135: 14,3602 77776 NCOARSE EXIT
041644,001136: 14,3603 30025 CA TIME1
041645,001137: 14,3604 55075 TS 1/PIPADT
041646,001138: 14,3605 44755 CS ZERO
041647,001139: 14,3606 54037 TS PIPAX
041648,001140: 14,3607 54040 TS PIPAY
041649,001141: 14,3610 54041 TS PIPAZ
041650,001142: 14,3611 06037 TC INTPRET
041651,001143: 14,3612 77775 VLOAD
041652,001144: 14,3613 24007 ZEROVEC
041653,001145: 14,3614 01472 STORE GCOMP
041654,001146: 14,3615 43414 SET RVQ
041655,001147: 14,3616 01060 DRIFTFLG
041656,001148:
|
|
Page 953 |
041658,001150: # NAME - S52.2
041659,001151: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041660,001152: # CALL - CALL S52.2
041661,001153: # INPUT - X,Y,ZSMD
041662,001154: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
041663,001155: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
041664,001156:
041665,001157: 14,3617 COUNT* $$/S52.1
041666,001158: 14,3617 45020 S52.2 STQ CALL
041667,001159: 14,3620 02746 QMAJ
041668,001160: 14,3621 47537 CDUTRIG
041669,001161: 14,3622 77624 CALL
041670,001162: 14,3623 20030 CALCSMSC
041671,001163: 14,3624 66370 AXT,1 SSP
041672,001164: 14,3625 00022 18D
041673,001165: 14,3626 00051 S1
041674,001166: 14,3627 00006 6D
041675,001167: 14,3630 61373 S52.2A VLOAD* VXM
041676,001168: 14,3631 02707 XNB +18D,1
041677,001169: 14,3632 01734 REFSMMAT
041678,001170: 14,3633 77656 UNIT
041679,001171: 14,3634 06707 STORE XNB +18D,1
041680,001172: 14,3635 77700 TIX,1
041681,001173: 14,3636 31630 S52.2A
041682,001174: 14,3637 75160 S52.2.1 AXC,1 AXC,2
041683,001175: 14,3640 03606 XSMD
041684,001176: 14,3641 02642 XSM
041685,001177: 14,3642 77624 CALL
041686,001178: 14,3643 31377 MATMOVE
041687,001179: 14,3644 77624 CALL
041688,001180: 14,3645 47353 CALCGA
041689,001181: 14,3646 77650 GOTO
041690,001182: 14,3647 02746 QMAJ
041691,001183:
|
|
Page 954 |
041693,001185: # NAME - S52.3
041694,001186: # FUNCTION XSMD= UNIT R
041695,001187: # YSMD= UNIT(V X R)
041696,001188: # ZSMD= UNIT(XSMD X YSMD)
041697,001189: # CALL DLOAD CALL
041698,001190: # TALIGN
041699,001191: # S52.3
041700,001192: # INPUT - TIME OF ALIGNMENT IN MPAC
041701,001193: # OUTPUT - X,Y,ZSMD
041702,001194: # SUBROUTINES - CSMCONIC
041703,001195:
041704,001196: 14,3650 COUNT* $$/S52.3
041705,001197: 14,3650 77620 S52.3 STQ
041706,001198: 14,3651 02746 QMAJ
041707,001199: 14,3652 34041 STCALL TDEC1
041708,001200: 14,3653 27100 LEMCONIC
041709,001201: 14,3654 53575 VLOAD UNIT
041710,001202: 14,3655 00001 RATT
041711,001203: 14,3656 27607 STOVL XSMD
041712,001204: 14,3657 00007 VATT
041713,001205: 14,3660 53435 VXV UNIT
041714,001206: 14,3661 00001 RATT
041715,001207: 14,3662 27615 STOVL YSMD
041716,001208: 14,3663 03607 XSMD
041717,001209: 14,3664 53435 VXV UNIT
041718,001210: 14,3665 03615 YSMD
041719,001211: 14,3666 37623 STCALL ZSMD
041720,001212: 14,3667 02746 QMAJ
041721,001213:
|
|
Page 955 |
041723,001215: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041724,001216:
041725,001217: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041726,001218: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041727,001219:
041728,001220: # CALLING - CALL R52
041729,001221:
041730,001222: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
041731,001223:
041732,001224: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
041733,001225: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041734,001226: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041735,001227: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041736,001228:
041737,001229: # SUBROUT - R60LEM
041738,001230:
041739,001231: 14,3670 COUNT* $$/R52
041740,001232: 14,3670 77420 R52 STQ EXIT
041741,001233: 14,3671 03665 SAVQR52
041742,001234: 14,3672 51757 INDEX STARIND
041743,001235: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041744,001236: 14,3674 00006 EXTEND
041745,001237: 14,3675 73771 MP 1/6TH
041746,001238: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
041747,001239: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
041748,001240:
041749,001241: 14,3700 33772 R52A CAF V01N70
041750,001242: 14,3701 04616 TC BANKCALL
041751,001243: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041752,001244: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
041753,001245: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
041754,001246: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
041755,001247:
041756,001248: 14,3706 05516 R52B TC DOWNFLAG
041757,001249: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041758,001250: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
041759,001251: 14,3711 77744 MASK HIGH9
041760,001252: 14,3712 00006 EXTEND
041761,001253: 14,3713 74743 MP BIT9
041762,001254: 14,3714 54001 TS L # TEMP STORE DETENT
041763,001255:
041764,001256: 14,3715 00006 EXTEND
041765,001257: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041766,001258:
041767,001259: 14,3717 65660 AD NEG7
041768,001260: 14,3720 00006 EXTEND
041769,001261: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
041770,001262:
041771,001263: 14,3722 E7,1551 EBANK= XYMARK
041772,001264: 14,3722 35016 CA EBANK7
041773,001265: 14,3723 54003 TS EBANK
|
|
Page 956 |
041775,001267: 14,3724 50001 INDEX L
041776,001268: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041777,001269: 14,3726 54001 TS L
041778,001270: 14,3727 E5,1642 EBANK= XSM
041779,001271: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041780,001272: 14,3730 54003 TS EBANK
041781,001273: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
041782,001274: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041783,001275: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
041784,001276:
041785,001277: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041786,001278: 14,3735 04616 TC BANKCALL
041787,001279: 14,3736 20476 CADR GOFLASH
041788,001280: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
041789,001281: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
041790,001282: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
041791,001283:
041792,001284: 14,3742 00006 EXTEND
041793,001285: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041794,001286: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041795,001287: 14,3745 52011 DXCH 8D
041796,001288: 14,3746 06037 TC INTPRET
041797,001289: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041798,001290: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041799,001291: 14,3751 45034 RTB CALL
041800,001292: 14,3752 21573 LOADTIME
041801,001293: 14,3753 32472 PLANET
041802,001294: 14,3754 53521 MXV UNIT
041803,001295: 14,3755 01734 REFSMMAT
041804,001296: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041805,001297:
041806,001298: 14,3757 77776 EXIT
041807,001299: 14,3760 04616 TC BANKCALL
041808,001300: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041809,001301:
041810,001302: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041811,001303: 14,3763 70735 MASK STARCODE
041812,001304: 14,3764 00006 EXTEND
041813,001305: 14,3765 13700 BZF R52A
041814,001306:
041815,001307: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041816,001308: 14,3767 77650 GOTO
041817,001309: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041818,001310:
041819,001311: 14,3771 05253 1/6TH DEC .1666667
041820,001312: 14,3772 00306 V01N70 VN 0170
041821,001313: 14,3773 01527 V06N87 VN 687
041822,001314:
|
|
Page 957 |
041824,001316: # LUNAR SURFACE STAR AQUISITION
041825,001317:
041826,001318: 15,2245 BANK 15
041827,001319: 15,2000 SETLOC P50S
041828,001320: 15,2000 BANK
041829,001321: 15,2245 COUNT* $$/R59
041830,001322:
041831,001323: 15,2245 40077 R59 CS FLAGWRD3
041832,001324: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041833,001325: 15,2247 10000 CCS A
041834,001326: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041835,001327:
041836,001328: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041837,001329: 15,2252 04616 TC BANKCALL
041838,001330: 15,2253 20476 CADR GOFLASH
041839,001331: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041840,001332: 15,2255 12257 TCF R59A # V33 - PROCEED
041841,001333: 15,2256 12245 TCF R59 # V32 - RECYCLE
041842,001334:
041843,001335: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041844,001336: 15,2260 70735 MASK AOTCODE
041845,001337: 15,2261 00006 EXTEND
041846,001338: 15,2262 76242 MP REVCNT # JUST 6
041847,001339: 15,2263 56001 XCH L
041848,001340: 15,2264 51757 INDEX STARIND
041849,001341: 15,2265 55755 TS BESTI
041850,001342: 15,2266 50120 INDEX FIXLOC
041851,001343: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041852,001344: 15,2270 00006 EXTEND
041853,001345: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041854,001346: 15,2272 40000 COM
041855,001347: 15,2273 62561 AD DEC227
041856,001348: 15,2274 00006 EXTEND
041857,001349: 15,2275 62455 BZMF R59OUT
041858,001350:
041859,001351: 15,2276 06037 TC INTPRET
041860,001352: 15,2277 64373 VLOAD* MXV
041861,001353: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041862,001354: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041863,001355: 15,2302 45056 UNIT CALL
041864,001356: 15,2303 47646 CDU*SMNB
041865,001357: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041866,001358: 15,2305 77776 EXIT
041867,001359:
041868,001360: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041869,001361: 15,2307 55242 TS POSCODE
041870,001362:
041871,001363: 15,2310 E7,1551 EBANK= XYMARK
041872,001364: 15,2310 35016 INCAZ CA EBANK7
041873,001365: 15,2311 54003 TS EBANK
041874,001366:
|
|
Page 958 |
041876,001368: 15,2312 51242 INDEX POSCODE
041877,001369: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041878,001370: 15,2314 54001 TS L
041879,001371:
041880,001372: 15,2315 E5,1642 EBANK= XSM
041881,001373: 15,2315 35014 CA EBANK5
041882,001374: 15,2316 54003 TS EBANK
041883,001375:
041884,001376: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041885,001377: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041886,001378: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041887,001379: 15,2322 50120 INDEX FIXLOC
041888,001380: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041889,001381:
041890,001382: 15,2324 06037 TC INTPRET
041891,001383: 15,2325 77624 CALL
041892,001384: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041893,001385: 15,2327 50375 VLOAD DOT
041894,001386: 15,2330 02731 STAR # DOT STAR WITH OA
041895,001387: 15,2331 03765 SCAXIS
041896,001388: 15,2332 65552 SL1 ARCCOS
041897,001389: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041898,001390:
041899,001391: 15,2334 51025 DSU BPL
041900,001392: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041901,001393: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041902,001394: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041903,001395: 15,2340 00031 24D
041904,001396: 15,2341 32470 DEG.5
041905,001397: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041906,001398: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041907,001399: 15,2344 00031 24D # GET SPIRAL
041908,001400: 15,2345 42405 DMP SL4
041909,001401: 15,2346 25764 3/4 # 12 SCALED AT 16
041910,001402: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041911,001403:
041912,001404: 15,2350 03765 SCAXIS # OA
041913,001405: 15,2351 53435 VXV UNIT
041914,001406: 15,2352 24005 XUNIT
041915,001407: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041916,001408: 15,2354 03765 SCAXIS
041917,001409: 15,2355 77676 VCOMP
041918,001410: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041919,001411: 15,2357 03765 SCAXIS
041920,001412: 15,2360 53435 VXV UNIT
041921,001413: 15,2361 02731 STAR
041922,001414: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041923,001415: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041924,001416: 15,2364 65552 SL1 ARCCOS
041925,001417: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
|
|
Page 959 |
041927,001419: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041928,001420: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041929,001421: 15,2370 32375 R59D
041930,001422: 15,2371 32047 ABOUTONE
041931,001423: 15,2372 77625 DSU
041932,001424: 15,2373 00033 26D
041933,001425: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041934,001426:
041935,001427: 15,2375 70535 R59D SLOAD SR1
041936,001428: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041937,001429: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041938,001430: 15,2400 00033 26D
041939,001431: 15,2401 77634 RTB
041940,001432: 15,2402 21614 1STO2S
041941,001433: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041942,001434: 15,2404 00031 24D # LOAD SROT IN REVS
041943,001435: 15,2405 77615 DAD # 12(SEP) + YROT
041944,001436: 15,2406 77634 RTB
041945,001437: 15,2407 21614 1STO2S
041946,001438: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041947,001439: 15,2411 77776 EXIT
041948,001440: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041949,001441:
041950,001442: 15,2413 77776 ZSPCR EXIT
041951,001443: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041952,001444: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041953,001445: 15,2416 55240 TS SPIRAL
041954,001446: 15,2417 12437 TCF 79DISP
041955,001447:
041956,001448: 15,2420 77776 NXAX EXIT
041957,001449: 15,2421 25242 INCR POSCODE
041958,001450: 15,2422 41242 CS POSCODE
041959,001451: 15,2423 64757 AD SEVEN
041960,001452: 15,2424 00006 EXTEND
041961,001453: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041962,001454: 15,2426 12310 TCF INCAZ
041963,001455:
041964,001456: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041965,001457: 15,2430 00404 OCT 404
041966,001458: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041967,001459: 15,2432 04616 TC BANKCALL
041968,001460: 15,2433 20476 CADR GOFLASH
041969,001461: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041970,001462: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041971,001463: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041972,001464:
041973,001465: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041974,001466: 15,2440 04616 TC BANKCALL
041975,001467: 15,2441 20476 CADR GOFLASH
041976,001468: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
|
|
Page 960 |
041978,001470: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041979,001471: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041980,001472:
041981,001473: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041982,001474: 15,2446 71242 MASK POSCODE
041983,001475: 15,2447 00006 EXTEND
041984,001476: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041985,001477: 15,2451 47744 CS HIGH9
041986,001478: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041987,001479: 15,2453 60001 AD L
041988,001480: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041989,001481:
041990,001482: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041991,001483: 15,2456 16000 CADR AOTMARK
041992,001484: 15,2457 04616 TC BANKCALL
041993,001485: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041994,001486: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041995,001487: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041996,001488:
041997,001489: 15,2463 00306 V01N70* VN 170
041998,001490: 15,2464 01517 V06N79 VN 679
041999,001491: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042000,001492: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042001,001493: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042002,001494: 15,2472 1236 CURSOR EQUALS GDT/2
042003,001495: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
042004,001496: 15,2472 1242 POSCODE EQUALS GDT/2 +4
042005,001497:
|
|
Page 961 |
042007,001499: # NAME - PLANET
042008,001500: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042009,001501: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
042010,001502: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
042011,001503: # BY DSDY INPUT
042012,001504: # CALL - CALL
042013,001505: # PLANET
042014,001506: # INPUT - TIME IN MPAC
042015,001507: # OUTPUT - VECTOR IN MPAC
042016,001508: # SUBROUTINES - LOCSAM
042017,001509: # DEBRIS - VAC, STARAD - STARAD +17
042018,001510:
042019,001511: 15,2000 SETLOC P50S
042020,001512: 15,2000 BANK
042021,001513: 15,2472 COUNT* $$/P51
042022,001514:
042023,001515: 15,2472 27562 PLANET STOVL TSIGHT
042024,001516: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
042025,001517: 15,2474 02707 STORE STARAD
042026,001518: 15,2475 77420 STQ EXIT
042027,001519: 15,2476 02736 GCTR
042028,001520: 15,2477 47744 CS HIGH9
042029,001521: 15,2500 70735 MASK AOTCODE
042030,001522: 15,2501 00006 EXTEND
042031,001523: 15,2502 76242 MP REVCNT
042032,001524: 15,2503 56001 XCH L
042033,001525: 15,2504 51757 INDEX STARIND
042034,001526: 15,2505 55755 TS BESTI
042035,001527: 15,2506 10000 CCS A
042036,001528: 15,2507 12523 TCF NOTPLAN
042037,001529: 15,2510 32562 CAF VNPLANV
042038,001530: 15,2511 04616 TC BANKCALL
042039,001531: 15,2512 20476 CADR GOFLASH
042040,001532: 15,2513 02510 TC -3
042041,001533: 15,2514 02516 TC +2
042042,001534: 15,2515 02510 TC -5
042043,001535: 15,2516 06037 TC INTPRET
042044,001536: 15,2517 53575 VLOAD UNIT
042045,001537: 15,2520 02707 STARAD
042046,001538: 15,2521 77650 GOTO
042047,001539: 15,2522 02736 GCTR
042048,001540: 15,2523 40000 NOTPLAN CS A
042049,001541: 15,2524 62561 AD DEC227
042050,001542: 15,2525 00006 EXTEND
042051,001543: 15,2526 62537 BZMF CALSAM1
042052,001544: 15,2527 51757 INDEX STARIND
042053,001545: 15,2530 31755 CA BESTI
042054,001546: 15,2531 50120 INDEX FIXLOC
042055,001547: 15,2532 54046 TS X1
042056,001548: 15,2533 06037 TC INTPRET
|
|
Page 962 |
042058,001550: 15,2534 52173 VLOAD* GOTO
042059,001551: 15,2535 30347 CATLOG,1
042060,001552: 15,2536 02736 GCTR
042061,001553: 15,2537 06037 CALSAM1 TC INTPRET
042062,001554: 15,2540 45145 CALSAM DLOAD CALL
042063,001555: 15,2541 03562 TSIGHT
042064,001556: 15,2542 30506 LOCSAM
042065,001557: 15,2543 77340 LXC,1 VLOAD
042066,001558: 15,2544 02757 STARIND
042067,001559: 15,2545 02707 VEARTH
042068,001560: 15,2546 24001 STOVL 0D
042069,001561: 15,2547 02715 VSUN
042070,001562: 15,2550 26707 STOVL VEARTH
042071,001563: 15,2551 00001 0D
042072,001564: 15,2552 02715 STORE VSUN
042073,001565: 15,2553 70143 DLOAD* LXC,1
042074,001566: 15,2554 02756 BESTI,1
042075,001567: 15,2555 00154 MPAC
042076,001568: 15,2556 52173 VLOAD* GOTO
042077,001569: 15,2557 02343 STARAD -228D,1
042078,001570: 15,2560 02736 GCTR
042079,001571: 15,2561 00343 DEC227 DEC 227 B-14
042080,001572: 15,2562 01530 VNPLANV VN 0688
042081,001573: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042082,001574:
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|
Page 963 |
042084,001576: # GRAVITY VECTOR DETERMINATION ROUTINE
042085,001577: # BY KEN VINCENT
042086,001578:
042087,001579: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042088,001580:
042089,001581: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042090,001582: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042091,001583: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042092,001584: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042093,001585: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042094,001586: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042095,001587: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042096,001588: # READINGS.
042097,001589:
042098,001590: # CALL -
042099,001591: # TC BANKCALL
042100,001592: # CADR GVDETER
042101,001593:
042102,001594: # INPUTS -
042103,001595: # PIPAS, CDUS
042104,001596:
042105,001597: # OUTPUTS -
042106,001598: # STARSAV1 = UNIT GRAVITY
042107,001599: # GSAV = DITTO
042108,001600: # GRAVBIT = 1
042109,001601:
042110,001602: # SUBROUTINES -
042111,001603: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
042112,001604: # *NBSM*, *SNMB*, CALCGA, FOFLASH
042113,001605:
042114,001606: # DEBRIS -
042115,001607: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
042116,001608:
042117,001609: 15,2563 32772 GVDETER CAF 42DEG
042118,001610: 15,2564 54321 TS THETAD
042119,001611: 15,2565 40000 COM
042120,001612: 15,2566 54322 TS THETAD +1
042121,001613: 15,2567 32773 CAF 35DEG
042122,001614: 15,2570 54323 TS THETAD +2
042123,001615: 15,2571 06037 TC INTPRET
042124,001616: 15,2572 45014 CLEAR CALL
042125,001617: 15,2573 01662 REFSMFLG
042126,001618: 15,2574 32670 LUNG
042127,001619:
042128,001620: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
042129,001621:
042130,001622: # DEFINE G COOR SYS
042131,001623: # -
042132,001624: # X UNIT G
042133,001625: # * - -
042134,001626: # M = Y = UNITEZSM * X )
042135,001627: # - - -
042136,001628: # Z UNIT(X * Y )
042137,001629:
042138,001630: # THEN ROTATED SM WRT PRESENT IS
042139,001631:
042140,001632: # 1, 0, 0
042141,001633: # * *T * * *
|
|
Page 964 |
042143,001635: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
042144,001636: # I J
042145,001637: # 0, 0, -1
042146,001638:
042147,001639: # ALSO NB WRT PRES SM IS
042148,001640:
042149,001641: # * * *
042150,001642: # XNB = NBSM I
042151,001643: # * *
042152,001644: # GIMBAL ANGLES = CALCGA( XSM, XNB )
042153,001645:
042154,001646: 15,2000 SETLOC P50S
042155,001647: 15,2000 BANK
042156,001648: 15,2575 COUNT* $$/P57
042157,001649: 15,2575 66370 AXT,1 SSP # X1=18
042158,001650: 15,2576 00022 18D # S1=6
042159,001651: 15,2577 00051 S1 # X2, -2
042160,001652: 15,2600 00006 6D
042161,001653: 15,2601 77744 LXC,2
042162,001654: 15,2602 00050 S1
042163,001655: 15,2603 45173 GRAVEL VLOAD* CALL
042164,001656: 15,2604 54000 XUNIT -6,2
042165,001657: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
042166,001658: 15,2606 06707 STORE XNB +18D,1
042167,001659: 15,2607 77775 VLOAD
042168,001660: 15,2610 02731 STAR
042169,001661: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
042170,001662: 15,2612 00047 X2
042171,001663: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
042172,001664: 15,2614 71152 VSL2 LXC,2
042173,001665: 15,2615 00047 X2
042174,001666: 15,2616 63047 VSU* INCR,2
042175,001667: 15,2617 54000 XUNIT -6,2
042176,001668: 15,2620 00002 2D
042177,001669: 15,2621 06665 STORE XSM +18D,1
042178,001670: 15,2622 45100 TIX,1 CALL
042179,001671: 15,2623 32603 GRAVEL
042180,001672: 15,2624 47353 CALCGA
042181,001673: 15,2625 74575 VLOAD VSR1
042182,001674: 15,2626 02715 GOUT
042183,001675: 15,2627 36723 STCALL STARAD +12D
042184,001676: 15,2630 32670 LUNG
042185,001677: 15,2631 74575 VLOAD VSR1
042186,001678: 15,2632 02715 GOUT
042187,001679: 15,2633 53455 VAD UNIT
042188,001680: 15,2634 02723 STARAD +12D
042189,001681: 15,2635 02761 STORE STARSAV1
042190,001682: 15,2636 77641 DOT
042191,001683: 15,2637 02231 GSAV
042192,001684: 15,2640 65552 SL1 ACOS
|
|
Page 965 |
042194,001686: 15,2641 01046 STORE DSPTEM1
042195,001687: 15,2642 77776 EXIT
042196,001688: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042197,001689: 15,2644 00014 ADRES FREEFLAG
042198,001690:
042199,001691: 15,2645 32771 CA DISGRVER
042200,001692: 15,2646 04616 TC BANKCALL
042201,001693: 15,2647 20476 CADR GOFLASH
042202,001694: 15,2650 06001 TC GOTOPOOH
042203,001695: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
042204,001696: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
042205,001697: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042206,001698:
042207,001699: 15,2654 05353 PROGRAV TC PHASCHNG
042208,001700: 15,2655 04024 OCT 04024
042209,001701:
042210,001702: 15,2656 06037 TC INTPRET
042211,001703: 15,2657 77775 VLOAD
042212,001704: 15,2660 02761 STARSAV1
042213,001705: 15,2661 02231 STORE GSAV
042214,001706: 15,2662 77776 EXIT
042215,001707: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042216,001708: 15,2664 70074 MASK FLAGWRD0
042217,001709: 15,2665 10000 CCS A
042218,001710: 15,2666 12563 TCF GVDETER # SET
042219,001711: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
042220,001712:
042221,001713: 15,2670 77220 LUNG STQ VLOAD
042222,001714: 15,2671 02745 QMIN
042223,001715: 15,2672 24007 ZEROVEC
042224,001716: 15,2673 02707 STORE GACC
042225,001717: 15,2674 77776 EXIT
042226,001718: 15,2675 05353 TC PHASCHNG
042227,001719: 15,2676 04024 OCT 04024
042228,001720:
042229,001721: 15,2677 04616 TC BANKCALL
042230,001722: 15,2700 17000 CADR IMUCOARS
042231,001723: 15,2701 04616 TC BANKCALL
042232,001724: 15,2702 17716 CADR IMUSTALL
042233,001725: 15,2703 05711 TC CURTAINS
042234,001726: 15,2704 04616 TC BANKCALL
042235,001727: 15,2705 17210 CADR IMUFINE
042236,001728: 15,2706 04616 TC BANKCALL
042237,001729: 15,2707 17716 CADR IMUSTALL
042238,001730: 15,2710 05711 TC CURTAINS
042239,001731: 15,2711 32770 CA T/2SEC
042240,001732: 15,2712 55736 TS GCTR
042241,001733: 15,2713 37716 CA PRIO31
042242,001734: 15,2714 55075 TS 1/PIPADT
042243,001735: 15,2715 04616 TC BANKCALL
|
|
Page 966 |
042245,001737: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
042246,001738: 15,2717 05353 TC PHASCHNG
042247,001739: 15,2720 04024 OCT 04024
042248,001740:
042249,001741: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042250,001742: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042251,001743: 15,2723 06037 TC INTPRET
042252,001744: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042253,001745: 15,2725 35000 CAF 2SECS
042254,001746: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042255,001747: 15,2727 02731 ADRES GRABGRAV
042256,001748:
042257,001749: 15,2730 05155 TC ENDOFJOB
042258,001750:
042259,001751: 15,2731 04674 GRABGRAV TC IBNKCALL
042260,001752: 15,2732 77544 CADR PIPSRINE
042261,001753: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042262,001754: 15,2734 05105 TC FINDVAC
042263,001755: 15,2735 E5,1706 EBANK= STARAD
042264,001756: 15,2735 02740 32065 2CADR ADDGRAV
042265,001757:
042266,001758: 15,2737 05261 TC TASKOVER
042267,001759:
042268,001760: 15,2740 04616 ADDGRAV TC BANKCALL
042269,001761: 15,2741 15263 CADR 1/PIPA
042270,001762: 15,2742 25736 INCR GCTR
042271,001763: 15,2743 06037 TC INTPRET
042272,001764: 15,2744 53375 VLOAD VAD
042273,001765: 15,2745 00325 DELV
042274,001766: 15,2746 02707 GACC
042275,001767: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
042276,001768: 15,2750 50135 SLOAD BMN
042277,001769: 15,2751 02737 GCTR
042278,001770: 15,2752 32724 GREED
042279,001771: 15,2753 53575 VLOAD UNIT
042280,001772: 15,2754 02707 GACC
042281,001773: 15,2755 36731 STCALL STAR
042282,001774: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042283,001775: 15,2757 77624 CALL # IN OUTPUT
042284,001776: 15,2760 47671 *SMNB*
042285,001777: 15,2761 02715 STORE GOUT
042286,001778: 15,2762 77776 EXIT
042287,001779: 15,2763 05353 TC PHASCHNG
042288,001780: 15,2764 04024 OCT 04024
042289,001781:
042290,001782: 15,2765 06037 QMINEXIT TC INTPRET
042291,001783: 15,2766 77650 GOTO
042292,001784: 15,2767 02745 QMIN
042293,001785: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967 |
042295,001787: 15,2771 01404 DISGRVER VN 0604
042296,001788: 15,2772 07357 42DEG OCT 07357
042297,001789: 15,2773 06211 35DEG OCT 06211
042298,001790:
|
|
Page 968 |
042300,001792: # NAME GYROTRIM
042301,001793:
042302,001794: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042303,001795: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042304,001796: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042305,001797:
042306,001798: # CALL CALL
042307,001799: # GYROTRIM
042308,001800:
042309,001801: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042310,001802: # CDUX,CDUY,CDUZ
042311,001803:
042312,001804: # OUTPUT - GYRO TORQUE PULSES
042313,001805:
042314,001806: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
042315,001807: # IMPULSE, IMUSTALL
042316,001808: # - - - * * -
042317,001809: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
042318,001810:
042319,001811: 15,2774 COUNT* $$/P57
042320,001812: 15,2774 71220 GYROTRIM STQ DLOAD
042321,001813: 15,2775 02745 QMIN
042322,001814: 15,2776 00322 THETAD
042323,001815: 15,2777 65325 PDDL PDDL
042324,001816: 15,3000 00324 THETAD +2
042325,001817: 15,3001 00323 THETAD +1
042326,001818: 15,3002 77666 VDEF
042327,001819: 15,3003 24767 STOVL CDUSPOT
042328,001820: 15,3004 24005 XUNIT
042329,001821: 15,3005 77624 CALL
042330,001822: 15,3006 47664 TRG*NBSM
042331,001823: 15,3007 26707 STOVL STARAD
042332,001824: 15,3010 24003 YUNIT
042333,001825: 15,3011 77624 CALL
042334,001826: 15,3012 47673 *NBSM*
042335,001827: 15,3013 36715 STCALL STARAD +6
042336,001828: 15,3014 47537 CDUTRIG
042337,001829: 15,3015 77624 CALL
042338,001830: 15,3016 20030 CALCSMSC
042339,001831: 15,3017 77775 VLOAD
042340,001832: 15,3020 02665 XNB
042341,001833: 15,3021 24007 STOVL 6D
042342,001834: 15,3022 02673 YNB
042343,001835: 15,3023 34015 STCALL 12D
042344,001836: 15,3024 47441 AXISGEN
042345,001837: 15,3025 77624 CALL
042346,001838: 15,3026 47247 CALCGTA
042347,001839: 15,3027 77776 JUSTTRIM EXIT
042348,001840: 15,3030 04616 TC BANKCALL
042349,001841: 15,3031 17210 CADR IMUFINE
042350,001842: 15,3032 04616 TC BANKCALL
|
|
Page 969 |
042352,001844: 15,3033 17716 CADR IMUSTALL
042353,001845: 15,3034 05711 TC CURTAINS
042354,001846: 15,3035 33044 CA GYRCDR
042355,001847: 15,3036 04616 TC BANKCALL
042356,001848: 15,3037 17323 CADR IMUPULSE
042357,001849: 15,3040 04616 TC BANKCALL
042358,001850: 15,3041 17716 CADR IMUSTALL
042359,001851: 15,3042 05711 TC CURTAINS
042360,001852: 15,3043 12765 TCF QMINEXIT
042361,001853:
042362,001854: 15,3044 02737 GYRCDR ECADR OGC
042363,001855:
|
|
Page 970 |
042365,001857: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042366,001858:
042367,001859: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
042368,001860: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042369,001861: 15,3047 34753 1STAR CAF BIT1
042370,001862: 15,3050 55757 TS STARIND
042371,001863:
042372,001864: 15,3051 05353 TC PHASCHNG
042373,001865: 15,3052 04024 OCT 04024
042374,001866:
042375,001867: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042376,001868:
042377,001869: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042378,001870: 15,3055 00006 EXTEND
042379,001871: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
042380,001872:
042381,001873: 15,3057 05353 TC PHASCHNG
042382,001874: 15,3060 04024 OCT 04024
042383,001875:
042384,001876: 15,3061 06037 TC INTPRET
042385,001877: 15,3062 45145 DLOAD CALL
042386,001878: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
042387,001879: 15,3064 32472 PLANET
042388,001880: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042389,001881: 15,3066 33101 SURFLINE
042390,001882:
042391,001883: 15,3067 06037 ASTAR TC INTPRET
042392,001884: 15,3070 77775 VLOAD
042393,001885: 15,3071 02715 STARAD +6
042394,001886: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042395,001887: 15,3073 45145 DLOAD CALL
042396,001888: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
042397,001889: 15,3075 32472 PLANET
042398,001890: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042399,001891: 15,3077 77776 EXIT
042400,001892: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
042401,001893:
|
|
Page 971 |
042403,001895: # DO FINE OR COARSE ALIGNMENT OF IMU
042404,001896:
042405,001897: 15,3101 77131 SURFLINE SSP AXT,2
042406,001898: 15,3102 00052 S2
042407,001899: 15,3103 00006 6
042408,001900: 15,3104 00014 12D
042409,001901: 15,3105 64373 WRTDESIR VLOAD* MXV
042410,001902: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042411,001903: 15,3107 03607 XSMD
042412,001904: 15,3110 77656 UNIT
042413,001905: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
042414,001906: 15,3112 77773 VLOAD*
042415,001907: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042416,001908: 15,3114 10023 STORE 18D,2
042417,001909: 15,3115 43104 TIX,2 BON
042418,001910: 15,3116 33105 WRTDESIR
042419,001911: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042420,001912: 15,3120 33126 INITBY
042421,001913: 15,3121 77624 DOALIGN CALL
042422,001914: 15,3122 31256 R54 # DO CHKSDATA
042423,001915: 15,3123 77614 BOFF
042424,001916: 15,3124 00354 FREEFLAG
042425,001917: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042426,001918: 15,3126 77624 INITBY CALL
042427,001919: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
042428,001920: 15,3130 77624 CALL
042429,001921: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042430,001922: 15,3132 77776 EXIT
042431,001923: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042432,001924: 15,3134 70104 MASK FLAGWRD8
042433,001925: 15,3135 10000 CCS A
042434,001926: 15,3136 13145 TCF 5DEGTEST
042435,001927: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042436,001928: 15,3140 04616 TC BANKCALL
042437,001929: 15,3141 20476 CADR GOFLASH
042438,001930: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
042439,001931: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
042440,001932: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
042441,001933:
042442,001934: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042443,001935: 15,3146 40175 VLOAD BOV
042444,001936: 15,3147 02740 OGC
042445,001937: 15,3150 33151 SURFSUP
042446,001938: 15,3151 02750 SURFSUP STORE OGCT
042447,001939: 15,3152 40141 V/SC BOV
042448,001940: 15,3153 30610 5DEGREES
042449,001941: 15,3154 33254 COATRIM
042450,001942: 15,3155 52131 SSP GOTO
042451,001943: 15,3156 02746 QMIN
042452,001944: 15,3157 33161 SURFDISP
|
|
Page 972 |
042454,001946: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042455,001947:
042456,001948: 15,3161 77776 SURFDISP EXIT
042457,001949: 15,3162 05353 TC PHASCHNG
042458,001950: 15,3163 04024 OCT 04024
042459,001951:
042460,001952: 15,3164 06037 TC INTPRET
042461,001953: 15,3165 75160 AXC,1 AXC,2
042462,001954: 15,3166 03606 XSMD
042463,001955: 15,3167 01733 REFSMMAT
042464,001956: 15,3170 45014 SET CALL
042465,001957: 15,3171 01462 REFSMFLG
042466,001958: 15,3172 31377 MATMOVE
042467,001959: 15,3173 77776 EXIT
042468,001960: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042469,001961: 15,3175 13177 TCF B2F8
042470,001962: 15,3176 13207 TCF P57POST +1
042471,001963:
042472,001964: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042473,001965: 15,3200 70104 MASK FLAGWRD8
042474,001966: 15,3201 10000 CCS A
042475,001967: 15,3202 13561 TCF P57JUMP # ITS SET
042476,001968: 15,3203 06037 TC INTPRET
042477,001969: 15,3204 77624 CALL
042478,001970: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042479,001971: 15,3206 77776 P57POST EXIT
042480,001972: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042481,001973: 15,3210 04616 TC BANKCALL
042482,001974: 15,3211 20623 CADR GOPERF1
042483,001975: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
042484,001976: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
042485,001977: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
042486,001978: 15,3215 61145 AD OPTION2
042487,001979: 15,3216 00006 EXTEND
042488,001980: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
042489,001981: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
042490,001982: 15,3221 05353 TC PHASCHNG # RESTART PLACE
042491,001983: 15,3222 04024 OCT 04024
042492,001984: 15,3223 06037 TC INTPRET
042493,001985: 15,3224 45175 VLOAD CALL # USE GNB
042494,001986: 15,3225 02231 GSAV
042495,001987: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
042496,001988: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
042497,001989: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
042498,001990: 15,3231 01463 LUNAFLAG
042499,001991: 15,3232 51515 PDVL ABVAL
042500,001992: 15,3233 02023 RLS
042501,001993: 15,3234 45561 VXSC STADR
042502,001994: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
042503,001995: 15,3236 47014 CLEAR RTB
|
|
Page 973 |
042505,001997: 15,3237 00662 ERADFLAG
042506,001998: 15,3240 21573 LOADTIME
042507,001999: 15,3241 77624 CALL
042508,002000: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
042509,002001: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
042510,002002: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
042511,002003: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
042512,002004: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
042513,002005: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
042514,002006: 15,3250 51670 R-TO-RP
042515,002007: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
042516,002008: 15,3252 77776 EXIT
042517,002009: 15,3253 16001 TCF GOTOPOOH # EXIT P57
042518,002010:
|
|
Page 974 |
042520,002012: # COARSE AND FINE ALIGN IMU
042521,002013:
042522,002014: 15,3254 75160 COATRIM AXC,1 AXC,2
042523,002015: 15,3255 02664 XDC
042524,002016: 15,3256 02642 XSM
042525,002017: 15,3257 77624 CALL
042526,002018: 15,3260 31377 MATMOVE
042527,002019: 15,3261 77624 CALL
042528,002020: 15,3262 47537 CDUTRIG
042529,002021: 15,3263 77624 CALL
042530,002022: 15,3264 20030 CALCSMSC
042531,002023: 15,3265 77624 CALL
042532,002024: 15,3266 47353 CALCGA
042533,002025: 15,3267 77414 BOFF EXIT
042534,002026: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
042535,002027: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
042536,002028: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
042537,002029: 15,3273 04616 TC BANKCALL
042538,002030: 15,3274 20476 CADR GOFLASH
042539,002031: 15,3275 06001 TC GOTOPOOH
042540,002032: 15,3276 13300 TCF +2
042541,002033: 15,3277 13272 TCF -5
042542,002034: 15,3300 05353 TC PHASCHNG
042543,002035: 15,3301 04024 OCT 04024
042544,002036:
042545,002037: 15,3302 06037 TC INTPRET
042546,002038: 15,3303 77624 CORSIT CALL
042547,002039: 15,3304 31565 COARSE
042548,002040: 15,3305 77624 CALL
042549,002041: 15,3306 31602 NCOARSE
042550,002042: 15,3307 77624 CALL
042551,002043: 15,3310 32774 GYROTRIM
042552,002044: 15,3311 77650 GOTO
042553,002045: 15,3312 33161 SURFDISP
042554,002046: 15,3313 01535 DISPGYRO VN 0693
042555,002047:
|
|
Page 975 |
042557,002049: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042558,002050:
042559,002051: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042560,002052: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
042561,002053:
042562,002054: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042563,002055: 15,3317 55145 TS OPTION2
042564,002056: 15,3320 34753 P57OPT CAF BIT1
042565,002057: 15,3321 04616 TC BANKCALL
042566,002058: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
042567,002059: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
042568,002060: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
042569,002061: 15,3325 13320 TCF P57OPT # V32 RECYCLE
042570,002062:
042571,002063: 15,3326 05353 TC PHASCHNG
042572,002064: 15,3327 00014 OCT 00014
042573,002065: 15,3330 05155 TC ENDOFJOB
042574,002066:
042575,002067: 15,3331 31145 ALIGNOPT CA OPTION2
042576,002068: 15,3332 76245 MASK THREE
042577,002069: 15,3333 50000 INDEX A
042578,002070: 15,3334 13335 TCF +1
042579,002071: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
042580,002072: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
042581,002073: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
042582,002074: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
042583,002075: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
042584,002076: 15,3342 01733 REFSMMAT
042585,002077: 15,3343 03606 XSMD
042586,002078: 15,3344 77624 CALL
042587,002079: 15,3345 31377 MATMOVE
042588,002080: 15,3346 77650 GOTO
042589,002081: 15,3347 33410 PACKOPTN -1
042590,002082:
042591,002083: 15,3350 06037 TDISP TC INTPRET
042592,002084: 15,3351 77745 DLOAD
042593,002085: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042594,002086: 15,3353 01046 P57A STORE DSPTEM1
042595,002087: 15,3354 77776 EXIT
042596,002088: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042597,002089: 15,3356 04616 TC BANKCALL
042598,002090: 15,3357 20476 CADR GOFLASH
042599,002091: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
042600,002092: 15,3361 13363 TCF +2
042601,002093: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
042602,002094:
042603,002095: 15,3363 06037 TC INTPRET
042604,002096: 15,3364 65234 RTB PDDL
042605,002097: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042606,002098: 15,3366 01046 DSPTEM1
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|
Page 976 |
042608,002100: 15,3367 65254 BZE PDDL
042609,002101: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
042610,002102: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042611,002103: 15,3372 01046 DSPTEM1
042612,002104: 15,3373 33400 P57C
042613,002105: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042614,002106: 15,3375 74335 STORE TIG # STORE IT IN TIG
042615,002107: 15,3376 36775 STCALL TALIGN
042616,002108: 15,3377 33402 P57D
042617,002109: 15,3400 45545 P57C DLOAD STADR
042618,002110: 15,3401 75002 STORE TALIGN
042619,002111: 15,3402 34041 P57D STCALL TDEC1
042620,002112: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042621,002113: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
042622,002114: 15,3405 00001 RATT
042623,002115: 15,3406 37607 STCALL XSMD
042624,002116: 15,3407 11013 LSORIENT
042625,002117: 15,3410 77776 EXIT
042626,002118: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042627,002119: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042628,002120: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042629,002121: 15,3414 34737 CAF REFSMBIT
042630,002122: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
042631,002123: 15,3416 10000 CCS A
042632,002124: 15,3417 34745 CAF BIT7 # SET
042633,002125: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
042634,002126: 15,3421 34753 CAF ATTFLBIT
042635,002127: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
042636,002128: 15,3423 10000 CCS A
042637,002129: 15,3424 34750 CAF BIT4 # SET
042638,002130: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
042639,002131: 15,3426 34750 CAF BIT4
042640,002132: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042641,002133:
042642,002134: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042643,002135: 15,3431 04616 TC BANKCALL
042644,002136: 15,3432 20476 CADR GOFLASH
042645,002137: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
042646,002138: 15,3434 13436 TCF +2 # V33 - PROCEED
042647,002139: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
042648,002140:
042649,002141: 15,3436 34737 CAF REFSMBIT
042650,002142: 15,3437 70077 MASK FLAGWRD3
042651,002143: 15,3440 10000 CCS A
042652,002144: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042653,002145: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
042654,002146: 15,3443 70102 MASK FLAGWRD6
042655,002147: 15,3444 10000 CCS A
042656,002148: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042657,002149: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 977 |
042659,002151: 15,3447 71145 MASK OPTION2
042660,002152: 15,3450 10000 CCS A
042661,002153: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042662,002154: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
042663,002155: 15,3453 00701 OCT 701
042664,002156: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042665,002157: 15,3455 04616 TC BANKCALL
042666,002158: 15,3456 20476 CADR GOFLASH
042667,002159: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
042668,002160: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
042669,002161: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
042670,002162:
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|
Page 978 |
042672,002164: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042673,002165:
042674,002166: 15,3462 40220 MFREF STQ SETPD
042675,002167: 15,3463 02746 QMAJ
042676,002168: 15,3464 00001 0
042677,002169: 15,3465 77634 RTB
042678,002170: 15,3466 21573 LOADTIME
042679,002171: 15,3467 27562 STOVL TSIGHT
042680,002172: 15,3470 02723 VEC1
042681,002173: 15,3471 41525 PDDL PUSH
042682,002174: 15,3472 03562 TSIGHT
042683,002175: 15,3473 77624 CALL
042684,002176: 15,3474 55716 RP-TO-R
042685,002177: 15,3475 26723 STOVL VEC1
042686,002178: 15,3476 02731 VEC2
042687,002179: 15,3477 65201 SETPD PDDL
042688,002180: 15,3500 00001 0
042689,002181: 15,3501 03562 TSIGHT
042690,002182: 15,3502 45006 PUSH CALL
042691,002183: 15,3503 55716 RP-TO-R
042692,002184: 15,3504 36731 STCALL VEC2
042693,002185: 15,3505 02746 QMAJ
042694,002186:
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|
Page 979 |
042696,002188: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042697,002189: # STORE IN YNBSAV AND ZNBSAV
042698,002190:
042699,002191: 15,3506 45020 REFMF STQ CALL
042700,002192: 15,3507 02746 QMAJ
042701,002193: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
042702,002194: 15,3511 40234 RTB SETPD
042703,002195: 15,3512 21573 LOADTIME
042704,002196: 15,3513 00001 0
042705,002197: 15,3514 37562 STCALL TSIGHT
042706,002198: 15,3515 20030 CALCSMSC # GET YNB IN SM
042707,002199: 15,3516 61375 VLOAD VXM
042708,002200: 15,3517 02673 YNB
042709,002201: 15,3520 01734 REFSMMAT # YNB TO REF
042710,002202: 15,3521 65256 UNIT PDDL
042711,002203: 15,3522 03562 TSIGHT
042712,002204: 15,3523 45006 PUSH CALL
042713,002205: 15,3524 51670 R-TO-RP
042714,002206: 15,3525 26237 STOVL YNBSAV # YNB TO MF
042715,002207: 15,3526 02701 ZNB
042716,002208: 15,3527 53505 VXM UNIT
042717,002209: 15,3530 01734 REFSMMAT # ZNB TO REF
042718,002210: 15,3531 41525 PDDL PUSH
042719,002211: 15,3532 03562 TSIGHT
042720,002212: 15,3533 77624 CALL
042721,002213: 15,3534 51670 R-TO-RP # ZNB TO MF
042722,002214: 15,3535 02245 STORE ZNBSAV
042723,002215: 15,3536 77614 SETGO
042724,002216: 15,3537 03036 ATTFLAG
042725,002217: 15,3540 02746 QMAJ
042726,002218:
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|
Page 980 |
042728,002220: # BRANCH TO ALIGNMENT OPTION
042729,002221:
042730,002222: 15,3541 06037 GETLMATT TC INTPRET
042731,002223: 15,3542 77624 CALL
042732,002224: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
042733,002225: 15,3544 77776 EXIT
042734,002226:
042735,002227: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042736,002228: 15,3546 00205 ADRES INITALGN
042737,002229: 15,3547 34753 CAF BIT1
042738,002230: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
042739,002231: 15,3551 10000 CCS A
042740,002232: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042741,002233:
042742,002234: 15,3553 05353 ATTCHK TC PHASCHNG
042743,002235: 15,3554 04024 OCT 04024
042744,002236:
042745,002237: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042746,002238: 15,3556 70102 MASK FLAGWRD6
042747,002239: 15,3557 10000 CCS A
042748,002240: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042749,002241: 15,3561 05353 P57JUMP TC PHASCHNG
042750,002242: 15,3562 04024 OCT 04024
042751,002243:
042752,002244: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
042753,002245: 15,3564 00205 ADRES INITALGN
042754,002246: 15,3565 36245 CAF THREE
042755,002247: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
042756,002248: 15,3567 50000 INDEX A
042757,002249: 15,3570 13571 TCF +1
042758,002250: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
042759,002251: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
042760,002252: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
042761,002253: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
042762,002254:
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|
Page 981 |
042764,002256: # OPTION 0, GET TWO ATTITUDE VECS
042765,002257:
042766,002258: 15,3575 06037 P57OPT0 TC INTPRET
042767,002259: 15,3576 77775 VLOAD
042768,002260: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042769,002261: 15,3600 26723 STOVL VEC1
042770,002262: 15,3601 02245 ZNBSAV
042771,002263: 15,3602 36731 STCALL VEC2
042772,002264: 15,3603 47537 CDUTRIG
042773,002265: 15,3604 77624 CALL
042774,002266: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042775,002267: 15,3606 77775 VLOAD
042776,002268: 15,3607 02673 YNB
042777,002269: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042778,002270: 15,3611 02701 ZNB
042779,002271: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042780,002272: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042781,002273: 15,3614 77650 GOTO
042782,002274: 15,3615 33101 SURFLINE
042783,002275:
042784,002276: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042785,002277:
042786,002278: 15,3616 06037 P57OPT1 TC INTPRET
042787,002279: 15,3617 53575 VLOAD UNIT
042788,002280: 15,3620 02023 RLS # LANDING SITE VEC
042789,002281: 15,3621 26723 STOVL VEC1
042790,002282: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
042791,002283: 15,3623 36731 STCALL VEC2
042792,002284: 15,3624 47537 CDUTRIG
042793,002285: 15,3625 77624 CALL
042794,002286: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042795,002287: 15,3627 45175 VLOAD CALL
042796,002288: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042797,002289: 15,3631 47661 CDU*NBSM
042798,002290: 15,3632 77650 GOTO
042799,002291: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042800,002292:
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|
Page 982 |
042802,002294: # OPTION 2, GET TWO STAR SIGHTINGS
042803,002295:
042804,002296: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042805,002297:
042806,002298: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042807,002299:
042808,002300: 15,3635 06037 P57OPT3 TC INTPRET
042809,002301: 15,3636 53575 VLOAD UNIT
042810,002302: 15,3637 02023 RLS # LANDING SITE VEC
042811,002303: 15,3640 02723 STORE VEC1
042812,002304: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042813,002305: 15,3642 02231 GSAV # GRAVITY VEC NB
042814,002306: 15,3643 77624 CALL
042815,002307: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042816,002308: 15,3645 36761 STCALL STARSAV1
042817,002309: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042818,002310: 15,3647 77776 EXIT
042819,002311: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042820,002312:
042821,002313: 15,3651 01206 VB05N06 VN 506
042822,002314:
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|
Page 983 |
042824,002316: # CHECK IMODES30 TO VARIFY IMU IS ON
042825,002317:
042826,002318: 15,3652 41302 IMUCHK CS IMODES30
042827,002319: 15,3653 74743 MASK BIT9
042828,002320: 15,3654 10000 CCS A # IS IMU ON
042829,002321: 15,3655 13661 TCF +4 # YES
042830,002322:
042831,002323: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042832,002324: 15,3657 00210 OCT 210
042833,002325: 15,3660 06001 TC GOTOPOOH
042834,002326:
042835,002327: 15,3661 05504 TC UPFLAG
042836,002328: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042837,002329:
042838,002330: 15,3663 04631 TC SWRETURN
042839,002331:
042840,002332: 04,3013 BANK 04
042841,002333: 04,2000 SETLOC AOTMARK2
042842,002334: 04,2000 BANK
042843,002335: 04,3013 COUNT* $$/P57
042844,002336:
042845,002337: 04,3013 77220 LSORIENT STQ VLOAD
042846,002338: 04,3014 02746 QMAJ
042847,002339: 04,3015 01555 RRECTCSM
042848,002340: 04,3016 47235 VXV VXV
042849,002341: 04,3017 01563 VRECTCSM
042850,002342: 04,3020 03607 XSMD
042851,002343: 04,3021 77656 UNIT
042852,002344: 04,3022 03623 STORE ZSMD
042853,002345: 04,3023 53435 VXV UNIT
042854,002346: 04,3024 03607 XSMD
042855,002347: 04,3025 37615 STCALL YSMD
042856,002348: 04,3026 02746 QMAJ
042857,002349:
End of include-file P51-P53.agc. Parent file is MAIN.agc