GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
040524,000002: ## Copyright: Public domain.
040525,000003: ## Filename: P51-P53.agc
040526,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
040527,000005: ## It is part of the source code for the Lunar Module's (LM)
040528,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
040529,000007: ## Assembler: yaYUL
040530,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
040531,000009: ## Website: www.ibiblio.org/apollo.
040532,000010: ## Pages: 926-983
040533,000011: ## Mod history: 2009-05-31 HG Transcribed from page images.
040534,000012: ## 2009-06-07 RSB Corrected a typo.
040535,000013: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
040536,000014: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
040537,000015: ## and corrected the errors found.
040538,000016: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
040539,000017: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
040540,000018: ## side-by-side diff of Luminary 69/99/116/131/210.
040541,000019:
040542,000020: ## This source code has been transcribed or otherwise adapted from
040543,000021: ## digitized images of a hardcopy from the MIT Museum. The digitization
040544,000022: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
040545,000023: ## the Museum. Many thanks to both. The images (with suitable reduction
040546,000024: ## in storage size and consequent reduction in image quality as well) are
040547,000025: ## available online at www.ibiblio.org/apollo. If for some reason you
040548,000026: ## find that the images are illegible, contact me at info@sandroid.org
040549,000027: ## about getting access to the (much) higher-quality images which Paul
040550,000028: ## actually created.
040551,000029: ##
040552,000030: ## Notations on the hardcopy document read, in part:
040553,000031: ##
040554,000032: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
040555,000033: ## 16:27 JULY 14, 1969
040556,000034:
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Page 926 |
040558,000036: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
040559,000037: # MOD NO - 0 LOG SECTION - P51-P53
040560,000038: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
040561,000039:
040562,000040: # FUNCTIONAL DESCRIPTION -
040563,000041:
040564,000042: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040565,000043: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
040566,000044:
040567,000045: # (A) PREFERRED ORIENTATION
040568,000046:
040569,000047: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
040570,000048: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040571,000049:
040572,000050: # (B) NOMINAL ORIENTATION
040573,000051:
040574,000052: # X = UNIT ( R )
040575,000053: # -SM
040576,000054:
040577,000055: # Y = UNIT (V X R)
040578,000056: # SM
040579,000057:
040580,000058: # Z = UNIT (X X Y )
040581,000059: # SM SM SM
040582,000060:
040583,000061: # WHERE_
040584,000062:
040585,000063: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040586,000064: # -
040587,000065:
040588,000066: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040589,000067: # -
040590,000068:
040591,000069: # (C) REFSMMAT ORIENTATION
040592,000070:
040593,000071: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040594,000072:
040595,000073: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040596,000074: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040597,000075: # SINCE THE LAST ALIGNMENT).
040598,000076:
040599,000077: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040600,000078: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040601,000079: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040602,000080: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040603,000081: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040604,000082: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040605,000083: # REQUESTED.
040606,000084:
040607,000085: # CALLING SEQUENCE -
040608,000086:
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Page 927 |
040610,000088: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040611,000089:
040612,000090: # SUBROUTINES CALLED -
040613,000091:
040614,000092: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040615,000093: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040616,000094: # 3. GOPERF4 9. FLAGUP
040617,000095: # 4. MATMOVE 10. R56
040618,000096: # 5. GOFLASH 11. R51
040619,000097: # 6. S52.3 12. GOPERF3
040620,000098:
040621,000099: # NORMAL EXIT MODES -
040622,000100:
040623,000101: # EXITS TO ENDOFJOB
040624,000102:
040625,000103: # ALARM OR ABORT EXIT MODES -
040626,000104:
040627,000105: # NONE
040628,000106:
040629,000107: # OUTPUT -
040630,000108:
040631,000109: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040632,000110: # 1. IMU ORIENTATION CODE
040633,000111: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
040634,000112: # 3. TIME OF NEXT IGNITION
040635,000113: # 4. GIMBAL ANGLES
040636,000114: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
040637,000115: # 6. PLEASE PERFORM P00
040638,000116: # THE MODE DISPLAY MAY BE CHANGED TO 20
040639,000117:
040640,000118: # ERASABLE INITIALIZATION REQUIRED -
040641,000119:
040642,000120: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
040643,000121: # XSMD, YSMD, ZSMD.
040644,000122:
040645,000123: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040646,000124:
040647,000125: # DEBRIS -
040648,000126:
040649,000127: # WORK AREA
040650,000128:
040651,000129: 33,3777 BANK 33
040652,000130: 15,2000 SETLOC P50S
040653,000131: 15,2000 BANK
040654,000132:
040655,000133: 15,2050 E5,1755 EBANK= BESTI
040656,000134: 15,2050 COUNT* $$/P52
040657,000135: 15,2050 04616 PROG52 TC BANKCALL
040658,000136: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
040659,000137: 15,2052 34750 CAF PFRATBIT
040660,000138: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040661,000139: 15,2054 10000 CCS A
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Page 928 |
040663,000141: 15,2055 02060 TC P52A # YES
040664,000142: 15,2056 34752 CAF BIT2 # NO
040665,000143: 15,2057 02061 TC P52A +1
040666,000144: 15,2060 34753 P52A CAF BIT1
040667,000145: 15,2061 55145 TS OPTION2
040668,000146: 15,2062 34753 P52B CAF BIT1
040669,000147: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040670,000148: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
040671,000149: 15,2065 06001 TC GOTOPOOH
040672,000150: 15,2066 12073 TCF +5 # V33 - PROCEED
040673,000151: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040674,000152: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
040675,000153: 15,2071 00014 OCT 00014
040676,000154: 15,2072 05155 TC ENDOFJOB
040677,000155:
040678,000156: 15,2073 31145 CA OPTION2
040679,000157: 15,2074 76245 MASK THREE
040680,000158: 15,2075 50000 INDEX A
040681,000159: 15,2076 02077 TC +1
040682,000160: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
040683,000161: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
040684,000162: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
040685,000163: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
040686,000164: 15,2103 77650 GOTO
040687,000165: 15,2104 32164 P52F # GO DO R51
040688,000166:
040689,000167: 15,2105 00006 OPT4 EXTEND
040690,000168: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040691,000169: 15,2107 12112 TCF P52T +2
040692,000170:
040693,000171: 15,2110 00006 P52T EXTEND
040694,000172: 15,2111 34755 DCA NEG0
040695,000173: 15,2112 53046 DXCH DSPTEM1
040696,000174: 15,2113 32170 CAF V06N34*
040697,000175: 15,2114 04616 TC BANKCALL
040698,000176: 15,2115 20476 CADR GOFLASH
040699,000177: 15,2116 06001 TC GOTOPOOH
040700,000178: 15,2117 02121 TC +2
040701,000179: 15,2120 02113 TC -5
040702,000180: 15,2121 53046 DXCH DSPTEM1
040703,000181: 15,2122 00006 EXTEND
040704,000182: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040705,000183: 15,2124 12127 TCF +3
040706,000184: 15,2125 00006 EXTEND
040707,000185: 15,2126 30025 DCA TIME2
040708,000186: 15,2127 53775 DXCH TALIGN
040709,000187: 15,2130 31145 P52V CA OPTION2
040710,000188: 15,2131 74752 MASK BIT2
040711,000189: 15,2132 10000 CCS A
040712,000190: 15,2133 02137 TC P52W
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Page 929 |
040714,000192: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040715,000193: 15,2135 77650 GOTO
040716,000194: 15,2136 32220 P52LS
040717,000195:
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Page 930 |
040719,000197: # START ALIGNMENT
040720,000198:
040721,000199: 15,2137 06037 P52W TC INTPRET
040722,000200: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
040723,000201: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
040724,000202: 15,2142 31650 S52.3 # ORIENTATION
040725,000203: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040726,000204: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
040727,000205: 15,2145 77776 EXIT
040728,000206: 15,2146 35010 CAF V06N22
040729,000207: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040730,000208: 15,2150 20476 CADR GOFLASH
040731,000209: 15,2151 06001 TC GOTOPOOH
040732,000210: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
040733,000211: 15,2153 06037 P52H TC INTPRET
040734,000212: 15,2154 77650 GOTO
040735,000213: 15,2155 32143 P52D
040736,000214: 15,2156 06037 REGCOARS TC INTPRET
040737,000215: 15,2157 77624 CALL # DO COARSE ALIGN
040738,000216: 15,2160 31327 CAL53A # ROUTINE
040739,000217: 15,2161 43014 COARSRET SET CLEAR
040740,000218: 15,2162 01462 REFSMFLG
040741,000219: 15,2163 01273 PFRATFLG
040742,000220: 15,2164 77624 P52F CALL
040743,000221: 15,2165 31015 R51
040744,000222: 15,2166 77776 P52OUT EXIT
040745,000223: 15,2167 06001 TC GOTOPOOH
040746,000224: 15,2170 5006 VB05N09 = V05N09
040747,000225: 15,2170 01442 V06N34* VN 634
040748,000226:
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Page 931 |
040750,000228: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040751,000229:
040752,000230: 15,2171 32217 COARSTYP CAF OCT13
040753,000231: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040754,000232: 15,2173 20623 CADR GOPERF1
040755,000233: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
040756,000234: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
040757,000235: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
040758,000236: 15,2177 64375 VLOAD MXV
040759,000237: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040760,000238: 15,2201 01734 REFSMMAT
040761,000239: 15,2202 77656 UNIT
040762,000240: 15,2203 26665 STOVL XDC
040763,000241: 15,2204 03615 YSMD
040764,000242: 15,2205 53521 MXV UNIT
040765,000243: 15,2206 01734 REFSMMAT
040766,000244: 15,2207 26673 STOVL YDC
040767,000245: 15,2210 03623 ZSMD
040768,000246: 15,2211 53521 MXV UNIT
040769,000247: 15,2212 01734 REFSMMAT
040770,000248: 15,2213 36701 STCALL ZDC
040771,000249: 15,2214 31164 GYCOARS
040772,000250: 15,2215 77650 GOTO
040773,000251: 15,2216 32166 P52OUT
040774,000252: 15,2217 00013 OCT13 OCT 13
040775,000253:
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Page 932 |
040777,000255: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040778,000256:
040779,000257: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040780,000258: 15,2221 01463 LUNAFLAG
040781,000259: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040782,000260: 15,2223 77201 SETPD VLOAD
040783,000261: 15,2224 00001 0
040784,000262: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040785,000263: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040786,000264: 15,2227 02775 TALIGN
040787,000265: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040788,000266: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040789,000267: 15,2232 77742 VSR2
040790,000268: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040791,000269: 15,2234 02775 TALIGN
040792,000270: 15,2235 77624 CALL
040793,000271: 15,2236 30446 N89DISP
040794,000272: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040795,000273: 15,2240 02032 ALPHAV
040796,000274: 15,2241 37607 STCALL XSMD
040797,000275: 15,2242 11013 LSORIENT
040798,000276: 15,2243 77650 GOTO
040799,000277: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040800,000278:
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Page 933 |
040802,000280: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040803,000281:
040804,000282: 14,2000 SETLOC P50S1
040805,000283: 14,2000 BANK
040806,000284: 14,2446 E5,1642 EBANK= XSM
040807,000285:
040808,000286: 14,2446 77620 N89DISP STQ
040809,000287: 14,2447 02746 QMAJ
040810,000288: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040811,000289: 14,2451 26351 LAT-LONG
040812,000290: 14,2452 70545 DLOAD SR1
040813,000291: 14,2453 01123 LONG
040814,000292: 14,2454 16711 STODL LANDLONG
040815,000293: 14,2455 01125 ALT
040816,000294: 14,2456 16713 STODL LANDALT
040817,000295: 14,2457 01121 LAT
040818,000296: 14,2460 16707 STODL LANDLAT
040819,000297: 14,2461 77776 EXIT
040820,000298:
040821,000299: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040822,000300: 14,2463 04616 TC BANKCALL
040823,000301: 14,2464 20476 CADR GOFLASH
040824,000302: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040825,000303: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040826,000304: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040827,000305:
040828,000306: 14,2470 06037 TC INTPRET
040829,000307: 14,2471 72545 DLOAD SL1
040830,000308: 14,2472 02711 LANDLONG
040831,000309: 14,2473 15123 STODL LONG
040832,000310: 14,2474 02713 LANDALT
040833,000311: 14,2475 15125 STODL ALT
040834,000312: 14,2476 02707 LANDLAT
040835,000313: 14,2477 15121 STODL LAT
040836,000314: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040837,000315: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040838,000316: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040839,000317: 14,2503 77650 GOTO
040840,000318: 14,2504 02746 QMAJ
040841,000319: 14,2505 01531 V06N89* VN 689
040842,000320:
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Page 934 |
040844,000322: # NAME - S50 ALIAS LOCSAM
040845,000323: # BY
040846,000324: # VINCENT
040847,000325:
040848,000326: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040849,000327:
040850,000328: # DEFINE
040851,000329:
040852,000330: # U = UNIT( SUN WRT EARTH )
040853,000331: # ES
040854,000332:
040855,000333: # U = UNIT( MOON WRT EARTH )
040856,000334: # EM
040857,000335:
040858,000336: # R = POSITION VECTOR OF LEM
040859,000337: # L
040860,000338:
040861,000339: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040862,000340: # EM
040863,000341:
040864,000342: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040865,000343: # EM
040866,000344:
040867,000345: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040868,000346: # E
040869,000347:
040870,000348: # LOCSAM COMPUTES IN EARTH INFLUENCE
040871,000349:
040872,000350: # VSUN = U
040873,000351: # ES
040874,000352:
040875,000353: # VEARTH = -UNIT( R )
040876,000354: # L
040877,000355:
040878,000356: # VMOON = UNIT(R .U - R )
040879,000357: # EM EM L
040880,000358:
040881,000359: # CSUN = COS 90
040882,000360:
040883,000361: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040884,000362: # E L
040885,000363:
040886,000364: # CMOON = COS 5
040887,000365:
040888,000366: # INPUT - TIME IN MPAC
040889,000367:
040890,000368: # OUTPUT - LISTED ABOVE
040891,000369:
040892,000370: # SUBROUTINES - LSPOS, LEMPREC
040893,000371:
040894,000372: # DEBRIS - VAC AREA, TSIGHT
040895,000373:
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Page 935 |
040897,000375: 14,2506 COUNT* $$/LOSAM
040898,000376:
040899,000377: 14,2506 14,2506 S50 = LOCSAM
040900,000378: 14,2506 77620 LOCSAM STQ
040901,000379: 14,2507 02745 QMIN
040902,000380: 14,2510 37562 STCALL TSIGHT
040903,000381: 14,2511 33664 LSPOS
040904,000382: 14,2512 77745 DLOAD
040905,000383: 14,2513 03562 TSIGHT
040906,000384: 14,2514 34041 STCALL TDEC1
040907,000385: 14,2515 27057 LEMPREC
040908,000386: 14,2516 61131 SSP TIX,2
040909,000387: 14,2517 00052 S2
040910,000388: 14,2520 00000 0
040911,000389: 14,2521 30543 MOONCNTR
040912,000390: 14,2522 74375 EARTCNTR VLOAD VXSC
040913,000391: 14,2523 02723 VMOON
040914,000392: 14,2524 30001 RSUBEM
040915,000393: 14,2525 52372 VSL1 VSU
040916,000394: 14,2526 00001 RATT
040917,000395: 14,2527 77656 UNIT
040918,000396: 14,2530 26723 STOVL VMOON
040919,000397: 14,2531 00001 RATT
040920,000398: 14,2532 57456 UNIT VCOMP
040921,000399: 14,2533 16707 STODL VEARTH
040922,000400: 14,2534 30005 RSUBE
040923,000401: 14,2535 77624 CALL
040924,000402: 14,2536 30575 OCCOS
040925,000403: 14,2537 14017 STODL CEARTH
040926,000404: 14,2540 30604 CSS5
040927,000405: 14,2541 34023 STCALL CMOON
040928,000406: 14,2542 30570 ENDSAM
040929,000407: 14,2543 74375 MOONCNTR VLOAD VXSC
040930,000408: 14,2544 02723 VMOON
040931,000409: 14,2545 30007 ROE
040932,000410: 14,2546 53445 BVSU UNIT
040933,000411: 14,2547 02715 VSUN
040934,000412: 14,2550 26715 STOVL VSUN
040935,000413: 14,2551 02723 VMOON
040936,000414: 14,2552 53361 VXSC VAD
040937,000415: 14,2553 30001 RSUBEM
040938,000416: 14,2554 00001 RATT
040939,000417: 14,2555 57456 UNIT VCOMP
040940,000418: 14,2556 26707 STOVL VEARTH
040941,000419: 14,2557 00001 RATT
040942,000420: 14,2560 57456 UNIT VCOMP
040943,000421: 14,2561 16723 STODL VMOON
040944,000422: 14,2562 30003 RSUBM
040945,000423: 14,2563 77624 CALL
040946,000424: 14,2564 30575 OCCOS
|
|
Page 936 |
040948,000426: 14,2565 14023 STODL CMOON
040949,000427: 14,2566 30604 CSS5
040950,000428: 14,2567 00017 STORE CEARTH
040951,000429: 14,2570 77745 ENDSAM DLOAD
040952,000430: 14,2571 30606 CSSUN
040953,000431: 14,2572 00021 STORE CSUN
040954,000432: 14,2573 77650 GOTO
040955,000433: 14,2574 02745 QMIN
040956,000434: 14,2575 70471 OCCOS DDV SR1
040957,000435: 14,2576 00045 36D
040958,000436: 14,2577 43336 ASIN DAD
040959,000437: 14,2600 30610 5DEGREES
040960,000438: 14,2601 70546 COS SR1
040961,000439: 14,2602 77616 RVQ
040962,000440: 14,2603 CEARTH = 14D
040963,000441: 14,2603 CSUN = 16D
040964,000442: 14,2603 CMOON = 18D
040965,000443: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040966,000444: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040967,000445: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040968,000446:
|
|
Page 937 |
040970,000448: # PROGRAM NAME - R56 DATE DEC 20 66
040971,000449: # MOD 1 LOG SECTION P51-P53
040972,000450: # ASSEMBLY SUNDISK REV40
040973,000451: # BY KEN VINCENT
040974,000452:
040975,000453: # FUNCTION
040976,000454: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040977,000455: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040978,000456: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040979,000457: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040980,000458: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040981,000459: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040982,000460: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040983,000461: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040984,000462: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040985,000463: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040986,000464: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040987,000465: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040988,000466:
040989,000467: # CALLING SEQUENCE
040990,000468: # L TC BANKCALL
040991,000469: # L+1 CADR R56
040992,000470: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040993,000471: # L+3 NORMAL RETURN
040994,000472:
040995,000473: # OUTPUT
040996,000474: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040997,000475: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040998,000476:
040999,000477: # INITIALIZATION
041000,000478: # 1) A CALL TO LOCSAM MUST BE MADE
041001,000479:
041002,000480: # DEBRIS
041003,000481: # WORKAREA
041004,000482: # X,Y,ZNB
041005,000483: # SINCDU, COSCDU
041006,000484: # STARAD - STAR +5
041007,000485:
041008,000486: 14,2611 14,2611 R56 = PICAPAR
041009,000487: 14,2611 COUNT* $$/R56
041010,000488: 14,2611 04645 PICAPAR TC MAKECADR
041011,000489: 14,2612 55745 TS QMIN
041012,000490: 14,2613 06037 TC INTPRET
041013,000491: 14,2614 77624 CALL
041014,000492: 14,2615 47537 CDUTRIG
041015,000493: 14,2616 77624 CALL
041016,000494: 14,2617 20030 CALCSMSC
041017,000495: 14,2620 77601 SETPD
041018,000496: 14,2621 00001 0
041019,000497: 14,2622 71214 SET DLOAD # VFLAG = 1
041020,000498: 14,2623 01465 VFLAG
|
|
Page 938 |
041022,000500: 14,2624 24007 DPZERO
041023,000501: 14,2625 26756 STOVL BESTI
041024,000502: 14,2626 02665 XNB
041025,000503: 14,2627 63361 VXSC PDVL
041026,000504: 14,2630 24005 HALFDP
041027,000505: 14,2631 02701 ZNB
041028,000506: 14,2632 74370 AXT,1 VXSC
041029,000507: 14,2633 00344 228D # X1 = 37 X 6 + 6
041030,000508: 14,2634 24005 HALFDP
041031,000509: 14,2635 77655 VAD
041032,000510: 14,2636 53505 VXM UNIT
041033,000511: 14,2637 01734 REFSMMAT
041034,000512: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
041035,000513: 14,2641 66331 SSP SSP # S1 = S2 = 6
041036,000514: 14,2642 00051 S1
041037,000515: 14,2643 00006 6
041038,000516: 14,2644 00052 S2
041039,000517: 14,2645 00006 6
041040,000518: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041041,000519: 14,2647 30651 PIC2
041042,000520: 14,2650 30766 PICEND
041043,000521: 14,2651 50373 PIC2 VLOAD* DOT
041044,000522: 14,2652 30347 CATLOG,1
041045,000523: 14,2653 02731 SAX
041046,000524: 14,2654 50025 DSU BMN
041047,000525: 14,2655 30765 CSS33
041048,000526: 14,2656 30646 PIC1
041049,000527: 14,2657 77754 LXA,2
041050,000528: 14,2660 00046 X1
041051,000529: 14,2661 52104 PIC3 TIX,2 GOTO
041052,000530: 14,2662 30664 PIC4
041053,000531: 14,2663 30646 PIC1
041054,000532: 14,2664 50373 PIC4 VLOAD* DOT
041055,000533: 14,2665 47430 CATLOG,2
041056,000534: 14,2666 02731 SAX
041057,000535: 14,2667 50025 DSU BMN
041058,000536: 14,2670 30765 CSS33
041059,000537: 14,2671 30661 PIC3
041060,000538: 14,2672 47773 VLOAD* DOT*
041061,000539: 14,2673 30347 CATLOG,1
041062,000540: 14,2674 47430 CATLOG,2
041063,000541: 14,2675 51025 DSU BPL
041064,000542: 14,2676 30763 CSS40
041065,000543: 14,2677 30661 PIC3
041066,000544: 14,2700 45173 VLOAD* CALL
041067,000545: 14,2701 30347 CATLOG,1
041068,000546: 14,2702 30740 OCCULT
041069,000547: 14,2703 77614 BON
041070,000548: 14,2704 01710 CULTFLAG
041071,000549: 14,2705 30646 PIC1
|
|
Page 939 |
041073,000551: 14,2706 45173 VLOAD* CALL
041074,000552: 14,2707 47430 CATLOG,2
041075,000553: 14,2710 30740 OCCULT
041076,000554: 14,2711 77614 BON
041077,000555: 14,2712 01710 CULTFLAG
041078,000556: 14,2713 30661 PIC3
041079,000557: 14,2714 77614 STRATGY BONCLR
041080,000558: 14,2715 01605 VFLAG
041081,000559: 14,2716 30733 NEWPAR
041082,000560: 14,2717 65120 XCHX,1 XCHX,2
041083,000561: 14,2720 02755 BESTI
041084,000562: 14,2721 02756 BESTJ
041085,000563: 14,2722 47773 STRAT VLOAD* DOT*
041086,000564: 14,2723 30347 CATLOG,1
041087,000565: 14,2724 47430 CATLOG,2
041088,000566: 14,2725 43006 PUSH BOFINV
041089,000567: 14,2726 01545 VFLAG
041090,000568: 14,2727 30717 STRAT -3
041091,000569: 14,2730 45345 DLOAD DSU
041092,000570: 14,2731 77644 BPL
041093,000571: 14,2732 30661 PIC3
041094,000572: 14,2733 67130 NEWPAR SXA,1 SXA,2
041095,000573: 14,2734 02755 BESTI
041096,000574: 14,2735 02756 BESTJ
041097,000575: 14,2736 77650 GOTO
041098,000576: 14,2737 30661 PIC3
041099,000577: 14,2740 51321 OCCULT MXV BVSU
041100,000578: 14,2741 02707 CULTRIX
041101,000579: 14,2742 00017 CSS
041102,000580: 14,2743 77654 BZE
041103,000581: 14,2744 30757 CULTED
041104,000582: 14,2745 75240 BMN SIGN
041105,000583: 14,2746 30757 CULTED
041106,000584: 14,2747 00160 MPAC +3
041107,000585: 14,2750 75240 BMN SIGN
041108,000586: 14,2751 30757 CULTED
041109,000587: 14,2752 00162 MPAC +5
041110,000588: 14,2753 43040 BMN CLRGO
041111,000589: 14,2754 30757 CULTED
041112,000590: 14,2755 01630 CULTFLAG
041113,000591: 14,2756 00052 QPRET
041114,000592: 14,2757 77614 CULTED SETGO
041115,000593: 14,2760 01430 CULTFLAG
041116,000594: 14,2761 00052 QPRET
041117,000595: 14,2762 0000016 CSS = CEARTH
041118,000596: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041119,000597: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041120,000598: 14,2766 77414 PICEND BOFF EXIT
041121,000599:
|
|
Page 940 |
041123,000601: 14,2767 01745 VFLAG
041124,000602: 14,2770 30772 PICGXT
041125,000603: 14,2771 03013 TC PICBXT
041126,000604: 14,2772 73150 PICGXT LXA,1 LXA,2
041127,000605: 14,2773 02755 BESTI
041128,000606: 14,2774 02756 BESTJ
041129,000607: 14,2775 47775 VLOAD DOT*
041130,000608: 14,2776 02731 SAX
041131,000609: 14,2777 30347 CATLOG,1
041132,000610: 14,3000 47715 PDVL DOT*
041133,000611: 14,3001 02731 SAX
041134,000612: 14,3002 47430 CATLOG,2
041135,000613: 14,3003 77625 DSU
041136,000614: 14,3004 66044 BPL SXA,1
041137,000615: 14,3005 31011 PICNSWP
041138,000616: 14,3006 02756 BESTJ
041139,000617: 14,3007 77734 SXA,2
041140,000618: 14,3010 02755 BESTI
041141,000619: 14,3011 77776 PICNSWP EXIT
041142,000620: 14,3012 25745 INCR QMIN
041143,000621: 14,3013 31745 PICBXT CA QMIN
041144,000622: 14,3014 04622 TC SWCALL
041145,000623: 14,3015 VPD = 0D
041146,000624: 14,3015 V0 = 6D
041147,000625: 14,3015 V1 = 12D
041148,000626: 14,3015 V2 = 18D
041149,000627: 14,3015 V3 = 24D
041150,000628: 14,3015 DP0 = 30D
041151,000629: 14,3015 DP1 = 32D
041152,000630:
|
|
Page 941 |
041154,000632: # NAME - R51 FINE ALIGN
041155,000633: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
041156,000634: # CALLING SEQ - CALL R51
041157,000635: # INPUT - REFSMMAT
041158,000636: # OUTPUT - GYRO TORQUE PULSES
041159,000637: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
041160,000638:
041161,000639: 14,3015 COUNT* $$/R51
041162,000640: 14,3015 77620 R51 STQ
041163,000641: 14,3016 02746 QMAJ
041164,000642: 14,3017 77776 R51.1 EXIT
041165,000643: 14,3020 05353 TC PHASCHNG
041166,000644: 14,3021 04024 OCT 04024
041167,000645:
041168,000646: 14,3022 34761 R51C CAF OCT15
041169,000647: 14,3023 04616 TC BANKCALL
041170,000648: 14,3024 20623 CADR GOPERF1
041171,000649: 14,3025 06001 TC GOTOPOOH
041172,000650: 14,3026 03030 TC +2 # V33E
041173,000651: 14,3027 03053 TC R51E # ENTER
041174,000652: 14,3030 06037 TC INTPRET
041175,000653: 14,3031 43234 RTB DAD
041176,000654: 14,3032 21573 LOADTIME
041177,000655: 14,3033 31163 TSIGHT1
041178,000656: 14,3034 77624 CALL
041179,000657: 14,3035 30506 LOCSAM
041180,000658: 14,3036 77776 EXIT
041181,000659: 14,3037 04616 TC BANKCALL
041182,000660: 14,3040 30611 CADR R56
041183,000661: 14,3041 03043 TC R51I
041184,000662: 14,3042 03053 R51F TC R51E
041185,000663: 14,3043 05567 R51I TC ALARM
041186,000664: 14,3044 00405 OCT 405
041187,000665: 14,3045 35006 CAF VB05N09
041188,000666: 14,3046 04616 TC BANKCALL
041189,000667: 14,3047 20476 CADR GOFLASH
041190,000668: 14,3050 06001 TC GOTOPOOH
041191,000669: 14,3051 03053 TC R51E
041192,000670: 14,3052 03022 TC R51C
041193,000671: 14,3053 34755 R51E CAF ZERO
041194,000672: 14,3054 55757 TS STARIND
041195,000673: 14,3055 06037 R51.2 TC INTPRET
041196,000674: 14,3056 77776 R51.3 EXIT
041197,000675: 14,3057 05353 TC PHASCHNG
041198,000676: 14,3060 04024 OCT 04024
041199,000677:
041200,000678: 14,3061 06037 TC INTPRET
041201,000679: 14,3062 77624 CALL
041202,000680: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
041203,000681: 14,3064 77776 EXIT
041204,000682: 14,3065 04616 TC BANKCALL
|
|
Page 942 |
041206,000684: 14,3066 16000 CADR AOTMARK
041207,000685: 14,3067 04616 TC BANKCALL
041208,000686: 14,3070 17712 CADR OPTSTALL
041209,000687: 14,3071 05711 TC CURTAINS
041210,000688: 14,3072 11757 CCS STARIND
041211,000689: 14,3073 13075 TCF +2
041212,000690: 14,3074 03145 TC R51.4
041213,000691: 14,3075 06037 TC INTPRET
041214,000692: 14,3076 77775 VLOAD
041215,000693: 14,3077 02715 STARAD +6
041216,000694: 14,3100 02767 STORE STARSAV2
041217,000695: 14,3101 77776 EXIT
041218,000696: 14,3102 05353 TC PHASCHNG
041219,000697: 14,3103 04024 OCT 04024
041220,000698:
041221,000699: 14,3104 06037 TC INTPRET
041222,000700: 14,3105 45145 DLOAD CALL
041223,000701: 14,3106 03562 TSIGHT
041224,000702: 14,3107 32472 PLANET
041225,000703: 14,3110 53521 MXV UNIT
041226,000704: 14,3111 01734 REFSMMAT
041227,000705: 14,3112 26715 STOVL STARAD +6
041228,000706: 14,3113 03554 PLANVEC
041229,000707: 14,3114 53521 MXV UNIT
041230,000708: 14,3115 01734 REFSMMAT
041231,000709: 14,3116 26707 STOVL STARAD
041232,000710: 14,3117 02761 STARSAV1
041233,000711: 14,3120 24007 STOVL 6D
041234,000712: 14,3121 02767 STARSAV2
041235,000713: 14,3122 34015 STCALL 12D
041236,000714: 14,3123 31256 R54 # STAR DATA TEST
041237,000715: 14,3124 45014 BOFF CALL
041238,000716: 14,3125 00354 FREEFLAG
041239,000717: 14,3126 31134 R51K
041240,000718: 14,3127 47441 AXISGEN
041241,000719: 14,3130 77624 CALL
041242,000720: 14,3131 31224 R55 # GYRO TORQUE
041243,000721: 14,3132 77614 CLEAR
041244,000722: 14,3133 01273 PFRATFLG
041245,000723: 14,3134 77776 R51K EXIT
041246,000724: 14,3135 35751 R51P63 CAF OCT14
041247,000725: 14,3136 04616 TC BANKCALL
041248,000726: 14,3137 20623 CADR GOPERF1
041249,000727: 14,3140 06001 TC GOTOPOOH
041250,000728: 14,3141 03022 TC R51C
041251,000729: 14,3142 06037 TC INTPRET
041252,000730: 14,3143 77650 GOTO
041253,000731: 14,3144 02746 QMAJ
041254,000732: 14,3145 06037 R51.4 TC INTPRET
041255,000733: 14,3146 77775 VLOAD
|
|
Page 943 |
041257,000735: 14,3147 02715 STARAD +6
041258,000736: 14,3150 02761 STORE STARSAV1
041259,000737: 14,3151 45145 DLOAD CALL
041260,000738: 14,3152 03562 TSIGHT
041261,000739: 14,3153 32472 PLANET
041262,000740: 14,3154 03554 STORE PLANVEC
041263,000741: 14,3155 77731 SSP
041264,000742: 14,3156 02760 STARIND
041265,000743: 14,3157 00001 1
041266,000744: 14,3160 77650 GOTO
041267,000745: 14,3161 31056 R51.3
041268,000746: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041269,000747:
|
|
Page 944 |
041271,000749: # GYRO TORQUE COARSE ALIGNMENT
041272,000750:
041273,000751: 14,3164 45020 GYCOARS STQ CALL
041274,000752: 14,3165 02746 QMAJ
041275,000753: 14,3166 47247 CALCGTA
041276,000754: 14,3167 43014 CLEAR CLEAR
041277,000755: 14,3170 01260 DRIFTFLG
041278,000756: 14,3171 01662 REFSMFLG
041279,000757: 14,3172 77776 EXIT
041280,000758: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
041281,000759: 14,3174 04616 TC BANKCALL
041282,000760: 14,3175 20451 CADR GODSPR
041283,000761: 14,3176 33255 CA R55CDR
041284,000762: 14,3177 04616 TC BANKCALL
041285,000763: 14,3200 17323 CADR IMUPULSE
041286,000764: 14,3201 04616 TC BANKCALL
041287,000765: 14,3202 17716 CADR IMUSTALL
041288,000766: 14,3203 05711 TC CURTAINS
041289,000767: 14,3204 05353 TC PHASCHNG
041290,000768: 14,3205 04024 OCT 04024
041291,000769:
041292,000770: 14,3206 06037 TC INTPRET
041293,000771: 14,3207 75160 AXC,1 AXC,2
041294,000772: 14,3210 03606 XSMD
041295,000773: 14,3211 01733 REFSMMAT
041296,000774: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
041297,000775: 14,3213 31377 MATMOVE
041298,000776: 14,3214 43014 CLEAR SET
041299,000777: 14,3215 01273 PFRATFLG
041300,000778: 14,3216 01462 REFSMFLG
041301,000779: 14,3217 77624 CALL
041302,000780: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041303,000781: 14,3221 77650 GOTO
041304,000782: 14,3222 31134 R51K
041305,000783: 14,3223 04024 V16N20 VN 1620
041306,000784:
|
|
Page 945 |
041308,000786: # R55 GYRO TORQUE
041309,000787: # FUNCTION - COMPUTE AND SEND GYRO PULSES
041310,000788: # CALLING SEQ - CALL R55
041311,000789: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
041312,000790: # OUTPUT - GYRO PULSES
041313,000791: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
041314,000792:
041315,000793: 14,3224 COUNT* $$/R55
041316,000794: 14,3224 77620 R55 STQ
041317,000795: 14,3225 02745 QMIN
041318,000796: 14,3226 77624 CALL
041319,000797: 14,3227 47247 CALCGTA
041320,000798: 14,3230 77776 PULSEM EXIT
041321,000799: 14,3231 33254 R55.1 CAF V06N93
041322,000800: 14,3232 04616 TC BANKCALL
041323,000801: 14,3233 20476 CADR GOFLASH
041324,000802: 14,3234 06001 TC GOTOPOOH
041325,000803: 14,3235 03237 TC R55.2
041326,000804: 14,3236 03251 TC R55RET
041327,000805: 14,3237 05353 R55.2 TC PHASCHNG
041328,000806: 14,3240 00214 OCT 00214
041329,000807: 14,3241 33255 CA R55CDR
041330,000808: 14,3242 04616 TC BANKCALL
041331,000809: 14,3243 17323 CADR IMUPULSE
041332,000810: 14,3244 04616 TC BANKCALL
041333,000811: 14,3245 17716 CADR IMUSTALL
041334,000812: 14,3246 05711 TC CURTAINS
041335,000813: 14,3247 05353 TC PHASCHNG
041336,000814: 14,3250 04024 OCT 04024
041337,000815:
041338,000816: 14,3251 06037 R55RET TC INTPRET
041339,000817: 14,3252 77650 GOTO
041340,000818: 14,3253 02745 QMIN
041341,000819: 14,3254 01535 V06N93 VN 0693
041342,000820: 14,3255 02737 R55CDR ECADR OGC
041343,000821: 14,3256 14,3256 R54 = CHKSDATA
041344,000822:
041345,000823: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
041346,000824: # MOD NO - 0 LOG SECTION - P51-P53
041347,000825: # MODIFICATION BY - LONSKE ASSEMBLY -
041348,000826:
041349,000827: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041350,000828: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041351,000829: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041352,000830: # OS1 = OBSERVED STAR 1 VECTOR
041353,000831: # OS2 = OBSERVED STAR 2 VECTOR
041354,000832: # SS1 = STORED STAR 1 VECTOR
041355,000833: # SS2 = STORED STAR 2 VECTOR
041356,000834: # A1 = ARCCOS(OS1 - OS2)
041357,000835: # A2 = ARCCOS(SS1 - SS2)
041358,000836: # A = ABS(2(A1 - A2))
|
|
Page 946 |
041360,000838: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041361,000839:
041362,000840: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041363,000841: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041364,000842:
041365,000843: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041366,000844: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041367,000845:
041368,000846: # ERASABLE INITIALIZATION REQUIRED -
041369,000847: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041370,000848: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
041371,000849:
041372,000850: # DEBRIS -
041373,000851:
041374,000852: 14,3256 COUNT* $$/R54
041375,000853: 14,3256 43020 CHKSDATA STQ SET
041376,000854: 14,3257 02745 QMIN
041377,000855: 14,3260 00074 FREEFLAG
041378,000856: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041379,000857: 14,3262 02706 STARAD
041380,000858:
041381,000859: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041382,000860: 14,3264 00001 0,1
041383,000861: 14,3265 00007 6,1
041384,000862: 14,3266 65552 SL1 ACOS
041385,000863: 14,3267 00025 STORE THETA
041386,000864: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041387,000865: 14,3271 00354 FREEFLAG
041388,000866: 14,3272 31302 CHKSD
041389,000867: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
041390,000868: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041391,000869: 14,3275 00006 6D
041392,000870: 14,3276 00025 THETA
041393,000871: 14,3277 00023 STORE 18D
041394,000872: 14,3300 77650 GOTO
041395,000873: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
041396,000874: 14,3302 45345 CHKSD DLOAD DSU
041397,000875: 14,3303 00025 THETA
041398,000876: 14,3304 00023 18D
041399,000877: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
041400,000878: 14,3306 21612 SGNAGREE
041401,000879: 14,3307 01046 STORE NORMTEM1
041402,000880: 14,3310 77414 SET EXIT
041403,000881: 14,3311 00074 FREEFLAG
041404,000882: 14,3312 33326 CAF VB6N5
041405,000883: 14,3313 04616 TC BANKCALL
041406,000884: 14,3314 20476 CADR GOFLASH
041407,000885: 14,3315 16001 TCF GOTOPOOH
041408,000886: 14,3316 03323 TC CHKSDA # PROCEED
041409,000887: 14,3317 06037 TC INTPRET
041410,000888: 14,3320 52014 CLEAR GOTO
041411,000889: 14,3321 00274 FREEFLAG
041412,000890: 14,3322 02745 QMIN
041413,000891: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947 |
041415,000893: 14,3324 77650 GOTO
041416,000894: 14,3325 02745 QMIN
041417,000895: 14,3326 01405 VB6N5 VN 605
041418,000896:
041419,000897: # NAME - CAL53A
041420,000898: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041421,000899: # CALLING SEQUENCE - CALL CAL53A
041422,000900: # INPUT - X,Y,ZSMD, CDUX,Y,Z
041423,000901: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041424,000902: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041425,000903: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
041426,000904:
041427,000905: 14,3327 COUNT* $$/R50
041428,000906: 14,3327 77624 CAL53A CALL
041429,000907: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
041430,000908: 14,3331 66234 RTB SSP
041431,000909: 14,3332 31413 RDCDUS # READ CDUS
041432,000910: 14,3333 00051 S1
041433,000911: 14,3334 00001 1
041434,000912: 14,3335 40370 AXT,1 SETPD
041435,000913: 14,3336 00003 3
041436,000914: 14,3337 00005 4
041437,000915: 14,3340 70543 CALOOP DLOAD* SR1
041438,000916: 14,3341 00325 THETAD +3D,1
041439,000917: 14,3342 70523 PDDL* SR1
041440,000918: 14,3343 00005 4,1
041441,000919: 14,3344 51425 DSU ABS
041442,000920: 14,3345 45206 PUSH DSU
041443,000921: 14,3346 31412 DEGREE1
041444,000922: 14,3347 71240 BMN DLOAD
041445,000923: 14,3350 31366 CALOOP1
041446,000924: 14,3351 51025 DSU BPL
041447,000925: 14,3352 31413 DEG359
041448,000926: 14,3353 31366 CALOOP1
041449,000927: 14,3354 77776 EXIT
041450,000928: 14,3355 05353 TC PHASCHNG
041451,000929: 14,3356 04024 OCT 04024
041452,000930:
041453,000931: 14,3357 06037 TC INTPRET
041454,000932: 14,3360 77624 COARFINE CALL
041455,000933: 14,3361 31565 COARSE
041456,000934: 14,3362 77624 CALL
041457,000935: 14,3363 31602 NCOARSE
041458,000936: 14,3364 77650 GOTO
041459,000937: 14,3365 31370 FINEONLY
041460,000938: 14,3366 77700 CALOOP1 TIX,1
041461,000939: 14,3367 31340 CALOOP
041462,000940: 14,3370 75160 FINEONLY AXC,1 AXC,2
041463,000941: 14,3371 02642 XSM
041464,000942: 14,3372 01733 REFSMMAT
041465,000943: 14,3373 77624 CALL
041466,000944: 14,3374 31377 MATMOVE
|
|
Page 948 |
041468,000946: 14,3375 77650 GOTO
041469,000947: 14,3376 32161 COARSRET
041470,000948: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041471,000949: 14,3400 00001 0,1
041472,000950: 14,3401 10001 STORE 0,2
041473,000951: 14,3402 77773 VLOAD*
041474,000952: 14,3403 00007 6D,1
041475,000953: 14,3404 10007 STORE 6D,2
041476,000954: 14,3405 77773 VLOAD*
041477,000955: 14,3406 00015 12D,1
041478,000956: 14,3407 10015 STORE 12D,2
041479,000957: 14,3410 77616 RVQ
041480,000958: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041481,000959: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041482,000960: 14,3413 00004 RDCDUS INHINT # READ CDUS
041483,000961: 14,3414 30032 CA CDUX
041484,000962: 14,3415 50120 INDEX FIXLOC
041485,000963: 14,3416 54001 TS 1
041486,000964: 14,3417 30033 CA CDUY
041487,000965: 14,3420 50120 INDEX FIXLOC
041488,000966: 14,3421 54002 TS 2
041489,000967: 14,3422 30034 CA CDUZ
041490,000968: 14,3423 50120 INDEX FIXLOC
041491,000969: 14,3424 54003 TS 3
041492,000970: 14,3425 00003 RELINT
041493,000971: 14,3426 06061 TC DANZIG # +
041494,000972: 14,3427 COUNT* $$/INFLT
041495,000973:
|
|
Page 949 |
041497,000975: # NAME - P51 - IMU ORIENTATION DETERMINATION
041498,000976: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
041499,000977: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041500,000978:
041501,000979: # FUNCTIONAL DESCRIPTION
041502,000980: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041503,000981: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
041504,000982: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041505,000983: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041506,000984:
041507,000985: # CALLING SEQUENCE
041508,000986: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041509,000987:
041510,000988: # SUBROUTINES CALLED.
041511,000989: # GOPERF3
041512,000990: # GOPERF1
041513,000991: # GODSPR
041514,000992: # IMUCOARS
041515,000993: # IMUFIN20
041516,000994: # AOTMARK (R53)
041517,000995: # CHKSDATA (R54)
041518,000996: # MKRELEAS
041519,000997: # AXISGEN
041520,000998: # MATMOVE
041521,000999:
041522,001000: # ALARMS
041523,001001: # NONE.
041524,001002:
041525,001003: # ERASABLE INITIALIZATION
041526,001004: # IMU ZERO FLAG SHOULD BE SET.
041527,001005:
041528,001006: # OUTPUT
041529,001007: # REFSMMAT
041530,001008: # REFSMFLG
041531,001009:
041532,001010: # DEBRIS
041533,001011: # WORK AREA
041534,001012: # STARAD
041535,001013: # STARIND
041536,001014: # BESTI
041537,001015: # BESTJ
041538,001016:
041539,001017: 14,3427 COUNT* $$/P51
|
|
Page 950 |
041541,001019: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041542,001020: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041543,001021:
041544,001022: 14,3431 34761 CAF OCT15
041545,001023: 14,3432 04616 TC BANKCALL
041546,001024: 14,3433 20623 CADR GOPERF1
041547,001025: 14,3434 06001 TC GOTOPOOH # TERM.
041548,001026: 14,3435 13461 TCF P51B # V33
041549,001027: 14,3436 05353 TC PHASCHNG
041550,001028: 14,3437 04024 OCT 04024
041551,001029:
041552,001030: 14,3440 34755 CAF ZERO
041553,001031: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
041554,001032: 14,3442 54322 TS THETAD +1
041555,001033: 14,3443 54323 TS THETAD +2
041556,001034: 14,3444 35010 CAF V06N22
041557,001035: 14,3445 04616 TC BANKCALL
041558,001036: 14,3446 20446 CADR GODSPRET
041559,001037: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041560,001038: 14,3450 04616 TC BANKCALL
041561,001039: 14,3451 20446 CADR GODSPRET
041562,001040: 14,3452 06037 TC INTPRET
041563,001041: 14,3453 77624 CALL
041564,001042: 14,3454 31565 COARSE
041565,001043: 14,3455 77776 EXIT
041566,001044: 14,3456 05353 TC PHASCHNG
041567,001045: 14,3457 04024 OCT 04024
041568,001046: 14,3460 13431 TCF P51 +2
041569,001047:
041570,001048: 14,3461 05353 P51B TC PHASCHNG
041571,001049: 14,3462 00014 OCT 00014
041572,001050: 14,3463 06037 TC INTPRET
041573,001051: 14,3464 77624 CALL
041574,001052: 14,3465 31602 NCOARSE
041575,001053: 14,3466 40331 SSP SETPD
041576,001054: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
041577,001055: 14,3470 00000 0
041578,001056: 14,3471 00001 0
041579,001057: 14,3472 77776 P51C EXIT
041580,001058: 14,3473 05353 TC PHASCHNG
041581,001059: 14,3474 04024 OCT 04024
041582,001060:
041583,001061: 14,3475 04616 TC BANKCALL
041584,001062: 14,3476 16000 CADR AOTMARK # R53
041585,001063: 14,3477 04616 TC BANKCALL
041586,001064: 14,3500 17712 CADR AOTSTALL
041587,001065: 14,3501 05711 TC CURTAINS
041588,001066: 14,3502 11757 CCS STARIND
041589,001067: 14,3503 13511 TCF P51D +1
041590,001068: 14,3504 06037 TC INTPRET
|
|
Page 951 |
041592,001070: 14,3505 77775 VLOAD
041593,001071: 14,3506 02715 STARAD +6
041594,001072: 14,3507 02761 STORE STARSAV1
041595,001073: 14,3510 77776 P51D EXIT
041596,001074: 14,3511 05353 TC PHASCHNG
041597,001075: 14,3512 04024 OCT 04024
041598,001076:
041599,001077: 14,3513 11757 CCS STARIND
041600,001078: 14,3514 13530 TCF P51E
041601,001079: 14,3515 05353 TC PHASCHNG
041602,001080: 14,3516 04024 OCT 04024
041603,001081:
041604,001082: 14,3517 06037 TC INTPRET
041605,001083: 14,3520 45145 DLOAD CALL
041606,001084: 14,3521 03562 TSIGHT
041607,001085: 14,3522 32472 PLANET
041608,001086: 14,3523 03554 STORE PLANVEC
041609,001087: 14,3524 77776 EXIT
041610,001088: 14,3525 34753 CAF BIT1
041611,001089: 14,3526 55757 TS STARIND
041612,001090: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
041613,001091: 14,3530 05353 P51E TC PHASCHNG
041614,001092: 14,3531 04024 OCT 04024
041615,001093:
041616,001094: 14,3532 06037 TC INTPRET
041617,001095: 14,3533 45145 DLOAD CALL
041618,001096: 14,3534 03562 TSIGHT
041619,001097: 14,3535 32472 PLANET
041620,001098: 14,3536 24015 STOVL 12D
041621,001099: 14,3537 03554 PLANVEC
041622,001100: 14,3540 24007 STOVL 6D
041623,001101: 14,3541 02761 STARSAV1
041624,001102: 14,3542 26707 STOVL STARAD
041625,001103: 14,3543 02767 STARSAV2
041626,001104: 14,3544 36715 STCALL STARAD +6
041627,001105: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041628,001106: 14,3546 77414 BON EXIT
041629,001107: 14,3547 00314 FREEFLAG
041630,001108: 14,3550 31552 P51G
041631,001109: 14,3551 03431 TC P51 +2
041632,001110: 14,3552 77624 P51G CALL
041633,001111: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041634,001112: 14,3554 75160 AXC,1 AXC,2
041635,001113: 14,3555 02664 XDC
041636,001114: 14,3556 01733 REFSMMAT
041637,001115: 14,3557 77624 CALL
041638,001116: 14,3560 31377 MATMOVE
041639,001117: 14,3561 77414 SET EXIT
041640,001118: 14,3562 01462 REFSMFLG
041641,001119: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952 |
041643,001121: 14,3564 12200 V41K VN 4100
041644,001122: 14,3565 77776 COARSE EXIT
041645,001123: 14,3566 04616 TC BANKCALL
041646,001124: 14,3567 17000 CADR IMUCOARS
041647,001125: 14,3570 04616 TC BANKCALL
041648,001126: 14,3571 17716 CADR IMUSTALL
041649,001127: 14,3572 05711 TC CURTAINS
041650,001128: 14,3573 04616 TC BANKCALL
041651,001129: 14,3574 17210 CADR IMUFINE
041652,001130: 14,3575 04616 TC BANKCALL
041653,001131: 14,3576 17716 CADR IMUSTALL
041654,001132: 14,3577 05711 TC CURTAINS
041655,001133: 14,3600 06037 TC INTPRET
041656,001134: 14,3601 77616 RVQ
041657,001135: 14,3602 77776 NCOARSE EXIT
041658,001136: 14,3603 30025 CA TIME1
041659,001137: 14,3604 55075 TS 1/PIPADT
041660,001138: 14,3605 44755 CS ZERO
041661,001139: 14,3606 54037 TS PIPAX
041662,001140: 14,3607 54040 TS PIPAY
041663,001141: 14,3610 54041 TS PIPAZ
041664,001142: 14,3611 06037 TC INTPRET
041665,001143: 14,3612 77775 VLOAD
041666,001144: 14,3613 24007 ZEROVEC
041667,001145: 14,3614 01472 STORE GCOMP
041668,001146: 14,3615 43414 SET RVQ
041669,001147: 14,3616 01060 DRIFTFLG
041670,001148:
|
|
Page 953 |
041672,001150: # NAME - S52.2
041673,001151: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041674,001152: # CALL - CALL S52.2
041675,001153: # INPUT - X,Y,ZSMD
041676,001154: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
041677,001155: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
041678,001156:
041679,001157: 14,3617 COUNT* $$/S52.1
041680,001158: 14,3617 45020 S52.2 STQ CALL
041681,001159: 14,3620 02746 QMAJ
041682,001160: 14,3621 47537 CDUTRIG
041683,001161: 14,3622 77624 CALL
041684,001162: 14,3623 20030 CALCSMSC
041685,001163: 14,3624 66370 AXT,1 SSP
041686,001164: 14,3625 00022 18D
041687,001165: 14,3626 00051 S1
041688,001166: 14,3627 00006 6D
041689,001167: 14,3630 61373 S52.2A VLOAD* VXM
041690,001168: 14,3631 02707 XNB +18D,1
041691,001169: 14,3632 01734 REFSMMAT
041692,001170: 14,3633 77656 UNIT
041693,001171: 14,3634 06707 STORE XNB +18D,1
041694,001172: 14,3635 77700 TIX,1
041695,001173: 14,3636 31630 S52.2A
041696,001174: 14,3637 75160 S52.2.1 AXC,1 AXC,2
041697,001175: 14,3640 03606 XSMD
041698,001176: 14,3641 02642 XSM
041699,001177: 14,3642 77624 CALL
041700,001178: 14,3643 31377 MATMOVE
041701,001179: 14,3644 77624 CALL
041702,001180: 14,3645 47353 CALCGA
041703,001181: 14,3646 77650 GOTO
041704,001182: 14,3647 02746 QMAJ
041705,001183:
|
|
Page 954 |
041707,001185: # NAME - S52.3
041708,001186: # FUNCTION XSMD= UNIT R
041709,001187: # YSMD= UNIT(V X R)
041710,001188: # ZSMD= UNIT(XSMD X YSMD)
041711,001189: # CALL DLOAD CALL
041712,001190: # TALIGN
041713,001191: # S52.3
041714,001192: # INPUT - TIME OF ALIGNMENT IN MPAC
041715,001193: # OUTPUT - X,Y,ZSMD
041716,001194: # SUBROUTINES - CSMCONIC
041717,001195:
041718,001196: 14,3650 COUNT* $$/S52.3
041719,001197: 14,3650 77620 S52.3 STQ
041720,001198: 14,3651 02746 QMAJ
041721,001199: 14,3652 34041 STCALL TDEC1
041722,001200: 14,3653 27100 LEMCONIC
041723,001201: 14,3654 53575 VLOAD UNIT
041724,001202: 14,3655 00001 RATT
041725,001203: 14,3656 27607 STOVL XSMD
041726,001204: 14,3657 00007 VATT
041727,001205: 14,3660 53435 VXV UNIT
041728,001206: 14,3661 00001 RATT
041729,001207: 14,3662 27615 STOVL YSMD
041730,001208: 14,3663 03607 XSMD
041731,001209: 14,3664 53435 VXV UNIT
041732,001210: 14,3665 03615 YSMD
041733,001211: 14,3666 37623 STCALL ZSMD
041734,001212: 14,3667 02746 QMAJ
041735,001213:
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|
Page 955 |
041737,001215: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041738,001216:
041739,001217: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041740,001218: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041741,001219:
041742,001220: # CALLING - CALL R52
041743,001221:
041744,001222: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
041745,001223:
041746,001224: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
041747,001225: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041748,001226: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041749,001227: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041750,001228:
041751,001229: # SUBROUT - R60LEM
041752,001230:
041753,001231: 14,3670 COUNT* $$/R52
041754,001232: 14,3670 77420 R52 STQ EXIT
041755,001233: 14,3671 03665 SAVQR52
041756,001234: 14,3672 51757 INDEX STARIND
041757,001235: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041758,001236: 14,3674 00006 EXTEND
041759,001237: 14,3675 73771 MP 1/6TH
041760,001238: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
041761,001239: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
041762,001240:
041763,001241: 14,3700 33772 R52A CAF V01N70
041764,001242: 14,3701 04616 TC BANKCALL
041765,001243: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041766,001244: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
041767,001245: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
041768,001246: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
041769,001247:
041770,001248: 14,3706 05516 R52B TC DOWNFLAG
041771,001249: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041772,001250: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
041773,001251: 14,3711 77744 MASK HIGH9
041774,001252: 14,3712 00006 EXTEND
041775,001253: 14,3713 74743 MP BIT9
041776,001254: 14,3714 54001 TS L # TEMP STORE DETENT
041777,001255:
041778,001256: 14,3715 00006 EXTEND
041779,001257: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041780,001258:
041781,001259: 14,3717 65660 AD NEG7
041782,001260: 14,3720 00006 EXTEND
041783,001261: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
041784,001262:
041785,001263: 14,3722 E7,1551 EBANK= XYMARK
041786,001264: 14,3722 35016 CA EBANK7
041787,001265: 14,3723 54003 TS EBANK
|
|
Page 956 |
041789,001267: 14,3724 50001 INDEX L
041790,001268: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041791,001269: 14,3726 54001 TS L
041792,001270: 14,3727 E5,1642 EBANK= XSM
041793,001271: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041794,001272: 14,3730 54003 TS EBANK
041795,001273: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
041796,001274: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041797,001275: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
041798,001276:
041799,001277: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041800,001278: 14,3735 04616 TC BANKCALL
041801,001279: 14,3736 20476 CADR GOFLASH
041802,001280: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
041803,001281: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
041804,001282: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
041805,001283:
041806,001284: 14,3742 00006 EXTEND
041807,001285: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041808,001286: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041809,001287: 14,3745 52011 DXCH 8D
041810,001288: 14,3746 06037 TC INTPRET
041811,001289: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041812,001290: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041813,001291: 14,3751 45034 RTB CALL
041814,001292: 14,3752 21573 LOADTIME
041815,001293: 14,3753 32472 PLANET
041816,001294: 14,3754 53521 MXV UNIT
041817,001295: 14,3755 01734 REFSMMAT
041818,001296: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041819,001297:
041820,001298: 14,3757 77776 EXIT
041821,001299: 14,3760 04616 TC BANKCALL
041822,001300: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041823,001301:
041824,001302: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041825,001303: 14,3763 70735 MASK STARCODE
041826,001304: 14,3764 00006 EXTEND
041827,001305: 14,3765 13700 BZF R52A
041828,001306:
041829,001307: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041830,001308: 14,3767 77650 GOTO
041831,001309: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041832,001310:
041833,001311: 14,3771 05253 1/6TH DEC .1666667
041834,001312: 14,3772 00306 V01N70 VN 0170
041835,001313: 14,3773 01527 V06N87 VN 687
041836,001314:
|
|
Page 957 |
041838,001316: # LUNAR SURFACE STAR AQUISITION
041839,001317:
041840,001318: 15,2245 BANK 15
041841,001319: 15,2000 SETLOC P50S
041842,001320: 15,2000 BANK
041843,001321: 15,2245 COUNT* $$/R59
041844,001322:
041845,001323: 15,2245 40077 R59 CS FLAGWRD3
041846,001324: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041847,001325: 15,2247 10000 CCS A
041848,001326: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041849,001327:
041850,001328: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041851,001329: 15,2252 04616 TC BANKCALL
041852,001330: 15,2253 20476 CADR GOFLASH
041853,001331: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041854,001332: 15,2255 12257 TCF R59A # V33 - PROCEED
041855,001333: 15,2256 12245 TCF R59 # V32 - RECYCLE
041856,001334:
041857,001335: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041858,001336: 15,2260 70735 MASK AOTCODE
041859,001337: 15,2261 00006 EXTEND
041860,001338: 15,2262 76242 MP REVCNT # JUST 6
041861,001339: 15,2263 56001 XCH L
041862,001340: 15,2264 51757 INDEX STARIND
041863,001341: 15,2265 55755 TS BESTI
041864,001342: 15,2266 50120 INDEX FIXLOC
041865,001343: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041866,001344: 15,2270 00006 EXTEND
041867,001345: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041868,001346: 15,2272 40000 COM
041869,001347: 15,2273 62561 AD DEC227
041870,001348: 15,2274 00006 EXTEND
041871,001349: 15,2275 62455 BZMF R59OUT
041872,001350:
041873,001351: 15,2276 06037 TC INTPRET
041874,001352: 15,2277 64373 VLOAD* MXV
041875,001353: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041876,001354: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041877,001355: 15,2302 45056 UNIT CALL
041878,001356: 15,2303 47646 CDU*SMNB
041879,001357: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041880,001358: 15,2305 77776 EXIT
041881,001359:
041882,001360: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041883,001361: 15,2307 55242 TS POSCODE
041884,001362:
041885,001363: 15,2310 E7,1551 EBANK= XYMARK
041886,001364: 15,2310 35016 INCAZ CA EBANK7
041887,001365: 15,2311 54003 TS EBANK
041888,001366:
|
|
Page 958 |
041890,001368: 15,2312 51242 INDEX POSCODE
041891,001369: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041892,001370: 15,2314 54001 TS L
041893,001371:
041894,001372: 15,2315 E5,1642 EBANK= XSM
041895,001373: 15,2315 35014 CA EBANK5
041896,001374: 15,2316 54003 TS EBANK
041897,001375:
041898,001376: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041899,001377: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041900,001378: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041901,001379: 15,2322 50120 INDEX FIXLOC
041902,001380: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041903,001381:
041904,001382: 15,2324 06037 TC INTPRET
041905,001383: 15,2325 77624 CALL
041906,001384: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041907,001385: 15,2327 50375 VLOAD DOT
041908,001386: 15,2330 02731 STAR # DOT STAR WITH OA
041909,001387: 15,2331 03765 SCAXIS
041910,001388: 15,2332 65552 SL1 ARCCOS
041911,001389: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041912,001390:
041913,001391: 15,2334 51025 DSU BPL
041914,001392: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041915,001393: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041916,001394: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041917,001395: 15,2340 00031 24D
041918,001396: 15,2341 32470 DEG.5
041919,001397: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041920,001398: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041921,001399: 15,2344 00031 24D # GET SPIRAL
041922,001400: 15,2345 42405 DMP SL4
041923,001401: 15,2346 25764 3/4 # 12 SCALED AT 16
041924,001402: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041925,001403:
041926,001404: 15,2350 03765 SCAXIS # OA
041927,001405: 15,2351 53435 VXV UNIT
041928,001406: 15,2352 24005 XUNIT
041929,001407: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041930,001408: 15,2354 03765 SCAXIS
041931,001409: 15,2355 77676 VCOMP
041932,001410: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041933,001411: 15,2357 03765 SCAXIS
041934,001412: 15,2360 53435 VXV UNIT
041935,001413: 15,2361 02731 STAR
041936,001414: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041937,001415: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041938,001416: 15,2364 65552 SL1 ARCCOS
041939,001417: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
|
|
Page 959 |
041941,001419: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041942,001420: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041943,001421: 15,2370 32375 R59D
041944,001422: 15,2371 32047 ABOUTONE
041945,001423: 15,2372 77625 DSU
041946,001424: 15,2373 00033 26D
041947,001425: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041948,001426:
041949,001427: 15,2375 70535 R59D SLOAD SR1
041950,001428: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041951,001429: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041952,001430: 15,2400 00033 26D
041953,001431: 15,2401 77634 RTB
041954,001432: 15,2402 21614 1STO2S
041955,001433: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041956,001434: 15,2404 00031 24D # LOAD SROT IN REVS
041957,001435: 15,2405 77615 DAD # 12(SEP) + YROT
041958,001436: 15,2406 77634 RTB
041959,001437: 15,2407 21614 1STO2S
041960,001438: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041961,001439: 15,2411 77776 EXIT
041962,001440: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041963,001441:
041964,001442: 15,2413 77776 ZSPCR EXIT
041965,001443: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041966,001444: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041967,001445: 15,2416 55240 TS SPIRAL
041968,001446: 15,2417 12437 TCF 79DISP
041969,001447:
041970,001448: 15,2420 77776 NXAX EXIT
041971,001449: 15,2421 25242 INCR POSCODE
041972,001450: 15,2422 41242 CS POSCODE
041973,001451: 15,2423 64757 AD SEVEN
041974,001452: 15,2424 00006 EXTEND
041975,001453: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041976,001454: 15,2426 12310 TCF INCAZ
041977,001455:
041978,001456: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041979,001457: 15,2430 00404 OCT 404
041980,001458: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041981,001459: 15,2432 04616 TC BANKCALL
041982,001460: 15,2433 20476 CADR GOFLASH
041983,001461: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041984,001462: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041985,001463: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041986,001464:
041987,001465: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041988,001466: 15,2440 04616 TC BANKCALL
041989,001467: 15,2441 20476 CADR GOFLASH
041990,001468: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 960 |
041992,001470: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041993,001471: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041994,001472:
041995,001473: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041996,001474: 15,2446 71242 MASK POSCODE
041997,001475: 15,2447 00006 EXTEND
041998,001476: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041999,001477: 15,2451 47744 CS HIGH9
042000,001478: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
042001,001479: 15,2453 60001 AD L
042002,001480: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
042003,001481:
042004,001482: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
042005,001483: 15,2456 16000 CADR AOTMARK
042006,001484: 15,2457 04616 TC BANKCALL
042007,001485: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042008,001486: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
042009,001487: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042010,001488:
042011,001489: 15,2463 00306 V01N70* VN 170
042012,001490: 15,2464 01517 V06N79 VN 679
042013,001491: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042014,001492: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042015,001493: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042016,001494: 15,2472 1236 CURSOR EQUALS GDT/2
042017,001495: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
042018,001496: 15,2472 1242 POSCODE EQUALS GDT/2 +4
042019,001497:
|
|
Page 961 |
042021,001499: # NAME - PLANET
042022,001500: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042023,001501: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
042024,001502: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
042025,001503: # BY DSDY INPUT
042026,001504: # CALL - CALL
042027,001505: # PLANET
042028,001506: # INPUT - TIME IN MPAC
042029,001507: # OUTPUT - VECTOR IN MPAC
042030,001508: # SUBROUTINES - LOCSAM
042031,001509: # DEBRIS - VAC, STARAD - STARAD +17
042032,001510:
042033,001511: 15,2000 SETLOC P50S
042034,001512: 15,2000 BANK
042035,001513: 15,2472 COUNT* $$/P51
042036,001514:
042037,001515: 15,2472 27562 PLANET STOVL TSIGHT
042038,001516: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
042039,001517: 15,2474 02707 STORE STARAD
042040,001518: 15,2475 77420 STQ EXIT
042041,001519: 15,2476 02736 GCTR
042042,001520: 15,2477 47744 CS HIGH9
042043,001521: 15,2500 70735 MASK AOTCODE
042044,001522: 15,2501 00006 EXTEND
042045,001523: 15,2502 76242 MP REVCNT
042046,001524: 15,2503 56001 XCH L
042047,001525: 15,2504 51757 INDEX STARIND
042048,001526: 15,2505 55755 TS BESTI
042049,001527: 15,2506 10000 CCS A
042050,001528: 15,2507 12523 TCF NOTPLAN
042051,001529: 15,2510 32562 CAF VNPLANV
042052,001530: 15,2511 04616 TC BANKCALL
042053,001531: 15,2512 20476 CADR GOFLASH
042054,001532: 15,2513 02510 TC -3
042055,001533: 15,2514 02516 TC +2
042056,001534: 15,2515 02510 TC -5
042057,001535: 15,2516 06037 TC INTPRET
042058,001536: 15,2517 53575 VLOAD UNIT
042059,001537: 15,2520 02707 STARAD
042060,001538: 15,2521 77650 GOTO
042061,001539: 15,2522 02736 GCTR
042062,001540: 15,2523 40000 NOTPLAN CS A
042063,001541: 15,2524 62561 AD DEC227
042064,001542: 15,2525 00006 EXTEND
042065,001543: 15,2526 62537 BZMF CALSAM1
042066,001544: 15,2527 51757 INDEX STARIND
042067,001545: 15,2530 31755 CA BESTI
042068,001546: 15,2531 50120 INDEX FIXLOC
042069,001547: 15,2532 54046 TS X1
042070,001548: 15,2533 06037 TC INTPRET
|
|
Page 962 |
042072,001550: 15,2534 52173 VLOAD* GOTO
042073,001551: 15,2535 30347 CATLOG,1
042074,001552: 15,2536 02736 GCTR
042075,001553: 15,2537 06037 CALSAM1 TC INTPRET
042076,001554: 15,2540 45145 CALSAM DLOAD CALL
042077,001555: 15,2541 03562 TSIGHT
042078,001556: 15,2542 30506 LOCSAM
042079,001557: 15,2543 77340 LXC,1 VLOAD
042080,001558: 15,2544 02757 STARIND
042081,001559: 15,2545 02707 VEARTH
042082,001560: 15,2546 24001 STOVL 0D
042083,001561: 15,2547 02715 VSUN
042084,001562: 15,2550 26707 STOVL VEARTH
042085,001563: 15,2551 00001 0D
042086,001564: 15,2552 02715 STORE VSUN
042087,001565: 15,2553 70143 DLOAD* LXC,1
042088,001566: 15,2554 02756 BESTI,1
042089,001567: 15,2555 00154 MPAC
042090,001568: 15,2556 52173 VLOAD* GOTO
042091,001569: 15,2557 02343 STARAD -228D,1
042092,001570: 15,2560 02736 GCTR
042093,001571: 15,2561 00343 DEC227 DEC 227 B-14
042094,001572: 15,2562 01530 VNPLANV VN 0688
042095,001573: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042096,001574:
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|
Page 963 |
042098,001576: # GRAVITY VECTOR DETERMINATION ROUTINE
042099,001577: # BY KEN VINCENT
042100,001578:
042101,001579: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042102,001580:
042103,001581: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042104,001582: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042105,001583: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042106,001584: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042107,001585: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042108,001586: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042109,001587: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042110,001588: # READINGS.
042111,001589:
042112,001590: # CALL -
042113,001591: # TC BANKCALL
042114,001592: # CADR GVDETER
042115,001593:
042116,001594: # INPUTS -
042117,001595: # PIPAS, CDUS
042118,001596:
042119,001597: # OUTPUTS -
042120,001598: # STARSAV1 = UNIT GRAVITY
042121,001599: # GSAV = DITTO
042122,001600: # GRAVBIT = 1
042123,001601:
042124,001602: # SUBROUTINES -
042125,001603: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
042126,001604: # *NBSM*, *SNMB*, CALCGA, FOFLASH
042127,001605:
042128,001606: # DEBRIS -
042129,001607: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
042130,001608:
042131,001609: 15,2563 32772 GVDETER CAF 42DEG
042132,001610: 15,2564 54321 TS THETAD
042133,001611: 15,2565 40000 COM
042134,001612: 15,2566 54322 TS THETAD +1
042135,001613: 15,2567 32773 CAF 35DEG
042136,001614: 15,2570 54323 TS THETAD +2
042137,001615: 15,2571 06037 TC INTPRET
042138,001616: 15,2572 45014 CLEAR CALL
042139,001617: 15,2573 01662 REFSMFLG
042140,001618: 15,2574 32670 LUNG
042141,001619:
042142,001620: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
042143,001621:
042144,001622: # DEFINE G COOR SYS
042145,001623: # -
042146,001624: # X UNIT G
042147,001625: # * - -
042148,001626: # M = Y = UNITEZSM * X )
042149,001627: # - - -
042150,001628: # Z UNIT(X * Y )
042151,001629:
042152,001630: # THEN ROTATED SM WRT PRESENT IS
042153,001631:
042154,001632: # 1, 0, 0
042155,001633: # * *T * * *
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|
Page 964 |
042157,001635: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
042158,001636: # I J
042159,001637: # 0, 0, -1
042160,001638:
042161,001639: # ALSO NB WRT PRES SM IS
042162,001640:
042163,001641: # * * *
042164,001642: # XNB = NBSM I
042165,001643: # * *
042166,001644: # GIMBAL ANGLES = CALCGA( XSM, XNB )
042167,001645:
042168,001646: 15,2000 SETLOC P50S
042169,001647: 15,2000 BANK
042170,001648: 15,2575 COUNT* $$/P57
042171,001649: 15,2575 66370 AXT,1 SSP # X1=18
042172,001650: 15,2576 00022 18D # S1=6
042173,001651: 15,2577 00051 S1 # X2, -2
042174,001652: 15,2600 00006 6D
042175,001653: 15,2601 77744 LXC,2
042176,001654: 15,2602 00050 S1
042177,001655: 15,2603 45173 GRAVEL VLOAD* CALL
042178,001656: 15,2604 54000 XUNIT -6,2
042179,001657: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
042180,001658: 15,2606 06707 STORE XNB +18D,1
042181,001659: 15,2607 77775 VLOAD
042182,001660: 15,2610 02731 STAR
042183,001661: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
042184,001662: 15,2612 00047 X2
042185,001663: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
042186,001664: 15,2614 71152 VSL2 LXC,2
042187,001665: 15,2615 00047 X2
042188,001666: 15,2616 63047 VSU* INCR,2
042189,001667: 15,2617 54000 XUNIT -6,2
042190,001668: 15,2620 00002 2D
042191,001669: 15,2621 06665 STORE XSM +18D,1
042192,001670: 15,2622 45100 TIX,1 CALL
042193,001671: 15,2623 32603 GRAVEL
042194,001672: 15,2624 47353 CALCGA
042195,001673: 15,2625 74575 VLOAD VSR1
042196,001674: 15,2626 02715 GOUT
042197,001675: 15,2627 36723 STCALL STARAD +12D
042198,001676: 15,2630 32670 LUNG
042199,001677: 15,2631 74575 VLOAD VSR1
042200,001678: 15,2632 02715 GOUT
042201,001679: 15,2633 53455 VAD UNIT
042202,001680: 15,2634 02723 STARAD +12D
042203,001681: 15,2635 02761 STORE STARSAV1
042204,001682: 15,2636 77641 DOT
042205,001683: 15,2637 02231 GSAV
042206,001684: 15,2640 65552 SL1 ACOS
|
|
Page 965 |
042208,001686: 15,2641 01046 STORE DSPTEM1
042209,001687: 15,2642 77776 EXIT
042210,001688: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042211,001689: 15,2644 00014 ADRES FREEFLAG
042212,001690:
042213,001691: 15,2645 32771 CA DISGRVER
042214,001692: 15,2646 04616 TC BANKCALL
042215,001693: 15,2647 20476 CADR GOFLASH
042216,001694: 15,2650 06001 TC GOTOPOOH
042217,001695: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
042218,001696: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
042219,001697: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042220,001698:
042221,001699: 15,2654 05353 PROGRAV TC PHASCHNG
042222,001700: 15,2655 04024 OCT 04024
042223,001701:
042224,001702: 15,2656 06037 TC INTPRET
042225,001703: 15,2657 77775 VLOAD
042226,001704: 15,2660 02761 STARSAV1
042227,001705: 15,2661 02231 STORE GSAV
042228,001706: 15,2662 77776 EXIT
042229,001707: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042230,001708: 15,2664 70074 MASK FLAGWRD0
042231,001709: 15,2665 10000 CCS A
042232,001710: 15,2666 12563 TCF GVDETER # SET
042233,001711: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
042234,001712:
042235,001713: 15,2670 77220 LUNG STQ VLOAD
042236,001714: 15,2671 02745 QMIN
042237,001715: 15,2672 24007 ZEROVEC
042238,001716: 15,2673 02707 STORE GACC
042239,001717: 15,2674 77776 EXIT
042240,001718: 15,2675 05353 TC PHASCHNG
042241,001719: 15,2676 04024 OCT 04024
042242,001720:
042243,001721: 15,2677 04616 TC BANKCALL
042244,001722: 15,2700 17000 CADR IMUCOARS
042245,001723: 15,2701 04616 TC BANKCALL
042246,001724: 15,2702 17716 CADR IMUSTALL
042247,001725: 15,2703 05711 TC CURTAINS
042248,001726: 15,2704 04616 TC BANKCALL
042249,001727: 15,2705 17210 CADR IMUFINE
042250,001728: 15,2706 04616 TC BANKCALL
042251,001729: 15,2707 17716 CADR IMUSTALL
042252,001730: 15,2710 05711 TC CURTAINS
042253,001731: 15,2711 32770 CA T/2SEC
042254,001732: 15,2712 55736 TS GCTR
042255,001733: 15,2713 37716 CA PRIO31
042256,001734: 15,2714 55075 TS 1/PIPADT
042257,001735: 15,2715 04616 TC BANKCALL
|
|
Page 966 |
042259,001737: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
042260,001738: 15,2717 05353 TC PHASCHNG
042261,001739: 15,2720 04024 OCT 04024
042262,001740:
042263,001741: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042264,001742: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042265,001743: 15,2723 06037 TC INTPRET
042266,001744: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042267,001745: 15,2725 35000 CAF 2SECS
042268,001746: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042269,001747: 15,2727 02731 ADRES GRABGRAV
042270,001748:
042271,001749: 15,2730 05155 TC ENDOFJOB
042272,001750:
042273,001751: 15,2731 04674 GRABGRAV TC IBNKCALL
042274,001752: 15,2732 77544 CADR PIPSRINE
042275,001753: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042276,001754: 15,2734 05105 TC FINDVAC
042277,001755: 15,2735 E5,1706 EBANK= STARAD
042278,001756: 15,2735 02740 32065 2CADR ADDGRAV
042279,001757:
042280,001758: 15,2737 05261 TC TASKOVER
042281,001759:
042282,001760: 15,2740 04616 ADDGRAV TC BANKCALL
042283,001761: 15,2741 15263 CADR 1/PIPA
042284,001762: 15,2742 25736 INCR GCTR
042285,001763: 15,2743 06037 TC INTPRET
042286,001764: 15,2744 53375 VLOAD VAD
042287,001765: 15,2745 00325 DELV
042288,001766: 15,2746 02707 GACC
042289,001767: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
042290,001768: 15,2750 50135 SLOAD BMN
042291,001769: 15,2751 02737 GCTR
042292,001770: 15,2752 32724 GREED
042293,001771: 15,2753 53575 VLOAD UNIT
042294,001772: 15,2754 02707 GACC
042295,001773: 15,2755 36731 STCALL STAR
042296,001774: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042297,001775: 15,2757 77624 CALL # IN OUTPUT
042298,001776: 15,2760 47671 *SMNB*
042299,001777: 15,2761 02715 STORE GOUT
042300,001778: 15,2762 77776 EXIT
042301,001779: 15,2763 05353 TC PHASCHNG
042302,001780: 15,2764 04024 OCT 04024
042303,001781:
042304,001782: 15,2765 06037 QMINEXIT TC INTPRET
042305,001783: 15,2766 77650 GOTO
042306,001784: 15,2767 02745 QMIN
042307,001785: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967 |
042309,001787: 15,2771 01404 DISGRVER VN 0604
042310,001788: 15,2772 07357 42DEG OCT 07357
042311,001789: 15,2773 06211 35DEG OCT 06211
042312,001790:
|
|
Page 968 |
042314,001792: # NAME GYROTRIM
042315,001793:
042316,001794: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042317,001795: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042318,001796: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042319,001797:
042320,001798: # CALL CALL
042321,001799: # GYROTRIM
042322,001800:
042323,001801: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042324,001802: # CDUX,CDUY,CDUZ
042325,001803:
042326,001804: # OUTPUT - GYRO TORQUE PULSES
042327,001805:
042328,001806: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
042329,001807: # IMPULSE, IMUSTALL
042330,001808: # - - - * * -
042331,001809: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
042332,001810:
042333,001811: 15,2774 COUNT* $$/P57
042334,001812: 15,2774 71220 GYROTRIM STQ DLOAD
042335,001813: 15,2775 02745 QMIN
042336,001814: 15,2776 00322 THETAD
042337,001815: 15,2777 65325 PDDL PDDL
042338,001816: 15,3000 00324 THETAD +2
042339,001817: 15,3001 00323 THETAD +1
042340,001818: 15,3002 77666 VDEF
042341,001819: 15,3003 24767 STOVL CDUSPOT
042342,001820: 15,3004 24005 XUNIT
042343,001821: 15,3005 77624 CALL
042344,001822: 15,3006 47664 TRG*NBSM
042345,001823: 15,3007 26707 STOVL STARAD
042346,001824: 15,3010 24003 YUNIT
042347,001825: 15,3011 77624 CALL
042348,001826: 15,3012 47673 *NBSM*
042349,001827: 15,3013 36715 STCALL STARAD +6
042350,001828: 15,3014 47537 CDUTRIG
042351,001829: 15,3015 77624 CALL
042352,001830: 15,3016 20030 CALCSMSC
042353,001831: 15,3017 77775 VLOAD
042354,001832: 15,3020 02665 XNB
042355,001833: 15,3021 24007 STOVL 6D
042356,001834: 15,3022 02673 YNB
042357,001835: 15,3023 34015 STCALL 12D
042358,001836: 15,3024 47441 AXISGEN
042359,001837: 15,3025 77624 CALL
042360,001838: 15,3026 47247 CALCGTA
042361,001839: 15,3027 77776 JUSTTRIM EXIT
042362,001840: 15,3030 04616 TC BANKCALL
042363,001841: 15,3031 17210 CADR IMUFINE
042364,001842: 15,3032 04616 TC BANKCALL
|
|
Page 969 |
042366,001844: 15,3033 17716 CADR IMUSTALL
042367,001845: 15,3034 05711 TC CURTAINS
042368,001846: 15,3035 33044 CA GYRCDR
042369,001847: 15,3036 04616 TC BANKCALL
042370,001848: 15,3037 17323 CADR IMUPULSE
042371,001849: 15,3040 04616 TC BANKCALL
042372,001850: 15,3041 17716 CADR IMUSTALL
042373,001851: 15,3042 05711 TC CURTAINS
042374,001852: 15,3043 12765 TCF QMINEXIT
042375,001853:
042376,001854: 15,3044 02737 GYRCDR ECADR OGC
042377,001855:
|
|
Page 970 |
042379,001857: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042380,001858:
042381,001859: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
042382,001860: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042383,001861: 15,3047 34753 1STAR CAF BIT1
042384,001862: 15,3050 55757 TS STARIND
042385,001863:
042386,001864: 15,3051 05353 TC PHASCHNG
042387,001865: 15,3052 04024 OCT 04024
042388,001866:
042389,001867: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042390,001868:
042391,001869: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042392,001870: 15,3055 00006 EXTEND
042393,001871: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
042394,001872:
042395,001873: 15,3057 05353 TC PHASCHNG
042396,001874: 15,3060 04024 OCT 04024
042397,001875:
042398,001876: 15,3061 06037 TC INTPRET
042399,001877: 15,3062 45145 DLOAD CALL
042400,001878: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
042401,001879: 15,3064 32472 PLANET
042402,001880: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042403,001881: 15,3066 33101 SURFLINE
042404,001882:
042405,001883: 15,3067 06037 ASTAR TC INTPRET
042406,001884: 15,3070 77775 VLOAD
042407,001885: 15,3071 02715 STARAD +6
042408,001886: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042409,001887: 15,3073 45145 DLOAD CALL
042410,001888: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
042411,001889: 15,3075 32472 PLANET
042412,001890: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042413,001891: 15,3077 77776 EXIT
042414,001892: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
042415,001893:
|
|
Page 971 |
042417,001895: # DO FINE OR COARSE ALIGNMENT OF IMU
042418,001896:
042419,001897: 15,3101 77131 SURFLINE SSP AXT,2
042420,001898: 15,3102 00052 S2
042421,001899: 15,3103 00006 6
042422,001900: 15,3104 00014 12D
042423,001901: 15,3105 64373 WRTDESIR VLOAD* MXV
042424,001902: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042425,001903: 15,3107 03607 XSMD
042426,001904: 15,3110 77656 UNIT
042427,001905: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
042428,001906: 15,3112 77773 VLOAD*
042429,001907: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042430,001908: 15,3114 10023 STORE 18D,2
042431,001909: 15,3115 43104 TIX,2 BON
042432,001910: 15,3116 33105 WRTDESIR
042433,001911: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042434,001912: 15,3120 33126 INITBY
042435,001913: 15,3121 77624 DOALIGN CALL
042436,001914: 15,3122 31256 R54 # DO CHKSDATA
042437,001915: 15,3123 77614 BOFF
042438,001916: 15,3124 00354 FREEFLAG
042439,001917: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042440,001918: 15,3126 77624 INITBY CALL
042441,001919: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
042442,001920: 15,3130 77624 CALL
042443,001921: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042444,001922: 15,3132 77776 EXIT
042445,001923: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042446,001924: 15,3134 70104 MASK FLAGWRD8
042447,001925: 15,3135 10000 CCS A
042448,001926: 15,3136 13145 TCF 5DEGTEST
042449,001927: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042450,001928: 15,3140 04616 TC BANKCALL
042451,001929: 15,3141 20476 CADR GOFLASH
042452,001930: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
042453,001931: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
042454,001932: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
042455,001933:
042456,001934: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042457,001935: 15,3146 40175 VLOAD BOV
042458,001936: 15,3147 02740 OGC
042459,001937: 15,3150 33151 SURFSUP
042460,001938: 15,3151 02750 SURFSUP STORE OGCT
042461,001939: 15,3152 40141 V/SC BOV
042462,001940: 15,3153 30610 5DEGREES
042463,001941: 15,3154 33254 COATRIM
042464,001942: 15,3155 52131 SSP GOTO
042465,001943: 15,3156 02746 QMIN
042466,001944: 15,3157 33161 SURFDISP
|
|
Page 972 |
042468,001946: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042469,001947:
042470,001948: 15,3161 77776 SURFDISP EXIT
042471,001949: 15,3162 05353 TC PHASCHNG
042472,001950: 15,3163 04024 OCT 04024
042473,001951:
042474,001952: 15,3164 06037 TC INTPRET
042475,001953: 15,3165 75160 AXC,1 AXC,2
042476,001954: 15,3166 03606 XSMD
042477,001955: 15,3167 01733 REFSMMAT
042478,001956: 15,3170 45014 SET CALL
042479,001957: 15,3171 01462 REFSMFLG
042480,001958: 15,3172 31377 MATMOVE
042481,001959: 15,3173 77776 EXIT
042482,001960: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042483,001961: 15,3175 13177 TCF B2F8
042484,001962: 15,3176 13207 TCF P57POST +1
042485,001963:
042486,001964: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042487,001965: 15,3200 70104 MASK FLAGWRD8
042488,001966: 15,3201 10000 CCS A
042489,001967: 15,3202 13561 TCF P57JUMP # ITS SET
042490,001968: 15,3203 06037 TC INTPRET
042491,001969: 15,3204 77624 CALL
042492,001970: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042493,001971: 15,3206 77776 P57POST EXIT
042494,001972: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042495,001973: 15,3210 04616 TC BANKCALL
042496,001974: 15,3211 20623 CADR GOPERF1
042497,001975: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
042498,001976: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
042499,001977: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
042500,001978: 15,3215 61145 AD OPTION2
042501,001979: 15,3216 00006 EXTEND
042502,001980: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
042503,001981: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
042504,001982: 15,3221 05353 TC PHASCHNG # RESTART PLACE
042505,001983: 15,3222 04024 OCT 04024
042506,001984: 15,3223 06037 TC INTPRET
042507,001985: 15,3224 45175 VLOAD CALL # USE GNB
042508,001986: 15,3225 02231 GSAV
042509,001987: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
042510,001988: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
042511,001989: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
042512,001990: 15,3231 01463 LUNAFLAG
042513,001991: 15,3232 51515 PDVL ABVAL
042514,001992: 15,3233 02023 RLS
042515,001993: 15,3234 45561 VXSC STADR
042516,001994: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
042517,001995: 15,3236 47014 CLEAR RTB
|
|
Page 973 |
042519,001997: 15,3237 00662 ERADFLAG
042520,001998: 15,3240 21573 LOADTIME
042521,001999: 15,3241 77624 CALL
042522,002000: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
042523,002001: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
042524,002002: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
042525,002003: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
042526,002004: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
042527,002005: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
042528,002006: 15,3250 51670 R-TO-RP
042529,002007: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
042530,002008: 15,3252 77776 EXIT
042531,002009: 15,3253 16001 TCF GOTOPOOH # EXIT P57
042532,002010:
|
|
Page 974 |
042534,002012: # COARSE AND FINE ALIGN IMU
042535,002013:
042536,002014: 15,3254 75160 COATRIM AXC,1 AXC,2
042537,002015: 15,3255 02664 XDC
042538,002016: 15,3256 02642 XSM
042539,002017: 15,3257 77624 CALL
042540,002018: 15,3260 31377 MATMOVE
042541,002019: 15,3261 77624 CALL
042542,002020: 15,3262 47537 CDUTRIG
042543,002021: 15,3263 77624 CALL
042544,002022: 15,3264 20030 CALCSMSC
042545,002023: 15,3265 77624 CALL
042546,002024: 15,3266 47353 CALCGA
042547,002025: 15,3267 77414 BOFF EXIT
042548,002026: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
042549,002027: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
042550,002028: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
042551,002029: 15,3273 04616 TC BANKCALL
042552,002030: 15,3274 20476 CADR GOFLASH
042553,002031: 15,3275 06001 TC GOTOPOOH
042554,002032: 15,3276 13300 TCF +2
042555,002033: 15,3277 13272 TCF -5
042556,002034: 15,3300 05353 TC PHASCHNG
042557,002035: 15,3301 04024 OCT 04024
042558,002036:
042559,002037: 15,3302 06037 TC INTPRET
042560,002038: 15,3303 77624 CORSIT CALL
042561,002039: 15,3304 31565 COARSE
042562,002040: 15,3305 77624 CALL
042563,002041: 15,3306 31602 NCOARSE
042564,002042: 15,3307 77624 CALL
042565,002043: 15,3310 32774 GYROTRIM
042566,002044: 15,3311 77650 GOTO
042567,002045: 15,3312 33161 SURFDISP
042568,002046: 15,3313 01535 DISPGYRO VN 0693
042569,002047:
|
|
Page 975 |
042571,002049: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042572,002050:
042573,002051: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042574,002052: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
042575,002053:
042576,002054: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042577,002055: 15,3317 55145 TS OPTION2
042578,002056: 15,3320 34753 P57OPT CAF BIT1
042579,002057: 15,3321 04616 TC BANKCALL
042580,002058: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
042581,002059: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
042582,002060: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
042583,002061: 15,3325 13320 TCF P57OPT # V32 RECYCLE
042584,002062:
042585,002063: 15,3326 05353 TC PHASCHNG
042586,002064: 15,3327 00014 OCT 00014
042587,002065: 15,3330 05155 TC ENDOFJOB
042588,002066:
042589,002067: 15,3331 31145 ALIGNOPT CA OPTION2
042590,002068: 15,3332 76245 MASK THREE
042591,002069: 15,3333 50000 INDEX A
042592,002070: 15,3334 13335 TCF +1
042593,002071: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
042594,002072: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
042595,002073: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
042596,002074: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
042597,002075: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
042598,002076: 15,3342 01733 REFSMMAT
042599,002077: 15,3343 03606 XSMD
042600,002078: 15,3344 77624 CALL
042601,002079: 15,3345 31377 MATMOVE
042602,002080: 15,3346 77650 GOTO
042603,002081: 15,3347 33410 PACKOPTN -1
042604,002082:
042605,002083: 15,3350 06037 TDISP TC INTPRET
042606,002084: 15,3351 77745 DLOAD
042607,002085: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042608,002086: 15,3353 01046 P57A STORE DSPTEM1
042609,002087: 15,3354 77776 EXIT
042610,002088: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042611,002089: 15,3356 04616 TC BANKCALL
042612,002090: 15,3357 20476 CADR GOFLASH
042613,002091: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
042614,002092: 15,3361 13363 TCF +2
042615,002093: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
042616,002094:
042617,002095: 15,3363 06037 TC INTPRET
042618,002096: 15,3364 65234 RTB PDDL
042619,002097: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042620,002098: 15,3366 01046 DSPTEM1
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|
Page 976 |
042622,002100: 15,3367 65254 BZE PDDL
042623,002101: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
042624,002102: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042625,002103: 15,3372 01046 DSPTEM1
042626,002104: 15,3373 33400 P57C
042627,002105: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042628,002106: 15,3375 74335 STORE TIG # STORE IT IN TIG
042629,002107: 15,3376 36775 STCALL TALIGN
042630,002108: 15,3377 33402 P57D
042631,002109: 15,3400 45545 P57C DLOAD STADR
042632,002110: 15,3401 75002 STORE TALIGN
042633,002111: 15,3402 34041 P57D STCALL TDEC1
042634,002112: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042635,002113: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
042636,002114: 15,3405 00001 RATT
042637,002115: 15,3406 37607 STCALL XSMD
042638,002116: 15,3407 11013 LSORIENT
042639,002117: 15,3410 77776 EXIT
042640,002118: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042641,002119: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042642,002120: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042643,002121: 15,3414 34737 CAF REFSMBIT
042644,002122: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
042645,002123: 15,3416 10000 CCS A
042646,002124: 15,3417 34745 CAF BIT7 # SET
042647,002125: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
042648,002126: 15,3421 34753 CAF ATTFLBIT
042649,002127: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
042650,002128: 15,3423 10000 CCS A
042651,002129: 15,3424 34750 CAF BIT4 # SET
042652,002130: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
042653,002131: 15,3426 34750 CAF BIT4
042654,002132: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042655,002133:
042656,002134: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042657,002135: 15,3431 04616 TC BANKCALL
042658,002136: 15,3432 20476 CADR GOFLASH
042659,002137: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
042660,002138: 15,3434 13436 TCF +2 # V33 - PROCEED
042661,002139: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
042662,002140:
042663,002141: 15,3436 34737 CAF REFSMBIT
042664,002142: 15,3437 70077 MASK FLAGWRD3
042665,002143: 15,3440 10000 CCS A
042666,002144: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042667,002145: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
042668,002146: 15,3443 70102 MASK FLAGWRD6
042669,002147: 15,3444 10000 CCS A
042670,002148: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042671,002149: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 977 |
042673,002151: 15,3447 71145 MASK OPTION2
042674,002152: 15,3450 10000 CCS A
042675,002153: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042676,002154: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
042677,002155: 15,3453 00701 OCT 701
042678,002156: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042679,002157: 15,3455 04616 TC BANKCALL
042680,002158: 15,3456 20476 CADR GOFLASH
042681,002159: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
042682,002160: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
042683,002161: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
042684,002162:
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|
Page 978 |
042686,002164: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042687,002165:
042688,002166: 15,3462 40220 MFREF STQ SETPD
042689,002167: 15,3463 02746 QMAJ
042690,002168: 15,3464 00001 0
042691,002169: 15,3465 77634 RTB
042692,002170: 15,3466 21573 LOADTIME
042693,002171: 15,3467 27562 STOVL TSIGHT
042694,002172: 15,3470 02723 VEC1
042695,002173: 15,3471 41525 PDDL PUSH
042696,002174: 15,3472 03562 TSIGHT
042697,002175: 15,3473 77624 CALL
042698,002176: 15,3474 55716 RP-TO-R
042699,002177: 15,3475 26723 STOVL VEC1
042700,002178: 15,3476 02731 VEC2
042701,002179: 15,3477 65201 SETPD PDDL
042702,002180: 15,3500 00001 0
042703,002181: 15,3501 03562 TSIGHT
042704,002182: 15,3502 45006 PUSH CALL
042705,002183: 15,3503 55716 RP-TO-R
042706,002184: 15,3504 36731 STCALL VEC2
042707,002185: 15,3505 02746 QMAJ
042708,002186:
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|
Page 979 |
042710,002188: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042711,002189: # STORE IN YNBSAV AND ZNBSAV
042712,002190:
042713,002191: 15,3506 45020 REFMF STQ CALL
042714,002192: 15,3507 02746 QMAJ
042715,002193: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
042716,002194: 15,3511 40234 RTB SETPD
042717,002195: 15,3512 21573 LOADTIME
042718,002196: 15,3513 00001 0
042719,002197: 15,3514 37562 STCALL TSIGHT
042720,002198: 15,3515 20030 CALCSMSC # GET YNB IN SM
042721,002199: 15,3516 61375 VLOAD VXM
042722,002200: 15,3517 02673 YNB
042723,002201: 15,3520 01734 REFSMMAT # YNB TO REF
042724,002202: 15,3521 65256 UNIT PDDL
042725,002203: 15,3522 03562 TSIGHT
042726,002204: 15,3523 45006 PUSH CALL
042727,002205: 15,3524 51670 R-TO-RP
042728,002206: 15,3525 26237 STOVL YNBSAV # YNB TO MF
042729,002207: 15,3526 02701 ZNB
042730,002208: 15,3527 53505 VXM UNIT
042731,002209: 15,3530 01734 REFSMMAT # ZNB TO REF
042732,002210: 15,3531 41525 PDDL PUSH
042733,002211: 15,3532 03562 TSIGHT
042734,002212: 15,3533 77624 CALL
042735,002213: 15,3534 51670 R-TO-RP # ZNB TO MF
042736,002214: 15,3535 02245 STORE ZNBSAV
042737,002215: 15,3536 77614 SETGO
042738,002216: 15,3537 03036 ATTFLAG
042739,002217: 15,3540 02746 QMAJ
042740,002218:
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|
Page 980 |
042742,002220: # BRANCH TO ALIGNMENT OPTION
042743,002221:
042744,002222: 15,3541 06037 GETLMATT TC INTPRET
042745,002223: 15,3542 77624 CALL
042746,002224: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
042747,002225: 15,3544 77776 EXIT
042748,002226:
042749,002227: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042750,002228: 15,3546 00205 ADRES INITALGN
042751,002229: 15,3547 34753 CAF BIT1
042752,002230: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
042753,002231: 15,3551 10000 CCS A
042754,002232: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042755,002233:
042756,002234: 15,3553 05353 ATTCHK TC PHASCHNG
042757,002235: 15,3554 04024 OCT 04024
042758,002236:
042759,002237: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042760,002238: 15,3556 70102 MASK FLAGWRD6
042761,002239: 15,3557 10000 CCS A
042762,002240: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042763,002241: 15,3561 05353 P57JUMP TC PHASCHNG
042764,002242: 15,3562 04024 OCT 04024
042765,002243:
042766,002244: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
042767,002245: 15,3564 00205 ADRES INITALGN
042768,002246: 15,3565 36245 CAF THREE
042769,002247: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
042770,002248: 15,3567 50000 INDEX A
042771,002249: 15,3570 13571 TCF +1
042772,002250: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
042773,002251: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
042774,002252: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
042775,002253: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
042776,002254:
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|
Page 981 |
042778,002256: # OPTION 0, GET TWO ATTITUDE VECS
042779,002257:
042780,002258: 15,3575 06037 P57OPT0 TC INTPRET
042781,002259: 15,3576 77775 VLOAD
042782,002260: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042783,002261: 15,3600 26723 STOVL VEC1
042784,002262: 15,3601 02245 ZNBSAV
042785,002263: 15,3602 36731 STCALL VEC2
042786,002264: 15,3603 47537 CDUTRIG
042787,002265: 15,3604 77624 CALL
042788,002266: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042789,002267: 15,3606 77775 VLOAD
042790,002268: 15,3607 02673 YNB
042791,002269: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042792,002270: 15,3611 02701 ZNB
042793,002271: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042794,002272: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042795,002273: 15,3614 77650 GOTO
042796,002274: 15,3615 33101 SURFLINE
042797,002275:
042798,002276: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042799,002277:
042800,002278: 15,3616 06037 P57OPT1 TC INTPRET
042801,002279: 15,3617 53575 VLOAD UNIT
042802,002280: 15,3620 02023 RLS # LANDING SITE VEC
042803,002281: 15,3621 26723 STOVL VEC1
042804,002282: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
042805,002283: 15,3623 36731 STCALL VEC2
042806,002284: 15,3624 47537 CDUTRIG
042807,002285: 15,3625 77624 CALL
042808,002286: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042809,002287: 15,3627 45175 VLOAD CALL
042810,002288: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042811,002289: 15,3631 47661 CDU*NBSM
042812,002290: 15,3632 77650 GOTO
042813,002291: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042814,002292:
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|
Page 982 |
042816,002294: # OPTION 2, GET TWO STAR SIGHTINGS
042817,002295:
042818,002296: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042819,002297:
042820,002298: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042821,002299:
042822,002300: 15,3635 06037 P57OPT3 TC INTPRET
042823,002301: 15,3636 53575 VLOAD UNIT
042824,002302: 15,3637 02023 RLS # LANDING SITE VEC
042825,002303: 15,3640 02723 STORE VEC1
042826,002304: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042827,002305: 15,3642 02231 GSAV # GRAVITY VEC NB
042828,002306: 15,3643 77624 CALL
042829,002307: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042830,002308: 15,3645 36761 STCALL STARSAV1
042831,002309: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042832,002310: 15,3647 77776 EXIT
042833,002311: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042834,002312:
042835,002313: 15,3651 01206 VB05N06 VN 506
042836,002314:
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|
Page 983 |
042838,002316: # CHECK IMODES30 TO VARIFY IMU IS ON
042839,002317:
042840,002318: 15,3652 41302 IMUCHK CS IMODES30
042841,002319: 15,3653 74743 MASK BIT9
042842,002320: 15,3654 10000 CCS A # IS IMU ON
042843,002321: 15,3655 13661 TCF +4 # YES
042844,002322:
042845,002323: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042846,002324: 15,3657 00210 OCT 210
042847,002325: 15,3660 06001 TC GOTOPOOH
042848,002326:
042849,002327: 15,3661 05504 TC UPFLAG
042850,002328: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042851,002329:
042852,002330: 15,3663 04631 TC SWRETURN
042853,002331:
042854,002332: 04,3013 BANK 04
042855,002333: 04,2000 SETLOC AOTMARK2
042856,002334: 04,2000 BANK
042857,002335: 04,3013 COUNT* $$/P57
042858,002336:
042859,002337: 04,3013 77220 LSORIENT STQ VLOAD
042860,002338: 04,3014 02746 QMAJ
042861,002339: 04,3015 01555 RRECTCSM
042862,002340: 04,3016 47235 VXV VXV
042863,002341: 04,3017 01563 VRECTCSM
042864,002342: 04,3020 03607 XSMD
042865,002343: 04,3021 77656 UNIT
042866,002344: 04,3022 03623 STORE ZSMD
042867,002345: 04,3023 53435 VXV UNIT
042868,002346: 04,3024 03607 XSMD
042869,002347: 04,3025 37615 STCALL YSMD
042870,002348: 04,3026 02746 QMAJ
042871,002349:
End of include-file P51-P53.agc. Parent file is MAIN.agc