Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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039760,000002: ## Copyright: Public domain.
039761,000003: ## Filename: P51-P53.agc
039762,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
039763,000005: ## This was the original program released for the Apollo 13 LM,
039764,000006: ## although several more revisions would follow. It has been
039765,000007: ## reconstructed from a listing of Luminary 131, from which it
039766,000008: ## differs on only two lines in P70-P71. The difference is
039767,000009: ## described in detail in Luminary memo #129, which was used
039768,000010: ## to perform the reconstruction. This file is intended to be a
039769,000011: ## faithful reconstruction, except that the code format has been
039770,000012: ## changed to conform to the requirements of the yaYUL assembler
039771,000013: ## rather than the original YUL assembler.
039772,000014: ## Reference: pp. 921-977
039773,000015: ## Contact: Ron Burkey <info@sandroid.org>.
039774,000016: ## Website: www.ibiblio.org/apollo
039775,000017: ## Mod history: 05/29/03 RSB. Began transcribing.
039776,000018: ## 2010-10-25 JL Indentation fixes.
039777,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
039778,000020: ## original hardcopy, as opposed to the PDF page
039779,000021: ## numbers in 1701.pdf.
039780,000022: ## 2017-02-26 RSB Proofed comment text using octopus/ProoferComments.
039781,000023: ## 2017-03-01 RSB Fixed lingering typos.
039782,000024: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
039783,000025: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039784,000026: ## side-by-side diff of Luminary 69/99/116/131/210.
039785,000027: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
039786,000028:
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Page 921
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039788,000030: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039789,000031: # MOD NO - 0 LOG SECTION - P51-P53
039790,000032: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039791,000033:
039792,000034: # FUNCTIONAL DESCRIPTION -
039793,000035:
039794,000036: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039795,000037: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039796,000038:
039797,000039: # (A) PREFERRED ORIENTATION
039798,000040:
039799,000041: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039800,000042: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039801,000043:
039802,000044: # (B) NOMINAL ORIENTATION
039803,000045:
039804,000046: # X = UNIT ( R )
039805,000047: # -SM
039806,000048:
039807,000049: # Y = UNIT (V X R)
039808,000050: # SM
039809,000051:
039810,000052: # Z = UNIT (X X Y )
039811,000053: # SM SM SM
039812,000054:
039813,000055: # WHERE_
039814,000056: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039815,000057: # -
039816,000058:
039817,000059: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039818,000060: # -
039819,000061:
039820,000062: # (C) REFSMMAT ORIENTATION
039821,000063:
039822,000064: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039823,000065:
039824,000066: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039825,000067: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039826,000068: # SINCE THE LAST ALIGNMENT).
039827,000069:
039828,000070: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039829,000071: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039830,000072: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039831,000073: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039832,000074: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039833,000075: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039834,000076: # REQUESTED.
039835,000077:
039836,000078: # CALLING SEQUENCE -
039837,000079:
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Page 922
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039839,000081: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039840,000082:
039841,000083: # SUBROUTINES CALLED -
039842,000084:
039843,000085: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039844,000086: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039845,000087: # 3. GOPERF4 9. FLAGUP
039846,000088: # 4. MATMOVE 10. R56
039847,000089: # 5. GOFLASH 11. R51
039848,000090: # 6. S52.3 12. GOPERF3
039849,000091:
039850,000092: # NORMAL EXIT MODES -
039851,000093:
039852,000094: # EXITS TO ENDOFJOB
039853,000095:
039854,000096: # ALARM OR ABORT EXIT MODES -
039855,000097:
039856,000098: # NONE
039857,000099:
039858,000100: # OUTPUT -
039859,000101:
039860,000102: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039861,000103: # 1. IMU ORIENTATION CODE
039862,000104: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039863,000105: # 3. TIME OF NEXT IGNITION
039864,000106: # 4. GIMBAL ANGLES
039865,000107: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039866,000108: # 6. PLEASE PERFORM P00
039867,000109: # THE MODE DISPLAY MAY BE CHANGED TO 20
039868,000110:
039869,000111: # ERASABLE INITIALIZATION REQUIRED -
039870,000112:
039871,000113: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039872,000114: # XSMD, YSMD, ZSMD.
039873,000115:
039874,000116: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039875,000117:
039876,000118: # DEBRIS -
039877,000119:
039878,000120: # WORKAREA
039879,000121:
039880,000122: 33,3760 BANK 33
039881,000123: 15,2000 SETLOC P50S
039882,000124: 15,2000 BANK
039883,000125:
039884,000126: 15,2050 E5,1755 EBANK= BESTI
039885,000127: 15,2050 COUNT* $$/P52
039886,000128: 15,2050 04616 PROG52 TC BANKCALL
039887,000129: 15,2051 11233 CADR R02BOTH # IMU STATUS CHECK
039888,000130: 15,2052 34750 CAF PFRATBIT
039889,000131: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039890,000132: 15,2054 10000 CCS A
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Page 923
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039892,000134: 15,2055 02060 TC P52A # YES
039893,000135: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039894,000136: 15,2057 02061 TC P52A +1
039895,000137: 15,2060 34753 P52A CAF BIT1
039896,000138: 15,2061 55144 TS OPTION2
039897,000139: 15,2062 34753 P52B CAF BIT1
039898,000140: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039899,000141: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039900,000142: 15,2065 06001 TC GOTOPOOH
039901,000143: 15,2066 12073 TCF +5 # V33 - PROCEED
039902,000144: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039903,000145: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039904,000146: 15,2071 00014 OCT 00014
039905,000147: 15,2072 05155 TC ENDOFJOB
039906,000148:
039907,000149: 15,2073 31144 CA OPTION2
039908,000150: 15,2074 76250 MASK THREE
039909,000151: 15,2075 50000 INDEX A
039910,000152: 15,2076 02077 TC +1
039911,000153: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039912,000154: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039913,000155: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039914,000156: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039915,000157: 15,2103 77650 GOTO
039916,000158: 15,2104 32164 P52F # GO DO R51
039917,000159:
039918,000160: 15,2105 00006 OPT4 EXTEND
039919,000161: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039920,000162: 15,2107 12112 TCF P52T +2
039921,000163:
039922,000164: 15,2110 00006 P52T EXTEND
039923,000165: 15,2111 34755 DCA NEG0
039924,000166: 15,2112 53045 DXCH DSPTEM1
039925,000167: 15,2113 32170 CAF V06N34*
039926,000168: 15,2114 04616 TC BANKCALL
039927,000169: 15,2115 20477 CADR GOFLASH
039928,000170: 15,2116 06001 TC GOTOPOOH
039929,000171: 15,2117 02121 TC +2
039930,000172: 15,2120 02113 TC -5
039931,000173: 15,2121 53045 DXCH DSPTEM1
039932,000174: 15,2122 00006 EXTEND
039933,000175: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039934,000176: 15,2124 12127 TCF +3
039935,000177: 15,2125 00006 EXTEND
039936,000178: 15,2126 30025 DCA TIME2
039937,000179: 15,2127 53775 DXCH TALIGN
039938,000180: 15,2130 31144 P52V CA OPTION2
039939,000181: 15,2131 74752 MASK BIT2
039940,000182: 15,2132 10000 CCS A
039941,000183: 15,2133 02137 TC P52W
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Page 924
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039943,000185: 15,2134 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039944,000186: 15,2135 77650 GOTO
039945,000187: 15,2136 32220 P52LS
039946,000188:
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Page 925
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039948,000190: # START ALIGNMENT
039949,000191:
039950,000192: 15,2137 06042 P52W TC INTPRET
039951,000193: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039952,000194: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039953,000195: 15,2142 31651 S52.3 # ORIENTATION
039954,000196: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039955,000197: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039956,000198: 15,2145 77776 EXIT
039957,000199: 15,2146 35010 CAF V06N22
039958,000200: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039959,000201: 15,2150 20477 CADR GOFLASH
039960,000202: 15,2151 06001 TC GOTOPOOH
039961,000203: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039962,000204: 15,2153 06042 P52H TC INTPRET
039963,000205: 15,2154 77650 GOTO
039964,000206: 15,2155 32143 P52D
039965,000207: 15,2156 06042 REGCOARS TC INTPRET
039966,000208: 15,2157 77624 CALL # DO COARSE ALIGN
039967,000209: 15,2160 31321 CAL53A # ROUTINE
039968,000210: 15,2161 43014 COARSRET SET CLEAR
039969,000211: 15,2162 01462 REFSMFLG
039970,000212: 15,2163 01273 PFRATFLG
039971,000213: 15,2164 77624 P52F CALL
039972,000214: 15,2165 31007 R51
039973,000215: 15,2166 77776 P52OUT EXIT
039974,000216: 15,2167 06001 TC GOTOPOOH
039975,000217: 15,2170 5006 VB05N09 = V05N09
039976,000218: 15,2170 01442 V06N34* VN 634
039977,000219:
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Page 926
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039979,000221: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039980,000222:
039981,000223: 15,2171 32217 COARSTYP CAF OCT13
039982,000224: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039983,000225: 15,2173 20624 CADR GOPERF1
039984,000226: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039985,000227: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039986,000228: 15,2176 06042 TC INTPRET # V32 - GYRO TORQUE COARSE
039987,000229: 15,2177 64375 VLOAD MXV
039988,000230: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039989,000231: 15,2201 01734 REFSMMAT
039990,000232: 15,2202 77656 UNIT
039991,000233: 15,2203 26665 STOVL XDC
039992,000234: 15,2204 03615 YSMD
039993,000235: 15,2205 53521 MXV UNIT
039994,000236: 15,2206 01734 REFSMMAT
039995,000237: 15,2207 26673 STOVL YDC
039996,000238: 15,2210 03623 ZSMD
039997,000239: 15,2211 53521 MXV UNIT
039998,000240: 15,2212 01734 REFSMMAT
039999,000241: 15,2213 36701 STCALL ZDC
040000,000242: 15,2214 31156 GYCOARS
040001,000243: 15,2215 77650 GOTO
040002,000244: 15,2216 32166 P52OUT
040003,000245: 15,2217 00013 OCT13 OCT 13
040004,000246:
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Page 927
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040006,000248: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040007,000249:
040008,000250: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040009,000251: 15,2221 01463 LUNAFLAG
040010,000252: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040011,000253: 15,2223 77201 SETPD VLOAD
040012,000254: 15,2224 00001 0
040013,000255: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040014,000256: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040015,000257: 15,2227 02775 TALIGN
040016,000258: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040017,000259: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040018,000260: 15,2232 77742 VSR2
040019,000261: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040020,000262: 15,2234 02775 TALIGN
040021,000263: 15,2235 77624 CALL
040022,000264: 15,2236 30440 N89DISP
040023,000265: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040024,000266: 15,2240 02032 ALPHAV
040025,000267: 15,2241 37607 STCALL XSMD
040026,000268: 15,2242 10757 LSORIENT
040027,000269: 15,2243 77650 GOTO
040028,000270: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040029,000271:
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Page 928
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040031,000273: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040032,000274:
040033,000275: 14,2000 SETLOC P50S1
040034,000276: 14,2000 BANK
040035,000277: 14,2440 E5,1642 EBANK= XSM
040036,000278:
040037,000279: 14,2440 77620 N89DISP STQ
040038,000280: 14,2441 02746 QMAJ
040039,000281: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040040,000282: 14,2443 26347 LAT-LONG
040041,000283: 14,2444 70545 DLOAD SR1
040042,000284: 14,2445 01122 LONG
040043,000285: 14,2446 16711 STODL LANDLONG
040044,000286: 14,2447 01124 ALT
040045,000287: 14,2450 16713 STODL LANDALT
040046,000288: 14,2451 01120 LAT
040047,000289: 14,2452 02707 STORE LANDLAT
040048,000290: 14,2453 77776 EXIT
040049,000291:
040050,000292: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040051,000293: 14,2455 04616 TC BANKCALL
040052,000294: 14,2456 20477 CADR GOFLASH
040053,000295: 14,2457 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040054,000296: 14,2460 12462 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040055,000297: 14,2461 12454 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040056,000298:
040057,000299: 14,2462 06042 TC INTPRET
040058,000300: 14,2463 72545 DLOAD SL1
040059,000301: 14,2464 02711 LANDLONG
040060,000302: 14,2465 15122 STODL LONG
040061,000303: 14,2466 02713 LANDALT
040062,000304: 14,2467 15124 STODL ALT
040063,000305: 14,2470 02707 LANDLAT
040064,000306: 14,2471 15120 STODL LAT
040065,000307: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040066,000308: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040067,000309: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040068,000310: 14,2475 77650 GOTO
040069,000311: 14,2476 02746 QMAJ
040070,000312: 14,2477 01531 V06N89* VN 689
040071,000313:
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Page 929
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040073,000315: # NAME - S50 ALIAS LOCSAM
040074,000316: # BY
040075,000317: # VINCENT
040076,000318:
040077,000319: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040078,000320:
040079,000321: # DEFINE
040080,000322:
040081,000323: # U = UNIT( SUN WRT EARTH )
040082,000324: # ES
040083,000325:
040084,000326: # U = UNIT( MOON WRT EARTH )
040085,000327: # EM
040086,000328:
040087,000329: # R = POSITION VECTOR OF LEM
040088,000330: # L
040089,000331:
040090,000332: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040091,000333: # EM
040092,000334:
040093,000335: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040094,000336: # EM
040095,000337:
040096,000338: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040097,000339: # E
040098,000340:
040099,000341: # LOCSAM COMPUTES IN EARTH INFLUENCE
040100,000342:
040101,000343: # VSUN = U
040102,000344: # ES
040103,000345:
040104,000346: # VEARTH = -UNIT( R )
040105,000347: # L
040106,000348:
040107,000349: # VMOON = UNIT(R .U - R )
040108,000350: # EM EM L
040109,000351:
040110,000352: # CSUN = COS 90
040111,000353:
040112,000354: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040113,000355: # E L
040114,000356:
040115,000357: # CMOON = COS 5
040116,000358:
040117,000359: # INPUT - TIME IN MPAC
040118,000360:
040119,000361: # OUTPUT - LISTED ABOVE
040120,000362:
040121,000363: # SUBROUTINES - LSPOS, LEMPREC
040122,000364:
040123,000365: # DEBRIS - VAC AREA, TSIGHT
040124,000366:
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Page 930
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040126,000368: 14,2500 COUNT* $$/LOSAM
040127,000369:
040128,000370: 14,2500 14,2500 S50 = LOCSAM
040129,000371: 14,2500 77620 LOCSAM STQ
040130,000372: 14,2501 02745 QMIN
040131,000373: 14,2502 37562 STCALL TSIGHT
040132,000374: 14,2503 33647 LSPOS
040133,000375: 14,2504 77745 DLOAD
040134,000376: 14,2505 03562 TSIGHT
040135,000377: 14,2506 34041 STCALL TDEC1
040136,000378: 14,2507 27056 LEMPREC
040137,000379: 14,2510 61131 SSP TIX,2
040138,000380: 14,2511 00052 S2
040139,000381: 14,2512 00000 0
040140,000382: 14,2513 30535 MOONCNTR
040141,000383: 14,2514 74375 EARTCNTR VLOAD VXSC
040142,000384: 14,2515 02723 VMOON
040143,000385: 14,2516 30001 RSUBEM
040144,000386: 14,2517 52372 VSL1 VSU
040145,000387: 14,2520 00001 RATT
040146,000388: 14,2521 77656 UNIT
040147,000389: 14,2522 26723 STOVL VMOON
040148,000390: 14,2523 00001 RATT
040149,000391: 14,2524 57456 UNIT VCOMP
040150,000392: 14,2525 16707 STODL VEARTH
040151,000393: 14,2526 30005 RSUBE
040152,000394: 14,2527 77624 CALL
040153,000395: 14,2530 30567 OCCOS
040154,000396: 14,2531 14017 STODL CEARTH
040155,000397: 14,2532 30576 CSS5
040156,000398: 14,2533 34023 STCALL CMOON
040157,000399: 14,2534 30562 ENDSAM
040158,000400: 14,2535 74375 MOONCNTR VLOAD VXSC
040159,000401: 14,2536 02723 VMOON
040160,000402: 14,2537 30007 ROE
040161,000403: 14,2540 53445 BVSU UNIT
040162,000404: 14,2541 02715 VSUN
040163,000405: 14,2542 26715 STOVL VSUN
040164,000406: 14,2543 02723 VMOON
040165,000407: 14,2544 53361 VXSC VAD
040166,000408: 14,2545 30001 RSUBEM
040167,000409: 14,2546 00001 RATT
040168,000410: 14,2547 57456 UNIT VCOMP
040169,000411: 14,2550 26707 STOVL VEARTH
040170,000412: 14,2551 00001 RATT
040171,000413: 14,2552 57456 UNIT VCOMP
040172,000414: 14,2553 16723 STODL VMOON
040173,000415: 14,2554 30003 RSUBM
040174,000416: 14,2555 77624 CALL
040175,000417: 14,2556 30567 OCCOS
|
|
Page 931
|
040177,000419: 14,2557 14023 STODL CMOON
040178,000420: 14,2560 30576 CSS5
040179,000421: 14,2561 00017 STORE CEARTH
040180,000422: 14,2562 77745 ENDSAM DLOAD
040181,000423: 14,2563 30600 CSSUN
040182,000424: 14,2564 00021 STORE CSUN
040183,000425: 14,2565 77650 GOTO
040184,000426: 14,2566 02745 QMIN
040185,000427: 14,2567 70471 OCCOS DDV SR1
040186,000428: 14,2570 00045 36D
040187,000429: 14,2571 43336 ASIN DAD
040188,000430: 14,2572 30602 5DEGREES
040189,000431: 14,2573 70546 COS SR1
040190,000432: 14,2574 77616 RVQ
040191,000433: 14,2575 CEARTH = 14D
040192,000434: 14,2575 CSUN = 16D
040193,000435: 14,2575 CMOON = 18D
040194,000436: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040195,000437: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040196,000438: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040197,000439:
|
|
Page 932
|
040199,000441: # PROGRAM NAME - R56 DATE DEC 20 66
040200,000442: # MOD 1 LOG SECTION P51-P53
040201,000443: # ASSEMBLY SUNDISK REV40
040202,000444: # BY KEN VINCENT
040203,000445:
040204,000446: # FUNCTION
040205,000447: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040206,000448: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040207,000449: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040208,000450: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040209,000451: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040210,000452: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040211,000453: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040212,000454: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040213,000455: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040214,000456: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040215,000457: # 50 DEGREESOF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040216,000458: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040217,000459:
040218,000460: # CALLING SEQUENCE
040219,000461: # L TC BANKCALL
040220,000462: # L+1 CADR R56
040221,000463: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040222,000464: # L+3 NORMAL RETURN
040223,000465:
040224,000466: # OUTPUT
040225,000467: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040226,000468: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040227,000469:
040228,000470: # INITIALIZATION
040229,000471: # 1) A CALL TO LOCSAM MUST BE MADE
040230,000472:
040231,000473: # DEBRIS
040232,000474: # WORKAREA
040233,000475: # X,Y,ZNB
040234,000476: # SINCDU, COSCDU
040235,000477: # STARAD - STAR +5
040236,000478:
040237,000479: 14,2603 14,2603 R56 = PICAPAR
040238,000480: 14,2603 COUNT* $$/R56
040239,000481: 14,2603 04645 PICAPAR TC MAKECADR
040240,000482: 14,2604 55745 TS QMIN
040241,000483: 14,2605 06042 TC INTPRET
040242,000484: 14,2606 77624 CALL
040243,000485: 14,2607 47541 CDUTRIG
040244,000486: 14,2610 77624 CALL
040245,000487: 14,2611 20030 CALCSMSC
040246,000488: 14,2612 77601 SETPD
040247,000489: 14,2613 00001 0
040248,000490: 14,2614 71214 SET DLOAD # VFLAG = 1
040249,000491: 14,2615 01465 VFLAG
|
|
Page 933
|
040251,000493: 14,2616 24007 DPZERO
040252,000494: 14,2617 26756 STOVL BESTI
040253,000495: 14,2620 02665 XNB
040254,000496: 14,2621 63361 VXSC PDVL
040255,000497: 14,2622 24005 HALFDP
040256,000498: 14,2623 02701 ZNB
040257,000499: 14,2624 74370 AXT,1 VXSC
040258,000500: 14,2625 00344 228D # X1 = 37 X 6 + 6
040259,000501: 14,2626 24005 HALFDP
040260,000502: 14,2627 77655 VAD
040261,000503: 14,2630 53505 VXM UNIT
040262,000504: 14,2631 01734 REFSMMAT
040263,000505: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040264,000506: 14,2633 66331 SSP SSP # S1 = S2 = 6
040265,000507: 14,2634 00051 S1
040266,000508: 14,2635 00006 6
040267,000509: 14,2636 00052 S2
040268,000510: 14,2637 00006 6
040269,000511: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040270,000512: 14,2641 30643 PIC2
040271,000513: 14,2642 30760 PICEND
040272,000514: 14,2643 50373 PIC2 VLOAD* DOT
040273,000515: 14,2644 30347 CATLOG,1
040274,000516: 14,2645 02731 SAX
040275,000517: 14,2646 50025 DSU BMN
040276,000518: 14,2647 30757 CSS33
040277,000519: 14,2650 30640 PIC1
040278,000520: 14,2651 77754 LXA,2
040279,000521: 14,2652 00046 X1
040280,000522: 14,2653 52104 PIC3 TIX,2 GOTO
040281,000523: 14,2654 30656 PIC4
040282,000524: 14,2655 30640 PIC1
040283,000525: 14,2656 50373 PIC4 VLOAD* DOT
040284,000526: 14,2657 47430 CATLOG,2
040285,000527: 14,2660 02731 SAX
040286,000528: 14,2661 50025 DSU BMN
040287,000529: 14,2662 30757 CSS33
040288,000530: 14,2663 30653 PIC3
040289,000531: 14,2664 47773 VLOAD* DOT*
040290,000532: 14,2665 30347 CATLOG,1
040291,000533: 14,2666 47430 CATLOG,2
040292,000534: 14,2667 51025 DSU BPL
040293,000535: 14,2670 30755 CSS40
040294,000536: 14,2671 30653 PIC3
040295,000537: 14,2672 45173 VLOAD* CALL
040296,000538: 14,2673 30347 CATLOG,1
040297,000539: 14,2674 30732 OCCULT
040298,000540: 14,2675 77614 BON
040299,000541: 14,2676 01710 CULTFLAG
040300,000542: 14,2677 30640 PIC1
|
|
Page 934
|
040302,000544: 14,2700 45173 VLOAD* CALL
040303,000545: 14,2701 47430 CATLOG,2
040304,000546: 14,2702 30732 OCCULT
040305,000547: 14,2703 77614 BON
040306,000548: 14,2704 01710 CULTFLAG
040307,000549: 14,2705 30653 PIC3
040308,000550: 14,2706 77614 STRATGY BONCLR
040309,000551: 14,2707 01605 VFLAG
040310,000552: 14,2710 30725 NEWPAR
040311,000553: 14,2711 65120 XCHX,1 XCHX,2
040312,000554: 14,2712 02755 BESTI
040313,000555: 14,2713 02756 BESTJ
040314,000556: 14,2714 47773 STRAT VLOAD* DOT*
040315,000557: 14,2715 30347 CATLOG,1
040316,000558: 14,2716 47430 CATLOG,2
040317,000559: 14,2717 43006 PUSH BOFINV
040318,000560: 14,2720 01545 VFLAG
040319,000561: 14,2721 30711 STRAT -3
040320,000562: 14,2722 45345 DLOAD DSU
040321,000563: 14,2723 77644 BPL
040322,000564: 14,2724 30653 PIC3
040323,000565: 14,2725 67130 NEWPAR SXA,1 SXA,2
040324,000566: 14,2726 02755 BESTI
040325,000567: 14,2727 02756 BESTJ
040326,000568: 14,2730 77650 GOTO
040327,000569: 14,2731 30653 PIC3
040328,000570: 14,2732 51321 OCCULT MXV BVSU
040329,000571: 14,2733 02707 CULTRIX
040330,000572: 14,2734 00017 CSS
040331,000573: 14,2735 77654 BZE
040332,000574: 14,2736 30751 CULTED
040333,000575: 14,2737 75240 BMN SIGN
040334,000576: 14,2740 30751 CULTED
040335,000577: 14,2741 00160 MPAC +3
040336,000578: 14,2742 75240 BMN SIGN
040337,000579: 14,2743 30751 CULTED
040338,000580: 14,2744 00162 MPAC +5
040339,000581: 14,2745 43040 BMN CLRGO
040340,000582: 14,2746 30751 CULTED
040341,000583: 14,2747 01630 CULTFLAG
040342,000584: 14,2750 00052 QPRET
040343,000585: 14,2751 77614 CULTED SETGO
040344,000586: 14,2752 01430 CULTFLAG
040345,000587: 14,2753 00052 QPRET
040346,000588: 14,2754 0000016 CSS = CEARTH
040347,000589: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040348,000590: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040349,000591: 14,2760 77414 PICEND BOFF EXIT
040350,000592:
|
|
Page 935
|
040352,000594: 14,2761 01745 VFLAG
040353,000595: 14,2762 30764 PICGXT
040354,000596: 14,2763 03005 TC PICBXT
040355,000597: 14,2764 73150 PICGXT LXA,1 LXA,2
040356,000598: 14,2765 02755 BESTI
040357,000599: 14,2766 02756 BESTJ
040358,000600: 14,2767 47775 VLOAD DOT*
040359,000601: 14,2770 02731 SAX
040360,000602: 14,2771 30347 CATLOG,1
040361,000603: 14,2772 47715 PDVL DOT*
040362,000604: 14,2773 02731 SAX
040363,000605: 14,2774 47430 CATLOG,2
040364,000606: 14,2775 77625 DSU
040365,000607: 14,2776 66044 BPL SXA,1
040366,000608: 14,2777 31003 PICNSWP
040367,000609: 14,3000 02756 BESTJ
040368,000610: 14,3001 77734 SXA,2
040369,000611: 14,3002 02755 BESTI
040370,000612: 14,3003 77776 PICNSWP EXIT
040371,000613: 14,3004 25745 INCR QMIN
040372,000614: 14,3005 31745 PICBXT CA QMIN
040373,000615: 14,3006 04622 TC SWCALL
040374,000616: 14,3007 VPD = 0D
040375,000617: 14,3007 V0 = 6D
040376,000618: 14,3007 V1 = 12D
040377,000619: 14,3007 V2 = 18D
040378,000620: 14,3007 V3 = 24D
040379,000621: 14,3007 DP0 = 30D
040380,000622: 14,3007 DP1 = 32D
040381,000623:
|
|
Page 936
|
040383,000625: # NAME - R51 FINE ALIGN
040384,000626: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040385,000627: # CALLING SEQ - CALL R51
040386,000628: # INPUT - REFSMMAT
040387,000629: # OUTPUT - GYRO TORQUE PULSES
040388,000630: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040389,000631:
040390,000632: 14,3007 COUNT* $$/R51
040391,000633: 14,3007 77620 R51 STQ
040392,000634: 14,3010 02746 QMAJ
040393,000635: 14,3011 77776 R51.1 EXIT
040394,000636: 14,3012 05353 TC PHASCHNG
040395,000637: 14,3013 04024 OCT 04024
040396,000638:
040397,000639: 14,3014 34761 R51C CAF OCT15
040398,000640: 14,3015 04616 TC BANKCALL
040399,000641: 14,3016 20624 CADR GOPERF1
040400,000642: 14,3017 06001 TC GOTOPOOH
040401,000643: 14,3020 03022 TC +2 # V33E
040402,000644: 14,3021 03045 TC R51E # ENTER
040403,000645: 14,3022 06042 TC INTPRET
040404,000646: 14,3023 43234 RTB DAD
040405,000647: 14,3024 21574 LOADTIME
040406,000648: 14,3025 31155 TSIGHT1
040407,000649: 14,3026 77624 CALL
040408,000650: 14,3027 30500 LOCSAM
040409,000651: 14,3030 77776 EXIT
040410,000652: 14,3031 04616 TC BANKCALL
040411,000653: 14,3032 30603 CADR R56
040412,000654: 14,3033 03035 TC R51I
040413,000655: 14,3034 03045 R51F TC R51E
040414,000656: 14,3035 05567 R51I TC ALARM
040415,000657: 14,3036 00405 OCT 405
040416,000658: 14,3037 35006 CAF VB05N09
040417,000659: 14,3040 04616 TC BANKCALL
040418,000660: 14,3041 20477 CADR GOFLASH
040419,000661: 14,3042 06001 TC GOTOPOOH
040420,000662: 14,3043 03045 TC R51E
040421,000663: 14,3044 03014 TC R51C
040422,000664: 14,3045 34755 R51E CAF ZERO
040423,000665: 14,3046 55757 TS STARIND
040424,000666: 14,3047 06042 R51.2 TC INTPRET
040425,000667: 14,3050 77776 R51.3 EXIT
040426,000668: 14,3051 05353 TC PHASCHNG
040427,000669: 14,3052 04024 OCT 04024
040428,000670:
040429,000671: 14,3053 06042 TC INTPRET
040430,000672: 14,3054 77624 CALL
040431,000673: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040432,000674: 14,3056 77776 EXIT
040433,000675: 14,3057 04616 TC BANKCALL
|
|
Page 937
|
040435,000677: 14,3060 16000 CADR AOTMARK
040436,000678: 14,3061 04616 TC BANKCALL
040437,000679: 14,3062 17703 CADR OPTSTALL
040438,000680: 14,3063 05701 TC CURTAINS
040439,000681: 14,3064 11757 CCS STARIND
040440,000682: 14,3065 13067 TCF +2
040441,000683: 14,3066 03137 TC R51.4
040442,000684: 14,3067 06042 TC INTPRET
040443,000685: 14,3070 77775 VLOAD
040444,000686: 14,3071 02715 STARAD +6
040445,000687: 14,3072 02767 STORE STARSAV2
040446,000688: 14,3073 77776 EXIT
040447,000689: 14,3074 05353 TC PHASCHNG
040448,000690: 14,3075 04024 OCT 04024
040449,000691:
040450,000692: 14,3076 06042 TC INTPRET
040451,000693: 14,3077 45145 DLOAD CALL
040452,000694: 14,3100 03562 TSIGHT
040453,000695: 14,3101 32472 PLANET
040454,000696: 14,3102 53521 MXV UNIT
040455,000697: 14,3103 01734 REFSMMAT
040456,000698: 14,3104 26715 STOVL STARAD +6
040457,000699: 14,3105 03554 PLANVEC
040458,000700: 14,3106 53521 MXV UNIT
040459,000701: 14,3107 01734 REFSMMAT
040460,000702: 14,3110 26707 STOVL STARAD
040461,000703: 14,3111 02761 STARSAV1
040462,000704: 14,3112 24007 STOVL 6D
040463,000705: 14,3113 02767 STARSAV2
040464,000706: 14,3114 34015 STCALL 12D
040465,000707: 14,3115 31250 R54 # STAR DATA TEST
040466,000708: 14,3116 45014 BOFF CALL
040467,000709: 14,3117 00354 FREEFLAG
040468,000710: 14,3120 31126 R51K
040469,000711: 14,3121 47443 AXISGEN
040470,000712: 14,3122 77624 CALL
040471,000713: 14,3123 31216 R55 # GYRO TORQUE
040472,000714: 14,3124 77614 CLEAR
040473,000715: 14,3125 01273 PFRATFLG
040474,000716: 14,3126 77776 R51K EXIT
040475,000717: 14,3127 35741 R51P63 CAF OCT14
040476,000718: 14,3130 04616 TC BANKCALL
040477,000719: 14,3131 20624 CADR GOPERF1
040478,000720: 14,3132 06001 TC GOTOPOOH
040479,000721: 14,3133 03014 TC R51C
040480,000722: 14,3134 06042 TC INTPRET
040481,000723: 14,3135 77650 GOTO
040482,000724: 14,3136 02746 QMAJ
040483,000725: 14,3137 06042 R51.4 TC INTPRET
040484,000726: 14,3140 77775 VLOAD
|
|
Page 938
|
040486,000728: 14,3141 02715 STARAD +6
040487,000729: 14,3142 02761 STORE STARSAV1
040488,000730: 14,3143 45145 DLOAD CALL
040489,000731: 14,3144 03562 TSIGHT
040490,000732: 14,3145 32472 PLANET
040491,000733: 14,3146 03554 STORE PLANVEC
040492,000734: 14,3147 77731 SSP
040493,000735: 14,3150 02760 STARIND
040494,000736: 14,3151 00001 1
040495,000737: 14,3152 77650 GOTO
040496,000738: 14,3153 31050 R51.3
040497,000739: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040498,000740:
|
|
Page 939
|
040500,000742: # GYRO TORQUE COARSE ALIGNMENT
040501,000743:
040502,000744: 14,3156 45020 GYCOARS STQ CALL
040503,000745: 14,3157 02746 QMAJ
040504,000746: 14,3160 47251 CALCGTA
040505,000747: 14,3161 43014 CLEAR CLEAR
040506,000748: 14,3162 01260 DRIFTFLG
040507,000749: 14,3163 01662 REFSMFLG
040508,000750: 14,3164 77776 EXIT
040509,000751: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040510,000752: 14,3166 04616 TC BANKCALL
040511,000753: 14,3167 20452 CADR GODSPR
040512,000754: 14,3170 33247 CA R55CDR
040513,000755: 14,3171 04616 TC BANKCALL
040514,000756: 14,3172 17314 CADR IMUPULSE
040515,000757: 14,3173 04616 TC BANKCALL
040516,000758: 14,3174 17707 CADR IMUSTALL
040517,000759: 14,3175 05701 TC CURTAINS
040518,000760: 14,3176 05353 TC PHASCHNG
040519,000761: 14,3177 04024 OCT 04024
040520,000762:
040521,000763: 14,3200 06042 TC INTPRET
040522,000764: 14,3201 75160 AXC,1 AXC,2
040523,000765: 14,3202 03606 XSMD
040524,000766: 14,3203 01733 REFSMMAT
040525,000767: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040526,000768: 14,3205 31371 MATMOVE
040527,000769: 14,3206 43014 CLEAR SET
040528,000770: 14,3207 01273 PFRATFLG
040529,000771: 14,3210 01462 REFSMFLG
040530,000772: 14,3211 77624 CALL
040531,000773: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040532,000774: 14,3213 77650 GOTO
040533,000775: 14,3214 31126 R51K
040534,000776: 14,3215 04024 V16N20 VN 1620
040535,000777:
|
|
Page 940
|
040537,000779: # R55 GYROTORQUE
040538,000780: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040539,000781: # CALLING SEQ - CALL R55
040540,000782: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040541,000783: # OUTPUT - GYRO PULSES
040542,000784: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040543,000785:
040544,000786: 14,3216 COUNT* $$/R55
040545,000787: 14,3216 77620 R55 STQ
040546,000788: 14,3217 02745 QMIN
040547,000789: 14,3220 77624 CALL
040548,000790: 14,3221 47251 CALCGTA
040549,000791: 14,3222 77776 PULSEM EXIT
040550,000792: 14,3223 33246 R55.1 CAF V06N93
040551,000793: 14,3224 04616 TC BANKCALL
040552,000794: 14,3225 20477 CADR GOFLASH
040553,000795: 14,3226 06001 TC GOTOPOOH
040554,000796: 14,3227 03231 TC R55.2
040555,000797: 14,3230 03243 TC R55RET
040556,000798: 14,3231 05353 R55.2 TC PHASCHNG
040557,000799: 14,3232 00214 OCT 00214
040558,000800: 14,3233 33247 CA R55CDR
040559,000801: 14,3234 04616 TC BANKCALL
040560,000802: 14,3235 17314 CADR IMUPULSE
040561,000803: 14,3236 04616 TC BANKCALL
040562,000804: 14,3237 17707 CADR IMUSTALL
040563,000805: 14,3240 05701 TC CURTAINS
040564,000806: 14,3241 05353 TC PHASCHNG
040565,000807: 14,3242 04024 OCT 04024
040566,000808:
040567,000809: 14,3243 06042 R55RET TC INTPRET
040568,000810: 14,3244 77650 GOTO
040569,000811: 14,3245 02745 QMIN
040570,000812: 14,3246 01535 V06N93 VN 0693
040571,000813: 14,3247 02737 R55CDR ECADR OGC
040572,000814: 14,3250 14,3250 R54 = CHKSDATA
040573,000815:
040574,000816: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040575,000817: # MOD NO - 0 LOG SECTION - P51-P53
040576,000818: # MODIFICATION BY - LONSKE ASSEMBLY -
040577,000819:
040578,000820: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040579,000821: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040580,000822: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040581,000823: # OS1 = OBSERVED STAR 1 VECTOR
040582,000824: # OS2 = OBSERVED STAR 2 VECTOR
040583,000825: # SS1 = STORED STAR 1 VECTOR
040584,000826: # SS2 = STORED STAR 2 VECTOR
040585,000827: # A1 = ARCCOS(OS1 - OS2)
040586,000828: # A2 = ARCCOS(SS1 - SS2)
040587,000829: # A = ABS(2(A1 - A2))
|
|
Page 941
|
040589,000831: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040590,000832:
040591,000833: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040592,000834: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040593,000835: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040594,000836: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040595,000837:
040596,000838: # ERASABLE INITIALIZATION REQUIRED -
040597,000839: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040598,000840: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040599,000841:
040600,000842: # DEBRIS -
040601,000843:
040602,000844: 14,3250 COUNT* $$/R54
040603,000845: 14,3250 43020 CHKSDATA STQ SET
040604,000846: 14,3251 02745 QMIN
040605,000847: 14,3252 00074 FREEFLAG
040606,000848: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040607,000849: 14,3254 02706 STARAD
040608,000850:
040609,000851: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040610,000852: 14,3256 00001 0,1
040611,000853: 14,3257 00007 6,1
040612,000854: 14,3260 65552 SL1 ACOS
040613,000855: 14,3261 00025 STORE THETA
040614,000856: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040615,000857: 14,3263 00354 FREEFLAG
040616,000858: 14,3264 31274 CHKSD
040617,000859: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040618,000860: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040619,000861: 14,3267 00006 6D
040620,000862: 14,3270 00025 THETA
040621,000863: 14,3271 00023 STORE 18D
040622,000864: 14,3272 77650 GOTO
040623,000865: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040624,000866: 14,3274 45345 CHKSD DLOAD DSU
040625,000867: 14,3275 00025 THETA
040626,000868: 14,3276 00023 18D
040627,000869: 14,3277 77634 RTB # COMPUTE POS DIFF
040628,000870: 14,3300 21613 SGNAGREE
040629,000871: 14,3301 01045 STORE NORMTEM1
040630,000872: 14,3302 77414 SET EXIT
040631,000873: 14,3303 00074 FREEFLAG
040632,000874: 14,3304 33320 CAF VB6N5
040633,000875: 14,3305 04616 TC BANKCALL
040634,000876: 14,3306 20477 CADR GOFLASH
040635,000877: 14,3307 16001 TCF GOTOPOOH
040636,000878: 14,3310 03315 TC CHKSDA # PROCEED
040637,000879: 14,3311 06042 TC INTPRET
040638,000880: 14,3312 52014 CLEAR GOTO
040639,000881: 14,3313 00274 FREEFLAG
040640,000882: 14,3314 02745 QMIN
040641,000883: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 942
|
040643,000885: 14,3316 77650 GOTO
040644,000886: 14,3317 02745 QMIN
040645,000887: 14,3320 01405 VB6N5 VN 605
040646,000888:
040647,000889: # NAME - CAL53A
040648,000890: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040649,000891: # CALLING SEQUENCE - CALL CAL53A
040650,000892: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040651,000893: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040652,000894: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
|
|
The printout appears to say "IMUGOARSE" in the line below, but many other
AGC versions have an identical card reading "IMUCOARSE", so I believe there
is a smudge on the paper that merely makes the 'C' appear to be a 'G'
— RSB 2017.
|
040657,000899: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040658,000900:
040659,000901: 14,3321 COUNT* $$/R50
040660,000902: 14,3321 77624 CAL53A CALL
040661,000903: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040662,000904: 14,3323 66234 RTB SSP
040663,000905: 14,3324 31405 RDCDUS # READ CDUS
040664,000906: 14,3325 00051 S1
040665,000907: 14,3326 00001 1
040666,000908: 14,3327 40370 AXT,1 SETPD
040667,000909: 14,3330 00003 3
040668,000910: 14,3331 00005 4
040669,000911: 14,3332 70543 CALOOP DLOAD* SR1
040670,000912: 14,3333 00325 THETAD +3D,1
040671,000913: 14,3334 70523 PDDL* SR1
040672,000914: 14,3335 00005 4,1
040673,000915: 14,3336 51425 DSU ABS
040674,000916: 14,3337 45206 PUSH DSU
040675,000917: 14,3340 31404 DEGREE1
040676,000918: 14,3341 71240 BMN DLOAD
040677,000919: 14,3342 31360 CALOOP1
040678,000920: 14,3343 51025 DSU BPL
040679,000921: 14,3344 31405 DEG359
040680,000922: 14,3345 31360 CALOOP1
040681,000923: 14,3346 77776 EXIT
040682,000924: 14,3347 05353 TC PHASCHNG
040683,000925: 14,3350 04024 OCT 04024
040684,000926:
040685,000927: 14,3351 06042 TC INTPRET
040686,000928: 14,3352 77624 COARFINE CALL
040687,000929: 14,3353 31557 COARSE
040688,000930: 14,3354 77624 CALL
040689,000931: 14,3355 31603 NCOARSE
040690,000932: 14,3356 77650 GOTO
040691,000933: 14,3357 31362 FINEONLY
040692,000934: 14,3360 77700 CALOOP1 TIX,1
040693,000935: 14,3361 31332 CALOOP
040694,000936: 14,3362 75160 FINEONLY AXC,1 AXC,2
040695,000937: 14,3363 02642 XSM
040696,000938: 14,3364 01733 REFSMMAT
040697,000939: 14,3365 77624 CALL
040698,000940: 14,3366 31371 MATMOVE
|
|
Page 943
|
040700,000942: 14,3367 77650 GOTO
040701,000943: 14,3370 32161 COARSRET
040702,000944: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040703,000945: 14,3372 00001 0,1
040704,000946: 14,3373 10001 STORE 0,2
040705,000947: 14,3374 77773 VLOAD*
040706,000948: 14,3375 00007 6D,1
040707,000949: 14,3376 10007 STORE 6D,2
040708,000950: 14,3377 77773 VLOAD*
040709,000951: 14,3400 00015 12D,1
040710,000952: 14,3401 10015 STORE 12D,2
040711,000953: 14,3402 77616 RVQ
040712,000954: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040713,000955: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040714,000956: 14,3405 00004 RDCDUS INHINT # READ CDUS
040715,000957: 14,3406 30032 CA CDUX
040716,000958: 14,3407 50120 INDEX FIXLOC
040717,000959: 14,3410 54001 TS 1
040718,000960: 14,3411 30033 CA CDUY
040719,000961: 14,3412 50120 INDEX FIXLOC
040720,000962: 14,3413 54002 TS 2
040721,000963: 14,3414 30034 CA CDUZ
040722,000964: 14,3415 50120 INDEX FIXLOC
040723,000965: 14,3416 54003 TS 3
040724,000966: 14,3417 00003 RELINT
040725,000967: 14,3420 06064 TC DANZIG # +
040726,000968: 14,3421 COUNT* $$/INFLT
040727,000969:
|
|
Page 944
|
040729,000971: # NAME - P51 - IMU ORIENTATION DETERMINATION
040730,000972: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040731,000973: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040732,000974:
040733,000975: # FUNCTIONAL DESCRIPTION
040734,000976: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040735,000977: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040736,000978: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040737,000979: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040738,000980:
040739,000981: # CALLING SEQUENCE
040740,000982: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040741,000983:
040742,000984: # SUBROUTINES CALLED.
040743,000985: # GOPERF3
040744,000986: # GOPERF1
040745,000987: # GODSPR
040746,000988: # IMUCOARS
040747,000989: # IMUFIN20
040748,000990: # AOTMARK (R53)
040749,000991: # CHKSDATA (R54)
040750,000992: # MKRELEAS
040751,000993: # AXISGEN
040752,000994: # MATMOVE
040753,000995:
040754,000996: # ALARMS
040755,000997: # NONE.
040756,000998:
040757,000999: # ERASABLE INITIALIZATION
040758,001000: # IMU ZERO FLAG SHOULD BE SET.
040759,001001:
040760,001002: # OUTPUT
040761,001003: # REFSMMAT
040762,001004: # REFSMFLG
040763,001005:
040764,001006: # DEBRIS
040765,001007: # WORK AREA
040766,001008: # STARAD
040767,001009: # STARIND
040768,001010: # BESTI
040769,001011: # BESTJ
040770,001012:
040771,001013: 14,3421 COUNT* $$/P51
|
|
Page 945
|
040773,001015: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040774,001016: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040775,001017:
040776,001018: 14,3423 34761 CAF OCT15
040777,001019: 14,3424 04616 TC BANKCALL
040778,001020: 14,3425 20624 CADR GOPERF1
040779,001021: 14,3426 06001 TC GOTOPOOH # TERM.
040780,001022: 14,3427 13453 TCF P51B # V33
040781,001023: 14,3430 05353 TC PHASCHNG
040782,001024: 14,3431 04024 OCT 04024
040783,001025:
040784,001026: 14,3432 34755 CAF ZERO
040785,001027: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040786,001028: 14,3434 54322 TS THETAD +1
040787,001029: 14,3435 54323 TS THETAD +2
040788,001030: 14,3436 35010 CAF V06N22
040789,001031: 14,3437 04616 TC BANKCALL
040790,001032: 14,3440 20447 CADR GODSPRET
040791,001033: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040792,001034: 14,3442 04616 TC BANKCALL
040793,001035: 14,3443 20447 CADR GODSPRET
040794,001036: 14,3444 06042 TC INTPRET
040795,001037: 14,3445 77624 CALL
040796,001038: 14,3446 31557 COARSE
040797,001039: 14,3447 77776 EXIT
040798,001040: 14,3450 05353 TC PHASCHNG
040799,001041: 14,3451 04024 OCT 04024
040800,001042: 14,3452 13423 TCF P51 +2
040801,001043:
040802,001044: 14,3453 05353 P51B TC PHASCHNG
040803,001045: 14,3454 00014 OCT 00014
040804,001046: 14,3455 06042 TC INTPRET
040805,001047: 14,3456 77624 CALL
040806,001048: 14,3457 31603 NCOARSE
040807,001049: 14,3460 40331 SSP SETPD
040808,001050: 14,3461 02760 STARIND # INDEX - STAR 1 OR 2
040809,001051: 14,3462 00000 0
040810,001052: 14,3463 00001 0
040811,001053: 14,3464 77776 P51C EXIT
040812,001054: 14,3465 05353 TC PHASCHNG
040813,001055: 14,3466 04024 OCT 04024
040814,001056:
040815,001057: 14,3467 04616 TC BANKCALL
040816,001058: 14,3470 16000 CADR AOTMARK # R53
040817,001059: 14,3471 04616 TC BANKCALL
040818,001060: 14,3472 17703 CADR AOTSTALL
040819,001061: 14,3473 05701 TC CURTAINS
040820,001062: 14,3474 11757 CCS STARIND
040821,001063: 14,3475 13503 TCF P51D +1
040822,001064: 14,3476 06042 TC INTPRET
|
|
Page 946
|
040824,001066: 14,3477 77775 VLOAD
040825,001067: 14,3500 02715 STARAD +6
040826,001068: 14,3501 02761 STORE STARSAV1
040827,001069: 14,3502 77776 P51D EXIT
040828,001070: 14,3503 05353 TC PHASCHNG
040829,001071: 14,3504 04024 OCT 04024
040830,001072:
040831,001073: 14,3505 11757 CCS STARIND
040832,001074: 14,3506 13522 TCF P51E
040833,001075: 14,3507 05353 TC PHASCHNG
040834,001076: 14,3510 04024 OCT 04024
040835,001077:
040836,001078: 14,3511 06042 TC INTPRET
040837,001079: 14,3512 45145 DLOAD CALL
040838,001080: 14,3513 03562 TSIGHT
040839,001081: 14,3514 32472 PLANET
040840,001082: 14,3515 03554 STORE PLANVEC
040841,001083: 14,3516 77776 EXIT
040842,001084: 14,3517 34753 CAF BIT1
040843,001085: 14,3520 55757 TS STARIND
040844,001086: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040845,001087: 14,3522 05353 P51E TC PHASCHNG
040846,001088: 14,3523 04024 OCT 04024
040847,001089:
040848,001090: 14,3524 06042 TC INTPRET
040849,001091: 14,3525 45145 DLOAD CALL
040850,001092: 14,3526 03562 TSIGHT
040851,001093: 14,3527 32472 PLANET
040852,001094: 14,3530 24015 STOVL 12D
040853,001095: 14,3531 03554 PLANVEC
040854,001096: 14,3532 24007 STOVL 6D
040855,001097: 14,3533 02761 STARSAV1
040856,001098: 14,3534 26707 STOVL STARAD
040857,001099: 14,3535 02767 STARSAV2
040858,001100: 14,3536 36715 STCALL STARAD +6
040859,001101: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040860,001102: 14,3540 77414 BON EXIT
040861,001103: 14,3541 00314 FREEFLAG
040862,001104: 14,3542 31544 P51G
040863,001105: 14,3543 03423 TC P51 +2
040864,001106: 14,3544 77624 P51G CALL
040865,001107: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040866,001108: 14,3546 75160 AXC,1 AXC,2
040867,001109: 14,3547 02664 XDC
040868,001110: 14,3550 01733 REFSMMAT
040869,001111: 14,3551 77624 CALL
040870,001112: 14,3552 31371 MATMOVE
040871,001113: 14,3553 77414 SET EXIT
040872,001114: 14,3554 01462 REFSMFLG
040873,001115: 14,3555 06001 TC GOTOPOOH # FINIS
|
|
Page 947
|
040875,001117: 14,3556 12200 V41K VN 4100
040876,001118: 14,3557 77776 COARSE EXIT
040877,001119: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040878,001120: 14,3561 00006 EXTEND
040879,001121: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040880,001122: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040881,001123: 14,3564 04616 TC BANKCALL
040882,001124: 14,3565 01736 CADR DELAYJOB
040883,001125: 14,3566 13560 TCF COARSE +1
040884,001126: 14,3567 04616 DOCORS TC BANKCALL
040885,001127: 14,3570 16771 CADR IMUCOARS
040886,001128: 14,3571 04616 TC BANKCALL
040887,001129: 14,3572 17707 CADR IMUSTALL
040888,001130: 14,3573 05701 TC CURTAINS
040889,001131: 14,3574 04616 TC BANKCALL
040890,001132: 14,3575 17201 CADR IMUFINE
040891,001133: 14,3576 04616 TC BANKCALL
040892,001134: 14,3577 17707 CADR IMUSTALL
040893,001135: 14,3600 05701 TC CURTAINS
040894,001136: 14,3601 06042 TC INTPRET
040895,001137: 14,3602 77616 RVQ
040896,001138: 14,3603 77776 NCOARSE EXIT
040897,001139: 14,3604 30025 CA TIME1
040898,001140: 14,3605 55074 TS 1/PIPADT
040899,001141: 14,3606 44755 CS ZERO
040900,001142: 14,3607 54037 TS PIPAX
040901,001143: 14,3610 54040 TS PIPAY
040902,001144: 14,3611 54041 TS PIPAZ
040903,001145: 14,3612 06042 TC INTPRET
040904,001146: 14,3613 77775 VLOAD
040905,001147: 14,3614 24007 ZEROVEC
040906,001148: 14,3615 01472 STORE GCOMP
040907,001149: 14,3616 43414 SET RVQ
040908,001150: 14,3617 01060 DRIFTFLG
040909,001151:
|
|
Page 948
|
040911,001153: # NAME - S52.2
040912,001154: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040913,001155: # CALL - CALL S52.2
040914,001156: # INPUT - X,Y,ZSMD
040915,001157: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040916,001158: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040917,001159:
040918,001160: 14,3620 COUNT* $$/S52.1
040919,001161: 14,3620 45020 S52.2 STQ CALL
040920,001162: 14,3621 02746 QMAJ
040921,001163: 14,3622 47541 CDUTRIG
040922,001164: 14,3623 77624 CALL
040923,001165: 14,3624 20030 CALCSMSC
040924,001166: 14,3625 66370 AXT,1 SSP
040925,001167: 14,3626 00022 18D
040926,001168: 14,3627 00051 S1
040927,001169: 14,3630 00006 6D
040928,001170: 14,3631 61373 S52.2A VLOAD* VXM
040929,001171: 14,3632 02707 XNB +18D,1
040930,001172: 14,3633 01734 REFSMMAT
040931,001173: 14,3634 77656 UNIT
040932,001174: 14,3635 06707 STORE XNB +18D,1
040933,001175: 14,3636 77700 TIX,1
040934,001176: 14,3637 31631 S52.2A
040935,001177: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040936,001178: 14,3641 03606 XSMD
040937,001179: 14,3642 02642 XSM
040938,001180: 14,3643 77624 CALL
040939,001181: 14,3644 31371 MATMOVE
040940,001182: 14,3645 77624 CALL
040941,001183: 14,3646 47355 CALCGA
040942,001184: 14,3647 77650 GOTO
040943,001185: 14,3650 02746 QMAJ
040944,001186:
|
|
Page 949
|
040946,001188: # NAME - S52.3
040947,001189: # FUNCTION XSMD= UNIT R
040948,001190: # YSMD= UNIT(V X R)
040949,001191: # ZSMD= UNIT(XSMD X YSMD)
040950,001192: # CALL DLOAD CALL
040951,001193: # TALIGN
040952,001194: # S52.3
040953,001195: # INPUT - TIME OF ALIGNMENT IN MPAC
040954,001196: # OUTPUT - X,Y,ZSMD
040955,001197: # SUBROUTINES - CSMCONIC
040956,001198:
040957,001199: 14,3651 COUNT* $$/S52.3
040958,001200: 14,3651 77620 S52.3 STQ
040959,001201: 14,3652 02746 QMAJ
040960,001202: 14,3653 34041 STCALL TDEC1
040961,001203: 14,3654 27077 LEMCONIC
040962,001204: 14,3655 53575 VLOAD UNIT
040963,001205: 14,3656 00001 RATT
040964,001206: 14,3657 27607 STOVL XSMD
040965,001207: 14,3660 00007 VATT
040966,001208: 14,3661 53435 VXV UNIT
040967,001209: 14,3662 00001 RATT
040968,001210: 14,3663 27615 STOVL YSMD
040969,001211: 14,3664 03607 XSMD
040970,001212: 14,3665 53435 VXV UNIT
040971,001213: 14,3666 03615 YSMD
040972,001214: 14,3667 37623 STCALL ZSMD
040973,001215: 14,3670 02746 QMAJ
040974,001216:
|
|
Page 950
|
040976,001218: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040977,001219:
040978,001220: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040979,001221: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040980,001222:
040981,001223: # CALLING - CALL R52
040982,001224:
040983,001225: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040984,001226:
040985,001227: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040986,001228: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040987,001229: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040988,001230: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040989,001231:
040990,001232: # SUBROUT - R60LEM
040991,001233:
040992,001234: 14,3671 COUNT* $$/R52
040993,001235: 14,3671 77420 R52 STQ EXIT
040994,001236: 14,3672 03665 SAVQR52
040995,001237: 14,3673 51757 INDEX STARIND
040996,001238: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040997,001239: 14,3675 00006 EXTEND
040998,001240: 14,3676 73772 MP 1/6TH
040999,001241: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
041000,001242: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
041001,001243:
041002,001244: 14,3701 33773 R52A CAF V01N70
041003,001245: 14,3702 04616 TC BANKCALL
041004,001246: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041005,001247: 14,3704 06001 TC GOTOPOOH # V34 - TERMINATE
041006,001248: 14,3705 13707 TCF R52B # V33 - PROCEED TO ORIENT LEM
041007,001249: 14,3706 13701 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
041008,001250:
041009,001251: 14,3707 05516 R52B TC DOWNFLAG
041010,001252: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041011,001253: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041012,001254: 14,3712 77747 MASK HIGH9
041013,001255: 14,3713 00006 EXTEND
041014,001256: 14,3714 74743 MP BIT9
041015,001257: 14,3715 54001 TS L # TEMP STORE DETENT
041016,001258:
041017,001259: 14,3716 00006 EXTEND
041018,001260: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041019,001261:
041020,001262: 14,3720 65650 AD NEG7
041021,001263: 14,3721 00006 EXTEND
041022,001264: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041023,001265:
041024,001266: 14,3723 E7,1551 EBANK= XYMARK
041025,001267: 14,3723 35016 CA EBANK7
041026,001268: 14,3724 54003 TS EBANK
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|
Page 951
|
041028,001270: 14,3725 50001 INDEX L
041029,001271: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041030,001272: 14,3727 54001 TS L
041031,001273: 14,3730 E5,1642 EBANK= XSM
041032,001274: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041033,001275: 14,3731 54003 TS EBANK
041034,001276: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041035,001277: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041036,001278: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041037,001279:
041038,001280: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041039,001281: 14,3736 04616 TC BANKCALL
041040,001282: 14,3737 20477 CADR GOFLASH
041041,001283: 14,3740 06001 TC GOTOPOOH # V34 - TERMINATE
041042,001284: 14,3741 13743 TCF +2 # PROCEED - CALC OPTIC AXIS
041043,001285: 14,3742 13735 TCF GETAZEL # ENTER - RECYCLE
041044,001286:
041045,001287: 14,3743 00006 EXTEND
041046,001288: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041047,001289: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041048,001290: 14,3746 52011 DXCH 8D
041049,001291: 14,3747 06042 TC INTPRET
041050,001292: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041051,001293: 14,3751 10522 OANB # SCAXIS IN NB COORDS
041052,001294: 14,3752 45034 RTB CALL
041053,001295: 14,3753 21574 LOADTIME
041054,001296: 14,3754 32472 PLANET
041055,001297: 14,3755 53521 MXV UNIT
041056,001298: 14,3756 01734 REFSMMAT
041057,001299: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041058,001300:
041059,001301: 14,3760 77776 EXIT
041060,001302: 14,3761 04616 TC BANKCALL
041061,001303: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041062,001304:
041063,001305: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041064,001306: 14,3764 70734 MASK STARCODE
041065,001307: 14,3765 00006 EXTEND
041066,001308: 14,3766 13701 BZF R52A
041067,001309:
041068,001310: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041069,001311: 14,3770 77650 GOTO
041070,001312: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041071,001313:
041072,001314: 14,3772 05253 1/6TH DEC .1666667
041073,001315: 14,3773 00306 V01N70 VN 0170
041074,001316: 14,3774 01527 V06N87 VN 687
041075,001317:
|
|
Page 952
|
041077,001319: # LUNAR SURFACE STAR AQUISITION
041078,001320:
041079,001321: 15,2245 BANK 15
041080,001322: 15,2000 SETLOC P50S
041081,001323: 15,2000 BANK
041082,001324: 15,2245 COUNT* $$/R59
041083,001325:
041084,001326: 15,2245 40077 R59 CS FLAGWRD3
041085,001327: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041086,001328: 15,2247 10000 CCS A
041087,001329: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041088,001330:
041089,001331: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041090,001332: 15,2252 04616 TC BANKCALL
041091,001333: 15,2253 20477 CADR GOFLASH
041092,001334: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041093,001335: 15,2255 12257 TCF R59A # V33 - PROCEED
041094,001336: 15,2256 12245 TCF R59 # V32 - RECYCLE
041095,001337:
041096,001338: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041097,001339: 15,2260 70734 MASK AOTCODE
041098,001340: 15,2261 00006 EXTEND
041099,001341: 15,2262 76245 MP REVCNT # JUST 6
041100,001342: 15,2263 56001 XCH L
041101,001343: 15,2264 51757 INDEX STARIND
041102,001344: 15,2265 55755 TS BESTI
041103,001345: 15,2266 50120 INDEX FIXLOC
041104,001346: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041105,001347: 15,2270 00006 EXTEND
041106,001348: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041107,001349: 15,2272 40000 COM
041108,001350: 15,2273 62557 AD DEC227
041109,001351: 15,2274 00006 EXTEND
041110,001352: 15,2275 62455 BZMF R59OUT
041111,001353:
041112,001354: 15,2276 06042 TC INTPRET
041113,001355: 15,2277 64373 VLOAD* MXV
041114,001356: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041115,001357: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041116,001358: 15,2302 45056 UNIT CALL
041117,001359: 15,2303 47650 CDU*SMNB
041118,001360: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041119,001361: 15,2305 77776 EXIT
041120,001362:
041121,001363: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041122,001364: 15,2307 55241 TS POSCODE
041123,001365:
041124,001366: 15,2310 E7,1551 EBANK= XYMARK
041125,001367: 15,2310 35016 INCAZ CA EBANK7
041126,001368: 15,2311 54003 TS EBANK
041127,001369:
|
|
Page 953
|
041129,001371: 15,2312 51241 INDEX POSCODE
041130,001372: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041131,001373: 15,2314 54001 TS L
041132,001374:
041133,001375: 15,2315 E5,1642 EBANK= XSM
041134,001376: 15,2315 35014 CA EBANK5
041135,001377: 15,2316 54003 TS EBANK
041136,001378:
041137,001379: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041138,001380: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041139,001381: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041140,001382: 15,2322 50120 INDEX FIXLOC
041141,001383: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041142,001384:
041143,001385: 15,2324 06042 TC INTPRET
041144,001386: 15,2325 77624 CALL
041145,001387: 15,2326 10522 OANB # GO CALC OPTIC AXIS WRT NB
041146,001388: 15,2327 50375 VLOAD DOT
041147,001389: 15,2330 02731 STAR # DOT STAR WITH OA
041148,001390: 15,2331 03765 SCAXIS
041149,001391: 15,2332 65552 SL1 ARCCOS
041150,001392: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041151,001393:
041152,001394: 15,2334 51025 DSU BPL
041153,001395: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041154,001396: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041155,001397: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041156,001398: 15,2340 00031 24D
041157,001399: 15,2341 32470 DEG.5
041158,001400: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041159,001401: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041160,001402: 15,2344 00031 24D # GET SPIRAL
041161,001403: 15,2345 42405 DMP SL4
041162,001404: 15,2346 11220 3/4 # 12 SCALED AT 16
041163,001405: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041164,001406:
041165,001407: 15,2350 03765 SCAXIS # OA
041166,001408: 15,2351 53435 VXV UNIT
041167,001409: 15,2352 24005 XUNIT
041168,001410: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041169,001411: 15,2354 03765 SCAXIS
041170,001412: 15,2355 77676 VCOMP
041171,001413: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041172,001414: 15,2357 03765 SCAXIS
041173,001415: 15,2360 53435 VXV UNIT
041174,001416: 15,2361 02731 STAR
041175,001417: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041176,001418: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041177,001419: 15,2364 65552 SL1 ARCCOS
041178,001420: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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|
Page 954
|
041180,001422: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041181,001423: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041182,001424: 15,2370 32375 R59D
041183,001425: 15,2371 32047 ABOUTONE
041184,001426: 15,2372 77625 DSU
041185,001427: 15,2373 00033 26D
041186,001428: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041187,001429:
041188,001430: 15,2375 70535 R59D SLOAD SR1
041189,001431: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041190,001432: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041191,001433: 15,2400 00033 26D
041192,001434: 15,2401 77634 RTB
041193,001435: 15,2402 21615 1STO2S
041194,001436: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
041195,001437: 15,2404 00031 24D # LOAD SROT IN REVS
041196,001438: 15,2405 77615 DAD # 12(SEP) + YROT
041197,001439: 15,2406 77634 RTB
041198,001440: 15,2407 21615 1STO2S
041199,001441: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
041200,001442: 15,2411 77776 EXIT
041201,001443: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041202,001444:
041203,001445: 15,2413 77776 ZSPCR EXIT
041204,001446: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041205,001447: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
041206,001448: 15,2416 55237 TS SPIRAL
041207,001449: 15,2417 12437 TCF 79DISP
041208,001450:
041209,001451: 15,2420 77776 NXAX EXIT
041210,001452: 15,2421 25241 INCR POSCODE
041211,001453: 15,2422 41241 CS POSCODE
041212,001454: 15,2423 64757 AD SEVEN
041213,001455: 15,2424 00006 EXTEND
041214,001456: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041215,001457: 15,2426 12310 TCF INCAZ
041216,001458:
041217,001459: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041218,001460: 15,2430 00404 OCT 404
041219,001461: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041220,001462: 15,2432 04616 TC BANKCALL
041221,001463: 15,2433 20477 CADR GOFLASH
041222,001464: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041223,001465: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041224,001466: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041225,001467:
041226,001468: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041227,001469: 15,2440 04616 TC BANKCALL
041228,001470: 15,2441 20477 CADR GOFLASH
041229,001471: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 955
|
041231,001473: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041232,001474: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041233,001475:
041234,001476: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041235,001477: 15,2446 71241 MASK POSCODE
041236,001478: 15,2447 00006 EXTEND
041237,001479: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041238,001480: 15,2451 47747 CS HIGH9
041239,001481: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041240,001482: 15,2453 60001 AD L
041241,001483: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
041242,001484:
041243,001485: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041244,001486: 15,2456 16000 CADR AOTMARK
041245,001487: 15,2457 04616 TC BANKCALL
041246,001488: 15,2460 17703 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041247,001489: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
041248,001490: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041249,001491:
041250,001492: 15,2463 00306 V01N70* VN 170
041251,001493: 15,2464 01517 V06N79 VN 679
041252,001494: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041253,001495: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041254,001496: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041255,001497: 15,2472 1235 CURSOR EQUALS GDT/2
041256,001498: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
041257,001499: 15,2472 1241 POSCODE EQUALS GDT/2 +4
041258,001500:
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|
Page 956
|
041260,001502: # NAME - PLANET
041261,001503: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041262,001504: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041263,001505: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041264,001506: # BY DSDY INPUT
041265,001507: # CALL - CALL
041266,001508: # PLANET
041267,001509: # INPUT - TIME IN MPAC
041268,001510: # OUTPUT - VECTOR IN MPAC
041269,001511: # SUBROUTINES - LOCSAM
041270,001512: # DEBRIS - VAC, STARAD - STARAD +17
041271,001513:
041272,001514: 15,2000 SETLOC P50S
041273,001515: 15,2000 BANK
041274,001516: 15,2472 COUNT* $$/P51
041275,001517:
041276,001518: 15,2472 03562 PLANET STORE TSIGHT
041277,001519: 15,2473 77420 STQ EXIT
041278,001520: 15,2474 02736 GCTR
041279,001521: 15,2475 47747 CS HIGH9
041280,001522: 15,2476 70734 MASK AOTCODE
041281,001523: 15,2477 00006 EXTEND
041282,001524: 15,2500 76245 MP REVCNT
041283,001525: 15,2501 56001 XCH L
041284,001526: 15,2502 51757 INDEX STARIND
041285,001527: 15,2503 55755 TS BESTI
041286,001528: 15,2504 10000 CCS A
041287,001529: 15,2505 12521 TCF NOTPLAN
041288,001530: 15,2506 32560 CAF VNPLANV
041289,001531: 15,2507 04616 TC BANKCALL
041290,001532: 15,2510 20477 CADR GOFLASH
041291,001533: 15,2511 02506 TC -3
041292,001534: 15,2512 02514 TC +2
041293,001535: 15,2513 02506 TC -5
041294,001536: 15,2514 06042 TC INTPRET
041295,001537: 15,2515 53575 VLOAD UNIT
041296,001538: 15,2516 02707 STARAD
041297,001539: 15,2517 77650 GOTO
041298,001540: 15,2520 02736 GCTR
041299,001541: 15,2521 40000 NOTPLAN CS A
041300,001542: 15,2522 62557 AD DEC227
041301,001543: 15,2523 00006 EXTEND
041302,001544: 15,2524 62535 BZMF CALSAM1
041303,001545: 15,2525 51757 INDEX STARIND
041304,001546: 15,2526 31755 CA BESTI
041305,001547: 15,2527 50120 INDEX FIXLOC
041306,001548: 15,2530 54046 TS X1
041307,001549: 15,2531 06042 TC INTPRET
041308,001550: 15,2532 52173 VLOAD* GOTO
041309,001551: 15,2533 30347 CATLOG,1
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|
Page 957
|
041311,001553: 15,2534 02736 GCTR
041312,001554: 15,2535 06042 CALSAM1 TC INTPRET
041313,001555: 15,2536 45145 CALSAM DLOAD CALL
041314,001556: 15,2537 03562 TSIGHT
041315,001557: 15,2540 30500 LOCSAM
041316,001558: 15,2541 77340 LXC,1 VLOAD
041317,001559: 15,2542 02757 STARIND
041318,001560: 15,2543 02707 VEARTH
041319,001561: 15,2544 24001 STOVL 0D
041320,001562: 15,2545 02715 VSUN
041321,001563: 15,2546 26707 STOVL VEARTH
041322,001564: 15,2547 00001 0D
041323,001565: 15,2550 02715 STORE VSUN
041324,001566: 15,2551 70143 DLOAD* LXC,1
041325,001567: 15,2552 02756 BESTI,1
041326,001568: 15,2553 00154 MPAC
041327,001569: 15,2554 52173 VLOAD* GOTO
041328,001570: 15,2555 02343 STARAD -228D,1
041329,001571: 15,2556 02736 GCTR
041330,001572: 15,2557 00343 DEC227 DEC 227 B-14
041331,001573: 15,2560 01530 VNPLANV VN 0688
041332,001574: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041333,001575:
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Page 958
|
041335,001577: # GRAVITY VECTOR DETERMINATION ROUTINE
041336,001578: # BY KEN VINCENT
041337,001579:
041338,001580: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041339,001581: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041340,001582: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041341,001583: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041342,001584: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041343,001585: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041344,001586: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041345,001587: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041346,001588: # READINGS.
041347,001589:
041348,001590: # CALL -
041349,001591: # TC BANKCALL
041350,001592: # CADR GVDETER
041351,001593:
041352,001594: # INPUTS -
041353,001595: # PIPAS, CDUS
041354,001596:
041355,001597: # OUTPUTS -
041356,001598: # STARSAV1 = UNIT GRAVITY
041357,001599: # GSAV = DITTO
041358,001600: # GRAVBIT = 1
041359,001601:
041360,001602: # SUBROUTINES -
041361,001603: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041362,001604: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041363,001605:
041364,001606: # DEBRIS -
041365,001607: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041366,001608:
041367,001609: 15,2561 32762 GVDETER CAF 42DEG
041368,001610: 15,2562 54321 TS THETAD
041369,001611: 15,2563 40000 COM
041370,001612: 15,2564 54322 TS THETAD +1
041371,001613: 15,2565 32763 CAF 35DEG
041372,001614: 15,2566 54323 TS THETAD +2
041373,001615: 15,2567 06042 TC INTPRET
041374,001616: 15,2570 45014 CLEAR CALL
041375,001617: 15,2571 01662 REFSMFLG
041376,001618: 15,2572 32666 LUNG
041377,001619:
041378,001620: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041379,001621:
041380,001622: # DEFINE G COOR SYS
041381,001623: # -
041382,001624: # X UNIT G
041383,001625: # * - -
041384,001626: # M = Y = UNITEZSM * X )
041385,001627: # - - -
041386,001628: # Z UNIT( X * Y )
041387,001629:
041388,001630: # THEN ROTATED SM WRT PRESENT IS
041389,001631:
041390,001632: # 1, 0 , 0
041391,001633: # * *T * * *
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|
Page 959
|
041393,001635: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041394,001636: # I J
041395,001637: # 0 , 0 ,-1
041396,001638:
041397,001639: # ALSO NB WRT PRES SM IS
041398,001640:
041399,001641: # * * *
041400,001642: # XNB = NBSM I
041401,001643:
041402,001644: # * *
041403,001645: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041404,001646:
041405,001647: 15,2000 SETLOC P50S
041406,001648: 15,2000 BANK
041407,001649: 15,2573 COUNT* $$/P57
041408,001650: 15,2573 66370 AXT,1 SSP # X1=18
041409,001651: 15,2574 00022 18D # S1=6
041410,001652: 15,2575 00051 S1 # X2, -2
041411,001653: 15,2576 00006 6D
041412,001654: 15,2577 77744 LXC,2
041413,001655: 15,2600 00050 S1
041414,001656: 15,2601 45173 GRAVEL VLOAD* CALL
041415,001657: 15,2602 54000 XUNIT -6,2
041416,001658: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
041417,001659: 15,2604 06707 STORE XNB +18D,1
041418,001660: 15,2605 77775 VLOAD
041419,001661: 15,2606 02731 STAR
041420,001662: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041421,001663: 15,2610 00047 X2
041422,001664: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
041423,001665: 15,2612 71152 VSL2 LXC,2
041424,001666: 15,2613 00047 X2
041425,001667: 15,2614 63047 VSU* INCR,2
041426,001668: 15,2615 54000 XUNIT -6,2
041427,001669: 15,2616 00002 2D
041428,001670: 15,2617 06665 STORE XSM +18D,1
041429,001671: 15,2620 45100 TIX,1 CALL
041430,001672: 15,2621 32601 GRAVEL
041431,001673: 15,2622 47355 CALCGA
041432,001674: 15,2623 74575 VLOAD VSR1
041433,001675: 15,2624 02715 GOUT
041434,001676: 15,2625 36723 STCALL STARAD +12D
041435,001677: 15,2626 32666 LUNG
041436,001678: 15,2627 74575 VLOAD VSR1
041437,001679: 15,2630 02715 GOUT
041438,001680: 15,2631 53455 VAD UNIT
041439,001681: 15,2632 02723 STARAD +12D
041440,001682: 15,2633 02761 STORE STARSAV1
041441,001683: 15,2634 77641 DOT
041442,001684: 15,2635 02231 GSAV
041443,001685: 15,2636 65552 SL1 ACOS
|
|
Page 960
|
041445,001687: 15,2637 01045 STORE DSPTEM1
041446,001688: 15,2640 77776 EXIT
041447,001689: 15,2641 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041448,001690: 15,2642 00014 ADRES FREEFLAG
041449,001691:
041450,001692: 15,2643 32761 CA DISGRVER
041451,001693: 15,2644 04616 TC BANKCALL
041452,001694: 15,2645 20477 CADR GOFLASH
041453,001695: 15,2646 06001 TC GOTOPOOH
041454,001696: 15,2647 12652 TCF PROGRAV # VB33 - PROCEED
041455,001697: 15,2650 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041456,001698: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041457,001699:
041458,001700: 15,2652 05353 PROGRAV TC PHASCHNG
041459,001701: 15,2653 04024 OCT 04024
041460,001702:
041461,001703: 15,2654 06042 TC INTPRET
041462,001704: 15,2655 77775 VLOAD
041463,001705: 15,2656 02761 STARSAV1
041464,001706: 15,2657 02231 STORE GSAV
041465,001707: 15,2660 77776 EXIT
041466,001708: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041467,001709: 15,2662 70074 MASK FLAGWRD0
041468,001710: 15,2663 10000 CCS A
041469,001711: 15,2664 12561 TCF GVDETER # SET
041470,001712: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
041471,001713:
041472,001714: 15,2666 77220 LUNG STQ VLOAD
041473,001715: 15,2667 02745 QMIN
041474,001716: 15,2670 24007 ZEROVEC
041475,001717: 15,2671 02707 STORE GACC
041476,001718: 15,2672 77776 EXIT
041477,001719: 15,2673 05353 TC PHASCHNG
041478,001720: 15,2674 04024 OCT 04024
041479,001721:
041480,001722: 15,2675 06042 TC INTPRET
041481,001723: 15,2676 77624 CALL
041482,001724: 15,2677 31557 COARSE
041483,001725: 15,2700 77776 EXIT
041484,001726: 15,2701 32760 CA T/2SEC
041485,001727: 15,2702 55736 TS GCTR
041486,001728: 15,2703 37721 CA PRIO31
041487,001729: 15,2704 55074 TS 1/PIPADT
041488,001730: 15,2705 04616 TC BANKCALL
041489,001731: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041490,001732: 15,2707 05353 TC PHASCHNG
041491,001733: 15,2710 04024 OCT 04024
041492,001734:
041493,001735: 15,2711 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041494,001736: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 961
|
041496,001738: 15,2713 06042 TC INTPRET
041497,001739: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041498,001740: 15,2715 35000 CAF 2SECS
041499,001741: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041500,001742: 15,2717 02721 ADRES GRABGRAV
041501,001743:
041502,001744: 15,2720 05155 TC ENDOFJOB
041503,001745:
041504,001746: 15,2721 04674 GRABGRAV TC IBNKCALL
041505,001747: 15,2722 77541 CADR PIPSRINE
041506,001748: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041507,001749: 15,2724 05105 TC FINDVAC
041508,001750: 15,2725 E5,1706 EBANK= STARAD
041509,001751: 15,2725 02730 32065 2CADR ADDGRAV
041510,001752:
041511,001753: 15,2727 05261 TC TASKOVER
041512,001754:
041513,001755: 15,2730 04616 ADDGRAV TC BANKCALL
041514,001756: 15,2731 15271 CADR 1/PIPA
041515,001757: 15,2732 25736 INCR GCTR
041516,001758: 15,2733 06042 TC INTPRET
041517,001759: 15,2734 53375 VLOAD VAD
041518,001760: 15,2735 00325 DELV
041519,001761: 15,2736 02707 GACC
041520,001762: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
041521,001763: 15,2740 50135 SLOAD BMN
041522,001764: 15,2741 02737 GCTR
041523,001765: 15,2742 32714 GREED
041524,001766: 15,2743 53575 VLOAD UNIT
041525,001767: 15,2744 02707 GACC
041526,001768: 15,2745 36731 STCALL STAR
041527,001769: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041528,001770: 15,2747 77624 CALL # IN OUTPUT
041529,001771: 15,2750 47673 *SMNB*
041530,001772: 15,2751 02715 STORE GOUT
041531,001773: 15,2752 77776 EXIT
041532,001774: 15,2753 05353 TC PHASCHNG
041533,001775: 15,2754 04024 OCT 04024
041534,001776:
041535,001777: 15,2755 06042 QMINEXIT TC INTPRET
041536,001778: 15,2756 77650 GOTO
041537,001779: 15,2757 02745 QMIN
041538,001780: 15,2760 77753 T/2SEC DEC -20 B-14
041539,001781: 15,2761 01404 DISGRVER VN 0604
041540,001782: 15,2762 07357 42DEG OCT 07357
041541,001783: 15,2763 06211 35DEG OCT 06211
041542,001784:
|
|
Page 962
|
041544,001786: # NAME GYROTRIM
041545,001787:
041546,001788: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041547,001789: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041548,001790: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041549,001791:
041550,001792: # CALL CALL
041551,001793: # GYROTRIM
041552,001794:
041553,001795: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041554,001796: # CDUX,CDUY,CDUZ
041555,001797:
041556,001798: # OUTPUT - GYRO TORQUE PULSES
041557,001799:
041558,001800: # SUBROUTINES- TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041559,001801: # IMPULSE, IMUSTALL
041560,001802: # - - - * * -
041561,001803: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041562,001804:
041563,001805: 15,2764 COUNT* $$/P57
041564,001806: 15,2764 71220 GYROTRIM STQ DLOAD
041565,001807: 15,2765 02745 QMIN
041566,001808: 15,2766 00322 THETAD
041567,001809: 15,2767 65325 PDDL PDDL
041568,001810: 15,2770 00324 THETAD +2
041569,001811: 15,2771 00323 THETAD +1
041570,001812: 15,2772 77666 VDEF
041571,001813: 15,2773 24766 STOVL CDUSPOT
041572,001814: 15,2774 24005 XUNIT
041573,001815: 15,2775 77624 CALL
041574,001816: 15,2776 47666 TRG*NBSM
041575,001817: 15,2777 26707 STOVL STARAD
041576,001818: 15,3000 24003 YUNIT
041577,001819: 15,3001 77624 CALL
041578,001820: 15,3002 47675 *NBSM*
041579,001821: 15,3003 36715 STCALL STARAD +6
041580,001822: 15,3004 47541 CDUTRIG
041581,001823: 15,3005 77624 CALL
041582,001824: 15,3006 20030 CALCSMSC
041583,001825: 15,3007 77775 VLOAD
041584,001826: 15,3010 02665 XNB
041585,001827: 15,3011 24007 STOVL 6D
041586,001828: 15,3012 02673 YNB
041587,001829: 15,3013 34015 STCALL 12D
041588,001830: 15,3014 47443 AXISGEN
041589,001831: 15,3015 77624 CALL
041590,001832: 15,3016 47251 CALCGTA
041591,001833: 15,3017 77776 JUSTTRIM EXIT
041592,001834: 15,3020 33027 CA GYRCDR
041593,001835: 15,3021 04616 TC BANKCALL
041594,001836: 15,3022 17314 CADR IMUPULSE
|
|
Page 963
|
041596,001838: 15,3023 04616 TC BANKCALL
041597,001839: 15,3024 17707 CADR IMUSTALL
041598,001840: 15,3025 05701 TC CURTAINS
041599,001841: 15,3026 12755 TCF QMINEXIT
041600,001842:
041601,001843: 15,3027 02737 GYRCDR ECADR OGC
041602,001844:
|
|
Page 964
|
041604,001846: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041605,001847:
041606,001848: 15,3030 34755 2STARS CAF ZERO # INITALIZE STARIND
041607,001849: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041608,001850: 15,3032 34753 1STAR CAF BIT1
041609,001851: 15,3033 55757 TS STARIND
041610,001852:
041611,001853: 15,3034 05353 TC PHASCHNG
041612,001854: 15,3035 04024 OCT 04024
041613,001855:
041614,001856: 15,3036 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041615,001857:
041616,001858: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041617,001859: 15,3040 00006 EXTEND
041618,001860: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
041619,001861:
041620,001862: 15,3042 05353 TC PHASCHNG
041621,001863: 15,3043 04024 OCT 04024
041622,001864:
041623,001865: 15,3044 06042 TC INTPRET
041624,001866: 15,3045 45145 DLOAD CALL
041625,001867: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
041626,001868: 15,3047 32472 PLANET
041627,001869: 15,3050 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041628,001870: 15,3051 33064 SURFLINE
041629,001871:
041630,001872: 15,3052 06042 ASTAR TC INTPRET
041631,001873: 15,3053 77775 VLOAD
041632,001874: 15,3054 02715 STARAD +6
041633,001875: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041634,001876: 15,3056 45145 DLOAD CALL
041635,001877: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
041636,001878: 15,3060 32472 PLANET
041637,001879: 15,3061 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041638,001880: 15,3062 77776 EXIT
041639,001881: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
041640,001882:
|
|
Page 965
|
041642,001884: # DO FINE OR COARSE ALIGNMENT OF IMU
041643,001885:
041644,001886: 15,3064 77131 SURFLINE SSP AXT,2
041645,001887: 15,3065 00052 S2
041646,001888: 15,3066 00006 6
041647,001889: 15,3067 00014 12D
041648,001890: 15,3070 64373 WRTDESIR VLOAD* MXV
041649,001891: 15,3071 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041650,001892: 15,3072 03607 XSMD
041651,001893: 15,3073 77656 UNIT
041652,001894: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
041653,001895: 15,3075 77773 VLOAD*
041654,001896: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041655,001897: 15,3077 10023 STORE 18D,2
041656,001898: 15,3100 43104 TIX,2 BON
041657,001899: 15,3101 33070 WRTDESIR
041658,001900: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041659,001901: 15,3103 33111 INITBY
041660,001902: 15,3104 77624 DOALIGN CALL
041661,001903: 15,3105 31250 R54 # DO CHKSDATA
041662,001904: 15,3106 77614 BOFF
041663,001905: 15,3107 00354 FREEFLAG
041664,001906: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041665,001907: 15,3111 77624 INITBY CALL
041666,001908: 15,3112 47443 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041667,001909: 15,3113 77624 CALL
041668,001910: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041669,001911: 15,3115 77776 EXIT
041670,001912: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041671,001913: 15,3117 70104 MASK FLAGWRD8
041672,001914: 15,3120 10000 CCS A
041673,001915: 15,3121 13130 TCF 5DEGTEST
041674,001916: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041675,001917: 15,3123 04616 TC BANKCALL
041676,001918: 15,3124 20477 CADR GOFLASH
041677,001919: 15,3125 06001 TC GOTOPOOH # V34 - TERMINATE
041678,001920: 15,3126 13130 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041679,001921: 15,3127 13172 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041680,001922:
041681,001923: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041682,001924: 15,3131 40175 VLOAD BOV
041683,001925: 15,3132 02740 OGC
041684,001926: 15,3133 33134 SURFSUP
041685,001927: 15,3134 02750 SURFSUP STORE OGCT
041686,001928: 15,3135 40141 V/SC BOV
041687,001929: 15,3136 30602 5DEGREES
041688,001930: 15,3137 33237 COATRIM
041689,001931: 15,3140 52131 SSP GOTO
041690,001932: 15,3141 02746 QMIN
041691,001933: 15,3142 33144 SURFDISP
|
|
Page 966
|
041693,001935: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041694,001936:
041695,001937: 15,3144 77776 SURFDISP EXIT
041696,001938: 15,3145 05353 TC PHASCHNG
041697,001939: 15,3146 04024 OCT 04024
041698,001940:
041699,001941: 15,3147 06042 TC INTPRET
041700,001942: 15,3150 75160 AXC,1 AXC,2
041701,001943: 15,3151 03606 XSMD
041702,001944: 15,3152 01733 REFSMMAT
041703,001945: 15,3153 45014 SET CALL
041704,001946: 15,3154 01462 REFSMFLG
041705,001947: 15,3155 31371 MATMOVE
041706,001948: 15,3156 77776 EXIT
041707,001949: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041708,001950: 15,3160 13162 TCF B2F8
041709,001951: 15,3161 13172 TCF P57POST +1
041710,001952:
041711,001953: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041712,001954: 15,3163 70104 MASK FLAGWRD8
041713,001955: 15,3164 10000 CCS A
041714,001956: 15,3165 13544 TCF P57JUMP # ITS SET
041715,001957: 15,3166 06042 TC INTPRET
041716,001958: 15,3167 77624 CALL
041717,001959: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041718,001960: 15,3171 77776 P57POST EXIT
041719,001961: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041720,001962: 15,3173 04616 TC BANKCALL
041721,001963: 15,3174 20624 CADR GOPERF1
041722,001964: 15,3175 16001 TCF GOTOPOOH # VB34 - TERMINATE
041723,001965: 15,3176 13544 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041724,001966: 15,3177 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041725,001967: 15,3200 61144 AD OPTION2
041726,001968: 15,3201 00006 EXTEND
041727,001969: 15,3202 13204 BZF +2 # YES - GO CALCULATE LANDING SITE
041728,001970: 15,3203 16001 TCF GOTOPOOH # NO - EXIT P57
041729,001971: 15,3204 05353 TC PHASCHNG # RESTART PLACE
041730,001972: 15,3205 04024 OCT 04024
041731,001973: 15,3206 06042 TC INTPRET
041732,001974: 15,3207 45175 VLOAD CALL # USE GNB
041733,001975: 15,3210 02231 GSAV
041734,001976: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
041735,001977: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
041736,001978: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041737,001979: 15,3214 01463 LUNAFLAG
041738,001980: 15,3215 51515 PDVL ABVAL
041739,001981: 15,3216 02023 RLS
041740,001982: 15,3217 45561 VXSC STADR
041741,001983: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041742,001984: 15,3221 47014 CLEAR RTB
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|
Page 967
|
041744,001986: 15,3222 00662 ERADFLAG
041745,001987: 15,3223 21574 LOADTIME
041746,001988: 15,3224 77624 CALL
041747,001989: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041748,001990: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
041749,001991: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041750,001992: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041751,001993: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
041752,001994: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041753,001995: 15,3233 51700 R-TO-RP
041754,001996: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041755,001997: 15,3235 77776 EXIT
041756,001998: 15,3236 16001 TCF GOTOPOOH # EXIT P57
041757,001999:
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|
Page 968
|
041759,002001: # COARSE AND FINE ALIGN IMU
041760,002002:
041761,002003: 15,3237 75160 COATRIM AXC,1 AXC,2
041762,002004: 15,3240 02664 XDC
041763,002005: 15,3241 02642 XSM
041764,002006: 15,3242 77624 CALL
041765,002007: 15,3243 31371 MATMOVE
041766,002008: 15,3244 77624 CALL
041767,002009: 15,3245 47541 CDUTRIG
041768,002010: 15,3246 77624 CALL
041769,002011: 15,3247 20030 CALCSMSC
041770,002012: 15,3250 77624 CALL
041771,002013: 15,3251 47355 CALCGA
041772,002014: 15,3252 77414 BOFF EXIT
041773,002015: 15,3253 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041774,002016: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041775,002017: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041776,002018: 15,3256 04616 TC BANKCALL
041777,002019: 15,3257 20477 CADR GOFLASH
041778,002020: 15,3260 06001 TC GOTOPOOH
041779,002021: 15,3261 13263 TCF +2
041780,002022: 15,3262 13255 TCF -5
041781,002023: 15,3263 05353 TC PHASCHNG
041782,002024: 15,3264 04024 OCT 04024
041783,002025:
041784,002026: 15,3265 06042 TC INTPRET
041785,002027: 15,3266 77624 CORSIT CALL
041786,002028: 15,3267 31557 COARSE
041787,002029: 15,3270 77624 CALL
041788,002030: 15,3271 31603 NCOARSE
041789,002031: 15,3272 77624 CALL
041790,002032: 15,3273 32764 GYROTRIM
041791,002033: 15,3274 77650 GOTO
041792,002034: 15,3275 33144 SURFDISP
041793,002035: 15,3276 01535 DISPGYRO VN 0693
041794,002036:
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|
Page 969
|
041796,002038: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041797,002039:
041798,002040: 15,3277 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041799,002041: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041800,002042:
041801,002043: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041802,002044: 15,3302 55144 TS OPTION2
041803,002045: 15,3303 34753 P57OPT CAF BIT1
041804,002046: 15,3304 04616 TC BANKCALL
041805,002047: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041806,002048: 15,3306 06001 TC GOTOPOOH # V34 TERMINATE
041807,002049: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041808,002050: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041809,002051:
041810,002052: 15,3311 05353 TC PHASCHNG
041811,002053: 15,3312 00014 OCT 00014
041812,002054: 15,3313 05155 TC ENDOFJOB
041813,002055:
041814,002056: 15,3314 31144 ALIGNOPT CA OPTION2
041815,002057: 15,3315 76250 MASK THREE
041816,002058: 15,3316 50000 INDEX A
041817,002059: 15,3317 13320 TCF +1
041818,002060: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041819,002061: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041820,002062: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041821,002063: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041822,002064: 15,3324 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041823,002065: 15,3325 01733 REFSMMAT
041824,002066: 15,3326 03606 XSMD
041825,002067: 15,3327 77624 CALL
041826,002068: 15,3330 31371 MATMOVE
041827,002069: 15,3331 77650 GOTO
041828,002070: 15,3332 33373 PACKOPTN -1
041829,002071:
041830,002072: 15,3333 06042 TDISP TC INTPRET
041831,002073: 15,3334 77745 DLOAD
041832,002074: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041833,002075: 15,3336 01045 P57A STORE DSPTEM1
041834,002076: 15,3337 77776 EXIT
041835,002077: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041836,002078: 15,3341 04616 TC BANKCALL
041837,002079: 15,3342 20477 CADR GOFLASH
041838,002080: 15,3343 16001 TCF GOTOPOOH # V34 - TERMINATE
041839,002081: 15,3344 13346 TCF +2
041840,002082: 15,3345 13340 TCF P57AA # VB32 - RECYCLE
041841,002083:
041842,002084: 15,3346 06042 TC INTPRET
041843,002085: 15,3347 65234 RTB PDDL
041844,002086: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041845,002087: 15,3351 01045 DSPTEM1
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|
Page 970
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041847,002089: 15,3352 65254 BZE PDDL
041848,002090: 15,3353 33363 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041849,002091: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041850,002092: 15,3355 01045 DSPTEM1
041851,002093: 15,3356 33363 P57C
041852,002094: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041853,002095: 15,3360 74335 STORE TIG # STORE IT IN TIG
041854,002096: 15,3361 36775 STCALL TALIGN
041855,002097: 15,3362 33365 P57D
041856,002098: 15,3363 45545 P57C DLOAD STADR
041857,002099: 15,3364 75002 STORE TALIGN
041858,002100: 15,3365 34041 P57D STCALL TDEC1
041859,002101: 15,3366 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041860,002102: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041861,002103: 15,3370 00001 RATT
041862,002104: 15,3371 37607 STCALL XSMD
041863,002105: 15,3372 10757 LSORIENT
041864,002106: 15,3373 77776 EXIT
041865,002107: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041866,002108: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041867,002109: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041868,002110: 15,3377 34737 CAF REFSMBIT
041869,002111: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041870,002112: 15,3401 10000 CCS A
041871,002113: 15,3402 34745 CAF BIT7 # SET
041872,002114: 15,3403 27145 ADS OPTION1 +2 # CLEAR - JUST ZERO
041873,002115: 15,3404 34753 CAF ATTFLBIT
041874,002116: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041875,002117: 15,3406 10000 CCS A
041876,002118: 15,3407 34750 CAF BIT4 # SET
041877,002119: 15,3410 27145 ADS OPTION1 +2 # CLEAR - ZERO IN A
041878,002120: 15,3411 34750 CAF BIT4
041879,002121: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041880,002122:
041881,002123: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041882,002124: 15,3414 04616 TC BANKCALL
041883,002125: 15,3415 20477 CADR GOFLASH
041884,002126: 15,3416 16001 TCF GOTOPOOH # VB34 - TERMINATE
041885,002127: 15,3417 13421 TCF +2 # V33 - PROCEED
041886,002128: 15,3420 13413 TCF DSPOPTN # V32 - RECYCLE
041887,002129:
041888,002130: 15,3421 34737 CAF REFSMBIT
041889,002131: 15,3422 70077 MASK FLAGWRD3
041890,002132: 15,3423 10000 CCS A
041891,002133: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041892,002134: 15,3425 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041893,002135: 15,3426 70102 MASK FLAGWRD6
041894,002136: 15,3427 10000 CCS A
041895,002137: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041896,002138: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 971
|
041898,002140: 15,3432 71144 MASK OPTION2
041899,002141: 15,3433 10000 CCS A
041900,002142: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041901,002143: 15,3435 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041902,002144: 15,3436 00701 OCT 701
041903,002145: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041904,002146: 15,3440 04616 TC BANKCALL
041905,002147: 15,3441 20477 CADR GOFLASH
041906,002148: 15,3442 16001 TCF GOTOPOOH # VB34-TERMINATE
041907,002149: 15,3443 13413 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
041908,002150: 15,3444 13413 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
041909,002151:
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|
Page 972
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041911,002153: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041912,002154:
041913,002155: 15,3445 40220 MFREF STQ SETPD
041914,002156: 15,3446 02746 QMAJ
041915,002157: 15,3447 00001 0
041916,002158: 15,3450 77634 RTB
041917,002159: 15,3451 21574 LOADTIME
041918,002160: 15,3452 27562 STOVL TSIGHT
041919,002161: 15,3453 03246 VEC1
041920,002162: 15,3454 41525 PDDL PUSH
041921,002163: 15,3455 03562 TSIGHT
041922,002164: 15,3456 77624 CALL
041923,002165: 15,3457 55716 RP-TO-R
041924,002166: 15,3460 27246 STOVL VEC1
041925,002167: 15,3461 03254 VEC2
041926,002168: 15,3462 65201 SETPD PDDL
041927,002169: 15,3463 00001 0
041928,002170: 15,3464 03562 TSIGHT
041929,002171: 15,3465 45006 PUSH CALL
041930,002172: 15,3466 55716 RP-TO-R
041931,002173: 15,3467 37254 STCALL VEC2
041932,002174: 15,3470 02746 QMAJ
041933,002175:
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|
Page 973
|
041935,002177: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041936,002178: # STORE IN YNBSAV AND ZNBSAV
041937,002179:
041938,002180: 15,3471 45020 REFMF STQ CALL
041939,002181: 15,3472 02746 QMAJ
041940,002182: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041941,002183: 15,3474 40234 RTB SETPD
041942,002184: 15,3475 21574 LOADTIME
041943,002185: 15,3476 00001 0
041944,002186: 15,3477 37562 STCALL TSIGHT
041945,002187: 15,3500 20030 CALCSMSC # GET YNB IN SM
041946,002188: 15,3501 61375 VLOAD VXM
041947,002189: 15,3502 02673 YNB
041948,002190: 15,3503 01734 REFSMMAT # YNB TO REF
041949,002191: 15,3504 65256 UNIT PDDL
041950,002192: 15,3505 03562 TSIGHT
041951,002193: 15,3506 45006 PUSH CALL
041952,002194: 15,3507 51700 R-TO-RP
041953,002195: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041954,002196: 15,3511 02701 ZNB
041955,002197: 15,3512 53505 VXM UNIT
041956,002198: 15,3513 01734 REFSMMAT # ZNB TO REF
041957,002199: 15,3514 41525 PDDL PUSH
041958,002200: 15,3515 03562 TSIGHT
041959,002201: 15,3516 77624 CALL
041960,002202: 15,3517 51700 R-TO-RP # ZNB TO MF
041961,002203: 15,3520 02245 STORE ZNBSAV
041962,002204: 15,3521 77614 SETGO
041963,002205: 15,3522 03036 ATTFLAG
041964,002206: 15,3523 02746 QMAJ
041965,002207:
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|
Page 974
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041967,002209: # BRANCH TO ALIGNMENT OPTION
041968,002210:
041969,002211: 15,3524 06042 GETLMATT TC INTPRET
041970,002212: 15,3525 77624 CALL
041971,002213: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041972,002214: 15,3527 77776 EXIT
041973,002215:
041974,002216: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041975,002217: 15,3531 00205 ADRES INITALGN
041976,002218: 15,3532 34753 CAF BIT1
041977,002219: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041978,002220: 15,3534 10000 CCS A
041979,002221: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041980,002222:
041981,002223: 15,3536 05353 ATTCHK TC PHASCHNG
041982,002224: 15,3537 04024 OCT 04024
041983,002225:
041984,002226: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041985,002227: 15,3541 70102 MASK FLAGWRD6
041986,002228: 15,3542 10000 CCS A
041987,002229: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041988,002230: 15,3544 05353 P57JUMP TC PHASCHNG
041989,002231: 15,3545 04024 OCT 04024
041990,002232:
041991,002233: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041992,002234: 15,3547 00205 ADRES INITALGN
041993,002235: 15,3550 36250 CAF THREE
041994,002236: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
041995,002237: 15,3552 50000 INDEX A
041996,002238: 15,3553 13554 TCF +1
041997,002239: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
041998,002240: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
041999,002241: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
042000,002242: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
042001,002243:
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|
Page 975
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042003,002245: # OPTION 0, GET TWO ATTITUDE VECS
042004,002246:
042005,002247: 15,3560 06042 P57OPT0 TC INTPRET
042006,002248: 15,3561 77775 VLOAD
042007,002249: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042008,002250: 15,3563 27246 STOVL VEC1
042009,002251: 15,3564 02245 ZNBSAV
042010,002252: 15,3565 37254 STCALL VEC2
042011,002253: 15,3566 47541 CDUTRIG
042012,002254: 15,3567 77624 CALL
042013,002255: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042014,002256: 15,3571 77775 VLOAD
042015,002257: 15,3572 02673 YNB
042016,002258: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042017,002259: 15,3574 02701 ZNB
042018,002260: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042019,002261: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042020,002262: 15,3577 77650 GOTO
042021,002263: 15,3600 33064 SURFLINE
042022,002264:
042023,002265: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042024,002266:
042025,002267: 15,3601 06042 P57OPT1 TC INTPRET
042026,002268: 15,3602 53575 VLOAD UNIT
042027,002269: 15,3603 02023 RLS # LANDING SITE VEC
042028,002270: 15,3604 27246 STOVL VEC1
042029,002271: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
042030,002272: 15,3606 37254 STCALL VEC2
042031,002273: 15,3607 47541 CDUTRIG
042032,002274: 15,3610 77624 CALL
042033,002275: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042034,002276: 15,3612 45175 VLOAD CALL
042035,002277: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042036,002278: 15,3614 47663 CDU*NBSM
042037,002279: 15,3615 77650 GOTO
042038,002280: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
042039,002281:
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|
Page 976
|
042041,002283: # OPTION 2, GET TWO STAR SIGHTINGS
042042,002284:
042043,002285: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042044,002286:
042045,002287: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042046,002288:
042047,002289: 15,3620 06042 P57OPT3 TC INTPRET
042048,002290: 15,3621 53575 VLOAD UNIT
042049,002291: 15,3622 02023 RLS # LANDING SITE VEC
042050,002292: 15,3623 03246 STORE VEC1
042051,002293: 15,3624 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042052,002294: 15,3625 02231 GSAV # GRAVITY VEC NB
042053,002295: 15,3626 77624 CALL
042054,002296: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042055,002297: 15,3630 36761 STCALL STARSAV1
042056,002298: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042057,002299: 15,3632 77776 EXIT
042058,002300: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042059,002301:
042060,002302: 15,3634 01206 VB05N06 VN 506
042061,002303:
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|
Page 977
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042063,002305: # CHECK IMODES30 TO VARIFY IMU IS ON
042064,002306:
042065,002307: 15,3635 41277 IMUCHK CS IMODES30
042066,002308: 15,3636 74743 MASK BIT9
042067,002309: 15,3637 10000 CCS A # IS IMU ON
042068,002310: 15,3640 13644 TCF +4 # YES
042069,002311:
042070,002312: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
042071,002313: 15,3642 00210 OCT 210
042072,002314: 15,3643 06001 TC GOTOPOOH
042073,002315:
042074,002316: 15,3644 05504 TC UPFLAG
042075,002317: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
042076,002318:
042077,002319: 15,3646 04631 TC SWRETURN
042078,002320:
042079,002321: 04,2757 BANK 04
042080,002322: 04,2000 SETLOC AOTMARK2
042081,002323: 04,2000 BANK
042082,002324: 04,2757 COUNT* $$/P57
042083,002325:
042084,002326: 04,2757 77220 LSORIENT STQ VLOAD
042085,002327: 04,2760 02746 QMAJ
042086,002328: 04,2761 01555 RRECTCSM
042087,002329: 04,2762 47235 VXV VXV
042088,002330: 04,2763 01563 VRECTCSM
042089,002331: 04,2764 03607 XSMD
042090,002332: 04,2765 77656 UNIT
042091,002333: 04,2766 03623 STORE ZSMD
042092,002334: 04,2767 53435 VXV UNIT
042093,002335: 04,2770 03607 XSMD
042094,002336: 04,2771 37615 STCALL YSMD
042095,002337: 04,2772 02746 QMAJ
042096,002338:
End of include-file P51-P53.agc. Parent file is MAIN.agc