GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.
Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
039550,000002: ## Copyright: Public domain.
039551,000003: ## Filename: P51-P53.agc
039552,000004: ## Purpose: A section of Luminary 1C, revision 131.
039553,000005: ## It is part of the source code for the Lunar Module's (LM)
039554,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
039555,000007: ## This file is intended to be a faithful transcription, except
039556,000008: ## that the code format has been changed to conform to the
039557,000009: ## requirements of the yaYUL assembler rather than the
039558,000010: ## original YUL assembler.
039559,000011: ## Reference: pp. 921-977
039560,000012: ## Contact: Ron Burkey <info@sandroid.org>.
039561,000013: ## Website: www.ibiblio.org/apollo
039562,000014: ## Mod history: 05/29/03 RSB. Began transcribing.
039563,000015: ## 2010-10-25 JL Indentation fixes.
039564,000016: ## 2017-01-06 RSB Page numbers now agree with those on the
039565,000017: ## original hardcopy, as opposed to the PDF page
039566,000018: ## numbers in 1701.pdf.
039567,000019: ## 2017-02-26 RSB Proofed comment text using octopus/ProoferComments.
039568,000020: ## 2017-03-01 RSB Fixed lingering typos.
039569,000021: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
039570,000022: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039571,000023: ## side-by-side diff of Luminary 69/99/116/131/210.
039572,000024:
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Page 921 |
039574,000026: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039575,000027: # MOD NO - 0 LOG SECTION - P51-P53
039576,000028: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039577,000029:
039578,000030: # FUNCTIONAL DESCRIPTION -
039579,000031:
039580,000032: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039581,000033: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039582,000034:
039583,000035: # (A) PREFERRED ORIENTATION
039584,000036:
039585,000037: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039586,000038: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039587,000039:
039588,000040: # (B) NOMINAL ORIENTATION
039589,000041:
039590,000042: # X = UNIT ( R )
039591,000043: # -SM
039592,000044:
039593,000045: # Y = UNIT (V X R)
039594,000046: # SM
039595,000047:
039596,000048: # Z = UNIT (X X Y )
039597,000049: # SM SM SM
039598,000050:
039599,000051: # WHERE_
039600,000052: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039601,000053: # -
039602,000054:
039603,000055: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039604,000056: # -
039605,000057:
039606,000058: # (C) REFSMMAT ORIENTATION
039607,000059:
039608,000060: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039609,000061:
039610,000062: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039611,000063: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039612,000064: # SINCE THE LAST ALIGNMENT).
039613,000065:
039614,000066: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039615,000067: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039616,000068: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039617,000069: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039618,000070: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039619,000071: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039620,000072: # REQUESTED.
039621,000073:
039622,000074: # CALLING SEQUENCE -
039623,000075:
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Page 922 |
039625,000077: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039626,000078:
039627,000079: # SUBROUTINES CALLED -
039628,000080:
039629,000081: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039630,000082: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039631,000083: # 3. GOPERF4 9. FLAGUP
039632,000084: # 4. MATMOVE 10. R56
039633,000085: # 5. GOFLASH 11. R51
039634,000086: # 6. S52.3 12. GOPERF3
039635,000087:
039636,000088: # NORMAL EXIT MODES -
039637,000089:
039638,000090: # EXITS TO ENDOFJOB
039639,000091:
039640,000092: # ALARM OR ABORT EXIT MODES -
039641,000093:
039642,000094: # NONE
039643,000095:
039644,000096: # OUTPUT -
039645,000097:
039646,000098: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039647,000099: # 1. IMU ORIENTATION CODE
039648,000100: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039649,000101: # 3. TIME OF NEXT IGNITION
039650,000102: # 4. GIMBAL ANGLES
039651,000103: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039652,000104: # 6. PLEASE PERFORM P00
039653,000105: # THE MODE DISPLAY MAY BE CHANGED TO 20
039654,000106:
039655,000107: # ERASABLE INITIALIZATION REQUIRED -
039656,000108:
039657,000109: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039658,000110: # XSMD, YSMD, ZSMD.
039659,000111:
039660,000112: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039661,000113:
039662,000114: # DEBRIS -
039663,000115:
039664,000116: # WORKAREA
039665,000117:
039666,000118: 33,3760 BANK 33
039667,000119: 15,2000 SETLOC P50S
039668,000120: 15,2000 BANK
039669,000121:
039670,000122: 15,2050 E5,1755 EBANK= BESTI
039671,000123: 15,2050 COUNT* $$/P52
039672,000124: 15,2050 04616 PROG52 TC BANKCALL
039673,000125: 15,2051 11233 CADR R02BOTH # IMU STATUS CHECK
039674,000126: 15,2052 34750 CAF PFRATBIT
039675,000127: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039676,000128: 15,2054 10000 CCS A
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Page 923 |
039678,000130: 15,2055 02060 TC P52A # YES
039679,000131: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039680,000132: 15,2057 02061 TC P52A +1
039681,000133: 15,2060 34753 P52A CAF BIT1
039682,000134: 15,2061 55144 TS OPTION2
039683,000135: 15,2062 34753 P52B CAF BIT1
039684,000136: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039685,000137: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039686,000138: 15,2065 06001 TC GOTOPOOH
039687,000139: 15,2066 12073 TCF +5 # V33 - PROCEED
039688,000140: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039689,000141: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039690,000142: 15,2071 00014 OCT 00014
039691,000143: 15,2072 05155 TC ENDOFJOB
039692,000144:
039693,000145: 15,2073 31144 CA OPTION2
039694,000146: 15,2074 76250 MASK THREE
039695,000147: 15,2075 50000 INDEX A
039696,000148: 15,2076 02077 TC +1
039697,000149: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039698,000150: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039699,000151: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039700,000152: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039701,000153: 15,2103 77650 GOTO
039702,000154: 15,2104 32164 P52F # GO DO R51
039703,000155:
039704,000156: 15,2105 00006 OPT4 EXTEND
039705,000157: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039706,000158: 15,2107 12112 TCF P52T +2
039707,000159:
039708,000160: 15,2110 00006 P52T EXTEND
039709,000161: 15,2111 34755 DCA NEG0
039710,000162: 15,2112 53045 DXCH DSPTEM1
039711,000163: 15,2113 32170 CAF V06N34*
039712,000164: 15,2114 04616 TC BANKCALL
039713,000165: 15,2115 20477 CADR GOFLASH
039714,000166: 15,2116 06001 TC GOTOPOOH
039715,000167: 15,2117 02121 TC +2
039716,000168: 15,2120 02113 TC -5
039717,000169: 15,2121 53045 DXCH DSPTEM1
039718,000170: 15,2122 00006 EXTEND
039719,000171: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039720,000172: 15,2124 12127 TCF +3
039721,000173: 15,2125 00006 EXTEND
039722,000174: 15,2126 30025 DCA TIME2
039723,000175: 15,2127 53775 DXCH TALIGN
039724,000176: 15,2130 31144 P52V CA OPTION2
039725,000177: 15,2131 74752 MASK BIT2
039726,000178: 15,2132 10000 CCS A
039727,000179: 15,2133 02137 TC P52W
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Page 924 |
039729,000181: 15,2134 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039730,000182: 15,2135 77650 GOTO
039731,000183: 15,2136 32220 P52LS
039732,000184:
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Page 925 |
039734,000186: # START ALIGNMENT
039735,000187:
039736,000188: 15,2137 06042 P52W TC INTPRET
039737,000189: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039738,000190: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039739,000191: 15,2142 31651 S52.3 # ORIENTATION
039740,000192: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039741,000193: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039742,000194: 15,2145 77776 EXIT
039743,000195: 15,2146 35010 CAF V06N22
039744,000196: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039745,000197: 15,2150 20477 CADR GOFLASH
039746,000198: 15,2151 06001 TC GOTOPOOH
039747,000199: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039748,000200: 15,2153 06042 P52H TC INTPRET
039749,000201: 15,2154 77650 GOTO
039750,000202: 15,2155 32143 P52D
039751,000203: 15,2156 06042 REGCOARS TC INTPRET
039752,000204: 15,2157 77624 CALL # DO COARSE ALIGN
039753,000205: 15,2160 31321 CAL53A # ROUTINE
039754,000206: 15,2161 43014 COARSRET SET CLEAR
039755,000207: 15,2162 01462 REFSMFLG
039756,000208: 15,2163 01273 PFRATFLG
039757,000209: 15,2164 77624 P52F CALL
039758,000210: 15,2165 31007 R51
039759,000211: 15,2166 77776 P52OUT EXIT
039760,000212: 15,2167 06001 TC GOTOPOOH
039761,000213: 15,2170 5006 VB05N09 = V05N09
039762,000214: 15,2170 01442 V06N34* VN 634
039763,000215:
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Page 926 |
039765,000217: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039766,000218:
039767,000219: 15,2171 32217 COARSTYP CAF OCT13
039768,000220: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039769,000221: 15,2173 20624 CADR GOPERF1
039770,000222: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039771,000223: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039772,000224: 15,2176 06042 TC INTPRET # V32 - GYRO TORQUE COARSE
039773,000225: 15,2177 64375 VLOAD MXV
039774,000226: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039775,000227: 15,2201 01734 REFSMMAT
039776,000228: 15,2202 77656 UNIT
039777,000229: 15,2203 26665 STOVL XDC
039778,000230: 15,2204 03615 YSMD
039779,000231: 15,2205 53521 MXV UNIT
039780,000232: 15,2206 01734 REFSMMAT
039781,000233: 15,2207 26673 STOVL YDC
039782,000234: 15,2210 03623 ZSMD
039783,000235: 15,2211 53521 MXV UNIT
039784,000236: 15,2212 01734 REFSMMAT
039785,000237: 15,2213 36701 STCALL ZDC
039786,000238: 15,2214 31156 GYCOARS
039787,000239: 15,2215 77650 GOTO
039788,000240: 15,2216 32166 P52OUT
039789,000241: 15,2217 00013 OCT13 OCT 13
039790,000242:
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Page 927 |
039792,000244: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039793,000245:
039794,000246: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039795,000247: 15,2221 01463 LUNAFLAG
039796,000248: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039797,000249: 15,2223 77201 SETPD VLOAD
039798,000250: 15,2224 00001 0
039799,000251: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039800,000252: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039801,000253: 15,2227 02775 TALIGN
039802,000254: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039803,000255: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039804,000256: 15,2232 77742 VSR2
039805,000257: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039806,000258: 15,2234 02775 TALIGN
039807,000259: 15,2235 77624 CALL
039808,000260: 15,2236 30440 N89DISP
039809,000261: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
039810,000262: 15,2240 02032 ALPHAV
039811,000263: 15,2241 37607 STCALL XSMD
039812,000264: 15,2242 10757 LSORIENT
039813,000265: 15,2243 77650 GOTO
039814,000266: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
039815,000267:
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Page 928 |
039817,000269: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039818,000270:
039819,000271: 14,2000 SETLOC P50S1
039820,000272: 14,2000 BANK
039821,000273: 14,2440 E5,1642 EBANK= XSM
039822,000274:
039823,000275: 14,2440 77620 N89DISP STQ
039824,000276: 14,2441 02746 QMAJ
039825,000277: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
039826,000278: 14,2443 26347 LAT-LONG
039827,000279: 14,2444 70545 DLOAD SR1
039828,000280: 14,2445 01122 LONG
039829,000281: 14,2446 16711 STODL LANDLONG
039830,000282: 14,2447 01124 ALT
039831,000283: 14,2450 16713 STODL LANDALT
039832,000284: 14,2451 01120 LAT
039833,000285: 14,2452 02707 STORE LANDLAT
039834,000286: 14,2453 77776 EXIT
039835,000287:
039836,000288: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
039837,000289: 14,2455 04616 TC BANKCALL
039838,000290: 14,2456 20477 CADR GOFLASH
039839,000291: 14,2457 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
039840,000292: 14,2460 12462 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
039841,000293: 14,2461 12454 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
039842,000294:
039843,000295: 14,2462 06042 TC INTPRET
039844,000296: 14,2463 72545 DLOAD SL1
039845,000297: 14,2464 02711 LANDLONG
039846,000298: 14,2465 15122 STODL LONG
039847,000299: 14,2466 02713 LANDALT
039848,000300: 14,2467 15124 STODL ALT
039849,000301: 14,2470 02707 LANDLAT
039850,000302: 14,2471 15120 STODL LAT
039851,000303: 14,2472 01242 GDT/2 +4 # PICK UP TIME
039852,000304: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
039853,000305: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
039854,000306: 14,2475 77650 GOTO
039855,000307: 14,2476 02746 QMAJ
039856,000308: 14,2477 01531 V06N89* VN 689
039857,000309:
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Page 929 |
039859,000311: # NAME - S50 ALIAS LOCSAM
039860,000312: # BY
039861,000313: # VINCENT
039862,000314:
039863,000315: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
039864,000316:
039865,000317: # DEFINE
039866,000318:
039867,000319: # U = UNIT( SUN WRT EARTH )
039868,000320: # ES
039869,000321:
039870,000322: # U = UNIT( MOON WRT EARTH )
039871,000323: # EM
039872,000324:
039873,000325: # R = POSITION VECTOR OF LEM
039874,000326: # L
039875,000327:
039876,000328: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039877,000329: # EM
039878,000330:
039879,000331: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
039880,000332: # EM
039881,000333:
039882,000334: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
039883,000335: # E
039884,000336:
039885,000337: # LOCSAM COMPUTES IN EARTH INFLUENCE
039886,000338:
039887,000339: # VSUN = U
039888,000340: # ES
039889,000341:
039890,000342: # VEARTH = -UNIT( R )
039891,000343: # L
039892,000344:
039893,000345: # VMOON = UNIT(R .U - R )
039894,000346: # EM EM L
039895,000347:
039896,000348: # CSUN = COS 90
039897,000349:
039898,000350: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039899,000351: # E L
039900,000352:
039901,000353: # CMOON = COS 5
039902,000354:
039903,000355: # INPUT - TIME IN MPAC
039904,000356:
039905,000357: # OUTPUT - LISTED ABOVE
039906,000358:
039907,000359: # SUBROUTINES - LSPOS, LEMPREC
039908,000360:
039909,000361: # DEBRIS - VAC AREA, TSIGHT
039910,000362:
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|
Page 930 |
039912,000364: 14,2500 COUNT* $$/LOSAM
039913,000365:
039914,000366: 14,2500 14,2500 S50 = LOCSAM
039915,000367: 14,2500 77620 LOCSAM STQ
039916,000368: 14,2501 02745 QMIN
039917,000369: 14,2502 37562 STCALL TSIGHT
039918,000370: 14,2503 33647 LSPOS
039919,000371: 14,2504 77745 DLOAD
039920,000372: 14,2505 03562 TSIGHT
039921,000373: 14,2506 34041 STCALL TDEC1
039922,000374: 14,2507 27056 LEMPREC
039923,000375: 14,2510 61131 SSP TIX,2
039924,000376: 14,2511 00052 S2
039925,000377: 14,2512 00000 0
039926,000378: 14,2513 30535 MOONCNTR
039927,000379: 14,2514 74375 EARTCNTR VLOAD VXSC
039928,000380: 14,2515 02723 VMOON
039929,000381: 14,2516 30001 RSUBEM
039930,000382: 14,2517 52372 VSL1 VSU
039931,000383: 14,2520 00001 RATT
039932,000384: 14,2521 77656 UNIT
039933,000385: 14,2522 26723 STOVL VMOON
039934,000386: 14,2523 00001 RATT
039935,000387: 14,2524 57456 UNIT VCOMP
039936,000388: 14,2525 16707 STODL VEARTH
039937,000389: 14,2526 30005 RSUBE
039938,000390: 14,2527 77624 CALL
039939,000391: 14,2530 30567 OCCOS
039940,000392: 14,2531 14017 STODL CEARTH
039941,000393: 14,2532 30576 CSS5
039942,000394: 14,2533 34023 STCALL CMOON
039943,000395: 14,2534 30562 ENDSAM
039944,000396: 14,2535 74375 MOONCNTR VLOAD VXSC
039945,000397: 14,2536 02723 VMOON
039946,000398: 14,2537 30007 ROE
039947,000399: 14,2540 53445 BVSU UNIT
039948,000400: 14,2541 02715 VSUN
039949,000401: 14,2542 26715 STOVL VSUN
039950,000402: 14,2543 02723 VMOON
039951,000403: 14,2544 53361 VXSC VAD
039952,000404: 14,2545 30001 RSUBEM
039953,000405: 14,2546 00001 RATT
039954,000406: 14,2547 57456 UNIT VCOMP
039955,000407: 14,2550 26707 STOVL VEARTH
039956,000408: 14,2551 00001 RATT
039957,000409: 14,2552 57456 UNIT VCOMP
039958,000410: 14,2553 16723 STODL VMOON
039959,000411: 14,2554 30003 RSUBM
039960,000412: 14,2555 77624 CALL
039961,000413: 14,2556 30567 OCCOS
|
|
Page 931 |
039963,000415: 14,2557 14023 STODL CMOON
039964,000416: 14,2560 30576 CSS5
039965,000417: 14,2561 00017 STORE CEARTH
039966,000418: 14,2562 77745 ENDSAM DLOAD
039967,000419: 14,2563 30600 CSSUN
039968,000420: 14,2564 00021 STORE CSUN
039969,000421: 14,2565 77650 GOTO
039970,000422: 14,2566 02745 QMIN
039971,000423: 14,2567 70471 OCCOS DDV SR1
039972,000424: 14,2570 00045 36D
039973,000425: 14,2571 43336 ASIN DAD
039974,000426: 14,2572 30602 5DEGREES
039975,000427: 14,2573 70546 COS SR1
039976,000428: 14,2574 77616 RVQ
039977,000429: 14,2575 CEARTH = 14D
039978,000430: 14,2575 CSUN = 16D
039979,000431: 14,2575 CMOON = 18D
039980,000432: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
039981,000433: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
039982,000434: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
039983,000435:
|
|
Page 932 |
039985,000437: # PROGRAM NAME - R56 DATE DEC 20 66
039986,000438: # MOD 1 LOG SECTION P51-P53
039987,000439: # ASSEMBLY SUNDISK REV40
039988,000440: # BY KEN VINCENT
039989,000441:
039990,000442: # FUNCTION
039991,000443: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
039992,000444: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
039993,000445: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
039994,000446: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
039995,000447: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
039996,000448: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
039997,000449: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
039998,000450: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
039999,000451: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040000,000452: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040001,000453: # 50 DEGREESOF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040002,000454: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040003,000455:
040004,000456: # CALLING SEQUENCE
040005,000457: # L TC BANKCALL
040006,000458: # L+1 CADR R56
040007,000459: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040008,000460: # L+3 NORMAL RETURN
040009,000461:
040010,000462: # OUTPUT
040011,000463: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040012,000464: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040013,000465:
040014,000466: # INITIALIZATION
040015,000467: # 1) A CALL TO LOCSAM MUST BE MADE
040016,000468:
040017,000469: # DEBRIS
040018,000470: # WORKAREA
040019,000471: # X,Y,ZNB
040020,000472: # SINCDU, COSCDU
040021,000473: # STARAD - STAR +5
040022,000474:
040023,000475: 14,2603 14,2603 R56 = PICAPAR
040024,000476: 14,2603 COUNT* $$/R56
040025,000477: 14,2603 04645 PICAPAR TC MAKECADR
040026,000478: 14,2604 55745 TS QMIN
040027,000479: 14,2605 06042 TC INTPRET
040028,000480: 14,2606 77624 CALL
040029,000481: 14,2607 47541 CDUTRIG
040030,000482: 14,2610 77624 CALL
040031,000483: 14,2611 20030 CALCSMSC
040032,000484: 14,2612 77601 SETPD
040033,000485: 14,2613 00001 0
040034,000486: 14,2614 71214 SET DLOAD # VFLAG = 1
040035,000487: 14,2615 01465 VFLAG
|
|
Page 933 |
040037,000489: 14,2616 24007 DPZERO
040038,000490: 14,2617 26756 STOVL BESTI
040039,000491: 14,2620 02665 XNB
040040,000492: 14,2621 63361 VXSC PDVL
040041,000493: 14,2622 24005 HALFDP
040042,000494: 14,2623 02701 ZNB
040043,000495: 14,2624 74370 AXT,1 VXSC
040044,000496: 14,2625 00344 228D # X1 = 37 X 6 + 6
040045,000497: 14,2626 24005 HALFDP
040046,000498: 14,2627 77655 VAD
040047,000499: 14,2630 53505 VXM UNIT
040048,000500: 14,2631 01734 REFSMMAT
040049,000501: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040050,000502: 14,2633 66331 SSP SSP # S1 = S2 = 6
040051,000503: 14,2634 00051 S1
040052,000504: 14,2635 00006 6
040053,000505: 14,2636 00052 S2
040054,000506: 14,2637 00006 6
040055,000507: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040056,000508: 14,2641 30643 PIC2
040057,000509: 14,2642 30760 PICEND
040058,000510: 14,2643 50373 PIC2 VLOAD* DOT
040059,000511: 14,2644 30347 CATLOG,1
040060,000512: 14,2645 02731 SAX
040061,000513: 14,2646 50025 DSU BMN
040062,000514: 14,2647 30757 CSS33
040063,000515: 14,2650 30640 PIC1
040064,000516: 14,2651 77754 LXA,2
040065,000517: 14,2652 00046 X1
040066,000518: 14,2653 52104 PIC3 TIX,2 GOTO
040067,000519: 14,2654 30656 PIC4
040068,000520: 14,2655 30640 PIC1
040069,000521: 14,2656 50373 PIC4 VLOAD* DOT
040070,000522: 14,2657 47430 CATLOG,2
040071,000523: 14,2660 02731 SAX
040072,000524: 14,2661 50025 DSU BMN
040073,000525: 14,2662 30757 CSS33
040074,000526: 14,2663 30653 PIC3
040075,000527: 14,2664 47773 VLOAD* DOT*
040076,000528: 14,2665 30347 CATLOG,1
040077,000529: 14,2666 47430 CATLOG,2
040078,000530: 14,2667 51025 DSU BPL
040079,000531: 14,2670 30755 CSS40
040080,000532: 14,2671 30653 PIC3
040081,000533: 14,2672 45173 VLOAD* CALL
040082,000534: 14,2673 30347 CATLOG,1
040083,000535: 14,2674 30732 OCCULT
040084,000536: 14,2675 77614 BON
040085,000537: 14,2676 01710 CULTFLAG
040086,000538: 14,2677 30640 PIC1
|
|
Page 934 |
040088,000540: 14,2700 45173 VLOAD* CALL
040089,000541: 14,2701 47430 CATLOG,2
040090,000542: 14,2702 30732 OCCULT
040091,000543: 14,2703 77614 BON
040092,000544: 14,2704 01710 CULTFLAG
040093,000545: 14,2705 30653 PIC3
040094,000546: 14,2706 77614 STRATGY BONCLR
040095,000547: 14,2707 01605 VFLAG
040096,000548: 14,2710 30725 NEWPAR
040097,000549: 14,2711 65120 XCHX,1 XCHX,2
040098,000550: 14,2712 02755 BESTI
040099,000551: 14,2713 02756 BESTJ
040100,000552: 14,2714 47773 STRAT VLOAD* DOT*
040101,000553: 14,2715 30347 CATLOG,1
040102,000554: 14,2716 47430 CATLOG,2
040103,000555: 14,2717 43006 PUSH BOFINV
040104,000556: 14,2720 01545 VFLAG
040105,000557: 14,2721 30711 STRAT -3
040106,000558: 14,2722 45345 DLOAD DSU
040107,000559: 14,2723 77644 BPL
040108,000560: 14,2724 30653 PIC3
040109,000561: 14,2725 67130 NEWPAR SXA,1 SXA,2
040110,000562: 14,2726 02755 BESTI
040111,000563: 14,2727 02756 BESTJ
040112,000564: 14,2730 77650 GOTO
040113,000565: 14,2731 30653 PIC3
040114,000566: 14,2732 51321 OCCULT MXV BVSU
040115,000567: 14,2733 02707 CULTRIX
040116,000568: 14,2734 00017 CSS
040117,000569: 14,2735 77654 BZE
040118,000570: 14,2736 30751 CULTED
040119,000571: 14,2737 75240 BMN SIGN
040120,000572: 14,2740 30751 CULTED
040121,000573: 14,2741 00160 MPAC +3
040122,000574: 14,2742 75240 BMN SIGN
040123,000575: 14,2743 30751 CULTED
040124,000576: 14,2744 00162 MPAC +5
040125,000577: 14,2745 43040 BMN CLRGO
040126,000578: 14,2746 30751 CULTED
040127,000579: 14,2747 01630 CULTFLAG
040128,000580: 14,2750 00052 QPRET
040129,000581: 14,2751 77614 CULTED SETGO
040130,000582: 14,2752 01430 CULTFLAG
040131,000583: 14,2753 00052 QPRET
040132,000584: 14,2754 0000016 CSS = CEARTH
040133,000585: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040134,000586: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040135,000587: 14,2760 77414 PICEND BOFF EXIT
040136,000588:
|
|
Page 935 |
040138,000590: 14,2761 01745 VFLAG
040139,000591: 14,2762 30764 PICGXT
040140,000592: 14,2763 03005 TC PICBXT
040141,000593: 14,2764 73150 PICGXT LXA,1 LXA,2
040142,000594: 14,2765 02755 BESTI
040143,000595: 14,2766 02756 BESTJ
040144,000596: 14,2767 47775 VLOAD DOT*
040145,000597: 14,2770 02731 SAX
040146,000598: 14,2771 30347 CATLOG,1
040147,000599: 14,2772 47715 PDVL DOT*
040148,000600: 14,2773 02731 SAX
040149,000601: 14,2774 47430 CATLOG,2
040150,000602: 14,2775 77625 DSU
040151,000603: 14,2776 66044 BPL SXA,1
040152,000604: 14,2777 31003 PICNSWP
040153,000605: 14,3000 02756 BESTJ
040154,000606: 14,3001 77734 SXA,2
040155,000607: 14,3002 02755 BESTI
040156,000608: 14,3003 77776 PICNSWP EXIT
040157,000609: 14,3004 25745 INCR QMIN
040158,000610: 14,3005 31745 PICBXT CA QMIN
040159,000611: 14,3006 04622 TC SWCALL
040160,000612: 14,3007 VPD = 0D
040161,000613: 14,3007 V0 = 6D
040162,000614: 14,3007 V1 = 12D
040163,000615: 14,3007 V2 = 18D
040164,000616: 14,3007 V3 = 24D
040165,000617: 14,3007 DP0 = 30D
040166,000618: 14,3007 DP1 = 32D
040167,000619:
|
|
Page 936 |
040169,000621: # NAME - R51 FINE ALIGN
040170,000622: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040171,000623: # CALLING SEQ - CALL R51
040172,000624: # INPUT - REFSMMAT
040173,000625: # OUTPUT - GYRO TORQUE PULSES
040174,000626: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040175,000627:
040176,000628: 14,3007 COUNT* $$/R51
040177,000629: 14,3007 77620 R51 STQ
040178,000630: 14,3010 02746 QMAJ
040179,000631: 14,3011 77776 R51.1 EXIT
040180,000632: 14,3012 05353 TC PHASCHNG
040181,000633: 14,3013 04024 OCT 04024
040182,000634:
040183,000635: 14,3014 34761 R51C CAF OCT15
040184,000636: 14,3015 04616 TC BANKCALL
040185,000637: 14,3016 20624 CADR GOPERF1
040186,000638: 14,3017 06001 TC GOTOPOOH
040187,000639: 14,3020 03022 TC +2 # V33E
040188,000640: 14,3021 03045 TC R51E # ENTER
040189,000641: 14,3022 06042 TC INTPRET
040190,000642: 14,3023 43234 RTB DAD
040191,000643: 14,3024 21574 LOADTIME
040192,000644: 14,3025 31155 TSIGHT1
040193,000645: 14,3026 77624 CALL
040194,000646: 14,3027 30500 LOCSAM
040195,000647: 14,3030 77776 EXIT
040196,000648: 14,3031 04616 TC BANKCALL
040197,000649: 14,3032 30603 CADR R56
040198,000650: 14,3033 03035 TC R51I
040199,000651: 14,3034 03045 R51F TC R51E
040200,000652: 14,3035 05567 R51I TC ALARM
040201,000653: 14,3036 00405 OCT 405
040202,000654: 14,3037 35006 CAF VB05N09
040203,000655: 14,3040 04616 TC BANKCALL
040204,000656: 14,3041 20477 CADR GOFLASH
040205,000657: 14,3042 06001 TC GOTOPOOH
040206,000658: 14,3043 03045 TC R51E
040207,000659: 14,3044 03014 TC R51C
040208,000660: 14,3045 34755 R51E CAF ZERO
040209,000661: 14,3046 55757 TS STARIND
040210,000662: 14,3047 06042 R51.2 TC INTPRET
040211,000663: 14,3050 77776 R51.3 EXIT
040212,000664: 14,3051 05353 TC PHASCHNG
040213,000665: 14,3052 04024 OCT 04024
040214,000666:
040215,000667: 14,3053 06042 TC INTPRET
040216,000668: 14,3054 77624 CALL
040217,000669: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040218,000670: 14,3056 77776 EXIT
040219,000671: 14,3057 04616 TC BANKCALL
|
|
Page 937 |
040221,000673: 14,3060 16000 CADR AOTMARK
040222,000674: 14,3061 04616 TC BANKCALL
040223,000675: 14,3062 17703 CADR OPTSTALL
040224,000676: 14,3063 05701 TC CURTAINS
040225,000677: 14,3064 11757 CCS STARIND
040226,000678: 14,3065 13067 TCF +2
040227,000679: 14,3066 03137 TC R51.4
040228,000680: 14,3067 06042 TC INTPRET
040229,000681: 14,3070 77775 VLOAD
040230,000682: 14,3071 02715 STARAD +6
040231,000683: 14,3072 02767 STORE STARSAV2
040232,000684: 14,3073 77776 EXIT
040233,000685: 14,3074 05353 TC PHASCHNG
040234,000686: 14,3075 04024 OCT 04024
040235,000687:
040236,000688: 14,3076 06042 TC INTPRET
040237,000689: 14,3077 45145 DLOAD CALL
040238,000690: 14,3100 03562 TSIGHT
040239,000691: 14,3101 32472 PLANET
040240,000692: 14,3102 53521 MXV UNIT
040241,000693: 14,3103 01734 REFSMMAT
040242,000694: 14,3104 26715 STOVL STARAD +6
040243,000695: 14,3105 03554 PLANVEC
040244,000696: 14,3106 53521 MXV UNIT
040245,000697: 14,3107 01734 REFSMMAT
040246,000698: 14,3110 26707 STOVL STARAD
040247,000699: 14,3111 02761 STARSAV1
040248,000700: 14,3112 24007 STOVL 6D
040249,000701: 14,3113 02767 STARSAV2
040250,000702: 14,3114 34015 STCALL 12D
040251,000703: 14,3115 31250 R54 # STAR DATA TEST
040252,000704: 14,3116 45014 BOFF CALL
040253,000705: 14,3117 00354 FREEFLAG
040254,000706: 14,3120 31126 R51K
040255,000707: 14,3121 47443 AXISGEN
040256,000708: 14,3122 77624 CALL
040257,000709: 14,3123 31216 R55 # GYRO TORQUE
040258,000710: 14,3124 77614 CLEAR
040259,000711: 14,3125 01273 PFRATFLG
040260,000712: 14,3126 77776 R51K EXIT
040261,000713: 14,3127 35741 R51P63 CAF OCT14
040262,000714: 14,3130 04616 TC BANKCALL
040263,000715: 14,3131 20624 CADR GOPERF1
040264,000716: 14,3132 06001 TC GOTOPOOH
040265,000717: 14,3133 03014 TC R51C
040266,000718: 14,3134 06042 TC INTPRET
040267,000719: 14,3135 77650 GOTO
040268,000720: 14,3136 02746 QMAJ
040269,000721: 14,3137 06042 R51.4 TC INTPRET
040270,000722: 14,3140 77775 VLOAD
|
|
Page 938 |
040272,000724: 14,3141 02715 STARAD +6
040273,000725: 14,3142 02761 STORE STARSAV1
040274,000726: 14,3143 45145 DLOAD CALL
040275,000727: 14,3144 03562 TSIGHT
040276,000728: 14,3145 32472 PLANET
040277,000729: 14,3146 03554 STORE PLANVEC
040278,000730: 14,3147 77731 SSP
040279,000731: 14,3150 02760 STARIND
040280,000732: 14,3151 00001 1
040281,000733: 14,3152 77650 GOTO
040282,000734: 14,3153 31050 R51.3
040283,000735: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040284,000736:
|
|
Page 939 |
040286,000738: # GYRO TORQUE COARSE ALIGNMENT
040287,000739:
040288,000740: 14,3156 45020 GYCOARS STQ CALL
040289,000741: 14,3157 02746 QMAJ
040290,000742: 14,3160 47251 CALCGTA
040291,000743: 14,3161 43014 CLEAR CLEAR
040292,000744: 14,3162 01260 DRIFTFLG
040293,000745: 14,3163 01662 REFSMFLG
040294,000746: 14,3164 77776 EXIT
040295,000747: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040296,000748: 14,3166 04616 TC BANKCALL
040297,000749: 14,3167 20452 CADR GODSPR
040298,000750: 14,3170 33247 CA R55CDR
040299,000751: 14,3171 04616 TC BANKCALL
040300,000752: 14,3172 17314 CADR IMUPULSE
040301,000753: 14,3173 04616 TC BANKCALL
040302,000754: 14,3174 17707 CADR IMUSTALL
040303,000755: 14,3175 05701 TC CURTAINS
040304,000756: 14,3176 05353 TC PHASCHNG
040305,000757: 14,3177 04024 OCT 04024
040306,000758:
040307,000759: 14,3200 06042 TC INTPRET
040308,000760: 14,3201 75160 AXC,1 AXC,2
040309,000761: 14,3202 03606 XSMD
040310,000762: 14,3203 01733 REFSMMAT
040311,000763: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040312,000764: 14,3205 31371 MATMOVE
040313,000765: 14,3206 43014 CLEAR SET
040314,000766: 14,3207 01273 PFRATFLG
040315,000767: 14,3210 01462 REFSMFLG
040316,000768: 14,3211 77624 CALL
040317,000769: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040318,000770: 14,3213 77650 GOTO
040319,000771: 14,3214 31126 R51K
040320,000772: 14,3215 04024 V16N20 VN 1620
040321,000773:
|
|
Page 940 |
040323,000775: # R55 GYROTORQUE
040324,000776: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040325,000777: # CALLING SEQ - CALL R55
040326,000778: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040327,000779: # OUTPUT - GYRO PULSES
040328,000780: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040329,000781:
040330,000782: 14,3216 COUNT* $$/R55
040331,000783: 14,3216 77620 R55 STQ
040332,000784: 14,3217 02745 QMIN
040333,000785: 14,3220 77624 CALL
040334,000786: 14,3221 47251 CALCGTA
040335,000787: 14,3222 77776 PULSEM EXIT
040336,000788: 14,3223 33246 R55.1 CAF V06N93
040337,000789: 14,3224 04616 TC BANKCALL
040338,000790: 14,3225 20477 CADR GOFLASH
040339,000791: 14,3226 06001 TC GOTOPOOH
040340,000792: 14,3227 03231 TC R55.2
040341,000793: 14,3230 03243 TC R55RET
040342,000794: 14,3231 05353 R55.2 TC PHASCHNG
040343,000795: 14,3232 00214 OCT 00214
040344,000796: 14,3233 33247 CA R55CDR
040345,000797: 14,3234 04616 TC BANKCALL
040346,000798: 14,3235 17314 CADR IMUPULSE
040347,000799: 14,3236 04616 TC BANKCALL
040348,000800: 14,3237 17707 CADR IMUSTALL
040349,000801: 14,3240 05701 TC CURTAINS
040350,000802: 14,3241 05353 TC PHASCHNG
040351,000803: 14,3242 04024 OCT 04024
040352,000804:
040353,000805: 14,3243 06042 R55RET TC INTPRET
040354,000806: 14,3244 77650 GOTO
040355,000807: 14,3245 02745 QMIN
040356,000808: 14,3246 01535 V06N93 VN 0693
040357,000809: 14,3247 02737 R55CDR ECADR OGC
040358,000810: 14,3250 14,3250 R54 = CHKSDATA
040359,000811:
040360,000812: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040361,000813: # MOD NO - 0 LOG SECTION - P51-P53
040362,000814: # MODIFICATION BY - LONSKE ASSEMBLY -
040363,000815:
040364,000816: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040365,000817: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040366,000818: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040367,000819: # OS1 = OBSERVED STAR 1 VECTOR
040368,000820: # OS2 = OBSERVED STAR 2 VECTOR
040369,000821: # SS1 = STORED STAR 1 VECTOR
040370,000822: # SS2 = STORED STAR 2 VECTOR
040371,000823: # A1 = ARCCOS(OS1 - OS2)
040372,000824: # A2 = ARCCOS(SS1 - SS2)
040373,000825: # A = ABS(2(A1 - A2))
|
|
Page 941 |
040375,000827: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040376,000828:
040377,000829: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040378,000830: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040379,000831: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040380,000832: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040381,000833:
040382,000834: # ERASABLE INITIALIZATION REQUIRED -
040383,000835: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040384,000836: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040385,000837:
040386,000838: # DEBRIS -
040387,000839:
040388,000840: 14,3250 COUNT* $$/R54
040389,000841: 14,3250 43020 CHKSDATA STQ SET
040390,000842: 14,3251 02745 QMIN
040391,000843: 14,3252 00074 FREEFLAG
040392,000844: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040393,000845: 14,3254 02706 STARAD
040394,000846:
040395,000847: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040396,000848: 14,3256 00001 0,1
040397,000849: 14,3257 00007 6,1
040398,000850: 14,3260 65552 SL1 ACOS
040399,000851: 14,3261 00025 STORE THETA
040400,000852: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040401,000853: 14,3263 00354 FREEFLAG
040402,000854: 14,3264 31274 CHKSD
040403,000855: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040404,000856: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040405,000857: 14,3267 00006 6D
040406,000858: 14,3270 00025 THETA
040407,000859: 14,3271 00023 STORE 18D
040408,000860: 14,3272 77650 GOTO
040409,000861: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040410,000862: 14,3274 45345 CHKSD DLOAD DSU
040411,000863: 14,3275 00025 THETA
040412,000864: 14,3276 00023 18D
040413,000865: 14,3277 77634 RTB # COMPUTE POS DIFF
040414,000866: 14,3300 21613 SGNAGREE
040415,000867: 14,3301 01045 STORE NORMTEM1
040416,000868: 14,3302 77414 SET EXIT
040417,000869: 14,3303 00074 FREEFLAG
040418,000870: 14,3304 33320 CAF VB6N5
040419,000871: 14,3305 04616 TC BANKCALL
040420,000872: 14,3306 20477 CADR GOFLASH
040421,000873: 14,3307 16001 TCF GOTOPOOH
040422,000874: 14,3310 03315 TC CHKSDA # PROCEED
040423,000875: 14,3311 06042 TC INTPRET
040424,000876: 14,3312 52014 CLEAR GOTO
040425,000877: 14,3313 00274 FREEFLAG
040426,000878: 14,3314 02745 QMIN
040427,000879: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 942 |
040429,000881: 14,3316 77650 GOTO
040430,000882: 14,3317 02745 QMIN
040431,000883: 14,3320 01405 VB6N5 VN 605
040432,000884:
040433,000885: # NAME - CAL53A
040434,000886: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040435,000887: # CALLING SEQUENCE - CALL CAL53A
040436,000888: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040437,000889: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040438,000890: # 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. |
040443,000895: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040444,000896:
040445,000897: 14,3321 COUNT* $$/R50
040446,000898: 14,3321 77624 CAL53A CALL
040447,000899: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040448,000900: 14,3323 66234 RTB SSP
040449,000901: 14,3324 31405 RDCDUS # READ CDUS
040450,000902: 14,3325 00051 S1
040451,000903: 14,3326 00001 1
040452,000904: 14,3327 40370 AXT,1 SETPD
040453,000905: 14,3330 00003 3
040454,000906: 14,3331 00005 4
040455,000907: 14,3332 70543 CALOOP DLOAD* SR1
040456,000908: 14,3333 00325 THETAD +3D,1
040457,000909: 14,3334 70523 PDDL* SR1
040458,000910: 14,3335 00005 4,1
040459,000911: 14,3336 51425 DSU ABS
040460,000912: 14,3337 45206 PUSH DSU
040461,000913: 14,3340 31404 DEGREE1
040462,000914: 14,3341 71240 BMN DLOAD
040463,000915: 14,3342 31360 CALOOP1
040464,000916: 14,3343 51025 DSU BPL
040465,000917: 14,3344 31405 DEG359
040466,000918: 14,3345 31360 CALOOP1
040467,000919: 14,3346 77776 EXIT
040468,000920: 14,3347 05353 TC PHASCHNG
040469,000921: 14,3350 04024 OCT 04024
040470,000922:
040471,000923: 14,3351 06042 TC INTPRET
040472,000924: 14,3352 77624 COARFINE CALL
040473,000925: 14,3353 31557 COARSE
040474,000926: 14,3354 77624 CALL
040475,000927: 14,3355 31603 NCOARSE
040476,000928: 14,3356 77650 GOTO
040477,000929: 14,3357 31362 FINEONLY
040478,000930: 14,3360 77700 CALOOP1 TIX,1
040479,000931: 14,3361 31332 CALOOP
040480,000932: 14,3362 75160 FINEONLY AXC,1 AXC,2
040481,000933: 14,3363 02642 XSM
040482,000934: 14,3364 01733 REFSMMAT
040483,000935: 14,3365 77624 CALL
040484,000936: 14,3366 31371 MATMOVE
|
|
Page 943 |
040486,000938: 14,3367 77650 GOTO
040487,000939: 14,3370 32161 COARSRET
040488,000940: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040489,000941: 14,3372 00001 0,1
040490,000942: 14,3373 10001 STORE 0,2
040491,000943: 14,3374 77773 VLOAD*
040492,000944: 14,3375 00007 6D,1
040493,000945: 14,3376 10007 STORE 6D,2
040494,000946: 14,3377 77773 VLOAD*
040495,000947: 14,3400 00015 12D,1
040496,000948: 14,3401 10015 STORE 12D,2
040497,000949: 14,3402 77616 RVQ
040498,000950: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040499,000951: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040500,000952: 14,3405 00004 RDCDUS INHINT # READ CDUS
040501,000953: 14,3406 30032 CA CDUX
040502,000954: 14,3407 50120 INDEX FIXLOC
040503,000955: 14,3410 54001 TS 1
040504,000956: 14,3411 30033 CA CDUY
040505,000957: 14,3412 50120 INDEX FIXLOC
040506,000958: 14,3413 54002 TS 2
040507,000959: 14,3414 30034 CA CDUZ
040508,000960: 14,3415 50120 INDEX FIXLOC
040509,000961: 14,3416 54003 TS 3
040510,000962: 14,3417 00003 RELINT
040511,000963: 14,3420 06064 TC DANZIG # +
040512,000964: 14,3421 COUNT* $$/INFLT
040513,000965:
|
|
Page 944 |
040515,000967: # NAME - P51 - IMU ORIENTATION DETERMINATION
040516,000968: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040517,000969: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040518,000970:
040519,000971: # FUNCTIONAL DESCRIPTION
040520,000972: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040521,000973: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040522,000974: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040523,000975: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040524,000976:
040525,000977: # CALLING SEQUENCE
040526,000978: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040527,000979:
040528,000980: # SUBROUTINES CALLED.
040529,000981: # GOPERF3
040530,000982: # GOPERF1
040531,000983: # GODSPR
040532,000984: # IMUCOARS
040533,000985: # IMUFIN20
040534,000986: # AOTMARK (R53)
040535,000987: # CHKSDATA (R54)
040536,000988: # MKRELEAS
040537,000989: # AXISGEN
040538,000990: # MATMOVE
040539,000991:
040540,000992: # ALARMS
040541,000993: # NONE.
040542,000994:
040543,000995: # ERASABLE INITIALIZATION
040544,000996: # IMU ZERO FLAG SHOULD BE SET.
040545,000997:
040546,000998: # OUTPUT
040547,000999: # REFSMMAT
040548,001000: # REFSMFLG
040549,001001:
040550,001002: # DEBRIS
040551,001003: # WORK AREA
040552,001004: # STARAD
040553,001005: # STARIND
040554,001006: # BESTI
040555,001007: # BESTJ
040556,001008:
040557,001009: 14,3421 COUNT* $$/P51
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|
Page 945 |
040559,001011: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040560,001012: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040561,001013:
040562,001014: 14,3423 34761 CAF OCT15
040563,001015: 14,3424 04616 TC BANKCALL
040564,001016: 14,3425 20624 CADR GOPERF1
040565,001017: 14,3426 06001 TC GOTOPOOH # TERM.
040566,001018: 14,3427 13453 TCF P51B # V33
040567,001019: 14,3430 05353 TC PHASCHNG
040568,001020: 14,3431 04024 OCT 04024
040569,001021:
040570,001022: 14,3432 34755 CAF ZERO
040571,001023: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040572,001024: 14,3434 54322 TS THETAD +1
040573,001025: 14,3435 54323 TS THETAD +2
040574,001026: 14,3436 35010 CAF V06N22
040575,001027: 14,3437 04616 TC BANKCALL
040576,001028: 14,3440 20447 CADR GODSPRET
040577,001029: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040578,001030: 14,3442 04616 TC BANKCALL
040579,001031: 14,3443 20447 CADR GODSPRET
040580,001032: 14,3444 06042 TC INTPRET
040581,001033: 14,3445 77624 CALL
040582,001034: 14,3446 31557 COARSE
040583,001035: 14,3447 77776 EXIT
040584,001036: 14,3450 05353 TC PHASCHNG
040585,001037: 14,3451 04024 OCT 04024
040586,001038: 14,3452 13423 TCF P51 +2
040587,001039:
040588,001040: 14,3453 05353 P51B TC PHASCHNG
040589,001041: 14,3454 00014 OCT 00014
040590,001042: 14,3455 06042 TC INTPRET
040591,001043: 14,3456 77624 CALL
040592,001044: 14,3457 31603 NCOARSE
040593,001045: 14,3460 40331 SSP SETPD
040594,001046: 14,3461 02760 STARIND # INDEX - STAR 1 OR 2
040595,001047: 14,3462 00000 0
040596,001048: 14,3463 00001 0
040597,001049: 14,3464 77776 P51C EXIT
040598,001050: 14,3465 05353 TC PHASCHNG
040599,001051: 14,3466 04024 OCT 04024
040600,001052:
040601,001053: 14,3467 04616 TC BANKCALL
040602,001054: 14,3470 16000 CADR AOTMARK # R53
040603,001055: 14,3471 04616 TC BANKCALL
040604,001056: 14,3472 17703 CADR AOTSTALL
040605,001057: 14,3473 05701 TC CURTAINS
040606,001058: 14,3474 11757 CCS STARIND
040607,001059: 14,3475 13503 TCF P51D +1
040608,001060: 14,3476 06042 TC INTPRET
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|
Page 946 |
040610,001062: 14,3477 77775 VLOAD
040611,001063: 14,3500 02715 STARAD +6
040612,001064: 14,3501 02761 STORE STARSAV1
040613,001065: 14,3502 77776 P51D EXIT
040614,001066: 14,3503 05353 TC PHASCHNG
040615,001067: 14,3504 04024 OCT 04024
040616,001068:
040617,001069: 14,3505 11757 CCS STARIND
040618,001070: 14,3506 13522 TCF P51E
040619,001071: 14,3507 05353 TC PHASCHNG
040620,001072: 14,3510 04024 OCT 04024
040621,001073:
040622,001074: 14,3511 06042 TC INTPRET
040623,001075: 14,3512 45145 DLOAD CALL
040624,001076: 14,3513 03562 TSIGHT
040625,001077: 14,3514 32472 PLANET
040626,001078: 14,3515 03554 STORE PLANVEC
040627,001079: 14,3516 77776 EXIT
040628,001080: 14,3517 34753 CAF BIT1
040629,001081: 14,3520 55757 TS STARIND
040630,001082: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040631,001083: 14,3522 05353 P51E TC PHASCHNG
040632,001084: 14,3523 04024 OCT 04024
040633,001085:
040634,001086: 14,3524 06042 TC INTPRET
040635,001087: 14,3525 45145 DLOAD CALL
040636,001088: 14,3526 03562 TSIGHT
040637,001089: 14,3527 32472 PLANET
040638,001090: 14,3530 24015 STOVL 12D
040639,001091: 14,3531 03554 PLANVEC
040640,001092: 14,3532 24007 STOVL 6D
040641,001093: 14,3533 02761 STARSAV1
040642,001094: 14,3534 26707 STOVL STARAD
040643,001095: 14,3535 02767 STARSAV2
040644,001096: 14,3536 36715 STCALL STARAD +6
040645,001097: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040646,001098: 14,3540 77414 BON EXIT
040647,001099: 14,3541 00314 FREEFLAG
040648,001100: 14,3542 31544 P51G
040649,001101: 14,3543 03423 TC P51 +2
040650,001102: 14,3544 77624 P51G CALL
040651,001103: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040652,001104: 14,3546 75160 AXC,1 AXC,2
040653,001105: 14,3547 02664 XDC
040654,001106: 14,3550 01733 REFSMMAT
040655,001107: 14,3551 77624 CALL
040656,001108: 14,3552 31371 MATMOVE
040657,001109: 14,3553 77414 SET EXIT
040658,001110: 14,3554 01462 REFSMFLG
040659,001111: 14,3555 06001 TC GOTOPOOH # FINIS
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|
Page 947 |
040661,001113: 14,3556 12200 V41K VN 4100
040662,001114: 14,3557 77776 COARSE EXIT
040663,001115: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040664,001116: 14,3561 00006 EXTEND
040665,001117: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040666,001118: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040667,001119: 14,3564 04616 TC BANKCALL
040668,001120: 14,3565 01736 CADR DELAYJOB
040669,001121: 14,3566 13560 TCF COARSE +1
040670,001122: 14,3567 04616 DOCORS TC BANKCALL
040671,001123: 14,3570 16771 CADR IMUCOARS
040672,001124: 14,3571 04616 TC BANKCALL
040673,001125: 14,3572 17707 CADR IMUSTALL
040674,001126: 14,3573 05701 TC CURTAINS
040675,001127: 14,3574 04616 TC BANKCALL
040676,001128: 14,3575 17201 CADR IMUFINE
040677,001129: 14,3576 04616 TC BANKCALL
040678,001130: 14,3577 17707 CADR IMUSTALL
040679,001131: 14,3600 05701 TC CURTAINS
040680,001132: 14,3601 06042 TC INTPRET
040681,001133: 14,3602 77616 RVQ
040682,001134: 14,3603 77776 NCOARSE EXIT
040683,001135: 14,3604 30025 CA TIME1
040684,001136: 14,3605 55074 TS 1/PIPADT
040685,001137: 14,3606 44755 CS ZERO
040686,001138: 14,3607 54037 TS PIPAX
040687,001139: 14,3610 54040 TS PIPAY
040688,001140: 14,3611 54041 TS PIPAZ
040689,001141: 14,3612 06042 TC INTPRET
040690,001142: 14,3613 77775 VLOAD
040691,001143: 14,3614 24007 ZEROVEC
040692,001144: 14,3615 01472 STORE GCOMP
040693,001145: 14,3616 43414 SET RVQ
040694,001146: 14,3617 01060 DRIFTFLG
040695,001147:
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|
Page 948 |
040697,001149: # NAME - S52.2
040698,001150: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040699,001151: # CALL - CALL S52.2
040700,001152: # INPUT - X,Y,ZSMD
040701,001153: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040702,001154: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040703,001155:
040704,001156: 14,3620 COUNT* $$/S52.1
040705,001157: 14,3620 45020 S52.2 STQ CALL
040706,001158: 14,3621 02746 QMAJ
040707,001159: 14,3622 47541 CDUTRIG
040708,001160: 14,3623 77624 CALL
040709,001161: 14,3624 20030 CALCSMSC
040710,001162: 14,3625 66370 AXT,1 SSP
040711,001163: 14,3626 00022 18D
040712,001164: 14,3627 00051 S1
040713,001165: 14,3630 00006 6D
040714,001166: 14,3631 61373 S52.2A VLOAD* VXM
040715,001167: 14,3632 02707 XNB +18D,1
040716,001168: 14,3633 01734 REFSMMAT
040717,001169: 14,3634 77656 UNIT
040718,001170: 14,3635 06707 STORE XNB +18D,1
040719,001171: 14,3636 77700 TIX,1
040720,001172: 14,3637 31631 S52.2A
040721,001173: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040722,001174: 14,3641 03606 XSMD
040723,001175: 14,3642 02642 XSM
040724,001176: 14,3643 77624 CALL
040725,001177: 14,3644 31371 MATMOVE
040726,001178: 14,3645 77624 CALL
040727,001179: 14,3646 47355 CALCGA
040728,001180: 14,3647 77650 GOTO
040729,001181: 14,3650 02746 QMAJ
040730,001182:
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|
Page 949 |
040732,001184: # NAME - S52.3
040733,001185: # FUNCTION XSMD= UNIT R
040734,001186: # YSMD= UNIT(V X R)
040735,001187: # ZSMD= UNIT(XSMD X YSMD)
040736,001188: # CALL DLOAD CALL
040737,001189: # TALIGN
040738,001190: # S52.3
040739,001191: # INPUT - TIME OF ALIGNMENT IN MPAC
040740,001192: # OUTPUT - X,Y,ZSMD
040741,001193: # SUBROUTINES - CSMCONIC
040742,001194:
040743,001195: 14,3651 COUNT* $$/S52.3
040744,001196: 14,3651 77620 S52.3 STQ
040745,001197: 14,3652 02746 QMAJ
040746,001198: 14,3653 34041 STCALL TDEC1
040747,001199: 14,3654 27077 LEMCONIC
040748,001200: 14,3655 53575 VLOAD UNIT
040749,001201: 14,3656 00001 RATT
040750,001202: 14,3657 27607 STOVL XSMD
040751,001203: 14,3660 00007 VATT
040752,001204: 14,3661 53435 VXV UNIT
040753,001205: 14,3662 00001 RATT
040754,001206: 14,3663 27615 STOVL YSMD
040755,001207: 14,3664 03607 XSMD
040756,001208: 14,3665 53435 VXV UNIT
040757,001209: 14,3666 03615 YSMD
040758,001210: 14,3667 37623 STCALL ZSMD
040759,001211: 14,3670 02746 QMAJ
040760,001212:
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|
Page 950 |
040762,001214: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040763,001215:
040764,001216: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040765,001217: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040766,001218:
040767,001219: # CALLING - CALL R52
040768,001220:
040769,001221: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040770,001222:
040771,001223: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040772,001224: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040773,001225: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040774,001226: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040775,001227:
040776,001228: # SUBROUT - R60LEM
040777,001229:
040778,001230: 14,3671 COUNT* $$/R52
040779,001231: 14,3671 77420 R52 STQ EXIT
040780,001232: 14,3672 03665 SAVQR52
040781,001233: 14,3673 51757 INDEX STARIND
040782,001234: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040783,001235: 14,3675 00006 EXTEND
040784,001236: 14,3676 73772 MP 1/6TH
040785,001237: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
040786,001238: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
040787,001239:
040788,001240: 14,3701 33773 R52A CAF V01N70
040789,001241: 14,3702 04616 TC BANKCALL
040790,001242: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040791,001243: 14,3704 06001 TC GOTOPOOH # V34 - TERMINATE
040792,001244: 14,3705 13707 TCF R52B # V33 - PROCEED TO ORIENT LEM
040793,001245: 14,3706 13701 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040794,001246:
040795,001247: 14,3707 05516 R52B TC DOWNFLAG
040796,001248: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040797,001249: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
040798,001250: 14,3712 77747 MASK HIGH9
040799,001251: 14,3713 00006 EXTEND
040800,001252: 14,3714 74743 MP BIT9
040801,001253: 14,3715 54001 TS L # TEMP STORE DETENT
040802,001254:
040803,001255: 14,3716 00006 EXTEND
040804,001256: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040805,001257:
040806,001258: 14,3720 65650 AD NEG7
040807,001259: 14,3721 00006 EXTEND
040808,001260: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
040809,001261:
040810,001262: 14,3723 E7,1551 EBANK= XYMARK
040811,001263: 14,3723 35016 CA EBANK7
040812,001264: 14,3724 54003 TS EBANK
|
|
Page 951 |
040814,001266: 14,3725 50001 INDEX L
040815,001267: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
040816,001268: 14,3727 54001 TS L
040817,001269: 14,3730 E5,1642 EBANK= XSM
040818,001270: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
040819,001271: 14,3731 54003 TS EBANK
040820,001272: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
040821,001273: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040822,001274: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
040823,001275:
040824,001276: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
040825,001277: 14,3736 04616 TC BANKCALL
040826,001278: 14,3737 20477 CADR GOFLASH
040827,001279: 14,3740 06001 TC GOTOPOOH # V34 - TERMINATE
040828,001280: 14,3741 13743 TCF +2 # PROCEED - CALC OPTIC AXIS
040829,001281: 14,3742 13735 TCF GETAZEL # ENTER - RECYCLE
040830,001282:
040831,001283: 14,3743 00006 EXTEND
040832,001284: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
040833,001285: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
040834,001286: 14,3746 52011 DXCH 8D
040835,001287: 14,3747 06042 TC INTPRET
040836,001288: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
040837,001289: 14,3751 10522 OANB # SCAXIS IN NB COORDS
040838,001290: 14,3752 45034 RTB CALL
040839,001291: 14,3753 21574 LOADTIME
040840,001292: 14,3754 32472 PLANET
040841,001293: 14,3755 53521 MXV UNIT
040842,001294: 14,3756 01734 REFSMMAT
040843,001295: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
040844,001296:
040845,001297: 14,3760 77776 EXIT
040846,001298: 14,3761 04616 TC BANKCALL
040847,001299: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
040848,001300:
040849,001301: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
040850,001302: 14,3764 70734 MASK STARCODE
040851,001303: 14,3765 00006 EXTEND
040852,001304: 14,3766 13701 BZF R52A
040853,001305:
040854,001306: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
040855,001307: 14,3770 77650 GOTO
040856,001308: 14,3771 03665 SAVQR52 # RETURN TO CALLER
040857,001309:
040858,001310: 14,3772 05253 1/6TH DEC .1666667
040859,001311: 14,3773 00306 V01N70 VN 0170
040860,001312: 14,3774 01527 V06N87 VN 687
040861,001313:
|
|
Page 952 |
040863,001315: # LUNAR SURFACE STAR AQUISITION
040864,001316:
040865,001317: 15,2245 BANK 15
040866,001318: 15,2000 SETLOC P50S
040867,001319: 15,2000 BANK
040868,001320: 15,2245 COUNT* $$/R59
040869,001321:
040870,001322: 15,2245 40077 R59 CS FLAGWRD3
040871,001323: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
040872,001324: 15,2247 10000 CCS A
040873,001325: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
040874,001326:
040875,001327: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
040876,001328: 15,2252 04616 TC BANKCALL
040877,001329: 15,2253 20477 CADR GOFLASH
040878,001330: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
040879,001331: 15,2255 12257 TCF R59A # V33 - PROCEED
040880,001332: 15,2256 12245 TCF R59 # V32 - RECYCLE
040881,001333:
040882,001334: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
040883,001335: 15,2260 70734 MASK AOTCODE
040884,001336: 15,2261 00006 EXTEND
040885,001337: 15,2262 76245 MP REVCNT # JUST 6
040886,001338: 15,2263 56001 XCH L
040887,001339: 15,2264 51757 INDEX STARIND
040888,001340: 15,2265 55755 TS BESTI
040889,001341: 15,2266 50120 INDEX FIXLOC
040890,001342: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
040891,001343: 15,2270 00006 EXTEND
040892,001344: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
040893,001345: 15,2272 40000 COM
040894,001346: 15,2273 62557 AD DEC227
040895,001347: 15,2274 00006 EXTEND
040896,001348: 15,2275 62455 BZMF R59OUT
040897,001349:
040898,001350: 15,2276 06042 TC INTPRET
040899,001351: 15,2277 64373 VLOAD* MXV
040900,001352: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
040901,001353: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
040902,001354: 15,2302 45056 UNIT CALL
040903,001355: 15,2303 47650 CDU*SMNB
040904,001356: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
040905,001357: 15,2305 77776 EXIT
040906,001358:
040907,001359: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
040908,001360: 15,2307 55241 TS POSCODE
040909,001361:
040910,001362: 15,2310 E7,1551 EBANK= XYMARK
040911,001363: 15,2310 35016 INCAZ CA EBANK7
040912,001364: 15,2311 54003 TS EBANK
040913,001365:
|
|
Page 953 |
040915,001367: 15,2312 51241 INDEX POSCODE
040916,001368: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
040917,001369: 15,2314 54001 TS L
040918,001370:
040919,001371: 15,2315 E5,1642 EBANK= XSM
040920,001372: 15,2315 35014 CA EBANK5
040921,001373: 15,2316 54003 TS EBANK
040922,001374:
040923,001375: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
040924,001376: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040925,001377: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
040926,001378: 15,2322 50120 INDEX FIXLOC
040927,001379: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
040928,001380:
040929,001381: 15,2324 06042 TC INTPRET
040930,001382: 15,2325 77624 CALL
040931,001383: 15,2326 10522 OANB # GO CALC OPTIC AXIS WRT NB
040932,001384: 15,2327 50375 VLOAD DOT
040933,001385: 15,2330 02731 STAR # DOT STAR WITH OA
040934,001386: 15,2331 03765 SCAXIS
040935,001387: 15,2332 65552 SL1 ARCCOS
040936,001388: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
040937,001389:
040938,001390: 15,2334 51025 DSU BPL
040939,001391: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
040940,001392: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
040941,001393: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
040942,001394: 15,2340 00031 24D
040943,001395: 15,2341 32470 DEG.5
040944,001396: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
040945,001397: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
040946,001398: 15,2344 00031 24D # GET SPIRAL
040947,001399: 15,2345 42405 DMP SL4
040948,001400: 15,2346 11220 3/4 # 12 SCALED AT 16
040949,001401: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
040950,001402:
040951,001403: 15,2350 03765 SCAXIS # OA
040952,001404: 15,2351 53435 VXV UNIT
040953,001405: 15,2352 24005 XUNIT
040954,001406: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
040955,001407: 15,2354 03765 SCAXIS
040956,001408: 15,2355 77676 VCOMP
040957,001409: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
040958,001410: 15,2357 03765 SCAXIS
040959,001411: 15,2360 53435 VXV UNIT
040960,001412: 15,2361 02731 STAR
040961,001413: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
040962,001414: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
040963,001415: 15,2364 65552 SL1 ARCCOS
040964,001416: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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|
Page 954 |
040966,001418: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
040967,001419: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
040968,001420: 15,2370 32375 R59D
040969,001421: 15,2371 32047 ABOUTONE
040970,001422: 15,2372 77625 DSU
040971,001423: 15,2373 00033 26D
040972,001424: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
040973,001425:
040974,001426: 15,2375 70535 R59D SLOAD SR1
040975,001427: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
040976,001428: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
040977,001429: 15,2400 00033 26D
040978,001430: 15,2401 77634 RTB
040979,001431: 15,2402 21615 1STO2S
040980,001432: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
040981,001433: 15,2404 00031 24D # LOAD SROT IN REVS
040982,001434: 15,2405 77615 DAD # 12(SEP) + YROT
040983,001435: 15,2406 77634 RTB
040984,001436: 15,2407 21615 1STO2S
040985,001437: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
040986,001438: 15,2411 77776 EXIT
040987,001439: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
040988,001440:
040989,001441: 15,2413 77776 ZSPCR EXIT
040990,001442: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
040991,001443: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
040992,001444: 15,2416 55237 TS SPIRAL
040993,001445: 15,2417 12437 TCF 79DISP
040994,001446:
040995,001447: 15,2420 77776 NXAX EXIT
040996,001448: 15,2421 25241 INCR POSCODE
040997,001449: 15,2422 41241 CS POSCODE
040998,001450: 15,2423 64757 AD SEVEN
040999,001451: 15,2424 00006 EXTEND
041000,001452: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041001,001453: 15,2426 12310 TCF INCAZ
041002,001454:
041003,001455: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041004,001456: 15,2430 00404 OCT 404
041005,001457: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041006,001458: 15,2432 04616 TC BANKCALL
041007,001459: 15,2433 20477 CADR GOFLASH
041008,001460: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041009,001461: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041010,001462: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041011,001463:
041012,001464: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041013,001465: 15,2440 04616 TC BANKCALL
041014,001466: 15,2441 20477 CADR GOFLASH
041015,001467: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 955 |
041017,001469: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041018,001470: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041019,001471:
041020,001472: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041021,001473: 15,2446 71241 MASK POSCODE
041022,001474: 15,2447 00006 EXTEND
041023,001475: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041024,001476: 15,2451 47747 CS HIGH9
041025,001477: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041026,001478: 15,2453 60001 AD L
041027,001479: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
041028,001480:
041029,001481: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041030,001482: 15,2456 16000 CADR AOTMARK
041031,001483: 15,2457 04616 TC BANKCALL
041032,001484: 15,2460 17703 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041033,001485: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
041034,001486: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041035,001487:
041036,001488: 15,2463 00306 V01N70* VN 170
041037,001489: 15,2464 01517 V06N79 VN 679
041038,001490: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041039,001491: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041040,001492: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041041,001493: 15,2472 1235 CURSOR EQUALS GDT/2
041042,001494: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
041043,001495: 15,2472 1241 POSCODE EQUALS GDT/2 +4
041044,001496:
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|
Page 956 |
041046,001498: # NAME - PLANET
041047,001499: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041048,001500: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041049,001501: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041050,001502: # BY DSDY INPUT
041051,001503: # CALL - CALL
041052,001504: # PLANET
041053,001505: # INPUT - TIME IN MPAC
041054,001506: # OUTPUT - VECTOR IN MPAC
041055,001507: # SUBROUTINES - LOCSAM
041056,001508: # DEBRIS - VAC, STARAD - STARAD +17
041057,001509:
041058,001510: 15,2000 SETLOC P50S
041059,001511: 15,2000 BANK
041060,001512: 15,2472 COUNT* $$/P51
041061,001513:
041062,001514: 15,2472 03562 PLANET STORE TSIGHT
041063,001515: 15,2473 77420 STQ EXIT
041064,001516: 15,2474 02736 GCTR
041065,001517: 15,2475 47747 CS HIGH9
041066,001518: 15,2476 70734 MASK AOTCODE
041067,001519: 15,2477 00006 EXTEND
041068,001520: 15,2500 76245 MP REVCNT
041069,001521: 15,2501 56001 XCH L
041070,001522: 15,2502 51757 INDEX STARIND
041071,001523: 15,2503 55755 TS BESTI
041072,001524: 15,2504 10000 CCS A
041073,001525: 15,2505 12521 TCF NOTPLAN
041074,001526: 15,2506 32560 CAF VNPLANV
041075,001527: 15,2507 04616 TC BANKCALL
041076,001528: 15,2510 20477 CADR GOFLASH
041077,001529: 15,2511 02506 TC -3
041078,001530: 15,2512 02514 TC +2
041079,001531: 15,2513 02506 TC -5
041080,001532: 15,2514 06042 TC INTPRET
041081,001533: 15,2515 53575 VLOAD UNIT
041082,001534: 15,2516 02707 STARAD
041083,001535: 15,2517 77650 GOTO
041084,001536: 15,2520 02736 GCTR
041085,001537: 15,2521 40000 NOTPLAN CS A
041086,001538: 15,2522 62557 AD DEC227
041087,001539: 15,2523 00006 EXTEND
041088,001540: 15,2524 62535 BZMF CALSAM1
041089,001541: 15,2525 51757 INDEX STARIND
041090,001542: 15,2526 31755 CA BESTI
041091,001543: 15,2527 50120 INDEX FIXLOC
041092,001544: 15,2530 54046 TS X1
041093,001545: 15,2531 06042 TC INTPRET
041094,001546: 15,2532 52173 VLOAD* GOTO
041095,001547: 15,2533 30347 CATLOG,1
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|
Page 957 |
041097,001549: 15,2534 02736 GCTR
041098,001550: 15,2535 06042 CALSAM1 TC INTPRET
041099,001551: 15,2536 45145 CALSAM DLOAD CALL
041100,001552: 15,2537 03562 TSIGHT
041101,001553: 15,2540 30500 LOCSAM
041102,001554: 15,2541 77340 LXC,1 VLOAD
041103,001555: 15,2542 02757 STARIND
041104,001556: 15,2543 02707 VEARTH
041105,001557: 15,2544 24001 STOVL 0D
041106,001558: 15,2545 02715 VSUN
041107,001559: 15,2546 26707 STOVL VEARTH
041108,001560: 15,2547 00001 0D
041109,001561: 15,2550 02715 STORE VSUN
041110,001562: 15,2551 70143 DLOAD* LXC,1
041111,001563: 15,2552 02756 BESTI,1
041112,001564: 15,2553 00154 MPAC
041113,001565: 15,2554 52173 VLOAD* GOTO
041114,001566: 15,2555 02343 STARAD -228D,1
041115,001567: 15,2556 02736 GCTR
041116,001568: 15,2557 00343 DEC227 DEC 227 B-14
041117,001569: 15,2560 01530 VNPLANV VN 0688
041118,001570: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041119,001571:
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|
Page 958 |
041121,001573: # GRAVITY VECTOR DETERMINATION ROUTINE
041122,001574: # BY KEN VINCENT
041123,001575:
041124,001576: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041125,001577: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041126,001578: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041127,001579: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041128,001580: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041129,001581: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041130,001582: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041131,001583: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041132,001584: # READINGS.
041133,001585:
041134,001586: # CALL -
041135,001587: # TC BANKCALL
041136,001588: # CADR GVDETER
041137,001589:
041138,001590: # INPUTS -
041139,001591: # PIPAS, CDUS
041140,001592:
041141,001593: # OUTPUTS -
041142,001594: # STARSAV1 = UNIT GRAVITY
041143,001595: # GSAV = DITTO
041144,001596: # GRAVBIT = 1
041145,001597:
041146,001598: # SUBROUTINES -
041147,001599: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041148,001600: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041149,001601:
041150,001602: # DEBRIS -
041151,001603: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041152,001604:
041153,001605: 15,2561 32762 GVDETER CAF 42DEG
041154,001606: 15,2562 54321 TS THETAD
041155,001607: 15,2563 40000 COM
041156,001608: 15,2564 54322 TS THETAD +1
041157,001609: 15,2565 32763 CAF 35DEG
041158,001610: 15,2566 54323 TS THETAD +2
041159,001611: 15,2567 06042 TC INTPRET
041160,001612: 15,2570 45014 CLEAR CALL
041161,001613: 15,2571 01662 REFSMFLG
041162,001614: 15,2572 32666 LUNG
041163,001615:
041164,001616: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041165,001617:
041166,001618: # DEFINE G COOR SYS
041167,001619: # -
041168,001620: # X UNIT G
041169,001621: # * - -
041170,001622: # M = Y = UNITEZSM * X )
041171,001623: # - - -
041172,001624: # Z UNIT( X * Y )
041173,001625:
041174,001626: # THEN ROTATED SM WRT PRESENT IS
041175,001627:
041176,001628: # 1, 0 , 0
041177,001629: # * *T * * *
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|
Page 959 |
041179,001631: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041180,001632: # I J
041181,001633: # 0 , 0 ,-1
041182,001634:
041183,001635: # ALSO NB WRT PRES SM IS
041184,001636:
041185,001637: # * * *
041186,001638: # XNB = NBSM I
041187,001639:
041188,001640: # * *
041189,001641: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041190,001642:
041191,001643: 15,2000 SETLOC P50S
041192,001644: 15,2000 BANK
041193,001645: 15,2573 COUNT* $$/P57
041194,001646: 15,2573 66370 AXT,1 SSP # X1=18
041195,001647: 15,2574 00022 18D # S1=6
041196,001648: 15,2575 00051 S1 # X2, -2
041197,001649: 15,2576 00006 6D
041198,001650: 15,2577 77744 LXC,2
041199,001651: 15,2600 00050 S1
041200,001652: 15,2601 45173 GRAVEL VLOAD* CALL
041201,001653: 15,2602 54000 XUNIT -6,2
041202,001654: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
041203,001655: 15,2604 06707 STORE XNB +18D,1
041204,001656: 15,2605 77775 VLOAD
041205,001657: 15,2606 02731 STAR
041206,001658: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041207,001659: 15,2610 00047 X2
041208,001660: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
041209,001661: 15,2612 71152 VSL2 LXC,2
041210,001662: 15,2613 00047 X2
041211,001663: 15,2614 63047 VSU* INCR,2
041212,001664: 15,2615 54000 XUNIT -6,2
041213,001665: 15,2616 00002 2D
041214,001666: 15,2617 06665 STORE XSM +18D,1
041215,001667: 15,2620 45100 TIX,1 CALL
041216,001668: 15,2621 32601 GRAVEL
041217,001669: 15,2622 47355 CALCGA
041218,001670: 15,2623 74575 VLOAD VSR1
041219,001671: 15,2624 02715 GOUT
041220,001672: 15,2625 36723 STCALL STARAD +12D
041221,001673: 15,2626 32666 LUNG
041222,001674: 15,2627 74575 VLOAD VSR1
041223,001675: 15,2630 02715 GOUT
041224,001676: 15,2631 53455 VAD UNIT
041225,001677: 15,2632 02723 STARAD +12D
041226,001678: 15,2633 02761 STORE STARSAV1
041227,001679: 15,2634 77641 DOT
041228,001680: 15,2635 02231 GSAV
041229,001681: 15,2636 65552 SL1 ACOS
|
|
Page 960 |
041231,001683: 15,2637 01045 STORE DSPTEM1
041232,001684: 15,2640 77776 EXIT
041233,001685: 15,2641 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041234,001686: 15,2642 00014 ADRES FREEFLAG
041235,001687:
041236,001688: 15,2643 32761 CA DISGRVER
041237,001689: 15,2644 04616 TC BANKCALL
041238,001690: 15,2645 20477 CADR GOFLASH
041239,001691: 15,2646 06001 TC GOTOPOOH
041240,001692: 15,2647 12652 TCF PROGRAV # VB33 - PROCEED
041241,001693: 15,2650 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041242,001694: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041243,001695:
041244,001696: 15,2652 05353 PROGRAV TC PHASCHNG
041245,001697: 15,2653 04024 OCT 04024
041246,001698:
041247,001699: 15,2654 06042 TC INTPRET
041248,001700: 15,2655 77775 VLOAD
041249,001701: 15,2656 02761 STARSAV1
041250,001702: 15,2657 02231 STORE GSAV
041251,001703: 15,2660 77776 EXIT
041252,001704: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041253,001705: 15,2662 70074 MASK FLAGWRD0
041254,001706: 15,2663 10000 CCS A
041255,001707: 15,2664 12561 TCF GVDETER # SET
041256,001708: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
041257,001709:
041258,001710: 15,2666 77220 LUNG STQ VLOAD
041259,001711: 15,2667 02745 QMIN
041260,001712: 15,2670 24007 ZEROVEC
041261,001713: 15,2671 02707 STORE GACC
041262,001714: 15,2672 77776 EXIT
041263,001715: 15,2673 05353 TC PHASCHNG
041264,001716: 15,2674 04024 OCT 04024
041265,001717:
041266,001718: 15,2675 06042 TC INTPRET
041267,001719: 15,2676 77624 CALL
041268,001720: 15,2677 31557 COARSE
041269,001721: 15,2700 77776 EXIT
041270,001722: 15,2701 32760 CA T/2SEC
041271,001723: 15,2702 55736 TS GCTR
041272,001724: 15,2703 37721 CA PRIO31
041273,001725: 15,2704 55074 TS 1/PIPADT
041274,001726: 15,2705 04616 TC BANKCALL
041275,001727: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041276,001728: 15,2707 05353 TC PHASCHNG
041277,001729: 15,2710 04024 OCT 04024
041278,001730:
041279,001731: 15,2711 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041280,001732: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 961 |
041282,001734: 15,2713 06042 TC INTPRET
041283,001735: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041284,001736: 15,2715 35000 CAF 2SECS
041285,001737: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041286,001738: 15,2717 02721 ADRES GRABGRAV
041287,001739:
041288,001740: 15,2720 05155 TC ENDOFJOB
041289,001741:
041290,001742: 15,2721 04674 GRABGRAV TC IBNKCALL
041291,001743: 15,2722 77541 CADR PIPSRINE
041292,001744: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041293,001745: 15,2724 05105 TC FINDVAC
041294,001746: 15,2725 E5,1706 EBANK= STARAD
041295,001747: 15,2725 02730 32065 2CADR ADDGRAV
041296,001748:
041297,001749: 15,2727 05261 TC TASKOVER
041298,001750:
041299,001751: 15,2730 04616 ADDGRAV TC BANKCALL
041300,001752: 15,2731 15271 CADR 1/PIPA
041301,001753: 15,2732 25736 INCR GCTR
041302,001754: 15,2733 06042 TC INTPRET
041303,001755: 15,2734 53375 VLOAD VAD
041304,001756: 15,2735 00325 DELV
041305,001757: 15,2736 02707 GACC
041306,001758: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
041307,001759: 15,2740 50135 SLOAD BMN
041308,001760: 15,2741 02737 GCTR
041309,001761: 15,2742 32714 GREED
041310,001762: 15,2743 53575 VLOAD UNIT
041311,001763: 15,2744 02707 GACC
041312,001764: 15,2745 36731 STCALL STAR
041313,001765: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041314,001766: 15,2747 77624 CALL # IN OUTPUT
041315,001767: 15,2750 47673 *SMNB*
041316,001768: 15,2751 02715 STORE GOUT
041317,001769: 15,2752 77776 EXIT
041318,001770: 15,2753 05353 TC PHASCHNG
041319,001771: 15,2754 04024 OCT 04024
041320,001772:
041321,001773: 15,2755 06042 QMINEXIT TC INTPRET
041322,001774: 15,2756 77650 GOTO
041323,001775: 15,2757 02745 QMIN
041324,001776: 15,2760 77753 T/2SEC DEC -20 B-14
041325,001777: 15,2761 01404 DISGRVER VN 0604
041326,001778: 15,2762 07357 42DEG OCT 07357
041327,001779: 15,2763 06211 35DEG OCT 06211
041328,001780:
|
|
Page 962 |
041330,001782: # NAME GYROTRIM
041331,001783:
041332,001784: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041333,001785: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041334,001786: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041335,001787:
041336,001788: # CALL CALL
041337,001789: # GYROTRIM
041338,001790:
041339,001791: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041340,001792: # CDUX,CDUY,CDUZ
041341,001793:
041342,001794: # OUTPUT - GYRO TORQUE PULSES
041343,001795:
041344,001796: # SUBROUTINES- TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041345,001797: # IMPULSE, IMUSTALL
041346,001798: # - - - * * -
041347,001799: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041348,001800:
041349,001801: 15,2764 COUNT* $$/P57
041350,001802: 15,2764 71220 GYROTRIM STQ DLOAD
041351,001803: 15,2765 02745 QMIN
041352,001804: 15,2766 00322 THETAD
041353,001805: 15,2767 65325 PDDL PDDL
041354,001806: 15,2770 00324 THETAD +2
041355,001807: 15,2771 00323 THETAD +1
041356,001808: 15,2772 77666 VDEF
041357,001809: 15,2773 24766 STOVL CDUSPOT
041358,001810: 15,2774 24005 XUNIT
041359,001811: 15,2775 77624 CALL
041360,001812: 15,2776 47666 TRG*NBSM
041361,001813: 15,2777 26707 STOVL STARAD
041362,001814: 15,3000 24003 YUNIT
041363,001815: 15,3001 77624 CALL
041364,001816: 15,3002 47675 *NBSM*
041365,001817: 15,3003 36715 STCALL STARAD +6
041366,001818: 15,3004 47541 CDUTRIG
041367,001819: 15,3005 77624 CALL
041368,001820: 15,3006 20030 CALCSMSC
041369,001821: 15,3007 77775 VLOAD
041370,001822: 15,3010 02665 XNB
041371,001823: 15,3011 24007 STOVL 6D
041372,001824: 15,3012 02673 YNB
041373,001825: 15,3013 34015 STCALL 12D
041374,001826: 15,3014 47443 AXISGEN
041375,001827: 15,3015 77624 CALL
041376,001828: 15,3016 47251 CALCGTA
041377,001829: 15,3017 77776 JUSTTRIM EXIT
041378,001830: 15,3020 33027 CA GYRCDR
041379,001831: 15,3021 04616 TC BANKCALL
041380,001832: 15,3022 17314 CADR IMUPULSE
|
|
Page 963 |
041382,001834: 15,3023 04616 TC BANKCALL
041383,001835: 15,3024 17707 CADR IMUSTALL
041384,001836: 15,3025 05701 TC CURTAINS
041385,001837: 15,3026 12755 TCF QMINEXIT
041386,001838:
041387,001839: 15,3027 02737 GYRCDR ECADR OGC
041388,001840:
|
|
Page 964 |
041390,001842: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041391,001843:
041392,001844: 15,3030 34755 2STARS CAF ZERO # INITALIZE STARIND
041393,001845: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041394,001846: 15,3032 34753 1STAR CAF BIT1
041395,001847: 15,3033 55757 TS STARIND
041396,001848:
041397,001849: 15,3034 05353 TC PHASCHNG
041398,001850: 15,3035 04024 OCT 04024
041399,001851:
041400,001852: 15,3036 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041401,001853:
041402,001854: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041403,001855: 15,3040 00006 EXTEND
041404,001856: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
041405,001857:
041406,001858: 15,3042 05353 TC PHASCHNG
041407,001859: 15,3043 04024 OCT 04024
041408,001860:
041409,001861: 15,3044 06042 TC INTPRET
041410,001862: 15,3045 45145 DLOAD CALL
041411,001863: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
041412,001864: 15,3047 32472 PLANET
041413,001865: 15,3050 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041414,001866: 15,3051 33064 SURFLINE
041415,001867:
041416,001868: 15,3052 06042 ASTAR TC INTPRET
041417,001869: 15,3053 77775 VLOAD
041418,001870: 15,3054 02715 STARAD +6
041419,001871: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041420,001872: 15,3056 45145 DLOAD CALL
041421,001873: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
041422,001874: 15,3060 32472 PLANET
041423,001875: 15,3061 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041424,001876: 15,3062 77776 EXIT
041425,001877: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
041426,001878:
|
|
Page 965 |
041428,001880: # DO FINE OR COARSE ALIGNMENT OF IMU
041429,001881:
041430,001882: 15,3064 77131 SURFLINE SSP AXT,2
041431,001883: 15,3065 00052 S2
041432,001884: 15,3066 00006 6
041433,001885: 15,3067 00014 12D
041434,001886: 15,3070 64373 WRTDESIR VLOAD* MXV
041435,001887: 15,3071 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041436,001888: 15,3072 03607 XSMD
041437,001889: 15,3073 77656 UNIT
041438,001890: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
041439,001891: 15,3075 77773 VLOAD*
041440,001892: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041441,001893: 15,3077 10023 STORE 18D,2
041442,001894: 15,3100 43104 TIX,2 BON
041443,001895: 15,3101 33070 WRTDESIR
041444,001896: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041445,001897: 15,3103 33111 INITBY
041446,001898: 15,3104 77624 DOALIGN CALL
041447,001899: 15,3105 31250 R54 # DO CHKSDATA
041448,001900: 15,3106 77614 BOFF
041449,001901: 15,3107 00354 FREEFLAG
041450,001902: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041451,001903: 15,3111 77624 INITBY CALL
041452,001904: 15,3112 47443 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041453,001905: 15,3113 77624 CALL
041454,001906: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041455,001907: 15,3115 77776 EXIT
041456,001908: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041457,001909: 15,3117 70104 MASK FLAGWRD8
041458,001910: 15,3120 10000 CCS A
041459,001911: 15,3121 13130 TCF 5DEGTEST
041460,001912: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041461,001913: 15,3123 04616 TC BANKCALL
041462,001914: 15,3124 20477 CADR GOFLASH
041463,001915: 15,3125 06001 TC GOTOPOOH # V34 - TERMINATE
041464,001916: 15,3126 13130 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041465,001917: 15,3127 13172 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041466,001918:
041467,001919: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041468,001920: 15,3131 40175 VLOAD BOV
041469,001921: 15,3132 02740 OGC
041470,001922: 15,3133 33134 SURFSUP
041471,001923: 15,3134 02750 SURFSUP STORE OGCT
041472,001924: 15,3135 40141 V/SC BOV
041473,001925: 15,3136 30602 5DEGREES
041474,001926: 15,3137 33237 COATRIM
041475,001927: 15,3140 52131 SSP GOTO
041476,001928: 15,3141 02746 QMIN
041477,001929: 15,3142 33144 SURFDISP
|
|
Page 966 |
041479,001931: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041480,001932:
041481,001933: 15,3144 77776 SURFDISP EXIT
041482,001934: 15,3145 05353 TC PHASCHNG
041483,001935: 15,3146 04024 OCT 04024
041484,001936:
041485,001937: 15,3147 06042 TC INTPRET
041486,001938: 15,3150 75160 AXC,1 AXC,2
041487,001939: 15,3151 03606 XSMD
041488,001940: 15,3152 01733 REFSMMAT
041489,001941: 15,3153 45014 SET CALL
041490,001942: 15,3154 01462 REFSMFLG
041491,001943: 15,3155 31371 MATMOVE
041492,001944: 15,3156 77776 EXIT
041493,001945: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041494,001946: 15,3160 13162 TCF B2F8
041495,001947: 15,3161 13172 TCF P57POST +1
041496,001948:
041497,001949: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041498,001950: 15,3163 70104 MASK FLAGWRD8
041499,001951: 15,3164 10000 CCS A
041500,001952: 15,3165 13544 TCF P57JUMP # ITS SET
041501,001953: 15,3166 06042 TC INTPRET
041502,001954: 15,3167 77624 CALL
041503,001955: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041504,001956: 15,3171 77776 P57POST EXIT
041505,001957: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041506,001958: 15,3173 04616 TC BANKCALL
041507,001959: 15,3174 20624 CADR GOPERF1
041508,001960: 15,3175 16001 TCF GOTOPOOH # VB34 - TERMINATE
041509,001961: 15,3176 13544 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041510,001962: 15,3177 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041511,001963: 15,3200 61144 AD OPTION2
041512,001964: 15,3201 00006 EXTEND
041513,001965: 15,3202 13204 BZF +2 # YES - GO CALCULATE LANDING SITE
041514,001966: 15,3203 16001 TCF GOTOPOOH # NO - EXIT P57
041515,001967: 15,3204 05353 TC PHASCHNG # RESTART PLACE
041516,001968: 15,3205 04024 OCT 04024
041517,001969: 15,3206 06042 TC INTPRET
041518,001970: 15,3207 45175 VLOAD CALL # USE GNB
041519,001971: 15,3210 02231 GSAV
041520,001972: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
041521,001973: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
041522,001974: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041523,001975: 15,3214 01463 LUNAFLAG
041524,001976: 15,3215 51515 PDVL ABVAL
041525,001977: 15,3216 02023 RLS
041526,001978: 15,3217 45561 VXSC STADR
041527,001979: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041528,001980: 15,3221 47014 CLEAR RTB
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|
Page 967 |
041530,001982: 15,3222 00662 ERADFLAG
041531,001983: 15,3223 21574 LOADTIME
041532,001984: 15,3224 77624 CALL
041533,001985: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041534,001986: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
041535,001987: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041536,001988: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041537,001989: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
041538,001990: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041539,001991: 15,3233 51700 R-TO-RP
041540,001992: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041541,001993: 15,3235 77776 EXIT
041542,001994: 15,3236 16001 TCF GOTOPOOH # EXIT P57
041543,001995:
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|
Page 968 |
041545,001997: # COARSE AND FINE ALIGN IMU
041546,001998:
041547,001999: 15,3237 75160 COATRIM AXC,1 AXC,2
041548,002000: 15,3240 02664 XDC
041549,002001: 15,3241 02642 XSM
041550,002002: 15,3242 77624 CALL
041551,002003: 15,3243 31371 MATMOVE
041552,002004: 15,3244 77624 CALL
041553,002005: 15,3245 47541 CDUTRIG
041554,002006: 15,3246 77624 CALL
041555,002007: 15,3247 20030 CALCSMSC
041556,002008: 15,3250 77624 CALL
041557,002009: 15,3251 47355 CALCGA
041558,002010: 15,3252 77414 BOFF EXIT
041559,002011: 15,3253 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041560,002012: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041561,002013: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041562,002014: 15,3256 04616 TC BANKCALL
041563,002015: 15,3257 20477 CADR GOFLASH
041564,002016: 15,3260 06001 TC GOTOPOOH
041565,002017: 15,3261 13263 TCF +2
041566,002018: 15,3262 13255 TCF -5
041567,002019: 15,3263 05353 TC PHASCHNG
041568,002020: 15,3264 04024 OCT 04024
041569,002021:
041570,002022: 15,3265 06042 TC INTPRET
041571,002023: 15,3266 77624 CORSIT CALL
041572,002024: 15,3267 31557 COARSE
041573,002025: 15,3270 77624 CALL
041574,002026: 15,3271 31603 NCOARSE
041575,002027: 15,3272 77624 CALL
041576,002028: 15,3273 32764 GYROTRIM
041577,002029: 15,3274 77650 GOTO
041578,002030: 15,3275 33144 SURFDISP
041579,002031: 15,3276 01535 DISPGYRO VN 0693
041580,002032:
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|
Page 969 |
041582,002034: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041583,002035:
041584,002036: 15,3277 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041585,002037: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041586,002038:
041587,002039: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041588,002040: 15,3302 55144 TS OPTION2
041589,002041: 15,3303 34753 P57OPT CAF BIT1
041590,002042: 15,3304 04616 TC BANKCALL
041591,002043: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041592,002044: 15,3306 06001 TC GOTOPOOH # V34 TERMINATE
041593,002045: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041594,002046: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041595,002047:
041596,002048: 15,3311 05353 TC PHASCHNG
041597,002049: 15,3312 00014 OCT 00014
041598,002050: 15,3313 05155 TC ENDOFJOB
041599,002051:
041600,002052: 15,3314 31144 ALIGNOPT CA OPTION2
041601,002053: 15,3315 76250 MASK THREE
041602,002054: 15,3316 50000 INDEX A
041603,002055: 15,3317 13320 TCF +1
041604,002056: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041605,002057: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041606,002058: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041607,002059: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041608,002060: 15,3324 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041609,002061: 15,3325 01733 REFSMMAT
041610,002062: 15,3326 03606 XSMD
041611,002063: 15,3327 77624 CALL
041612,002064: 15,3330 31371 MATMOVE
041613,002065: 15,3331 77650 GOTO
041614,002066: 15,3332 33373 PACKOPTN -1
041615,002067:
041616,002068: 15,3333 06042 TDISP TC INTPRET
041617,002069: 15,3334 77745 DLOAD
041618,002070: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041619,002071: 15,3336 01045 P57A STORE DSPTEM1
041620,002072: 15,3337 77776 EXIT
041621,002073: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041622,002074: 15,3341 04616 TC BANKCALL
041623,002075: 15,3342 20477 CADR GOFLASH
041624,002076: 15,3343 16001 TCF GOTOPOOH # V34 - TERMINATE
041625,002077: 15,3344 13346 TCF +2
041626,002078: 15,3345 13340 TCF P57AA # VB32 - RECYCLE
041627,002079:
041628,002080: 15,3346 06042 TC INTPRET
041629,002081: 15,3347 65234 RTB PDDL
041630,002082: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041631,002083: 15,3351 01045 DSPTEM1
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|
Page 970 |
041633,002085: 15,3352 65254 BZE PDDL
041634,002086: 15,3353 33363 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041635,002087: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041636,002088: 15,3355 01045 DSPTEM1
041637,002089: 15,3356 33363 P57C
041638,002090: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041639,002091: 15,3360 74335 STORE TIG # STORE IT IN TIG
041640,002092: 15,3361 36775 STCALL TALIGN
041641,002093: 15,3362 33365 P57D
041642,002094: 15,3363 45545 P57C DLOAD STADR
041643,002095: 15,3364 75002 STORE TALIGN
041644,002096: 15,3365 34041 P57D STCALL TDEC1
041645,002097: 15,3366 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041646,002098: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041647,002099: 15,3370 00001 RATT
041648,002100: 15,3371 37607 STCALL XSMD
041649,002101: 15,3372 10757 LSORIENT
041650,002102: 15,3373 77776 EXIT
041651,002103: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041652,002104: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041653,002105: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041654,002106: 15,3377 34737 CAF REFSMBIT
041655,002107: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041656,002108: 15,3401 10000 CCS A
041657,002109: 15,3402 34745 CAF BIT7 # SET
041658,002110: 15,3403 27145 ADS OPTION1 +2 # CLEAR - JUST ZERO
041659,002111: 15,3404 34753 CAF ATTFLBIT
041660,002112: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041661,002113: 15,3406 10000 CCS A
041662,002114: 15,3407 34750 CAF BIT4 # SET
041663,002115: 15,3410 27145 ADS OPTION1 +2 # CLEAR - ZERO IN A
041664,002116: 15,3411 34750 CAF BIT4
041665,002117: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041666,002118:
041667,002119: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041668,002120: 15,3414 04616 TC BANKCALL
041669,002121: 15,3415 20477 CADR GOFLASH
041670,002122: 15,3416 16001 TCF GOTOPOOH # VB34 - TERMINATE
041671,002123: 15,3417 13421 TCF +2 # V33 - PROCEED
041672,002124: 15,3420 13413 TCF DSPOPTN # V32 - RECYCLE
041673,002125:
041674,002126: 15,3421 34737 CAF REFSMBIT
041675,002127: 15,3422 70077 MASK FLAGWRD3
041676,002128: 15,3423 10000 CCS A
041677,002129: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041678,002130: 15,3425 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041679,002131: 15,3426 70102 MASK FLAGWRD6
041680,002132: 15,3427 10000 CCS A
041681,002133: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041682,002134: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 971 |
041684,002136: 15,3432 71144 MASK OPTION2
041685,002137: 15,3433 10000 CCS A
041686,002138: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041687,002139: 15,3435 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041688,002140: 15,3436 00701 OCT 701
041689,002141: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041690,002142: 15,3440 04616 TC BANKCALL
041691,002143: 15,3441 20477 CADR GOFLASH
041692,002144: 15,3442 16001 TCF GOTOPOOH # VB34-TERMINATE
041693,002145: 15,3443 13413 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
041694,002146: 15,3444 13413 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
041695,002147:
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|
Page 972 |
041697,002149: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041698,002150:
041699,002151: 15,3445 40220 MFREF STQ SETPD
041700,002152: 15,3446 02746 QMAJ
041701,002153: 15,3447 00001 0
041702,002154: 15,3450 77634 RTB
041703,002155: 15,3451 21574 LOADTIME
041704,002156: 15,3452 27562 STOVL TSIGHT
041705,002157: 15,3453 03246 VEC1
041706,002158: 15,3454 41525 PDDL PUSH
041707,002159: 15,3455 03562 TSIGHT
041708,002160: 15,3456 77624 CALL
041709,002161: 15,3457 55716 RP-TO-R
041710,002162: 15,3460 27246 STOVL VEC1
041711,002163: 15,3461 03254 VEC2
041712,002164: 15,3462 65201 SETPD PDDL
041713,002165: 15,3463 00001 0
041714,002166: 15,3464 03562 TSIGHT
041715,002167: 15,3465 45006 PUSH CALL
041716,002168: 15,3466 55716 RP-TO-R
041717,002169: 15,3467 37254 STCALL VEC2
041718,002170: 15,3470 02746 QMAJ
041719,002171:
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|
Page 973 |
041721,002173: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041722,002174: # STORE IN YNBSAV AND ZNBSAV
041723,002175:
041724,002176: 15,3471 45020 REFMF STQ CALL
041725,002177: 15,3472 02746 QMAJ
041726,002178: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041727,002179: 15,3474 40234 RTB SETPD
041728,002180: 15,3475 21574 LOADTIME
041729,002181: 15,3476 00001 0
041730,002182: 15,3477 37562 STCALL TSIGHT
041731,002183: 15,3500 20030 CALCSMSC # GET YNB IN SM
041732,002184: 15,3501 61375 VLOAD VXM
041733,002185: 15,3502 02673 YNB
041734,002186: 15,3503 01734 REFSMMAT # YNB TO REF
041735,002187: 15,3504 65256 UNIT PDDL
041736,002188: 15,3505 03562 TSIGHT
041737,002189: 15,3506 45006 PUSH CALL
041738,002190: 15,3507 51700 R-TO-RP
041739,002191: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041740,002192: 15,3511 02701 ZNB
041741,002193: 15,3512 53505 VXM UNIT
041742,002194: 15,3513 01734 REFSMMAT # ZNB TO REF
041743,002195: 15,3514 41525 PDDL PUSH
041744,002196: 15,3515 03562 TSIGHT
041745,002197: 15,3516 77624 CALL
041746,002198: 15,3517 51700 R-TO-RP # ZNB TO MF
041747,002199: 15,3520 02245 STORE ZNBSAV
041748,002200: 15,3521 77614 SETGO
041749,002201: 15,3522 03036 ATTFLAG
041750,002202: 15,3523 02746 QMAJ
041751,002203:
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|
Page 974 |
041753,002205: # BRANCH TO ALIGNMENT OPTION
041754,002206:
041755,002207: 15,3524 06042 GETLMATT TC INTPRET
041756,002208: 15,3525 77624 CALL
041757,002209: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041758,002210: 15,3527 77776 EXIT
041759,002211:
041760,002212: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041761,002213: 15,3531 00205 ADRES INITALGN
041762,002214: 15,3532 34753 CAF BIT1
041763,002215: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041764,002216: 15,3534 10000 CCS A
041765,002217: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041766,002218:
041767,002219: 15,3536 05353 ATTCHK TC PHASCHNG
041768,002220: 15,3537 04024 OCT 04024
041769,002221:
041770,002222: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041771,002223: 15,3541 70102 MASK FLAGWRD6
041772,002224: 15,3542 10000 CCS A
041773,002225: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041774,002226: 15,3544 05353 P57JUMP TC PHASCHNG
041775,002227: 15,3545 04024 OCT 04024
041776,002228:
041777,002229: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041778,002230: 15,3547 00205 ADRES INITALGN
041779,002231: 15,3550 36250 CAF THREE
041780,002232: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
041781,002233: 15,3552 50000 INDEX A
041782,002234: 15,3553 13554 TCF +1
041783,002235: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
041784,002236: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
041785,002237: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
041786,002238: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
041787,002239:
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|
Page 975 |
041789,002241: # OPTION 0, GET TWO ATTITUDE VECS
041790,002242:
041791,002243: 15,3560 06042 P57OPT0 TC INTPRET
041792,002244: 15,3561 77775 VLOAD
041793,002245: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041794,002246: 15,3563 27246 STOVL VEC1
041795,002247: 15,3564 02245 ZNBSAV
041796,002248: 15,3565 37254 STCALL VEC2
041797,002249: 15,3566 47541 CDUTRIG
041798,002250: 15,3567 77624 CALL
041799,002251: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041800,002252: 15,3571 77775 VLOAD
041801,002253: 15,3572 02673 YNB
041802,002254: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041803,002255: 15,3574 02701 ZNB
041804,002256: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041805,002257: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041806,002258: 15,3577 77650 GOTO
041807,002259: 15,3600 33064 SURFLINE
041808,002260:
041809,002261: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041810,002262:
041811,002263: 15,3601 06042 P57OPT1 TC INTPRET
041812,002264: 15,3602 53575 VLOAD UNIT
041813,002265: 15,3603 02023 RLS # LANDING SITE VEC
041814,002266: 15,3604 27246 STOVL VEC1
041815,002267: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
041816,002268: 15,3606 37254 STCALL VEC2
041817,002269: 15,3607 47541 CDUTRIG
041818,002270: 15,3610 77624 CALL
041819,002271: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
041820,002272: 15,3612 45175 VLOAD CALL
041821,002273: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
041822,002274: 15,3614 47663 CDU*NBSM
041823,002275: 15,3615 77650 GOTO
041824,002276: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
041825,002277:
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|
Page 976 |
041827,002279: # OPTION 2, GET TWO STAR SIGHTINGS
041828,002280:
041829,002281: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
041830,002282:
041831,002283: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041832,002284:
041833,002285: 15,3620 06042 P57OPT3 TC INTPRET
041834,002286: 15,3621 53575 VLOAD UNIT
041835,002287: 15,3622 02023 RLS # LANDING SITE VEC
041836,002288: 15,3623 03246 STORE VEC1
041837,002289: 15,3624 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
041838,002290: 15,3625 02231 GSAV # GRAVITY VEC NB
041839,002291: 15,3626 77624 CALL
041840,002292: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
041841,002293: 15,3630 36761 STCALL STARSAV1
041842,002294: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
041843,002295: 15,3632 77776 EXIT
041844,002296: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
041845,002297:
041846,002298: 15,3634 01206 VB05N06 VN 506
041847,002299:
|
|
Page 977 |
041849,002301: # CHECK IMODES30 TO VARIFY IMU IS ON
041850,002302:
041851,002303: 15,3635 41277 IMUCHK CS IMODES30
041852,002304: 15,3636 74743 MASK BIT9
041853,002305: 15,3637 10000 CCS A # IS IMU ON
041854,002306: 15,3640 13644 TCF +4 # YES
041855,002307:
041856,002308: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
041857,002309: 15,3642 00210 OCT 210
041858,002310: 15,3643 06001 TC GOTOPOOH
041859,002311:
041860,002312: 15,3644 05504 TC UPFLAG
041861,002313: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
041862,002314:
041863,002315: 15,3646 04631 TC SWRETURN
041864,002316:
041865,002317: 04,2757 BANK 04
041866,002318: 04,2000 SETLOC AOTMARK2
041867,002319: 04,2000 BANK
041868,002320: 04,2757 COUNT* $$/P57
041869,002321:
041870,002322: 04,2757 77220 LSORIENT STQ VLOAD
041871,002323: 04,2760 02746 QMAJ
041872,002324: 04,2761 01555 RRECTCSM
041873,002325: 04,2762 47235 VXV VXV
041874,002326: 04,2763 01563 VRECTCSM
041875,002327: 04,2764 03607 XSMD
041876,002328: 04,2765 77656 UNIT
041877,002329: 04,2766 03623 STORE ZSMD
041878,002330: 04,2767 53435 VXV UNIT
041879,002331: 04,2770 03607 XSMD
041880,002332: 04,2771 37615 STCALL YSMD
041881,002333: 04,2772 02746 QMAJ
041882,002334:
End of include-file P51-P53.agc. Parent file is MAIN.agc