Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note 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 derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
039777,000002: ## Copyright: Public domain.
039778,000003: ## Filename: P51-P53.agc
039779,000004: ## Purpose: A section of Luminary revision 116.
039780,000005: ## It is part of the source code for the Lunar Module's (LM)
039781,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
039782,000007: ## This file is intended to be a faithful transcription, except
039783,000008: ## that the code format has been changed to conform to the
039784,000009: ## requirements of the yaYUL assembler rather than the
039785,000010: ## original YUL assembler.
039786,000011: ## Reference: pp. 919-975
039787,000012: ## Assembler: yaYUL
039788,000013: ## Contact: Ron Burkey <info@sandroid.org>.
039789,000014: ## Website: www.ibiblio.org/apollo/index.html
039790,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
039791,000016: ## 2017-03-11 HG Transcribed
039792,000017: ## 2017-03-14 RSB Proofed comment text via 3-way diff vs
039793,000018: ## Luminary 99 and 131.
039794,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039795,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
039796,000021: ## 2017-03-19 HG Fix operator STODL --> STORE
039797,000022:
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Page 919 |
039799,000024: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
039800,000025: # MOD NO- 0 LOG SECTION- P51-P53
039801,000026: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
039802,000027:
039803,000028: # FUNCTIONAL DESCRIPTION-
039804,000029:
039805,000030: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039806,000031: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039807,000032:
039808,000033: # (A) PREFERRED ORIENTATION
039809,000034:
039810,000035: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039811,000036: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039812,000037:
039813,000038: # (B) NOMINAL ORIENTATION
039814,000039:
039815,000040: # X = UNIT ( R )
039816,000041: # -SM
039817,000042:
039818,000043: # Y = UNIT (V X R)
039819,000044: # SM
039820,000045:
039821,000046: # Z = UNIT (X X Y )
039822,000047: # SM SM SM
039823,000048:
039824,000049: # WHERE_
039825,000050: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039826,000051: # -
039827,000052:
039828,000053: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039829,000054: # -
039830,000055:
039831,000056: # (C) REFSMMAT ORIENTATION
039832,000057:
039833,000058: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039834,000059:
039835,000060: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039836,000061: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039837,000062: # SINCE THE LAST ALIGNMENT).
039838,000063:
039839,000064: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039840,000065: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039841,000066: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039842,000067: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039843,000068: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039844,000069: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039845,000070: # REQUESTED.
039846,000071:
039847,000072: # CALLING SEQUENCE-
039848,000073:
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Page 920 |
039850,000075: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039851,000076:
039852,000077: # SUBROUTINES CALLED-
039853,000078:
039854,000079: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039855,000080: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039856,000081: # 3. GOPERF4 9. FLAGUP
039857,000082: # 4. MATMOVE 10. R56
039858,000083: # 5. GOFLASH 11. R51
039859,000084: # 6. S52.3 12. GOPERF3
039860,000085:
039861,000086: # NORMAL EXIT MODES-
039862,000087:
039863,000088: # EXITS TO ENDOFJOB
039864,000089:
039865,000090: # ALARM OR ABORT EXIT MODES-
039866,000091:
039867,000092: # NONE
039868,000093:
039869,000094: # OUTPUT-
039870,000095:
039871,000096: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039872,000097: # 1. IMU ORIENTATION CODE
039873,000098: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
039874,000099: # 3. TIME OF NEXT IGNITION
039875,000100: # 4. GIMBAL ANGLES
039876,000101: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
039877,000102: # 6. PLEASE PERFORM P00
039878,000103: # THE MODE DISPLAY MAY BE CHANGED TO 20
039879,000104:
039880,000105: # ERASABLE INITIALIZATION REQUIRED-
039881,000106:
039882,000107: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
039883,000108: # XSMD,YSMD,ZSMD.
039884,000109: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039885,000110:
039886,000111: # DEBRIS-
039887,000112:
039888,000113: # WORK AREA
039889,000114:
039890,000115: 33,3762 BANK 33
039891,000116: 15,2000 SETLOC P50S
039892,000117: 15,2000 BANK
039893,000118:
039894,000119: 15,2050 E5,1755 EBANK= BESTI
039895,000120: 15,2050 COUNT* $$/P52
039896,000121: 15,2050 04616 PROG52 TC BANKCALL
039897,000122: 15,2051 11236 CADR R02BOTH # IMU STATUS CHECK
039898,000123: 15,2052 34750 CAF PFRATBIT
039899,000124: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039900,000125: 15,2054 10000 CCS A
039901,000126:
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Page 921 |
039903,000128: 15,2055 02060 TC P52A # YES
039904,000129: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039905,000130: 15,2057 02061 TC P52A +1
039906,000131: 15,2060 34753 P52A CAF BIT1
039907,000132: 15,2061 55144 TS OPTION2
039908,000133: 15,2062 34753 P52B CAF BIT1
039909,000134: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039910,000135: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039911,000136: 15,2065 06001 TC GOTOPOOH
039912,000137: 15,2066 12073 TCF +5 # V33-PROCEED
039913,000138: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039914,000139: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039915,000140: 15,2071 00014 OCT 00014
039916,000141: 15,2072 05155 TC ENDOFJOB
039917,000142:
039918,000143: 15,2073 31144 CA OPTION2
039919,000144: 15,2074 76250 MASK THREE
039920,000145: 15,2075 50000 INDEX A
039921,000146: 15,2076 02077 TC +1
039922,000147: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039923,000148: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039924,000149: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039925,000150: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039926,000151: 15,2103 77650 GOTO
039927,000152: 15,2104 32164 P52F # GO DO R51
039928,000153:
039929,000154: 15,2105 00006 OPT4 EXTEND
039930,000155: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039931,000156: 15,2107 12112 TCF P52T +2
039932,000157:
039933,000158: 15,2110 00006 P52T EXTEND
039934,000159: 15,2111 34755 DCA NEG0
039935,000160: 15,2112 53045 DXCH DSPTEM1
039936,000161: 15,2113 32170 CAF V06N34*
039937,000162: 15,2114 04616 TC BANKCALL
039938,000163: 15,2115 20477 CADR GOFLASH
039939,000164: 15,2116 06001 TC GOTOPOOH
039940,000165: 15,2117 02121 TC +2
039941,000166: 15,2120 02113 TC -5
039942,000167: 15,2121 53045 DXCH DSPTEM1
039943,000168: 15,2122 00006 EXTEND
039944,000169: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039945,000170: 15,2124 12127 TCF +3
039946,000171: 15,2125 00006 EXTEND
039947,000172: 15,2126 30025 DCA TIME2
039948,000173: 15,2127 53775 DXCH TALIGN
039949,000174: 15,2130 31144 P52V CA OPTION2
039950,000175: 15,2131 74752 MASK BIT2
039951,000176: 15,2132 10000 CCS A
039952,000177: 15,2133 02137 TC P52W
039953,000178:
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Page 922 |
039955,000180: 15,2134 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039956,000181: 15,2135 77650 GOTO
039957,000182: 15,2136 32220 P52LS
039958,000183:
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Page 923 |
039960,000185: # START ALIGNMENT
039961,000186:
039962,000187: 15,2137 06042 P52W TC INTPRET
039963,000188: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039964,000189: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039965,000190: 15,2142 31651 S52.3 # ORIENTATION
039966,000191: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039967,000192: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039968,000193: 15,2145 77776 EXIT
039969,000194: 15,2146 35010 CAF V06N22
039970,000195: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039971,000196: 15,2150 20477 CADR GOFLASH
039972,000197: 15,2151 06001 TC GOTOPOOH
039973,000198: 15,2152 12171 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
039974,000199: 15,2153 06042 P52H TC INTPRET
039975,000200: 15,2154 77650 GOTO
039976,000201: 15,2155 32143 P52D
039977,000202: 15,2156 06042 REGCOARS TC INTPRET
039978,000203: 15,2157 77624 CALL # DO COARSE ALIGN
039979,000204: 15,2160 31321 CAL53A # ROUTINE
039980,000205: 15,2161 43014 COARSRET SET CLEAR
039981,000206: 15,2162 01462 REFSMFLG
039982,000207: 15,2163 01273 PFRATFLG
039983,000208: 15,2164 77624 P52F CALL
039984,000209: 15,2165 31007 R51
039985,000210: 15,2166 77776 P52OUT EXIT
039986,000211: 15,2167 06001 TC GOTOPOOH
039987,000212: 15,2170 5006 VB05N09 = V05N09
039988,000213: 15,2170 01442 V06N34* VN 634
039989,000214:
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Page 924 |
039991,000216: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039992,000217: 15,2171 32217 COARSTYP CAF OCT13
039993,000218: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039994,000219: 15,2173 20624 CADR GOPERF1
039995,000220: 15,2174 16001 TCF GOTOPOOH # V34-TERMIN&OE
039996,000221: 15,2175 12156 TCF REGCOARS # V33-NORMAL COARSE
039997,000222: 15,2176 06042 TC INTPRET # V32-GYRO TORQUE COARSE
039998,000223: 15,2177 64375 VLOAD MXV
039999,000224: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040000,000225: 15,2201 01734 REFSMMAT
040001,000226: 15,2202 77656 UNIT
040002,000227: 15,2203 26665 STOVL XDC
040003,000228: 15,2204 03615 YSMD
040004,000229: 15,2205 53521 MXV UNIT
040005,000230: 15,2206 01734 REFSMMAT
040006,000231: 15,2207 26673 STOVL YDC
040007,000232: 15,2210 03623 ZSMD
040008,000233: 15,2211 53521 MXV UNIT
040009,000234: 15,2212 01734 REFSMMAT
040010,000235: 15,2213 36701 STCALL ZDC
040011,000236: 15,2214 31156 GYCOARS
040012,000237: 15,2215 77650 GOTO
040013,000238: 15,2216 32166 P52OUT
040014,000239: 15,2217 00013 OCT13 OCT 13
040015,000240:
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Page 925 |
040017,000242: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040018,000243: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040019,000244: 15,2221 01463 LUNAFLAG
040020,000245: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040021,000246: 15,2223 77201 SETPD VLOAD
040022,000247: 15,2224 00001 0
040023,000248: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040024,000249: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040025,000250: 15,2227 02775 TALIGN
040026,000251: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040027,000252:
040028,000253: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040029,000254: 15,2232 77742 VSR2
040030,000255: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040031,000256: 15,2234 02775 TALIGN
040032,000257: 15,2235 77624 CALL
040033,000258: 15,2236 30440 N89DISP
040034,000259: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040035,000260: 15,2240 02032 ALPHAV
040036,000261: 15,2241 37607 STCALL XSMD
040037,000262: 15,2242 10775 LSORIENT
040038,000263: 15,2243 77650 GOTO
040039,000264: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040040,000265:
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Page 926 |
040042,000267: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040043,000268:
040044,000269: 14,2000 SETLOC P50S1
040045,000270: 14,2000 BANK
040046,000271: 14,2440 E5,1642 EBANK= XSM
040047,000272:
040048,000273: 14,2440 77620 N89DISP STQ
040049,000274: 14,2441 02746 QMAJ
040050,000275: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040051,000276: 14,2443 26351 LAT-LONG
040052,000277: 14,2444 70545 DLOAD SR1
040053,000278: 14,2445 01122 LONG
040054,000279: 14,2446 16711 STODL LANDLONG
040055,000280: 14,2447 01124 ALT
040056,000281: 14,2450 16713 STODL LANDALT
040057,000282: 14,2451 01120 LAT
040058,000283: 14,2452 02707 STORE LANDLAT
040059,000284: 14,2453 77776 EXIT
040060,000285:
040061,000286: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040062,000287: 14,2455 04616 TC BANKCALL
040063,000288: 14,2456 20477 CADR GOFLASH
040064,000289: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
040065,000290: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
040066,000291: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040067,000292:
040068,000293: 14,2462 06042 TC INTPRET
040069,000294: 14,2463 72545 DLOAD SL1
040070,000295: 14,2464 02711 LANDLONG
040071,000296: 14,2465 15122 STODL LONG
040072,000297: 14,2466 02713 LANDALT
040073,000298: 14,2467 15124 STODL ALT
040074,000299: 14,2470 02707 LANDLAT
040075,000300: 14,2471 15120 STODL LAT
040076,000301: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040077,000302: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040078,000303: 14,2474 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040079,000304: 14,2475 77650 GOTO
040080,000305: 14,2476 02746 QMAJ
040081,000306: 14,2477 01531 V06N89* VN 689
040082,000307:
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Page 927 |
040084,000309: # NAME -S50 ALIAS LOCSAM
040085,000310: # BY
040086,000311: # VINCENT
040087,000312: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040088,000313:
040089,000314: # DEFINE
040090,000315:
040091,000316:
040092,000317: # U = UNIT( SUN WRT EARTH)
040093,000318: # ES
040094,000319:
040095,000320: # U =UNIT( MOON WRT EARTH)
040096,000321: # EM
040097,000322:
040098,000323: # R =POSITION VECTOR OF LEM
040099,000324: # L
040100,000325:
040101,000326: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040102,000327: # EM
040103,000328:
040104,000329: # P =RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040105,000330: # EM
040106,000331:
040107,000332: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040108,000333: # E
040109,000334:
040110,000335: # LOCSAM COMPUTES IN EARTH INFLUENCE
040111,000336:
040112,000337:
040113,000338: # VSUN = U
040114,000339: # ES
040115,000340:
040116,000341: # VEARTH = -UNIT( R )
040117,000342: # L
040118,000343:
040119,000344: # VMOON = UNIT(R .U - R )
040120,000345: # EM EM L
040121,000346:
040122,000347: # CSUN = COS 90
040123,000348:
040124,000349: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040125,000350: # E L
040126,000351:
040127,000352: # CMOON = COS 5
040128,000353:
040129,000354: # INPUT - TIME IN MPAC
040130,000355: # OUTPUT - LISTED ABOVE
040131,000356: # SUBROUTINES -LSPOS,LEMPREC
040132,000357: # DEBRIS - VAC AREA ,TSIGHT
040133,000358:
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Page 928 |
040135,000360: 14,2500 COUNT* $$/LOSAM
040136,000361:
040137,000362: 14,2500 14,2500 S50 = LOCSAM
040138,000363: 14,2500 77620 LOCSAM STQ
040139,000364: 14,2501 02745 QMIN
040140,000365: 14,2502 37562 STCALL TSIGHT
040141,000366: 14,2503 33647 LSPOS
040142,000367: 14,2504 77745 DLOAD
040143,000368: 14,2505 03562 TSIGHT
040144,000369: 14,2506 34041 STCALL TDEC1
040145,000370: 14,2507 27060 LEMPREC
040146,000371: 14,2510 61131 SSP TIX,2
040147,000372: 14,2511 00052 S2
040148,000373: 14,2512 00000 0
040149,000374: 14,2513 30535 MOONCNTR
040150,000375: 14,2514 74375 EARTCNTR VLOAD VXSC
040151,000376: 14,2515 02723 VMOON
040152,000377: 14,2516 30001 RSUBEM
040153,000378: 14,2517 52372 VSL1 VSU
040154,000379: 14,2520 00001 RATT
040155,000380: 14,2521 77656 UNIT
040156,000381: 14,2522 26723 STOVL VMOON
040157,000382: 14,2523 00001 RATT
040158,000383: 14,2524 57456 UNIT VCOMP
040159,000384: 14,2525 16707 STODL VEARTH
040160,000385: 14,2526 30005 RSUBE
040161,000386: 14,2527 77624 CALL
040162,000387: 14,2530 30567 OCCOS
040163,000388: 14,2531 14017 STODL CEARTH
040164,000389: 14,2532 30576 CSS5
040165,000390: 14,2533 34023 STCALL CMOON
040166,000391: 14,2534 30562 ENDSAM
040167,000392: 14,2535 74375 MOONCNTR VLOAD VXSC
040168,000393: 14,2536 02723 VMOON
040169,000394: 14,2537 30007 ROE
040170,000395: 14,2540 53445 BVSU UNIT
040171,000396: 14,2541 02715 VSUN
040172,000397: 14,2542 26715 STOVL VSUN
040173,000398: 14,2543 02723 VMOON
040174,000399: 14,2544 53361 VXSC VAD
040175,000400: 14,2545 30001 RSUBEM
040176,000401: 14,2546 00001 RATT
040177,000402: 14,2547 57456 UNIT VCOMP
040178,000403: 14,2550 26707 STOVL VEARTH
040179,000404: 14,2551 00001 RATT
040180,000405: 14,2552 57456 UNIT VCOMP
040181,000406: 14,2553 16723 STODL VMOON
040182,000407: 14,2554 30003 RSUBM
040183,000408: 14,2555 77624 CALL
040184,000409: 14,2556 30567 OCCOS
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Page 929 |
040186,000411: 14,2557 14023 STODL CMOON
040187,000412: 14,2560 30576 CSS5
040188,000413: 14,2561 00017 STORE CEARTH
040189,000414: 14,2562 77745 ENDSAM DLOAD
040190,000415: 14,2563 30600 CSSUN
040191,000416: 14,2564 00021 STORE CSUN
040192,000417: 14,2565 77650 GOTO
040193,000418: 14,2566 02745 QMIN
040194,000419: 14,2567 70471 OCCOS DDV SR1
040195,000420: 14,2570 00045 36D
040196,000421: 14,2571 43336 ASIN DAD
040197,000422: 14,2572 30602 5DEGREES
040198,000423: 14,2573 70546 COS SR1
040199,000424: 14,2574 77616 RVQ
040200,000425: 14,2575 CEARTH = 14D
040201,000426: 14,2575 CSUN = 16D
040202,000427: 14,2575 CMOON = 18D
040203,000428: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040204,000429: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
040205,000430: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040206,000431:
|
|
Page 930 |
040208,000433: # PROGRAM NAME - R56 DATE DEC 20 66
040209,000434: # MOD 1 LOG SECTION P51-P53
040210,000435: # ASSEMBLY SUNDISK REV40
040211,000436: # BY KEN VINCENT
040212,000437:
040213,000438: # FUNCTION
040214,000439: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040215,000440: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040216,000441: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040217,000442: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040218,000443: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040219,000444: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040220,000445: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040221,000446: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040222,000447: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040223,000448: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040224,000449: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040225,000450: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040226,000451:
040227,000452: # CALLING SEQUENCE
040228,000453: # L TC BANKCALL
040229,000454: # L+1 CADR R56
040230,000455: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040231,000456: # L+3 NORMAL RETURN
040232,000457:
040233,000458: # OUTPUT
040234,000459: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040235,000460: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040236,000461:
040237,000462: # INITIALIZATION
040238,000463: # 1)A CALL TO LOCSAM MUST BE MADE
040239,000464:
040240,000465: # DEBRIS
040241,000466: # WORK AREA
040242,000467: # X,Y,ZNB
040243,000468: # SINCDU,COSCDU
040244,000469: # STARAD - STAR +5
040245,000470: 14,2603 14,2603 R56 = PICAPAR
040246,000471: 14,2603 COUNT* $$/R56
040247,000472: 14,2603 04645 PICAPAR TC MAKECADR
040248,000473: 14,2604 55745 TS QMIN
040249,000474: 14,2605 06042 TC INTPRET
040250,000475: 14,2606 77624 CALL
040251,000476: 14,2607 47541 CDUTRIG
040252,000477: 14,2610 77624 CALL
040253,000478: 14,2611 20030 CALCSMSC
040254,000479: 14,2612 77601 SETPD
040255,000480: 14,2613 00001 0
040256,000481: 14,2614 71214 SET DLOAD # VFLAG = 1
040257,000482: 14,2615 01465 VFLAG
|
|
Page 931 |
040259,000484: 14,2616 24007 DPZERO
040260,000485: 14,2617 26756 STOVL BESTI
040261,000486: 14,2620 02665 XNB
040262,000487: 14,2621 63361 VXSC PDVL
040263,000488: 14,2622 24005 HALFDP
040264,000489: 14,2623 02701 ZNB
040265,000490: 14,2624 74370 AXT,1 VXSC
040266,000491: 14,2625 00344 228D # X1 = 37 X 6 +6
040267,000492: 14,2626 24005 HALFDP
040268,000493: 14,2627 77655 VAD
040269,000494: 14,2630 53505 VXM UNIT
040270,000495: 14,2631 01734 REFSMMAT
040271,000496: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040272,000497: 14,2633 66331 SSP SSP # S1=S2=6
040273,000498: 14,2634 00051 S1
040274,000499: 14,2635 00006 6
040275,000500: 14,2636 00052 S2
040276,000501: 14,2637 00006 6
040277,000502: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040278,000503: 14,2641 30643 PIC2
040279,000504: 14,2642 30760 PICEND
040280,000505: 14,2643 50373 PIC2 VLOAD* DOT
040281,000506: 14,2644 30347 CATLOG,1
040282,000507: 14,2645 02731 SAX
040283,000508: 14,2646 50025 DSU BMN
040284,000509: 14,2647 30757 CSS33
040285,000510: 14,2650 30640 PIC1
040286,000511: 14,2651 77754 LXA,2
040287,000512: 14,2652 00046 X1
040288,000513: 14,2653 52104 PIC3 TIX,2 GOTO
040289,000514: 14,2654 30656 PIC4
040290,000515: 14,2655 30640 PIC1
040291,000516: 14,2656 50373 PIC4 VLOAD* DOT
040292,000517: 14,2657 47430 CATLOG,2
040293,000518: 14,2660 02731 SAX
040294,000519: 14,2661 50025 DSU BMN
040295,000520: 14,2662 30757 CSS33
040296,000521: 14,2663 30653 PIC3
040297,000522: 14,2664 47773 VLOAD* DOT*
040298,000523: 14,2665 30347 CATLOG,1
040299,000524: 14,2666 47430 CATLOG,2
040300,000525: 14,2667 51025 DSU BPL
040301,000526: 14,2670 30755 CSS40
040302,000527: 14,2671 30653 PIC3
040303,000528: 14,2672 45173 VLOAD* CALL
040304,000529: 14,2673 30347 CATLOG,1
040305,000530: 14,2674 30732 OCCULT
040306,000531: 14,2675 77614 BON
040307,000532: 14,2676 01710 CULTFLAG
040308,000533: 14,2677 30640 PIC1
040309,000534:
|
|
Page 932 |
040311,000536: 14,2700 45173 VLOAD* CALL
040312,000537: 14,2701 47430 CATLOG,2
040313,000538: 14,2702 30732 OCCULT
040314,000539: 14,2703 77614 BON
040315,000540: 14,2704 01710 CULTFLAG
040316,000541: 14,2705 30653 PIC3
040317,000542: 14,2706 77614 STRATGY BONCLR
040318,000543: 14,2707 01605 VFLAG
040319,000544: 14,2710 30725 NEWPAR
040320,000545: 14,2711 65120 XCHX,1 XCHX,2
040321,000546: 14,2712 02755 BESTI
040322,000547: 14,2713 02756 BESTJ
040323,000548: 14,2714 47773 STRAT VLOAD* DOT*
040324,000549: 14,2715 30347 CATLOG,1
040325,000550: 14,2716 47430 CATLOG,2
040326,000551: 14,2717 43006 PUSH BOFINV
040327,000552: 14,2720 01545 VFLAG
040328,000553: 14,2721 30711 STRAT -3
040329,000554: 14,2722 45345 DLOAD DSU
040330,000555: 14,2723 77644 BPL
040331,000556: 14,2724 30653 PIC3
040332,000557: 14,2725 67130 NEWPAR SXA,1 SXA,2
040333,000558: 14,2726 02755 BESTI
040334,000559: 14,2727 02756 BESTJ
040335,000560: 14,2730 77650 GOTO
040336,000561: 14,2731 30653 PIC3
040337,000562: 14,2732 51321 OCCULT MXV BVSU
040338,000563: 14,2733 02707 CULTRIX
040339,000564: 14,2734 00017 CSS
040340,000565: 14,2735 77654 BZE
040341,000566: 14,2736 30751 CULTED
040342,000567: 14,2737 75240 BMN SIGN
040343,000568: 14,2740 30751 CULTED
040344,000569: 14,2741 00160 MPAC +3
040345,000570: 14,2742 75240 BMN SIGN
040346,000571: 14,2743 30751 CULTED
040347,000572: 14,2744 00162 MPAC +5
040348,000573: 14,2745 43040 BMN CLRGO
040349,000574: 14,2746 30751 CULTED
040350,000575: 14,2747 01630 CULTFLAG
040351,000576: 14,2750 00052 QPRET
040352,000577: 14,2751 77614 CULTED SETGO
040353,000578: 14,2752 01430 CULTFLAG
040354,000579: 14,2753 00052 QPRET
040355,000580: 14,2754 0000016 CSS = CEARTH
040356,000581: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040357,000582: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040358,000583: 14,2760 77414 PICEND BOFF EXIT
040359,000584:
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|
Page 933 |
040361,000586: 14,2761 01745 VFLAG
040362,000587: 14,2762 30764 PICGXT
040363,000588: 14,2763 03005 TC PICBXT
040364,000589: 14,2764 73150 PICGXT LXA,1 LXA,2
040365,000590: 14,2765 02755 BESTI
040366,000591: 14,2766 02756 BESTJ
040367,000592: 14,2767 47775 VLOAD DOT*
040368,000593: 14,2770 02731 SAX
040369,000594: 14,2771 30347 CATLOG,1
040370,000595: 14,2772 47715 PDVL DOT*
040371,000596: 14,2773 02731 SAX
040372,000597: 14,2774 47430 CATLOG,2
040373,000598: 14,2775 77625 DSU
040374,000599: 14,2776 66044 BPL SXA,1
040375,000600: 14,2777 31003 PICNSWP
040376,000601: 14,3000 02756 BESTJ
040377,000602: 14,3001 77734 SXA,2
040378,000603: 14,3002 02755 BESTI
040379,000604: 14,3003 77776 PICNSWP EXIT
040380,000605: 14,3004 25745 INCR QMIN
040381,000606: 14,3005 31745 PICBXT CA QMIN
040382,000607: 14,3006 04622 TC SWCALL
040383,000608: 14,3007 VPD = 0D
040384,000609: 14,3007 V0 = 6D
040385,000610: 14,3007 V1 = 12D
040386,000611: 14,3007 V2 = 18D
040387,000612: 14,3007 V3 = 24D
040388,000613: 14,3007 DP0 = 30D
040389,000614: 14,3007 DP1 = 32D
040390,000615:
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|
Page 934 |
040392,000617: # NAME-R51 FINE ALIGN
040393,000618: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040394,000619: # CALLING SEQ- CALL R51
040395,000620: # INPUT - REFSMMAT
040396,000621: # OUTPUT- GYRO TORQUE PULSES
040397,000622: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040398,000623: 14,3007 COUNT* $$/R51
040399,000624: 14,3007 77620 R51 STQ
040400,000625: 14,3010 02746 QMAJ
040401,000626: 14,3011 77776 R51.1 EXIT
040402,000627: 14,3012 05353 TC PHASCHNG
040403,000628: 14,3013 04024 OCT 04024
040404,000629:
040405,000630: 14,3014 34761 R51C CAF OCT15
040406,000631: 14,3015 04616 TC BANKCALL
040407,000632: 14,3016 20624 CADR GOPERF1
040408,000633: 14,3017 06001 TC GOTOPOOH
040409,000634: 14,3020 03022 TC +2 # V33E
040410,000635: 14,3021 03045 TC R51E # ENTER
040411,000636: 14,3022 06042 TC INTPRET
040412,000637: 14,3023 43234 RTB DAD
040413,000638: 14,3024 21574 LOADTIME
040414,000639: 14,3025 31155 TSIGHT1
040415,000640: 14,3026 77624 CALL
040416,000641: 14,3027 30500 LOCSAM
040417,000642: 14,3030 77776 EXIT
040418,000643: 14,3031 04616 TC BANKCALL
040419,000644: 14,3032 30603 CADR R56
040420,000645: 14,3033 03035 TC R51I
040421,000646: 14,3034 03045 R51F TC R51E
040422,000647: 14,3035 05567 R51I TC ALARM
040423,000648: 14,3036 00405 OCT 405
040424,000649: 14,3037 35006 CAF VB05N09
040425,000650: 14,3040 04616 TC BANKCALL
040426,000651: 14,3041 20477 CADR GOFLASH
040427,000652: 14,3042 06001 TC GOTOPOOH
040428,000653: 14,3043 03045 TC R51E
040429,000654: 14,3044 03014 TC R51C
040430,000655: 14,3045 34755 R51E CAF ZERO
040431,000656: 14,3046 55757 TS STARIND
040432,000657: 14,3047 06042 R51.2 TC INTPRET
040433,000658: 14,3050 77776 R51.3 EXIT
040434,000659: 14,3051 05353 TC PHASCHNG
040435,000660: 14,3052 04024 OCT 04024
040436,000661:
040437,000662: 14,3053 06042 TC INTPRET
040438,000663: 14,3054 77624 CALL
040439,000664: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040440,000665: 14,3056 77776 EXIT
040441,000666: 14,3057 04616 TC BANKCALL
040442,000667:
|
|
Page 935 |
040444,000669: 14,3060 16000 CADR AOTMARK
040445,000670: 14,3061 04616 TC BANKCALL
040446,000671: 14,3062 17704 CADR OPTSTALL
040447,000672: 14,3063 05701 TC CURTAINS
040448,000673: 14,3064 11757 CCS STARIND
040449,000674: 14,3065 13067 TCF +2
040450,000675: 14,3066 03137 TC R51.4
040451,000676: 14,3067 06042 TC INTPRET
040452,000677: 14,3070 77775 VLOAD
040453,000678: 14,3071 02715 STARAD +6
040454,000679: 14,3072 02767 STORE STARSAV2
040455,000680: 14,3073 77776 EXIT
040456,000681: 14,3074 05353 TC PHASCHNG
040457,000682: 14,3075 04024 OCT 04024
040458,000683:
040459,000684: 14,3076 06042 TC INTPRET
040460,000685: 14,3077 45145 DLOAD CALL
040461,000686: 14,3100 03562 TSIGHT
040462,000687: 14,3101 32472 PLANET
040463,000688: 14,3102 53521 MXV UNIT
040464,000689: 14,3103 01734 REFSMMAT
040465,000690: 14,3104 26715 STOVL STARAD +6
040466,000691: 14,3105 03554 PLANVEC
040467,000692: 14,3106 53521 MXV UNIT
040468,000693: 14,3107 01734 REFSMMAT
040469,000694: 14,3110 26707 STOVL STARAD
040470,000695: 14,3111 02761 STARSAV1
040471,000696: 14,3112 24007 STOVL 6D
040472,000697: 14,3113 02767 STARSAV2
040473,000698: 14,3114 34015 STCALL 12D
040474,000699: 14,3115 31250 R54 # STAR DATA TEST
040475,000700: 14,3116 45014 BOFF CALL
040476,000701: 14,3117 00354 FREEFLAG
040477,000702: 14,3120 31126 R51K
040478,000703: 14,3121 47443 AXISGEN
040479,000704: 14,3122 77624 CALL
040480,000705: 14,3123 31216 R55 # GYRO TORQUE
040481,000706: 14,3124 77614 CLEAR
040482,000707: 14,3125 01273 PFRATFLG
040483,000708: 14,3126 77776 R51K EXIT
040484,000709: 14,3127 35741 R51P63 CAF OCT14
040485,000710: 14,3130 04616 TC BANKCALL
040486,000711: 14,3131 20624 CADR GOPERF1
040487,000712: 14,3132 06001 TC GOTOPOOH
040488,000713: 14,3133 03014 TC R51C
040489,000714: 14,3134 06042 TC INTPRET
040490,000715: 14,3135 77650 GOTO
040491,000716: 14,3136 02746 QMAJ
040492,000717: 14,3137 06042 R51.4 TC INTPRET
040493,000718: 14,3140 77775 VLOAD
040494,000719:
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|
Page 936 |
040496,000721: 14,3141 02715 STARAD +6
040497,000722: 14,3142 02761 STORE STARSAV1
040498,000723: 14,3143 45145 DLOAD CALL
040499,000724: 14,3144 03562 TSIGHT
040500,000725: 14,3145 32472 PLANET
040501,000726: 14,3146 03554 STORE PLANVEC
040502,000727: 14,3147 77731 SSP
040503,000728: 14,3150 02760 STARIND
040504,000729: 14,3151 00001 1
040505,000730: 14,3152 77650 GOTO
040506,000731: 14,3153 31050 R51.3
040507,000732: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040508,000733:
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|
Page 937 |
040510,000735: # GYRO TORQUE COARSE ALIGNMENT
040511,000736: 14,3156 45020 GYCOARS STQ CALL
040512,000737: 14,3157 02746 QMAJ
040513,000738: 14,3160 47251 CALCGTA
040514,000739: 14,3161 43014 CLEAR CLEAR
040515,000740: 14,3162 01260 DRIFTFLG
040516,000741: 14,3163 01662 REFSMFLG
040517,000742: 14,3164 77776 EXIT
040518,000743: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040519,000744: 14,3166 04616 TC BANKCALL
040520,000745: 14,3167 20452 CADR GODSPR
040521,000746: 14,3170 33247 CA R55CDR
040522,000747: 14,3171 04616 TC BANKCALL
040523,000748: 14,3172 17315 CADR IMUPULSE
040524,000749: 14,3173 04616 TC BANKCALL
040525,000750: 14,3174 17710 CADR IMUSTALL
040526,000751: 14,3175 05701 TC CURTAINS
040527,000752: 14,3176 05353 TC PHASCHNG
040528,000753: 14,3177 04024 OCT 04024
040529,000754:
040530,000755: 14,3200 06042 TC INTPRET
040531,000756: 14,3201 75160 AXC,1 AXC,2
040532,000757: 14,3202 03606 XSMD
040533,000758: 14,3203 01733 REFSMMAT
040534,000759: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040535,000760: 14,3205 31371 MATMOVE
040536,000761: 14,3206 43014 CLEAR SET
040537,000762: 14,3207 01273 PFRATFLG
040538,000763: 14,3210 01462 REFSMFLG
040539,000764: 14,3211 77624 CALL
040540,000765: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040541,000766: 14,3213 77650 GOTO
040542,000767: 14,3214 31126 R51K
040543,000768: 14,3215 04024 V16N20 VN 1620
040544,000769:
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|
Page 938 |
040546,000771: # R55 GYRO TORQUE
040547,000772: # FUNCTION-COMPUTE AND SEND GYRO PULSES
040548,000773: # CALLING SEQ- CALL R55
040549,000774: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040550,000775: # OUTPUT- GYRO PULSES
040551,000776: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040552,000777: 14,3216 COUNT* $$/R55
040553,000778: 14,3216 77620 R55 STQ
040554,000779: 14,3217 02745 QMIN
040555,000780: 14,3220 77624 CALL
040556,000781: 14,3221 47251 CALCGTA
040557,000782: 14,3222 77776 PULSEM EXIT
040558,000783: 14,3223 33246 R55.1 CAF V06N93
040559,000784: 14,3224 04616 TC BANKCALL
040560,000785: 14,3225 20477 CADR GOFLASH
040561,000786: 14,3226 06001 TC GOTOPOOH
040562,000787: 14,3227 03231 TC R55.2
040563,000788: 14,3230 03243 TC R55RET
040564,000789: 14,3231 05353 R55.2 TC PHASCHNG
040565,000790: 14,3232 00214 OCT 00214
040566,000791: 14,3233 33247 CA R55CDR
040567,000792: 14,3234 04616 TC BANKCALL
040568,000793: 14,3235 17315 CADR IMUPULSE
040569,000794: 14,3236 04616 TC BANKCALL
040570,000795: 14,3237 17710 CADR IMUSTALL
040571,000796: 14,3240 05701 TC CURTAINS
040572,000797: 14,3241 05353 TC PHASCHNG
040573,000798: 14,3242 04024 OCT 04024
040574,000799:
040575,000800: 14,3243 06042 R55RET TC INTPRET
040576,000801: 14,3244 77650 GOTO
040577,000802: 14,3245 02745 QMIN
040578,000803: 14,3246 01535 V06N93 VN 0693
040579,000804: 14,3247 02737 R55CDR ECADR OGC
040580,000805: 14,3250 14,3250 R54 = CHKSDATA
040581,000806: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
040582,000807: # MOD NO- 0 LOG SECTION- P51-P53
040583,000808: # MODIFICATION BY- LONSKE ASSEMBLY-
040584,000809:
040585,000810: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040586,000811: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040587,000812: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040588,000813:
040589,000814: # OS1 = OBSERVED STAR 1 VECTOR
040590,000815: # OS2 = OBSERVED STAR 2 VECTOR
040591,000816: # SS1 = STORED STAR 1 VECTOR
040592,000817: # SS2 = STORED STAR 2 VECTOR
040593,000818: # A1 = ARCCOS(OS1 - OS2)
040594,000819: # A2 = ARCCOS(SS1 - SS2)
040595,000820: # A = ABS(2(A1 - A2))
040596,000821:
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|
Page 939 |
040598,000823: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040599,000824: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040600,000825: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040601,000826: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040602,000827: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040603,000828:
040604,000829: # ERASABLE INITIALIZATION REQUIRED -
040605,000830: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040606,000831: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040607,000832: # DEBRIS-
040608,000833: 14,3250 COUNT* $$/R54
040609,000834: 14,3250 43020 CHKSDATA STQ SET
040610,000835: 14,3251 02745 QMIN
040611,000836: 14,3252 00074 FREEFLAG
040612,000837: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040613,000838: 14,3254 02706 STARAD
040614,000839:
040615,000840: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040616,000841: 14,3256 00001 0,1
040617,000842: 14,3257 00007 6,1
040618,000843: 14,3260 65552 SL1 ACOS
040619,000844: 14,3261 00025 STORE THETA
040620,000845: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040621,000846: 14,3263 00354 FREEFLAG
040622,000847: 14,3264 31274 CHKSD
040623,000848: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040624,000849: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040625,000850: 14,3267 00006 6D
040626,000851: 14,3270 00025 THETA
040627,000852: 14,3271 00023 STORE 18D
040628,000853: 14,3272 77650 GOTO
040629,000854: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040630,000855: 14,3274 45345 CHKSD DLOAD DSU
040631,000856: 14,3275 00025 THETA
040632,000857: 14,3276 00023 18D
040633,000858: 14,3277 47046 ABS RTB # COMPUTE POS DIFF
040634,000859: 14,3300 21613 SGNAGREE
040635,000860: 14,3301 01045 STORE NORMTEM1
040636,000861: 14,3302 77414 SET EXIT
040637,000862: 14,3303 00074 FREEFLAG
040638,000863: 14,3304 33320 CAF VB6N5
040639,000864: 14,3305 04616 TC BANKCALL
040640,000865: 14,3306 20477 CADR GOFLASH
040641,000866: 14,3307 16001 TCF GOTOPOOH
040642,000867: 14,3310 03315 TC CHKSDA # PROCEED
040643,000868: 14,3311 06042 TC INTPRET
040644,000869: 14,3312 52014 CLEAR GOTO
040645,000870: 14,3313 00274 FREEFLAG
040646,000871: 14,3314 02745 QMIN
040647,000872: 14,3315 06042 CHKSDA TC INTPRET
040648,000873:
|
|
Page 940 |
040650,000875: 14,3316 77650 GOTO
040651,000876: 14,3317 02745 QMIN
040652,000877: 14,3320 01405 VB6N5 VN 605
040653,000878:
040654,000879: # NAME - CAL53A
040655,000880: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040656,000881: # CALLING SEQUENCE - CALL CAL53A
040657,000882: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
040658,000883: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040659,000884: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040660,000885: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040661,000886:
040662,000887: 14,3321 COUNT* $$/R50
040663,000888: 14,3321 77624 CAL53A CALL
040664,000889: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040665,000890: 14,3323 66234 RTB SSP
040666,000891: 14,3324 31405 RDCDUS # READ CDUS
040667,000892: 14,3325 00051 S1
040668,000893: 14,3326 00001 1
040669,000894: 14,3327 40370 AXT,1 SETPD
040670,000895: 14,3330 00003 3
040671,000896: 14,3331 00005 4
040672,000897: 14,3332 70543 CALOOP DLOAD* SR1
040673,000898: 14,3333 00325 THETAD +3D,1
040674,000899: 14,3334 70523 PDDL* SR1
040675,000900: 14,3335 00005 4,1
040676,000901: 14,3336 51425 DSU ABS
040677,000902: 14,3337 45206 PUSH DSU
040678,000903: 14,3340 31404 DEGREE1
040679,000904: 14,3341 71240 BMN DLOAD
040680,000905: 14,3342 31360 CALOOP1
040681,000906: 14,3343 51025 DSU BPL
040682,000907: 14,3344 31405 DEG359
040683,000908: 14,3345 31360 CALOOP1
040684,000909: 14,3346 77776 EXIT
040685,000910: 14,3347 05353 TC PHASCHNG
040686,000911: 14,3350 04024 OCT 04024
040687,000912:
040688,000913: 14,3351 06042 TC INTPRET
040689,000914: 14,3352 77624 COARFINE CALL
040690,000915: 14,3353 31557 COARSE
040691,000916: 14,3354 77624 CALL
040692,000917: 14,3355 31603 NCOARSE
040693,000918: 14,3356 77650 GOTO
040694,000919: 14,3357 31362 FINEONLY
040695,000920: 14,3360 77700 CALOOP1 TIX,1
040696,000921: 14,3361 31332 CALOOP
040697,000922: 14,3362 75160 FINEONLY AXC,1 AXC,2
040698,000923: 14,3363 02642 XSM
040699,000924: 14,3364 01733 REFSMMAT
040700,000925: 14,3365 77624 CALL
040701,000926: 14,3366 31371 MATMOVE
040702,000927:
|
|
Page 941 |
040704,000929: 14,3367 77650 GOTO
040705,000930: 14,3370 32161 COARSRET
040706,000931: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040707,000932: 14,3372 00001 0,1
040708,000933: 14,3373 10001 STORE 0,2
040709,000934: 14,3374 77773 VLOAD*
040710,000935: 14,3375 00007 6D,1
040711,000936: 14,3376 10007 STORE 6D,2
040712,000937: 14,3377 77773 VLOAD*
040713,000938: 14,3400 00015 12D,1
040714,000939: 14,3401 10015 STORE 12D,2
040715,000940: 14,3402 77616 RVQ
040716,000941: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040717,000942: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040718,000943: 14,3405 00004 RDCDUS INHINT # READ CDUS
040719,000944: 14,3406 30032 CA CDUX
040720,000945: 14,3407 50120 INDEX FIXLOC
040721,000946: 14,3410 54001 TS 1
040722,000947: 14,3411 30033 CA CDUY
040723,000948: 14,3412 50120 INDEX FIXLOC
040724,000949: 14,3413 54002 TS 2
040725,000950: 14,3414 30034 CA CDUZ
040726,000951: 14,3415 50120 INDEX FIXLOC
040727,000952: 14,3416 54003 TS 3
040728,000953: 14,3417 00003 RELINT
040729,000954: 14,3420 06064 TC DANZIG # +
040730,000955: 14,3421 COUNT* $$/INFLT
040731,000956:
|
|
Page 942 |
040733,000958: # NAME - P51 - IMU ORIENTATION DETERMINATION
040734,000959: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
040735,000960: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040736,000961:
040737,000962: # FUNCTIONAL DESCRIPTION
040738,000963:
040739,000964: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040740,000965: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
040741,000966: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040742,000967: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040743,000968:
040744,000969: # CALLING SEQUENCE
040745,000970:
040746,000971: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040747,000972:
040748,000973: # SUBROUTINES CALLED.
040749,000974:
040750,000975: # GOPERF3
040751,000976: # GOPERF1
040752,000977: # GODSPR
040753,000978: # IMUCOARS
040754,000979: # IMUFIN20
040755,000980: # AOTMARK(R53)
040756,000981: # CHKSDATA(R54)
040757,000982: # MKRELEAS
040758,000983: # AXISGEN
040759,000984: # MATMOVE
040760,000985:
040761,000986: # ALARMS
040762,000987:
040763,000988: # NONE.
040764,000989:
040765,000990: # ERASABLE INITIALIZATION
040766,000991:
040767,000992: # IMU ZERO FLAG SHOULD BE SET.
040768,000993:
040769,000994: # OUTPUT
040770,000995:
040771,000996: # REFSMMAT
040772,000997: # REFSMFLG
040773,000998:
040774,000999: # DEBRIS
040775,001000:
040776,001001: # WORK AREA
040777,001002: # STARAD
040778,001003: # STARIND
040779,001004: # BESTI
040780,001005: # BESTJ
040781,001006:
040782,001007: 14,3421 COUNT* $$/P51
040783,001008:
|
|
Page 943 |
040785,001010: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040786,001011: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040787,001012:
040788,001013: 14,3423 34761 CAF OCT15
040789,001014: 14,3424 04616 TC BANKCALL
040790,001015: 14,3425 20624 CADR GOPERF1
040791,001016: 14,3426 06001 TC GOTOPOOH # TERM.
040792,001017: 14,3427 13453 TCF P51B # V33
040793,001018: 14,3430 05353 TC PHASCHNG
040794,001019: 14,3431 04024 OCT 04024
040795,001020:
040796,001021: 14,3432 34755 CAF ZERO
040797,001022: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040798,001023: 14,3434 54322 TS THETAD +1
040799,001024: 14,3435 54323 TS THETAD +2
040800,001025: 14,3436 35010 CAF V06N22
040801,001026: 14,3437 04616 TC BANKCALL
040802,001027: 14,3440 20447 CADR GODSPRET
040803,001028: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040804,001029: 14,3442 04616 TC BANKCALL
040805,001030: 14,3443 20447 CADR GODSPRET
040806,001031: 14,3444 06042 TC INTPRET
040807,001032: 14,3445 77624 CALL
040808,001033: 14,3446 31557 COARSE
040809,001034: 14,3447 77776 EXIT
040810,001035: 14,3450 05353 TC PHASCHNG
040811,001036: 14,3451 04024 OCT 04024
040812,001037: 14,3452 13423 TCF P51 +2
040813,001038:
040814,001039: 14,3453 05353 P51B TC PHASCHNG
040815,001040: 14,3454 00014 OCT 00014
040816,001041: 14,3455 06042 TC INTPRET
040817,001042: 14,3456 77624 CALL
040818,001043: 14,3457 31603 NCOARSE
040819,001044: 14,3460 40331 SSP SETPD
040820,001045: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
040821,001046: 14,3462 00000 0
040822,001047: 14,3463 00001 0
040823,001048: 14,3464 77776 P51C EXIT
040824,001049: 14,3465 05353 TC PHASCHNG
040825,001050: 14,3466 04024 OCT 04024
040826,001051:
040827,001052: 14,3467 04616 TC BANKCALL
040828,001053: 14,3470 16000 CADR AOTMARK # R53
040829,001054: 14,3471 04616 TC BANKCALL
040830,001055: 14,3472 17704 CADR AOTSTALL
040831,001056: 14,3473 05701 TC CURTAINS
040832,001057: 14,3474 11757 CCS STARIND
040833,001058: 14,3475 13503 TCF P51D +1
040834,001059: 14,3476 06042 TC INTPRET
040835,001060:
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|
Page 944 |
040837,001062: 14,3477 77775 VLOAD
040838,001063: 14,3500 02715 STARAD +6
040839,001064: 14,3501 02761 STORE STARSAV1
040840,001065: 14,3502 77776 P51D EXIT
040841,001066: 14,3503 05353 TC PHASCHNG
040842,001067: 14,3504 04024 OCT 04024
040843,001068:
040844,001069: 14,3505 11757 CCS STARIND
040845,001070: 14,3506 13522 TCF P51E
040846,001071: 14,3507 05353 TC PHASCHNG
040847,001072: 14,3510 04024 OCT 04024
040848,001073:
040849,001074: 14,3511 06042 TC INTPRET
040850,001075: 14,3512 45145 DLOAD CALL
040851,001076: 14,3513 03562 TSIGHT
040852,001077: 14,3514 32472 PLANET
040853,001078: 14,3515 03554 STORE PLANVEC
040854,001079: 14,3516 77776 EXIT
040855,001080: 14,3517 34753 CAF BIT1
040856,001081: 14,3520 55757 TS STARIND
040857,001082: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040858,001083: 14,3522 05353 P51E TC PHASCHNG
040859,001084: 14,3523 04024 OCT 04024
040860,001085:
040861,001086: 14,3524 06042 TC INTPRET
040862,001087: 14,3525 45145 DLOAD CALL
040863,001088: 14,3526 03562 TSIGHT
040864,001089: 14,3527 32472 PLANET
040865,001090: 14,3530 24015 STOVL 12D
040866,001091: 14,3531 03554 PLANVEC
040867,001092: 14,3532 24007 STOVL 6D
040868,001093: 14,3533 02761 STARSAV1
040869,001094: 14,3534 26707 STOVL STARAD
040870,001095: 14,3535 02767 STARSAV2
040871,001096: 14,3536 36715 STCALL STARAD +6
040872,001097: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040873,001098: 14,3540 77414 BON EXIT
040874,001099: 14,3541 00314 FREEFLAG
040875,001100: 14,3542 31544 P51G
040876,001101: 14,3543 03423 TC P51 +2
040877,001102: 14,3544 77624 P51G CALL
040878,001103: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040879,001104: 14,3546 75160 AXC,1 AXC,2
040880,001105: 14,3547 02664 XDC
040881,001106: 14,3550 01733 REFSMMAT
040882,001107: 14,3551 77624 CALL
040883,001108: 14,3552 31371 MATMOVE
040884,001109: 14,3553 77414 SET EXIT
040885,001110: 14,3554 01462 REFSMFLG
040886,001111: 14,3555 06001 TC GOTOPOOH # FINIS
040887,001112:
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|
Page 945 |
040889,001114: 14,3556 12200 V41K VN 4100
040890,001115: 14,3557 77776 COARSE EXIT
040891,001116: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040892,001117: 14,3561 00006 EXTEND
040893,001118: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040894,001119: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040895,001120: 14,3564 04616 TC BANKCALL
040896,001121: 14,3565 01736 CADR DELAYJOB
040897,001122: 14,3566 13560 TCF COARSE +1
040898,001123: 14,3567 04616 DOCORS TC BANKCALL
040899,001124: 14,3570 16772 CADR IMUCOARS
040900,001125: 14,3571 04616 TC BANKCALL
040901,001126: 14,3572 17710 CADR IMUSTALL
040902,001127: 14,3573 05701 TC CURTAINS
040903,001128: 14,3574 04616 TC BANKCALL
040904,001129: 14,3575 17202 CADR IMUFINE
040905,001130: 14,3576 04616 TC BANKCALL
040906,001131: 14,3577 17710 CADR IMUSTALL
040907,001132: 14,3600 05701 TC CURTAINS
040908,001133: 14,3601 06042 TC INTPRET
040909,001134: 14,3602 77616 RVQ
040910,001135: 14,3603 77776 NCOARSE EXIT
040911,001136: 14,3604 30025 CA TIME1
040912,001137: 14,3605 55074 TS 1/PIPADT
040913,001138: 14,3606 44755 CS ZERO
040914,001139: 14,3607 54037 TS PIPAX
040915,001140: 14,3610 54040 TS PIPAY
040916,001141: 14,3611 54041 TS PIPAZ
040917,001142: 14,3612 06042 TC INTPRET
040918,001143: 14,3613 77775 VLOAD
040919,001144: 14,3614 24007 ZEROVEC
040920,001145: 14,3615 01472 STORE GCOMP
040921,001146: 14,3616 43414 SET RVQ
040922,001147: 14,3617 01060 DRIFTFLG
040923,001148:
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|
Page 946 |
040925,001150: # NAME-S52.2
040926,001151: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040927,001152: # CALL- CALL S52.2
040928,001153: # INPUT- X,Y,ZSMD
040929,001154: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
040930,001155: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
040931,001156: 14,3620 COUNT* $$/S52.1
040932,001157: 14,3620 45020 S52.2 STQ CALL
040933,001158: 14,3621 02746 QMAJ
040934,001159: 14,3622 47541 CDUTRIG
040935,001160: 14,3623 77624 CALL
040936,001161: 14,3624 20030 CALCSMSC
040937,001162: 14,3625 66370 AXT,1 SSP
040938,001163: 14,3626 00022 18D
040939,001164: 14,3627 00051 S1
040940,001165: 14,3630 00006 6D
040941,001166: 14,3631 61373 S52.2A VLOAD* VXM
040942,001167: 14,3632 02707 XNB +18D,1
040943,001168: 14,3633 01734 REFSMMAT
040944,001169: 14,3634 77656 UNIT
040945,001170: 14,3635 06707 STORE XNB +18D,1
040946,001171: 14,3636 77700 TIX,1
040947,001172: 14,3637 31631 S52.2A
040948,001173: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040949,001174: 14,3641 03606 XSMD
040950,001175: 14,3642 02642 XSM
040951,001176: 14,3643 77624 CALL
040952,001177: 14,3644 31371 MATMOVE
040953,001178: 14,3645 77624 CALL
040954,001179: 14,3646 47355 CALCGA
040955,001180: 14,3647 77650 GOTO
040956,001181: 14,3650 02746 QMAJ
040957,001182:
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|
Page 947 |
040959,001184: # NAME-S52.3
040960,001185: # FUNCTION XSMD= UNIT R
040961,001186: # YSMD= UNIT(V X R)
040962,001187: # ZSMD= UNIT(XSMD X YSMD)
040963,001188: # CALL DLOAD CALL
040964,001189: # TALIGN
040965,001190: # S52.3
040966,001191: # INPUT- TIME OF ALIGNMENT IN MPAC
040967,001192: # OUTPUT- X,Y,ZSMD
040968,001193: # SUBROUTINES- CSMCONIC
040969,001194: 14,3651 COUNT* $$/S52.3
040970,001195: 14,3651 77620 S52.3 STQ
040971,001196: 14,3652 02746 QMAJ
040972,001197: 14,3653 34041 STCALL TDEC1
040973,001198: 14,3654 27101 LEMCONIC
040974,001199: 14,3655 53575 VLOAD UNIT
040975,001200: 14,3656 00001 RATT
040976,001201: 14,3657 27607 STOVL XSMD
040977,001202: 14,3660 00007 VATT
040978,001203: 14,3661 53435 VXV UNIT
040979,001204: 14,3662 00001 RATT
040980,001205: 14,3663 27615 STOVL YSMD
040981,001206: 14,3664 03607 XSMD
040982,001207: 14,3665 53435 VXV UNIT
040983,001208: 14,3666 03615 YSMD
040984,001209: 14,3667 37623 STCALL ZSMD
040985,001210: 14,3670 02746 QMAJ
040986,001211:
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|
Page 948 |
040988,001213: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040989,001214:
040990,001215: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040991,001216: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040992,001217:
040993,001218: # CALLING -CALL R52
040994,001219:
040995,001220: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
040996,001221: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
040997,001222: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040998,001223: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040999,001224: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041000,001225:
041001,001226: # SUBROUT -R60LEM
041002,001227:
041003,001228: 14,3671 COUNT* $$/R52
041004,001229: 14,3671 77420 R52 STQ EXIT
041005,001230: 14,3672 03665 SAVQR52
041006,001231: 14,3673 51757 INDEX STARIND
041007,001232: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041008,001233: 14,3675 00006 EXTEND
041009,001234: 14,3676 73772 MP 1/6TH
041010,001235: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
041011,001236: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
041012,001237:
041013,001238: 14,3701 33773 R52A CAF V01N70
041014,001239: 14,3702 04616 TC BANKCALL
041015,001240: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041016,001241: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
041017,001242: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
041018,001243: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041019,001244:
041020,001245: 14,3707 05516 R52B TC DOWNFLAG
041021,001246: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041022,001247: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041023,001248: 14,3712 77747 MASK HIGH9
041024,001249: 14,3713 00006 EXTEND
041025,001250: 14,3714 74743 MP BIT9
041026,001251: 14,3715 54001 TS L # TEMP STORE DETENT
041027,001252:
041028,001253: 14,3716 00006 EXTEND
041029,001254: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041030,001255:
041031,001256: 14,3720 65650 AD NEG7
041032,001257: 14,3721 00006 EXTEND
041033,001258: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041034,001259:
041035,001260: 14,3723 E7,1551 EBANK= XYMARK
041036,001261: 14,3723 35016 CA EBANK7
041037,001262: 14,3724 54003 TS EBANK
041038,001263:
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|
Page 949 |
041040,001265: 14,3725 50001 INDEX L
041041,001266: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041042,001267: 14,3727 54001 TS L
041043,001268: 14,3730 E5,1642 EBANK= XSM
041044,001269: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041045,001270: 14,3731 54003 TS EBANK
041046,001271: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041047,001272: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041048,001273: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041049,001274:
041050,001275: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041051,001276: 14,3736 04616 TC BANKCALL
041052,001277: 14,3737 20477 CADR GOFLASH
041053,001278: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
041054,001279: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
041055,001280: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
041056,001281:
041057,001282: 14,3743 00006 EXTEND
041058,001283: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041059,001284: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041060,001285: 14,3746 52011 DXCH 8D
041061,001286: 14,3747 06042 TC INTPRET
041062,001287: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041063,001288: 14,3751 10520 OANB # SCAXIS IN NB COORDS
041064,001289: 14,3752 45034 RTB CALL
041065,001290: 14,3753 21574 LOADTIME
041066,001291: 14,3754 32472 PLANET
041067,001292: 14,3755 53521 MXV UNIT
041068,001293: 14,3756 01734 REFSMMAT
041069,001294: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041070,001295:
041071,001296: 14,3760 77776 EXIT
041072,001297: 14,3761 04616 TC BANKCALL
041073,001298: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041074,001299:
041075,001300: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041076,001301: 14,3764 70734 MASK STARCODE
041077,001302: 14,3765 00006 EXTEND
041078,001303: 14,3766 13701 BZF R52A
041079,001304:
041080,001305: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041081,001306: 14,3770 77650 GOTO
041082,001307: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041083,001308:
041084,001309: 14,3772 05253 1/6TH DEC .1666667
041085,001310: 14,3773 00306 V01N70 VN 0170
041086,001311: 14,3774 01527 V06N87 VN 687
041087,001312:
|
|
Page 950 |
041089,001314: # LUNAR SURFACE STAR AQUISITION
041090,001315:
041091,001316: 15,2245 BANK 15
041092,001317: 15,2000 SETLOC P50S
041093,001318: 15,2000 BANK
041094,001319: 15,2245 COUNT* $$/R59
041095,001320:
041096,001321: 15,2245 40077 R59 CS FLAGWRD3
041097,001322: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041098,001323: 15,2247 10000 CCS A
041099,001324: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041100,001325:
041101,001326: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041102,001327: 15,2252 04616 TC BANKCALL
041103,001328: 15,2253 20477 CADR GOFLASH
041104,001329: 15,2254 06001 TC GOTOPOOH # V34-TERMINATE
041105,001330: 15,2255 12257 TCF R59A # V33-PROCEED
041106,001331: 15,2256 12245 TCF R59 # V32-RECYCLE
041107,001332:
041108,001333: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041109,001334: 15,2260 70734 MASK AOTCODE
041110,001335: 15,2261 00006 EXTEND
041111,001336: 15,2262 76245 MP REVCNT # JUST 6
041112,001337: 15,2263 56001 XCH L
041113,001338: 15,2264 51757 INDEX STARIND
041114,001339: 15,2265 55755 TS BESTI
041115,001340: 15,2266 50120 INDEX FIXLOC
041116,001341: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041117,001342: 15,2270 00006 EXTEND
041118,001343: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041119,001344: 15,2272 40000 COM
041120,001345: 15,2273 62557 AD DEC227
041121,001346: 15,2274 00006 EXTEND
041122,001347: 15,2275 62455 BZMF R59OUT
041123,001348:
041124,001349: 15,2276 06042 TC INTPRET
041125,001350: 15,2277 64373 VLOAD* MXV
041126,001351: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041127,001352: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041128,001353: 15,2302 45056 UNIT CALL
041129,001354: 15,2303 47650 CDU*SMNB
041130,001355: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041131,001356: 15,2305 77776 EXIT
041132,001357:
041133,001358: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041134,001359: 15,2307 55241 TS POSCODE
041135,001360:
041136,001361: 15,2310 E7,1551 EBANK= XYMARK
041137,001362: 15,2310 35016 INCAZ CA EBANK7
041138,001363: 15,2311 54003 TS EBANK
041139,001364:
|
|
Page 951 |
041141,001366: 15,2312 51241 INDEX POSCODE
041142,001367: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041143,001368: 15,2314 54001 TS L
041144,001369:
041145,001370: 15,2315 E5,1642 EBANK= XSM
041146,001371: 15,2315 35014 CA EBANK5
041147,001372: 15,2316 54003 TS EBANK
041148,001373:
041149,001374: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041150,001375: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041151,001376: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041152,001377: 15,2322 50120 INDEX FIXLOC
041153,001378: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041154,001379:
041155,001380: 15,2324 06042 TC INTPRET
041156,001381: 15,2325 77624 CALL
041157,001382: 15,2326 10520 OANB # GO CALC OPTIC AXIS WRT NB
041158,001383: 15,2327 50375 VLOAD DOT
041159,001384: 15,2330 02731 STAR # DOT STAR WITH OA
041160,001385: 15,2331 03765 SCAXIS
041161,001386: 15,2332 65552 SL1 ARCCOS
041162,001387: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041163,001388:
041164,001389: 15,2334 51025 DSU BPL
041165,001390: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041166,001391: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041167,001392: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041168,001393: 15,2340 00031 24D
041169,001394: 15,2341 32470 DEG.5
041170,001395: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041171,001396: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041172,001397: 15,2344 00031 24D # GET SPIRAL
041173,001398: 15,2345 42405 DMP SL4
041174,001399: 15,2346 13762 3/4 # 12 SCALED AT 16
041175,001400: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041176,001401:
041177,001402: 15,2350 03765 SCAXIS # OA
041178,001403: 15,2351 53435 VXV UNIT
041179,001404: 15,2352 24005 XUNIT
041180,001405: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041181,001406: 15,2354 03765 SCAXIS
041182,001407: 15,2355 77676 VCOMP
041183,001408: 15,2356 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
041184,001409: 15,2357 03765 SCAXIS
041185,001410: 15,2360 53435 VXV UNIT
041186,001411: 15,2361 02731 STAR
041187,001412: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041188,001413: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041189,001414: 15,2364 65552 SL1 ARCCOS
041190,001415: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
041191,001416:
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|
Page 952 |
041193,001418: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041194,001419: 15,2367 71244 BPL DLOAD # IF THET NEG-GET 360-THET
041195,001420: 15,2370 32375 R59D
041196,001421: 15,2371 32047 ABOUTONE
041197,001422: 15,2372 77625 DSU
041198,001423: 15,2373 00033 26D
041199,001424: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041200,001425:
041201,001426: 15,2375 70535 R59D SLOAD SR1
041202,001427: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041203,001428: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041204,001429: 15,2400 00033 26D
041205,001430: 15,2401 77634 RTB
041206,001431: 15,2402 21615 1STO2S
041207,001432: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
041208,001433: 15,2404 00031 24D # LOAD SROT IN REVS
041209,001434: 15,2405 77615 DAD # 12(SEP) + YROT
041210,001435: 15,2406 77634 RTB
041211,001436: 15,2407 21615 1STO2S
041212,001437: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
041213,001438: 15,2411 77776 EXIT
041214,001439: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041215,001440:
041216,001441: 15,2413 77776 ZSPCR EXIT
041217,001442: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041218,001443: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
041219,001444: 15,2416 55237 TS SPIRAL
041220,001445: 15,2417 12437 TCF 79DISP
041221,001446:
041222,001447: 15,2420 77776 NXAX EXIT
041223,001448: 15,2421 25241 INCR POSCODE
041224,001449: 15,2422 41241 CS POSCODE
041225,001450: 15,2423 64757 AD SEVEN
041226,001451: 15,2424 00006 EXTEND
041227,001452: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041228,001453: 15,2426 12310 TCF INCAZ
041229,001454:
041230,001455: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041231,001456: 15,2430 00404 OCT 404
041232,001457: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041233,001458: 15,2432 04616 TC BANKCALL
041234,001459: 15,2433 20477 CADR GOFLASH
041235,001460: 15,2434 16001 TCF GOTOPOOH # VB34-TERMINATE
041236,001461: 15,2435 12455 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
041237,001462: 15,2436 12245 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
041238,001463:
041239,001464: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041240,001465: 15,2440 04616 TC BANKCALL
041241,001466: 15,2441 20477 CADR GOFLASH
041242,001467: 15,2442 16001 TCF GOTOPOOH # V34-TERMINATE
041243,001468:
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|
Page 953 |
041245,001470: 15,2443 12445 TCF R59E # V33-PROCEED TO MARK ROUTINE
041246,001471: 15,2444 12245 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
041247,001472:
041248,001473: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041249,001474: 15,2446 71241 MASK POSCODE
041250,001475: 15,2447 00006 EXTEND
041251,001476: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041252,001477: 15,2451 47747 CS HIGH9
041253,001478: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041254,001479: 15,2453 60001 AD L
041255,001480: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
041256,001481:
041257,001482: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041258,001483: 15,2456 16000 CADR AOTMARK
041259,001484: 15,2457 04616 TC BANKCALL
041260,001485: 15,2460 17704 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041261,001486: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
041262,001487: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041263,001488:
041264,001489: 15,2463 00306 V01N70* VN 170
041265,001490: 15,2464 01517 V06N79 VN 679
041266,001491: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041267,001492: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041268,001493: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041269,001494: 15,2472 1235 CURSOR EQUALS GDT/2
041270,001495: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
041271,001496: 15,2472 1241 POSCODE EQUALS GDT/2 +4
041272,001497:
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|
Page 954 |
041274,001499: # NAME - PLANET
041275,001500: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041276,001501: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041277,001502: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041278,001503: # BY DSDY INPUT
041279,001504: # CALL - CALL
041280,001505: # PLANET
041281,001506: # INPUT - TIME IN MPAC
041282,001507: # OUTPUT - VECTOR IN MPAC
041283,001508: # SUBROUTINES - LOCSAM
041284,001509: # DEBRIS - VAC ,STARAD - STARAD +17
041285,001510:
041286,001511: 15,2000 SETLOC P50S
041287,001512: 15,2000 BANK
041288,001513: 15,2472 COUNT* $$/P51
041289,001514:
041290,001515: 15,2472 03562 PLANET STORE TSIGHT
041291,001516: 15,2473 77420 STQ EXIT
041292,001517: 15,2474 02736 GCTR
041293,001518: 15,2475 47747 CS HIGH9
041294,001519: 15,2476 70734 MASK AOTCODE
041295,001520: 15,2477 00006 EXTEND
041296,001521: 15,2500 76245 MP REVCNT
041297,001522: 15,2501 56001 XCH L
041298,001523: 15,2502 51757 INDEX STARIND
041299,001524: 15,2503 55755 TS BESTI
041300,001525: 15,2504 10000 CCS A
041301,001526: 15,2505 12521 TCF NOTPLAN
041302,001527: 15,2506 32560 CAF VNPLANV
041303,001528: 15,2507 04616 TC BANKCALL
041304,001529: 15,2510 20477 CADR GOFLASH
041305,001530: 15,2511 02506 TC -3
041306,001531: 15,2512 02514 TC +2
041307,001532: 15,2513 02506 TC -5
041308,001533: 15,2514 06042 TC INTPRET
041309,001534: 15,2515 53575 VLOAD UNIT
041310,001535: 15,2516 02707 STARAD
041311,001536: 15,2517 77650 GOTO
041312,001537: 15,2520 02736 GCTR
041313,001538: 15,2521 40000 NOTPLAN CS A
041314,001539: 15,2522 62557 AD DEC227
041315,001540: 15,2523 00006 EXTEND
041316,001541: 15,2524 62535 BZMF CALSAM1
041317,001542: 15,2525 51757 INDEX STARIND
041318,001543: 15,2526 31755 CA BESTI
041319,001544: 15,2527 50120 INDEX FIXLOC
041320,001545: 15,2530 54046 TS X1
041321,001546: 15,2531 06042 TC INTPRET
041322,001547: 15,2532 52173 VLOAD* GOTO
041323,001548: 15,2533 30347 CATLOG,1
041324,001549:
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|
Page 955 |
041326,001551: 15,2534 02736 GCTR
041327,001552: 15,2535 06042 CALSAM1 TC INTPRET
041328,001553: 15,2536 45145 CALSAM DLOAD CALL
041329,001554: 15,2537 03562 TSIGHT
041330,001555: 15,2540 30500 LOCSAM
041331,001556: 15,2541 77340 LXC,1 VLOAD
041332,001557: 15,2542 02757 STARIND
041333,001558: 15,2543 02707 VEARTH
041334,001559: 15,2544 24001 STOVL 0D
041335,001560: 15,2545 02715 VSUN
041336,001561: 15,2546 26707 STOVL VEARTH
041337,001562: 15,2547 00001 0D
041338,001563: 15,2550 02715 STORE VSUN
041339,001564: 15,2551 70143 DLOAD* LXC,1
041340,001565: 15,2552 02756 BESTI,1
041341,001566: 15,2553 00154 MPAC
041342,001567: 15,2554 52173 VLOAD* GOTO
041343,001568: 15,2555 02343 STARAD -228D,1
041344,001569: 15,2556 02736 GCTR
041345,001570: 15,2557 00343 DEC227 DEC 227 B-14
041346,001571: 15,2560 01530 VNPLANV VN 0688
041347,001572: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041348,001573:
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|
Page 956 |
041350,001575: # GRAVITY VECTOR DETERMINATION ROUTINE
041351,001576: # BY KEN VINCENT
041352,001577: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041353,001578: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041354,001579: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041355,001580: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041356,001581: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041357,001582: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041358,001583: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041359,001584: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041360,001585: # READINGS.
041361,001586:
041362,001587: # CALL-
041363,001588: # TC BANKCALL
041364,001589: # CADR GVDETER
041365,001590: # INPUTS-
041366,001591: # PIPAS,CDUS
041367,001592: # OUTPUTS-
041368,001593: # STARSAV1 = UNIT GRAVITY
041369,001594: # GSAV = DITTO
041370,001595: # GRAVBIT = 1
041371,001596: # SUBROUTINES-
041372,001597: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041373,001598: # *NBSM*,*SNMB*, CALCGA,FOFLASH
041374,001599: # DEBRIS-
041375,001600: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041376,001601: 15,2561 32762 GVDETER CAF 42DEG
041377,001602: 15,2562 54321 TS THETAD
041378,001603: 15,2563 40000 COM
041379,001604: 15,2564 54322 TS THETAD +1
041380,001605: 15,2565 32763 CAF 35DEG
041381,001606: 15,2566 54323 TS THETAD +2
041382,001607: 15,2567 06042 TC INTPRET
041383,001608: 15,2570 45014 CLEAR CALL
041384,001609: 15,2571 01662 REFSMFLG
041385,001610: 15,2572 32666 LUNG
041386,001611: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
041387,001612:
041388,001613: # DEFINE G COOR SYS
041389,001614: # -
041390,001615: # X UNIT G
041391,001616: # * - -
041392,001617: # M= Y = UNITEZSM * X )
041393,001618: # - - -
041394,001619: # Z UNIT(X * Y )
041395,001620: # THEN ROTATED SM WRT PRESENT IS
041396,001621:
041397,001622:
041398,001623: # 1, 0 , 0
041399,001624: # * *T * * *
041400,001625:
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Page 957 |
041402,001627: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041403,001628: # I J
041404,001629: # 0, 0 ,-1
041405,001630:
041406,001631: # ALSO NB WRT PRES SM IS
041407,001632:
041408,001633: # * * *
041409,001634: # XNB = NBSM I
041410,001635: # * *
041411,001636: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041412,001637:
041413,001638: 15,2000 SETLOC P50S
041414,001639: 15,2000 BANK
041415,001640: 15,2573 COUNT* $$/P57
041416,001641: 15,2573 66370 AXT,1 SSP # X1=18
041417,001642: 15,2574 00022 18D # S1=6
041418,001643: 15,2575 00051 S1 # X2, -2
041419,001644: 15,2576 00006 6D
041420,001645: 15,2577 77744 LXC,2
041421,001646: 15,2600 00050 S1
041422,001647: 15,2601 45173 GRAVEL VLOAD* CALL
041423,001648: 15,2602 54000 XUNIT -6,2
041424,001649: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
041425,001650: 15,2604 06707 STORE XNB +18D,1
041426,001651: 15,2605 77775 VLOAD
041427,001652: 15,2606 02731 STAR
041428,001653: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
041429,001654: 15,2610 00047 X2
041430,001655: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
041431,001656: 15,2612 71152 VSL2 LXC,2
041432,001657: 15,2613 00047 X2
041433,001658: 15,2614 63047 VSU* INCR,2
041434,001659: 15,2615 54000 XUNIT -6,2
041435,001660: 15,2616 00002 2D
041436,001661: 15,2617 06665 STORE XSM +18D,1
041437,001662: 15,2620 45100 TIX,1 CALL
041438,001663: 15,2621 32601 GRAVEL
041439,001664: 15,2622 47355 CALCGA
041440,001665: 15,2623 74575 VLOAD VSR1
041441,001666: 15,2624 02715 GOUT
041442,001667: 15,2625 36723 STCALL STARAD +12D
041443,001668: 15,2626 32666 LUNG
041444,001669: 15,2627 74575 VLOAD VSR1
041445,001670: 15,2630 02715 GOUT
041446,001671: 15,2631 53455 VAD UNIT
041447,001672: 15,2632 02723 STARAD +12D
041448,001673: 15,2633 02761 STORE STARSAV1
041449,001674: 15,2634 77641 DOT
041450,001675: 15,2635 02231 GSAV
041451,001676: 15,2636 65552 SL1 ACOS
041452,001677:
|
|
Page 958 |
041454,001679: 15,2637 01045 STORE DSPTEM1
041455,001680: 15,2640 77776 EXIT
041456,001681: 15,2641 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041457,001682: 15,2642 00014 ADRES FREEFLAG
041458,001683:
041459,001684: 15,2643 32761 CA DISGRVER
041460,001685: 15,2644 04616 TC BANKCALL
041461,001686: 15,2645 20477 CADR GOFLASH
041462,001687: 15,2646 06001 TC GOTOPOOH
041463,001688: 15,2647 12652 TCF PROGRAV # VB33-PROCEED
041464,001689: 15,2650 05504 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041465,001690: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041466,001691:
041467,001692: 15,2652 05353 PROGRAV TC PHASCHNG
041468,001693: 15,2653 04024 OCT 04024
041469,001694:
041470,001695: 15,2654 06042 TC INTPRET
041471,001696: 15,2655 77775 VLOAD
041472,001697: 15,2656 02761 STARSAV1
041473,001698: 15,2657 02231 STORE GSAV
041474,001699: 15,2660 77776 EXIT
041475,001700: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041476,001701: 15,2662 70074 MASK FLAGWRD0
041477,001702: 15,2663 10000 CCS A
041478,001703: 15,2664 12561 TCF GVDETER # SET
041479,001704: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
041480,001705:
041481,001706: 15,2666 77220 LUNG STQ VLOAD
041482,001707: 15,2667 02745 QMIN
041483,001708: 15,2670 24007 ZEROVEC
041484,001709: 15,2671 02707 STORE GACC
041485,001710: 15,2672 77776 EXIT
041486,001711: 15,2673 05353 TC PHASCHNG
041487,001712: 15,2674 04024 OCT 04024
041488,001713:
041489,001714: 15,2675 06042 TC INTPRET
041490,001715: 15,2676 77624 CALL
041491,001716: 15,2677 31557 COARSE
041492,001717: 15,2700 77776 EXIT
041493,001718: 15,2701 32760 CA T/2SEC
041494,001719: 15,2702 55736 TS GCTR
041495,001720: 15,2703 37721 CA PRIO31
041496,001721: 15,2704 55074 TS 1/PIPADT
041497,001722: 15,2705 04616 TC BANKCALL
041498,001723: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041499,001724: 15,2707 05353 TC PHASCHNG
041500,001725: 15,2710 04024 OCT 04024
041501,001726:
041502,001727: 15,2711 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041503,001728: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041504,001729:
|
|
Page 959 |
041506,001731: 15,2713 06042 TC INTPRET
041507,001732: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041508,001733: 15,2715 35000 CAF 2SECS
041509,001734: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041510,001735: 15,2717 02721 ADRES GRABGRAV
041511,001736:
041512,001737: 15,2720 05155 TC ENDOFJOB
041513,001738:
041514,001739: 15,2721 04674 GRABGRAV TC IBNKCALL
041515,001740: 15,2722 77541 CADR PIPSRINE
041516,001741: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041517,001742: 15,2724 05105 TC FINDVAC
041518,001743: 15,2725 E5,1706 EBANK= STARAD
041519,001744: 15,2725 02730 32065 2CADR ADDGRAV
041520,001745:
041521,001746: 15,2727 05261 TC TASKOVER
041522,001747:
041523,001748: 15,2730 04616 ADDGRAV TC BANKCALL
041524,001749: 15,2731 15271 CADR 1/PIPA
041525,001750: 15,2732 25736 INCR GCTR
041526,001751: 15,2733 06042 TC INTPRET
041527,001752: 15,2734 53375 VLOAD VAD
041528,001753: 15,2735 00325 DELV
041529,001754: 15,2736 02707 GACC
041530,001755: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
041531,001756: 15,2740 50135 SLOAD BMN
041532,001757: 15,2741 02737 GCTR
041533,001758: 15,2742 32714 GREED
041534,001759: 15,2743 53575 VLOAD UNIT
041535,001760: 15,2744 02707 GACC
041536,001761: 15,2745 36731 STCALL STAR
041537,001762: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041538,001763: 15,2747 77624 CALL # IN OUTPUT
041539,001764: 15,2750 47673 *SMNB*
041540,001765: 15,2751 02715 STORE GOUT
041541,001766: 15,2752 77776 EXIT
041542,001767: 15,2753 05353 TC PHASCHNG
041543,001768: 15,2754 04024 OCT 04024
041544,001769:
041545,001770: 15,2755 06042 QMINEXIT TC INTPRET
041546,001771: 15,2756 77650 GOTO
041547,001772: 15,2757 02745 QMIN
041548,001773: 15,2760 77753 T/2SEC DEC -20 B-14
041549,001774: 15,2761 01404 DISGRVER VN 0604
041550,001775: 15,2762 07357 42DEG OCT 07357
041551,001776: 15,2763 06211 35DEG OCT 06211
041552,001777:
|
|
Page 960 |
041554,001779: # NAME GYROTRIM
041555,001780:
041556,001781: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041557,001782: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041558,001783: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041559,001784:
041560,001785: # CALL CALL
041561,001786: # GYROTRIM
041562,001787:
041563,001788: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041564,001789: # CDUX,CDUY,CDUZ
041565,001790:
041566,001791: # OUTPUT - GYRO TORQUE PULSES
041567,001792:
041568,001793: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041569,001794: # IMPULSE,IMUSTALL
041570,001795: # - - - * * -
041571,001796: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU ,STARAD ,VAC , XDC , OGC
041572,001797: 15,2764 COUNT* $$/P57
041573,001798: 15,2764 71220 GYROTRIM STQ DLOAD
041574,001799: 15,2765 02745 QMIN
041575,001800: 15,2766 00322 THETAD
041576,001801: 15,2767 65325 PDDL PDDL
041577,001802: 15,2770 00324 THETAD +2
041578,001803: 15,2771 00323 THETAD +1
041579,001804: 15,2772 77666 VDEF
041580,001805: 15,2773 24766 STOVL CDUSPOT
041581,001806: 15,2774 24005 XUNIT
041582,001807: 15,2775 77624 CALL
041583,001808: 15,2776 47666 TRG*NBSM
041584,001809: 15,2777 26707 STOVL STARAD
041585,001810: 15,3000 24003 YUNIT
041586,001811: 15,3001 77624 CALL
041587,001812: 15,3002 47675 *NBSM*
041588,001813: 15,3003 36715 STCALL STARAD +6
041589,001814: 15,3004 47541 CDUTRIG
041590,001815: 15,3005 77624 CALL
041591,001816: 15,3006 20030 CALCSMSC
041592,001817: 15,3007 77775 VLOAD
041593,001818: 15,3010 02665 XNB
041594,001819: 15,3011 24007 STOVL 6D
041595,001820: 15,3012 02673 YNB
041596,001821: 15,3013 34015 STCALL 12D
041597,001822: 15,3014 47443 AXISGEN
041598,001823: 15,3015 77624 CALL
041599,001824: 15,3016 47251 CALCGTA
041600,001825: 15,3017 77776 JUSTTRIM EXIT
041601,001826: 15,3020 33027 CA GYRCDR
041602,001827: 15,3021 04616 TC BANKCALL
041603,001828: 15,3022 17315 CADR IMUPULSE
041604,001829:
|
|
Page 961 |
041606,001831: 15,3023 04616 TC BANKCALL
041607,001832: 15,3024 17710 CADR IMUSTALL
041608,001833: 15,3025 05701 TC CURTAINS
041609,001834: 15,3026 12755 TCF QMINEXIT
041610,001835:
041611,001836: 15,3027 02737 GYRCDR ECADR OGC
041612,001837:
|
|
Page 962 |
041614,001839: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041615,001840:
041616,001841: 15,3030 34755 2STARS CAF ZERO # INITALIZE STARIND
041617,001842: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041618,001843: 15,3032 34753 1STAR CAF BIT1
041619,001844: 15,3033 55757 TS STARIND
041620,001845:
041621,001846: 15,3034 05353 TC PHASCHNG
041622,001847: 15,3035 04024 OCT 04024
041623,001848:
041624,001849: 15,3036 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041625,001850:
041626,001851: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041627,001852: 15,3040 00006 EXTEND
041628,001853: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
041629,001854:
041630,001855: 15,3042 05353 TC PHASCHNG
041631,001856: 15,3043 04024 OCT 04024
041632,001857:
041633,001858: 15,3044 06042 TC INTPRET
041634,001859: 15,3045 45145 DLOAD CALL
041635,001860: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
041636,001861: 15,3047 32472 PLANET
041637,001862: 15,3050 37255 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041638,001863: 15,3051 33064 SURFLINE
041639,001864:
041640,001865: 15,3052 06042 ASTAR TC INTPRET
041641,001866: 15,3053 77775 VLOAD
041642,001867: 15,3054 02715 STARAD +6
041643,001868: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041644,001869: 15,3056 45145 DLOAD CALL
041645,001870: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
041646,001871: 15,3060 32472 PLANET
041647,001872: 15,3061 03247 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041648,001873: 15,3062 77776 EXIT
041649,001874: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
041650,001875:
|
|
Page 963 |
041652,001877: # DO FINE OR COARSE ALIGNMENT OF IMU
041653,001878:
041654,001879: 15,3064 77131 SURFLINE SSP AXT,2
041655,001880: 15,3065 00052 S2
041656,001881: 15,3066 00006 6
041657,001882: 15,3067 00014 12D
041658,001883: 15,3070 64373 WRTDESIR VLOAD* MXV
041659,001884: 15,3071 74514 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041660,001885: 15,3072 03607 XSMD
041661,001886: 15,3073 77656 UNIT
041662,001887: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
041663,001888: 15,3075 77773 VLOAD*
041664,001889: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041665,001890: 15,3077 10023 STORE 18D,2
041666,001891: 15,3100 43104 TIX,2 BON
041667,001892: 15,3101 33070 WRTDESIR
041668,001893: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041669,001894: 15,3103 33111 INITBY
041670,001895: 15,3104 77624 DOALIGN CALL
041671,001896: 15,3105 31250 R54 # DO CHKSDATA
041672,001897: 15,3106 77614 BOFF
041673,001898: 15,3107 00354 FREEFLAG
041674,001899: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041675,001900: 15,3111 77624 INITBY CALL
041676,001901: 15,3112 47443 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041677,001902: 15,3113 77624 CALL
041678,001903: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041679,001904: 15,3115 77776 EXIT
041680,001905: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041681,001906: 15,3117 70104 MASK FLAGWRD8
041682,001907: 15,3120 10000 CCS A
041683,001908: 15,3121 13130 TCF 5DEGTEST
041684,001909: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041685,001910: 15,3123 04616 TC BANKCALL
041686,001911: 15,3124 20477 CADR GOFLASH
041687,001912: 15,3125 06001 TC GOTOPOOH # V34-TERMINATE
041688,001913: 15,3126 13130 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
041689,001914: 15,3127 13172 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
041690,001915:
041691,001916: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041692,001917: 15,3131 40175 VLOAD BOV
041693,001918: 15,3132 02740 OGC
041694,001919: 15,3133 33134 SURFSUP
041695,001920: 15,3134 02750 SURFSUP STORE OGCT
041696,001921: 15,3135 40141 V/SC BOV
041697,001922: 15,3136 30602 5DEGREES
041698,001923: 15,3137 33237 COATRIM
041699,001924: 15,3140 52131 SSP GOTO
041700,001925: 15,3141 02746 QMIN
041701,001926: 15,3142 33144 SURFDISP
041702,001927:
|
|
Page 964 |
041704,001929: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041705,001930:
041706,001931: 15,3144 77776 SURFDISP EXIT
041707,001932: 15,3145 05353 TC PHASCHNG
041708,001933: 15,3146 04024 OCT 04024
041709,001934:
041710,001935: 15,3147 06042 TC INTPRET
041711,001936: 15,3150 75160 AXC,1 AXC,2
041712,001937: 15,3151 03606 XSMD
041713,001938: 15,3152 01733 REFSMMAT
041714,001939: 15,3153 45014 SET CALL
041715,001940: 15,3154 01462 REFSMFLG
041716,001941: 15,3155 31371 MATMOVE
041717,001942: 15,3156 77776 EXIT
041718,001943: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041719,001944: 15,3160 13162 TCF B2F8
041720,001945: 15,3161 13172 TCF P57POST +1
041721,001946:
041722,001947: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041723,001948: 15,3163 70104 MASK FLAGWRD8
041724,001949: 15,3164 10000 CCS A
041725,001950: 15,3165 13544 TCF P57JUMP # ITS SET
041726,001951: 15,3166 06042 TC INTPRET
041727,001952: 15,3167 77624 CALL
041728,001953: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041729,001954: 15,3171 77776 P57POST EXIT
041730,001955: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041731,001956: 15,3173 04616 TC BANKCALL
041732,001957: 15,3174 20624 CADR GOPERF1
041733,001958: 15,3175 16001 TCF GOTOPOOH # VB34-TERMINATE
041734,001959: 15,3176 13544 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
041735,001960: 15,3177 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041736,001961: 15,3200 61144 AD OPTION2
041737,001962: 15,3201 00006 EXTEND
041738,001963: 15,3202 13204 BZF +2 # YES-GO CALCULATE LANDING SITE
041739,001964: 15,3203 16001 TCF GOTOPOOH # NO-EXIT P57
041740,001965: 15,3204 05353 TC PHASCHNG # RESTART PLACE
041741,001966: 15,3205 04024 OCT 04024
041742,001967: 15,3206 06042 TC INTPRET
041743,001968: 15,3207 45175 VLOAD CALL # USE GNB
041744,001969: 15,3210 02231 GSAV
041745,001970: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
041746,001971: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
041747,001972: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041748,001973: 15,3214 01463 LUNAFLAG
041749,001974: 15,3215 51515 PDVL ABVAL
041750,001975: 15,3216 02023 RLS
041751,001976: 15,3217 45561 VXSC STADR
041752,001977: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041753,001978: 15,3221 47014 CLEAR RTB
041754,001979:
|
|
Page 965 |
041756,001981: 15,3222 00662 ERADFLAG
041757,001982: 15,3223 21574 LOADTIME
041758,001983: 15,3224 77624 CALL
041759,001984: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041760,001985: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
041761,001986: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041762,001987: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041763,001988: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
041764,001989: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041765,001990: 15,3233 51677 R-TO-RP
041766,001991: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041767,001992: 15,3235 77776 EXIT
041768,001993: 15,3236 16001 TCF GOTOPOOH # EXIT P57
041769,001994:
|
|
Page 966 |
041771,001996: # COARSE AND FINE ALIGN IMU
041772,001997:
041773,001998: 15,3237 75160 COATRIM AXC,1 AXC,2
041774,001999: 15,3240 02664 XDC
041775,002000: 15,3241 02642 XSM
041776,002001: 15,3242 77624 CALL
041777,002002: 15,3243 31371 MATMOVE
041778,002003: 15,3244 77624 CALL
041779,002004: 15,3245 47541 CDUTRIG
041780,002005: 15,3246 77624 CALL
041781,002006: 15,3247 20030 CALCSMSC
041782,002007: 15,3250 77624 CALL
041783,002008: 15,3251 47355 CALCGA
041784,002009: 15,3252 77414 BOFF EXIT
041785,002010: 15,3253 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041786,002011: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041787,002012: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041788,002013: 15,3256 04616 TC BANKCALL
041789,002014: 15,3257 20477 CADR GOFLASH
041790,002015: 15,3260 06001 TC GOTOPOOH
041791,002016: 15,3261 13263 TCF +2
041792,002017: 15,3262 13255 TCF -5
041793,002018: 15,3263 05353 TC PHASCHNG
041794,002019: 15,3264 04024 OCT 04024
041795,002020:
041796,002021: 15,3265 06042 TC INTPRET
041797,002022: 15,3266 77624 CORSIT CALL
041798,002023: 15,3267 31557 COARSE
041799,002024: 15,3270 77624 CALL
041800,002025: 15,3271 31603 NCOARSE
041801,002026: 15,3272 77624 CALL
041802,002027: 15,3273 32764 GYROTRIM
041803,002028: 15,3274 77650 GOTO
041804,002029: 15,3275 33144 SURFDISP
041805,002030: 15,3276 01535 DISPGYRO VN 0693
041806,002031:
|
|
Page 967 |
041808,002033: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041809,002034:
041810,002035: 15,3277 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041811,002036: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041812,002037:
041813,002038: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041814,002039: 15,3302 55144 TS OPTION2
041815,002040: 15,3303 34753 P57OPT CAF BIT1
041816,002041: 15,3304 04616 TC BANKCALL
041817,002042: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041818,002043: 15,3306 06001 TC GOTOPOOH # V34 TERMINATE
041819,002044: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041820,002045: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041821,002046:
041822,002047: 15,3311 05353 TC PHASCHNG
041823,002048: 15,3312 00014 OCT 00014
041824,002049: 15,3313 05155 TC ENDOFJOB
041825,002050:
041826,002051: 15,3314 31144 ALIGNOPT CA OPTION2
041827,002052: 15,3315 76250 MASK THREE
041828,002053: 15,3316 50000 INDEX A
041829,002054: 15,3317 13320 TCF +1
041830,002055: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041831,002056: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041832,002057: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041833,002058: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041834,002059: 15,3324 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041835,002060: 15,3325 01733 REFSMMAT
041836,002061: 15,3326 03606 XSMD
041837,002062: 15,3327 77624 CALL
041838,002063: 15,3330 31371 MATMOVE
041839,002064: 15,3331 77650 GOTO
041840,002065: 15,3332 33373 PACKOPTN -1
041841,002066:
041842,002067: 15,3333 06042 TDISP TC INTPRET
041843,002068: 15,3334 77745 DLOAD
041844,002069: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041845,002070: 15,3336 01045 P57A STORE DSPTEM1
041846,002071: 15,3337 77776 EXIT
041847,002072: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041848,002073: 15,3341 04616 TC BANKCALL
041849,002074: 15,3342 20477 CADR GOFLASH
041850,002075: 15,3343 16001 TCF GOTOPOOH # V34-TERMINATE
041851,002076: 15,3344 13346 TCF +2
041852,002077: 15,3345 13340 TCF P57AA # VB32-RECYCLE
041853,002078:
041854,002079: 15,3346 06042 TC INTPRET
041855,002080: 15,3347 65234 RTB PDDL
041856,002081: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041857,002082: 15,3351 01045 DSPTEM1
041858,002083:
|
|
Page 968 |
041860,002085: 15,3352 65254 BZE PDDL
041861,002086: 15,3353 33363 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
041862,002087: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041863,002088: 15,3355 01045 DSPTEM1
041864,002089: 15,3356 33363 P57C
041865,002090: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041866,002091: 15,3360 74335 STORE TIG # STORE IT IN TIG
041867,002092: 15,3361 36775 STCALL TALIGN
041868,002093: 15,3362 33365 P57D
041869,002094: 15,3363 45545 P57C DLOAD STADR
041870,002095: 15,3364 75002 STORE TALIGN
041871,002096: 15,3365 34041 P57D STCALL TDEC1
041872,002097: 15,3366 27060 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041873,002098: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041874,002099: 15,3370 00001 RATT
041875,002100: 15,3371 37607 STCALL XSMD
041876,002101: 15,3372 10775 LSORIENT
041877,002102: 15,3373 77776 EXIT
041878,002103: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041879,002104: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041880,002105: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041881,002106: 15,3377 34737 CAF REFSMBIT
041882,002107: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041883,002108: 15,3401 10000 CCS A
041884,002109: 15,3402 34745 CAF BIT7 # SET
041885,002110: 15,3403 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
041886,002111: 15,3404 34753 CAF ATTFLBIT
041887,002112: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041888,002113: 15,3406 10000 CCS A
041889,002114: 15,3407 34750 CAF BIT4 # SET
041890,002115: 15,3410 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
041891,002116: 15,3411 34750 CAF BIT4
041892,002117: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041893,002118:
041894,002119: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041895,002120: 15,3414 04616 TC BANKCALL
041896,002121: 15,3415 20477 CADR GOFLASH
041897,002122: 15,3416 16001 TCF GOTOPOOH # VB34-TERMINATE
041898,002123: 15,3417 13421 TCF +2 # V33-PROCEED
041899,002124: 15,3420 13413 TCF DSPOPTN # V32-RECYCLE
041900,002125:
041901,002126: 15,3421 34737 CAF REFSMBIT
041902,002127: 15,3422 70077 MASK FLAGWRD3
041903,002128: 15,3423 10000 CCS A
041904,002129: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041905,002130: 15,3425 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
041906,002131: 15,3426 70102 MASK FLAGWRD6
041907,002132: 15,3427 10000 CCS A
041908,002133: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041909,002134: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
041910,002135:
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|
Page 969 |
041912,002137: 15,3432 71144 MASK OPTION2
041913,002138: 15,3433 10000 CCS A
041914,002139: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041915,002140: 15,3435 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
041916,002141: 15,3436 00701 OCT 701
041917,002142: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041918,002143: 15,3440 04616 TC BANKCALL
041919,002144: 15,3441 20477 CADR GOFLASH
041920,002145: 15,3442 16001 TCF GOTOPOOH # VB34-TERMINATE
041921,002146: 15,3443 13413 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
041922,002147: 15,3444 13413 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
041923,002148:
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|
Page 970 |
041925,002150: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041926,002151:
041927,002152: 15,3445 40220 MFREF STQ SETPD
041928,002153: 15,3446 02746 QMAJ
041929,002154: 15,3447 00001 0
041930,002155: 15,3450 77634 RTB
041931,002156: 15,3451 21574 LOADTIME
041932,002157: 15,3452 27562 STOVL TSIGHT
041933,002158: 15,3453 03247 VEC1
041934,002159: 15,3454 41525 PDDL PUSH
041935,002160: 15,3455 03562 TSIGHT
041936,002161: 15,3456 77624 CALL
041937,002162: 15,3457 55716 RP-TO-R
041938,002163: 15,3460 27247 STOVL VEC1
041939,002164: 15,3461 03255 VEC2
041940,002165: 15,3462 65201 SETPD PDDL
041941,002166: 15,3463 00001 0
041942,002167: 15,3464 03562 TSIGHT
041943,002168: 15,3465 45006 PUSH CALL
041944,002169: 15,3466 55716 RP-TO-R
041945,002170: 15,3467 37255 STCALL VEC2
041946,002171: 15,3470 02746 QMAJ
041947,002172:
|
|
Page 971 |
041949,002174: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041950,002175: # STORE IN YNBSAV AND ZNBSAV
041951,002176:
041952,002177: 15,3471 45020 REFMF STQ CALL
041953,002178: 15,3472 02746 QMAJ
041954,002179: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041955,002180: 15,3474 40234 RTB SETPD
041956,002181: 15,3475 21574 LOADTIME
041957,002182: 15,3476 00001 0
041958,002183: 15,3477 37562 STCALL TSIGHT
041959,002184: 15,3500 20030 CALCSMSC # GET YNB IN SM
041960,002185: 15,3501 61375 VLOAD VXM
041961,002186: 15,3502 02673 YNB
041962,002187: 15,3503 01734 REFSMMAT # YNB TO REF
041963,002188: 15,3504 65256 UNIT PDDL
041964,002189: 15,3505 03562 TSIGHT
041965,002190: 15,3506 45006 PUSH CALL
041966,002191: 15,3507 51677 R-TO-RP
041967,002192: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041968,002193: 15,3511 02701 ZNB
041969,002194: 15,3512 53505 VXM UNIT
041970,002195: 15,3513 01734 REFSMMAT # ZNB TO REF
041971,002196: 15,3514 41525 PDDL PUSH
041972,002197: 15,3515 03562 TSIGHT
041973,002198: 15,3516 77624 CALL
041974,002199: 15,3517 51677 R-TO-RP # ZNB TO MF
041975,002200: 15,3520 02245 STORE ZNBSAV
041976,002201: 15,3521 77614 SETGO
041977,002202: 15,3522 03036 ATTFLAG
041978,002203: 15,3523 02746 QMAJ
041979,002204:
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|
Page 972 |
041981,002206: # BRANCH TO ALIGNMENT OPTION
041982,002207:
041983,002208: 15,3524 06042 GETLMATT TC INTPRET
041984,002209: 15,3525 77624 CALL
041985,002210: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
041986,002211: 15,3527 77776 EXIT
041987,002212:
041988,002213: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041989,002214: 15,3531 00205 ADRES INITALGN
041990,002215: 15,3532 34753 CAF BIT1
041991,002216: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041992,002217: 15,3534 10000 CCS A
041993,002218: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041994,002219:
041995,002220: 15,3536 05353 ATTCHK TC PHASCHNG
041996,002221: 15,3537 04024 OCT 04024
041997,002222:
041998,002223: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041999,002224: 15,3541 70102 MASK FLAGWRD6
042000,002225: 15,3542 10000 CCS A
042001,002226: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042002,002227: 15,3544 05353 P57JUMP TC PHASCHNG
042003,002228: 15,3545 04024 OCT 04024
042004,002229:
042005,002230: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
042006,002231: 15,3547 00205 ADRES INITALGN
042007,002232: 15,3550 36250 CAF THREE
042008,002233: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
042009,002234: 15,3552 50000 INDEX A
042010,002235: 15,3553 13554 TCF +1
042011,002236: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
042012,002237: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
042013,002238: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
042014,002239: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
042015,002240:
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|
Page 973 |
042017,002242: # OPTION 0, GET TWO ATTITUDE VECS
042018,002243:
042019,002244: 15,3560 06042 P57OPT0 TC INTPRET
042020,002245: 15,3561 77775 VLOAD
042021,002246: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042022,002247: 15,3563 27247 STOVL VEC1
042023,002248: 15,3564 02245 ZNBSAV
042024,002249: 15,3565 37255 STCALL VEC2
042025,002250: 15,3566 47541 CDUTRIG
042026,002251: 15,3567 77624 CALL
042027,002252: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042028,002253: 15,3571 77775 VLOAD
042029,002254: 15,3572 02673 YNB
042030,002255: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042031,002256: 15,3574 02701 ZNB
042032,002257: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042033,002258: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042034,002259: 15,3577 77650 GOTO
042035,002260: 15,3600 33064 SURFLINE
042036,002261:
042037,002262: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042038,002263:
042039,002264: 15,3601 06042 P57OPT1 TC INTPRET
042040,002265: 15,3602 53575 VLOAD UNIT
042041,002266: 15,3603 02023 RLS # LANDING SITE VEC
042042,002267: 15,3604 27247 STOVL VEC1
042043,002268: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
042044,002269: 15,3606 37255 STCALL VEC2
042045,002270: 15,3607 47541 CDUTRIG
042046,002271: 15,3610 77624 CALL
042047,002272: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042048,002273: 15,3612 45175 VLOAD CALL
042049,002274: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042050,002275: 15,3614 47663 CDU*NBSM
042051,002276: 15,3615 77650 GOTO
042052,002277: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
042053,002278:
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|
Page 974 |
042055,002280: # OPTION 2, GET TWO STAR SIGHTINGS
042056,002281:
042057,002282: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042058,002283:
042059,002284: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042060,002285:
042061,002286: 15,3620 06042 P57OPT3 TC INTPRET
042062,002287: 15,3621 53575 VLOAD UNIT
042063,002288: 15,3622 02023 RLS # LANDING SITE VEC
042064,002289: 15,3623 03247 STORE VEC1
042065,002290: 15,3624 27255 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042066,002291: 15,3625 02231 GSAV # GRAVITY VEC NB
042067,002292: 15,3626 77624 CALL
042068,002293: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042069,002294: 15,3630 36761 STCALL STARSAV1
042070,002295: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042071,002296: 15,3632 77776 EXIT
042072,002297: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042073,002298:
042074,002299: 15,3634 01206 VB05N06 VN 506
042075,002300:
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|
Page 975 |
042077,002302: # CHECK IMODES30 TO VARIFY IMU IS ON
042078,002303:
042079,002304: 15,3635 41277 IMUCHK CS IMODES30
042080,002305: 15,3636 74743 MASK BIT9
042081,002306: 15,3637 10000 CCS A # IS IMU ON
042082,002307: 15,3640 13644 TCF +4 # YES
042083,002308:
042084,002309: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
042085,002310: 15,3642 00210 OCT 210
042086,002311: 15,3643 06001 TC GOTOPOOH
042087,002312:
042088,002313: 15,3644 05504 TC UPFLAG
042089,002314: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
042090,002315:
042091,002316: 15,3646 04631 TC SWRETURN
042092,002317:
042093,002318: 04,2775 BANK 04
042094,002319: 04,2000 SETLOC AOTMARK2
042095,002320: 04,2000 BANK
042096,002321: 04,2775 COUNT* $$/P57
042097,002322:
042098,002323: 04,2775 77220 LSORIENT STQ VLOAD
042099,002324: 04,2776 02746 QMAJ
042100,002325: 04,2777 01555 RRECTCSM
042101,002326: 04,3000 47235 VXV VXV
042102,002327: 04,3001 01563 VRECTCSM
042103,002328: 04,3002 03607 XSMD
042104,002329: 04,3003 77656 UNIT
042105,002330: 04,3004 03623 STORE ZSMD
042106,002331: 04,3005 53435 VXV UNIT
042107,002332: 04,3006 03607 XSMD
042108,002333: 04,3007 37615 STCALL YSMD
042109,002334: 04,3010 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc