Source Code
|
These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
|
039892,000002: ## Copyright: Public domain.
039893,000003: ## Filename: P51-P53.agc
039894,000004: ## Purpose: A section of Luminary revision 163.
039895,000005: ## It is part of the reconstructed source code for the first
039896,000006: ## (unflown) release of the flight software for the Lunar
039897,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
039898,000008: ## The code has been recreated from a reconstructed copy of
039899,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
039900,000010: ## It has been adapted such that the resulting bugger words
039901,000011: ## exactly match those specified for Luminary 163 in NASA
039902,000012: ## drawing 2021152N, which gives relatively high confidence
039903,000013: ## that the reconstruction is correct.
039904,000014: ## Reference: pp. 918-974
039905,000015: ## Assembler: yaYUL
039906,000016: ## Contact: Ron Burkey <info@sandroid.org>.
039907,000017: ## Website: www.ibiblio.org/apollo/index.html
039908,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
039909,000019:
|
|
Page 918
|
039911,000021: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
039912,000022: # MOD NO- 0 LOG SECTION- P51-P53
039913,000023: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
039914,000024:
039915,000025: # FUNCTIONAL DESCRIPTION-
039916,000026:
039917,000027: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039918,000028: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039919,000029:
039920,000030: # (A) PREFERRED ORIENTATION
039921,000031:
039922,000032: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039923,000033: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039924,000034:
039925,000035: # (B) NOMINAL ORIENTATION
039926,000036:
039927,000037: # X = UNIT ( R )
039928,000038: # -SM
039929,000039:
039930,000040: # Y = UNIT (V X R)
039931,000041: # SM
039932,000042:
039933,000043: # Z = UNIT (X X Y )
039934,000044: # SM SM SM
039935,000045:
039936,000046: # WHERE_
039937,000047: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039938,000048: # -
039939,000049:
039940,000050: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039941,000051: # -
039942,000052:
039943,000053: # (C) REFSMMAT ORIENTATION
039944,000054:
039945,000055: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039946,000056:
039947,000057: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039948,000058: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039949,000059: # SINCE THE LAST ALIGNMENT).
039950,000060:
039951,000061: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039952,000062: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039953,000063: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039954,000064: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039955,000065: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039956,000066: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039957,000067: # REQUESTED.
039958,000068:
039959,000069: # CALLING SEQUENCE-
|
|
Page 919
|
039961,000071: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039962,000072:
039963,000073: # SUBROUTINES CALLED-
039964,000074:
039965,000075: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039966,000076: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039967,000077: # 3. GOPERF4 9. FLAGUP
039968,000078: # 4. MATMOVE 10. R56
039969,000079: # 5. GOFLASH 11. R51
039970,000080: # 6. S52.3 12. GOPERF3
039971,000081:
039972,000082: # NORMAL EXIT MODES-
039973,000083:
039974,000084: # EXITS TO ENDOFJOB
039975,000085:
039976,000086: # ALARM OR ABORT EXIT MODES-
039977,000087:
039978,000088: # NONE
039979,000089:
039980,000090: # OUTPUT-
039981,000091:
039982,000092: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039983,000093: # 1. IMU ORIENTATION CODE
039984,000094: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
039985,000095: # 3. TIME OF NEXT IGNITION
039986,000096: # 4. GIMBAL ANGLES
039987,000097: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
039988,000098: # 6. PLEASE PERFORM P00
039989,000099: # THE MODE DISPLAY MAY BE CHANGED TO 20
039990,000100:
039991,000101: # ERASABLE INITIALIZATION REQUIRED-
039992,000102:
039993,000103: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
039994,000104: # XSMD,YSMD,ZSMD.
039995,000105: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039996,000106:
039997,000107: # DEBRIS-
039998,000108:
039999,000109: # WORK AREA
040000,000110: 33,3521 BANK 33
040001,000111: 15,2000 SETLOC P50S
040002,000112: 15,2000 BANK
040003,000113:
040004,000114: 15,2050 E5,1755 EBANK= BESTI
040005,000115: 15,2050 COUNT* $$/P52
040006,000116: 15,2050 04616 PROG52 TC BANKCALL
040007,000117: 15,2051 11241 CADR R02BOTH # IMU STATUS CHECK
040008,000118: 15,2052 34750 CAF PFRATBIT
040009,000119: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040010,000120: 15,2054 10000 CCS A
|
|
Page 920
|
040012,000122: 15,2055 02060 TC P52A # YES
040013,000123: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
040014,000124: 15,2057 02061 TC P52A +1
040015,000125: 15,2060 34753 P52A CAF BIT1
040016,000126: 15,2061 55144 TS OPTION2
040017,000127: 15,2062 34753 P52B CAF BIT1
040018,000128: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040019,000129: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
040020,000130: 15,2065 06001 TC GOTOPOOH
040021,000131: 15,2066 12073 TCF +5 # V33-PROCEED
040022,000132: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040023,000133: 15,2070 05364 TC PHASCHNG # DISPLAY RETURN
040024,000134: 15,2071 00014 OCT 00014
040025,000135: 15,2072 05155 TC ENDOFJOB
040026,000136:
040027,000137: 15,2073 31144 CA OPTION2
040028,000138: 15,2074 76250 MASK THREE
040029,000139: 15,2075 50000 INDEX A
040030,000140: 15,2076 02077 TC +1
040031,000141: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
040032,000142: 15,2100 12157 TCF P52H # OPTION 1 PREFERRED
040033,000143: 15,2101 12112 TCF P52T # OPTION 2 NOMINAL
040034,000144: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
040035,000145: 15,2103 77650 GOTO
040036,000146: 15,2104 32170 P52F # GO DO R51
040037,000147:
040038,000148: 15,2105 34741 OPT4 CAF EBANK4 # SET EBANK TO USE TLAND
040039,000149: 15,2106 54003 TS EBANK
040040,000150: 15,2107 E4,1426 EBANK= TLAND
040041,000151: 15,2107 00006 EXTEND
040042,000152: 15,2110 31427 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040043,000153: 15,2111 12114 TCF P52T +2
040044,000154:
040045,000155: 15,2112 00006 P52T EXTEND
040046,000156: 15,2113 34755 DCA NEG0
040047,000157: 15,2114 53045 DXCH DSPTEM1
040048,000158: 15,2115 35014 CAF EBANK5 # RESTORE EBANK AFTER USE OF TLAND
040049,000159: 15,2116 54003 TS EBANK
040050,000160: 15,2117 E5,1774 EBANK= TALIGN
040051,000161: 15,2117 32174 CAF V06N34*
040052,000162: 15,2120 04616 TC BANKCALL
040053,000163: 15,2121 20477 CADR GOFLASH
040054,000164: 15,2122 06001 TC GOTOPOOH
040055,000165: 15,2123 02125 TC +2
040056,000166: 15,2124 02117 TC -5
040057,000167: 15,2125 53045 DXCH DSPTEM1
040058,000168: 15,2126 00006 EXTEND
040059,000169: 15,2127 62131 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040060,000170: 15,2130 12133 TCF +3
040061,000171: 15,2131 00006 EXTEND
|
|
Page 921
|
040063,000173: 15,2132 30025 DCA TIME2
040064,000174: 15,2133 53775 DXCH TALIGN
040065,000175: 15,2134 31144 P52V CA OPTION2
040066,000176: 15,2135 74752 MASK BIT2
040067,000177: 15,2136 10000 CCS A
040068,000178: 15,2137 02143 TC P52W
040069,000179: 15,2140 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040070,000180: 15,2141 77650 GOTO
040071,000181: 15,2142 32224 P52LS
040072,000182:
|
|
Page 922
|
040074,000184: # START ALIGNMENT
040075,000185:
040076,000186: 15,2143 06042 P52W TC INTPRET
040077,000187: 15,2144 45145 DLOAD CALL # PICK UP ALIGN TIME
040078,000188: 15,2145 02775 TALIGN # COMPUTE NOMINAL IMU
040079,000189: 15,2146 31651 S52.3 # ORIENTATION
040080,000190: 15,2147 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040081,000191: 15,2150 31620 S52.2 # COMPUTE GIMBAL ANGLES
040082,000192: 15,2151 77776 EXIT
040083,000193: 15,2152 35010 CAF V06N22
040084,000194: 15,2153 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040085,000195: 15,2154 20477 CADR GOFLASH
040086,000196: 15,2155 06001 TC GOTOPOOH
040087,000197: 15,2156 12175 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
040088,000198: 15,2157 06042 P52H TC INTPRET
040089,000199: 15,2160 77650 GOTO
040090,000200: 15,2161 32147 P52D
040091,000201: 15,2162 06042 REGCOARS TC INTPRET
040092,000202: 15,2163 77624 CALL # DO COARSE ALIGN
040093,000203: 15,2164 31321 CAL53A # ROUTINE
040094,000204: 15,2165 43014 COARSRET SET CLEAR
040095,000205: 15,2166 01462 REFSMFLG
040096,000206: 15,2167 01273 PFRATFLG
040097,000207: 15,2170 77624 P52F CALL
040098,000208: 15,2171 31007 R51
040099,000209: 15,2172 77776 P52OUT EXIT
040100,000210: 15,2173 06001 TC GOTOPOOH
040101,000211: 15,2174 5006 VB05N09 = V05N09
040102,000212: 15,2174 01442 V06N34* VN 634
040103,000213:
|
|
Page 923
|
040105,000215: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040106,000216: 15,2175 32223 COARSTYP CAF OCT13
040107,000217: 15,2176 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040108,000218: 15,2177 20624 CADR GOPERF1
040109,000219: 15,2200 16001 TCF GOTOPOOH # V34-TERMIN&OE
040110,000220: 15,2201 12162 TCF REGCOARS # V33-NORMAL COARSE
040111,000221: 15,2202 06042 TC INTPRET # V32-GYRO TORQUE COARSE
040112,000222: 15,2203 64375 VLOAD MXV
040113,000223: 15,2204 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040114,000224: 15,2205 01732 REFSMMAT
040115,000225: 15,2206 77656 UNIT
040116,000226: 15,2207 26665 STOVL XDC
040117,000227: 15,2210 03615 YSMD
040118,000228: 15,2211 53521 MXV UNIT
040119,000229: 15,2212 01732 REFSMMAT
040120,000230: 15,2213 26673 STOVL YDC
040121,000231: 15,2214 03623 ZSMD
040122,000232: 15,2215 53521 MXV UNIT
040123,000233: 15,2216 01732 REFSMMAT
040124,000234: 15,2217 36701 STCALL ZDC
040125,000235: 15,2220 31156 GYCOARS
040126,000236: 15,2221 77650 GOTO
040127,000237: 15,2222 32172 P52OUT
040128,000238: 15,2223 00013 OCT13 OCT 13
040129,000239:
|
|
Page 924
|
040131,000241: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040132,000242: 15,2224 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040133,000243: 15,2225 01463 LUNAFLAG
040134,000244: 15,2226 00662 ERADFLAG # TO PICK UP RLS
040135,000245: 15,2227 77201 SETPD VLOAD
040136,000246: 15,2230 00001 0
040137,000247: 15,2231 02021 RLS # PICK UP LANDING SITE VEC IN MF
040138,000248: 15,2232 41525 PDDL PUSH # RLS PD 0-5
040139,000249: 15,2233 02775 TALIGN
040140,000250: 15,2234 36027 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040141,000251:
040142,000252: 15,2235 55720 RP-TO-R # TRANS RLS TO REF
040143,000253: 15,2236 77742 VSR2
040144,000254: 15,2237 16032 STODL ALPHAV # INPUT TO LAT-LONG
040145,000255: 15,2240 02775 TALIGN
040146,000256: 15,2241 77624 CALL
040147,000257: 15,2242 30440 N89DISP
040148,000258: 15,2243 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040149,000259: 15,2244 02032 ALPHAV
040150,000260: 15,2245 37607 STCALL XSMD
040151,000261: 15,2246 10765 LSORIENT
040152,000262: 15,2247 77650 GOTO
040153,000263: 15,2250 32147 P52D # NOW GO COMPUTE GIMBAL ANGLES
040154,000264:
|
|
Page 925
|
040156,000266: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040157,000267:
040158,000268: 14,2000 SETLOC P50S1
040159,000269: 14,2000 BANK
040160,000270: 14,2440 E5,1642 EBANK= XSM
040161,000271:
040162,000272: 14,2440 77620 N89DISP STQ
040163,000273: 14,2441 02746 QMAJ
040164,000274: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040165,000275: 14,2443 26347 LAT-LONG
040166,000276: 14,2444 70545 DLOAD SR1
040167,000277: 14,2445 01122 LONG
040168,000278: 14,2446 16711 STODL LANDLONG
040169,000279: 14,2447 01124 ALT
040170,000280: 14,2450 16713 STODL LANDALT
040171,000281: 14,2451 01120 LAT
040172,000282: 14,2452 02707 STORE LANDLAT
040173,000283: 14,2453 77776 EXIT
040174,000284:
040175,000285: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040176,000286: 14,2455 04616 TC BANKCALL
040177,000287: 14,2456 20477 CADR GOFLASH
040178,000288: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
040179,000289: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
040180,000290: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040181,000291:
040182,000292: 14,2462 06042 TC INTPRET
040183,000293: 14,2463 72545 DLOAD SL1
040184,000294: 14,2464 02711 LANDLONG
040185,000295: 14,2465 15122 STODL LONG
040186,000296: 14,2466 02713 LANDALT
040187,000297: 14,2467 15124 STODL ALT
040188,000298: 14,2470 02707 LANDLAT
040189,000299: 14,2471 15120 STODL LAT
040190,000300: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040191,000301: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG, ALT
040192,000302: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040193,000303: 14,2475 77650 GOTO
040194,000304: 14,2476 02746 QMAJ
040195,000305: 14,2477 01531 V06N89* VN 689
040196,000306:
|
|
Page 926
|
040198,000308: # NAME -S50 ALIAS LOCSAM
040199,000309: # BY
040200,000310: # VINCENT
040201,000311: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040202,000312:
040203,000313: # DEFINE
040204,000314:
040205,000315:
040206,000316: # U = UNIT( SUN WRT EARTH)
040207,000317: # ES
040208,000318:
040209,000319: # U =UNIT( MOON WRT EARTH)
040210,000320: # EM
040211,000321:
040212,000322: # R =POSITION VECTOR OF LEM
040213,000323: # L
040214,000324:
040215,000325: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040216,000326: # EM
040217,000327:
040218,000328: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
040219,000329: # EM
040220,000330:
040221,000331: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040222,000332: # E
040223,000333:
040224,000334: # LOCSAM COMPUTES IN EARTH INFLUENCE
040225,000335:
040226,000336: # VSUN = U
040227,000337: # ES
040228,000338:
040229,000339: # VEARTH = -UNIT( R )
040230,000340: # L
040231,000341:
040232,000342: # VMOON = UNIT(R .U - R )
040233,000343: # EM EM L
040234,000344:
040235,000345: # CSUN = COS 90
040236,000346:
040237,000347: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040238,000348: # E L
040239,000349:
040240,000350: # CMOON = COS 5
040241,000351:
040242,000352:
040243,000353: # INPUT - TIME IN MPAC
040244,000354: # OUTPUT - LISTED ABOVE
040245,000355: # SUBROUTINES -LSPOS,LEMPREC
040246,000356: # DEBRIS - VAC AREA ,TSIGHT
040247,000357:
|
|
Page 927
|
040249,000359: 14,2500 COUNT* $$/LOSAM
040250,000360:
040251,000361: 14,2500 14,2500 S50 = LOCSAM
040252,000362: 14,2500 77620 LOCSAM STQ
040253,000363: 14,2501 02745 QMIN
040254,000364: 14,2502 37562 STCALL TSIGHT
040255,000365: 14,2503 33641 LSPOS
040256,000366: 14,2504 77745 DLOAD
040257,000367: 14,2505 03562 TSIGHT
040258,000368: 14,2506 34041 STCALL TDEC1
040259,000369: 14,2507 27056 LEMPREC
040260,000370: 14,2510 61131 SSP TIX,2
040261,000371: 14,2511 00052 S2
040262,000372: 14,2512 00000 0
040263,000373: 14,2513 30535 MOONCNTR
040264,000374: 14,2514 74375 EARTCNTR VLOAD VXSC
040265,000375: 14,2515 02723 VMOON
040266,000376: 14,2516 30001 RSUBEM
040267,000377: 14,2517 52372 VSL1 VSU
040268,000378: 14,2520 00001 RATT
040269,000379: 14,2521 77656 UNIT
040270,000380: 14,2522 26723 STOVL VMOON
040271,000381: 14,2523 00001 RATT
040272,000382: 14,2524 57456 UNIT VCOMP
040273,000383: 14,2525 16707 STODL VEARTH
040274,000384: 14,2526 30005 RSUBE
040275,000385: 14,2527 77624 CALL
040276,000386: 14,2530 30567 OCCOS
040277,000387: 14,2531 14017 STODL CEARTH
040278,000388: 14,2532 30576 CSS5
040279,000389: 14,2533 34023 STCALL CMOON
040280,000390: 14,2534 30562 ENDSAM
040281,000391: 14,2535 74375 MOONCNTR VLOAD VXSC
040282,000392: 14,2536 02723 VMOON
040283,000393: 14,2537 30007 ROE
040284,000394: 14,2540 53445 BVSU UNIT
040285,000395: 14,2541 02715 VSUN
040286,000396: 14,2542 26715 STOVL VSUN
040287,000397: 14,2543 02723 VMOON
040288,000398: 14,2544 53361 VXSC VAD
040289,000399: 14,2545 30001 RSUBEM
040290,000400: 14,2546 00001 RATT
040291,000401: 14,2547 57456 UNIT VCOMP
040292,000402: 14,2550 26707 STOVL VEARTH
040293,000403: 14,2551 00001 RATT
040294,000404: 14,2552 57456 UNIT VCOMP
040295,000405: 14,2553 16723 STODL VMOON
040296,000406: 14,2554 30003 RSUBM
040297,000407: 14,2555 77624 CALL
040298,000408: 14,2556 30567 OCCOS
|
|
Page 928
|
040300,000410: 14,2557 14023 STODL CMOON
040301,000411: 14,2560 30576 CSS5
040302,000412: 14,2561 00017 STORE CEARTH
040303,000413: 14,2562 77745 ENDSAM DLOAD
040304,000414: 14,2563 30600 CSSUN
040305,000415: 14,2564 00021 STORE CSUN
040306,000416: 14,2565 77650 GOTO
040307,000417: 14,2566 02745 QMIN
040308,000418: 14,2567 70471 OCCOS DDV SR1
040309,000419: 14,2570 00045 36D
040310,000420: 14,2571 43336 ASIN DAD
040311,000421: 14,2572 30602 5DEGREES
040312,000422: 14,2573 70546 COS SR1
040313,000423: 14,2574 77616 RVQ
040314,000424: 14,2575 CEARTH = 14D
040315,000425: 14,2575 CSUN = 16D
040316,000426: 14,2575 CMOON = 18D
040317,000427: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040318,000428:
040319,000429: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
040320,000430:
040321,000431: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040322,000432:
|
|
Page 929
|
040324,000434: # PROGRAM NAME - R56 DATE DEC 20 66
040325,000435: # MOD 1 LOG SECTION P51-P53
040326,000436: # ASSEMBLY SUNDISK REV40
040327,000437: # BY KEN VINCENT
040328,000438:
040329,000439: # FUNCTION
040330,000440: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040331,000441: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040332,000442: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040333,000443: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040334,000444: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040335,000445: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040336,000446: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040337,000447: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040338,000448: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040339,000449: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040340,000450: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040341,000451: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
040342,000452:
040343,000453: # CALLING SEQUENCE
040344,000454: # L TC BANKCALL
040345,000455: # L+1 CADR R56
040346,000456: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040347,000457: # L+3 NORMAL RETURN
040348,000458:
040349,000459: # OUTPUT
040350,000460: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040351,000461: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040352,000462:
040353,000463: # INITIALIZATION
040354,000464: # 1)A CALL TO LOCSAM MUST BE MADE
040355,000465:
040356,000466: # DEBRIS
040357,000467: # WORK AREA
040358,000468: # X,Y,ZNB
040359,000469: # SINCDU,COSCDU
040360,000470: # STARAD - STAR +5
040361,000471:
040362,000472: 14,2603 14,2603 R56 = PICAPAR
040363,000473: 14,2603 COUNT* $$/R56
040364,000474: 14,2603 04645 PICAPAR TC MAKECADR
040365,000475: 14,2604 55745 TS QMIN
040366,000476: 14,2605 06042 TC INTPRET
040367,000477: 14,2606 77624 CALL
040368,000478: 14,2607 47535 CDUTRIG
040369,000479: 14,2610 77624 CALL
040370,000480: 14,2611 20030 CALCSMSC
040371,000481: 14,2612 77601 SETPD
040372,000482: 14,2613 00001 0
040373,000483: 14,2614 71214 SET DLOAD # VFLAG = 1
040374,000484: 14,2615 01465 VFLAG
|
|
Page 930
|
040376,000486: 14,2616 24007 DPZERO
040377,000487: 14,2617 26756 STOVL BESTI
040378,000488: 14,2620 02665 XNB
040379,000489: 14,2621 63361 VXSC PDVL
040380,000490: 14,2622 24005 HALFDP
040381,000491: 14,2623 02701 ZNB
040382,000492: 14,2624 74370 AXT,1 VXSC
040383,000493: 14,2625 00344 228D # X1 = 37 X 6 +6
040384,000494: 14,2626 24005 HALFDP
040385,000495: 14,2627 77655 VAD
040386,000496: 14,2630 53505 VXM UNIT
040387,000497: 14,2631 01732 REFSMMAT
040388,000498: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040389,000499: 14,2633 66331 SSP SSP # S1=S2=6
040390,000500: 14,2634 00051 S1
040391,000501: 14,2635 00006 6
040392,000502: 14,2636 00052 S2
040393,000503: 14,2637 00006 6
040394,000504: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040395,000505: 14,2641 30643 PIC2
040396,000506: 14,2642 30760 PICEND
040397,000507: 14,2643 50373 PIC2 VLOAD* DOT
040398,000508: 14,2644 30347 CATLOG,1
040399,000509: 14,2645 02731 SAX
040400,000510: 14,2646 50025 DSU BMN
040401,000511: 14,2647 30757 CSS33
040402,000512: 14,2650 30640 PIC1
040403,000513: 14,2651 77754 LXA,2
040404,000514: 14,2652 00046 X1
040405,000515: 14,2653 52104 PIC3 TIX,2 GOTO
040406,000516: 14,2654 30656 PIC4
040407,000517: 14,2655 30640 PIC1
040408,000518: 14,2656 50373 PIC4 VLOAD* DOT
040409,000519: 14,2657 47430 CATLOG,2
040410,000520: 14,2660 02731 SAX
040411,000521: 14,2661 50025 DSU BMN
040412,000522: 14,2662 30757 CSS33
040413,000523: 14,2663 30653 PIC3
040414,000524: 14,2664 47773 VLOAD* DOT*
040415,000525: 14,2665 30347 CATLOG,1
040416,000526: 14,2666 47430 CATLOG,2
040417,000527: 14,2667 51025 DSU BPL
040418,000528: 14,2670 30755 CSS40
040419,000529: 14,2671 30653 PIC3
040420,000530: 14,2672 45173 VLOAD* CALL
040421,000531: 14,2673 30347 CATLOG,1
040422,000532: 14,2674 30732 OCCULT
040423,000533: 14,2675 77614 BON
040424,000534: 14,2676 01710 CULTFLAG
040425,000535: 14,2677 30640 PIC1
|
|
Page 931
|
040427,000537: 14,2700 45173 VLOAD* CALL
040428,000538: 14,2701 47430 CATLOG,2
040429,000539: 14,2702 30732 OCCULT
040430,000540: 14,2703 77614 BON
040431,000541: 14,2704 01710 CULTFLAG
040432,000542: 14,2705 30653 PIC3
040433,000543: 14,2706 77614 STRATGY BONCLR
040434,000544: 14,2707 01605 VFLAG
040435,000545: 14,2710 30725 NEWPAR
040436,000546: 14,2711 65120 XCHX,1 XCHX,2
040437,000547: 14,2712 02755 BESTI
040438,000548: 14,2713 02756 BESTJ
040439,000549: 14,2714 47773 STRAT VLOAD* DOT*
040440,000550: 14,2715 30347 CATLOG,1
040441,000551: 14,2716 47430 CATLOG,2
040442,000552: 14,2717 43006 PUSH BOFINV
040443,000553: 14,2720 01545 VFLAG
040444,000554: 14,2721 30711 STRAT -3
040445,000555: 14,2722 45345 DLOAD DSU
040446,000556: 14,2723 77644 BPL
040447,000557: 14,2724 30653 PIC3
040448,000558: 14,2725 67130 NEWPAR SXA,1 SXA,2
040449,000559: 14,2726 02755 BESTI
040450,000560: 14,2727 02756 BESTJ
040451,000561: 14,2730 77650 GOTO
040452,000562: 14,2731 30653 PIC3
040453,000563: 14,2732 51321 OCCULT MXV BVSU
040454,000564: 14,2733 02707 CULTRIX
040455,000565: 14,2734 00017 CSS
040456,000566: 14,2735 77654 BZE
040457,000567: 14,2736 30751 CULTED
040458,000568: 14,2737 75240 BMN SIGN
040459,000569: 14,2740 30751 CULTED
040460,000570: 14,2741 00160 MPAC +3
040461,000571: 14,2742 75240 BMN SIGN
040462,000572: 14,2743 30751 CULTED
040463,000573: 14,2744 00162 MPAC +5
040464,000574: 14,2745 43040 BMN CLRGO
040465,000575: 14,2746 30751 CULTED
040466,000576: 14,2747 01630 CULTFLAG
040467,000577: 14,2750 00052 QPRET
040468,000578: 14,2751 77614 CULTED SETGO
040469,000579: 14,2752 01430 CULTFLAG
040470,000580: 14,2753 00052 QPRET
040471,000581: 14,2754 0000016 CSS = CEARTH
040472,000582: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 /4
040473,000583:
040474,000584: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 /4
040475,000585:
040476,000586: 14,2760 77414 PICEND BOFF EXIT
|
|
Page 932
|
040478,000588: 14,2761 01745 VFLAG
040479,000589: 14,2762 30764 PICGXT
040480,000590: 14,2763 03005 TC PICBXT
040481,000591: 14,2764 73150 PICGXT LXA,1 LXA,2
040482,000592: 14,2765 02755 BESTI
040483,000593: 14,2766 02756 BESTJ
040484,000594: 14,2767 47775 VLOAD DOT*
040485,000595: 14,2770 02731 SAX
040486,000596: 14,2771 30347 CATLOG,1
040487,000597: 14,2772 47715 PDVL DOT*
040488,000598: 14,2773 02731 SAX
040489,000599: 14,2774 47430 CATLOG,2
040490,000600: 14,2775 77625 DSU
040491,000601: 14,2776 66044 BPL SXA,1
040492,000602: 14,2777 31003 PICNSWP
040493,000603: 14,3000 02756 BESTJ
040494,000604: 14,3001 77734 SXA,2
040495,000605: 14,3002 02755 BESTI
040496,000606: 14,3003 77776 PICNSWP EXIT
040497,000607: 14,3004 25745 INCR QMIN
040498,000608: 14,3005 31745 PICBXT CA QMIN
040499,000609: 14,3006 04622 TC SWCALL
040500,000610: 14,3007 VPD = 0D
040501,000611: 14,3007 V0 = 6D
040502,000612: 14,3007 V1 = 12D
040503,000613: 14,3007 V2 = 18D
040504,000614: 14,3007 V3 = 24D
040505,000615: 14,3007 DP0 = 30D
040506,000616: 14,3007 DP1 = 32D
040507,000617:
|
|
Page 933
|
040509,000619: # NAME-R51 FINE ALIGN
040510,000620: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040511,000621: # CALLING SEQ- CALL R51
040512,000622: # INPUT - REFSMMAT
040513,000623: # OUTPUT- GYRO TORQUE PULSES
040514,000624: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040515,000625: 14,3007 COUNT* $$/R51
040516,000626: 14,3007 77620 R51 STQ
040517,000627: 14,3010 02746 QMAJ
040518,000628: 14,3011 77776 R51.1 EXIT
040519,000629: 14,3012 05364 TC PHASCHNG
040520,000630: 14,3013 04024 OCT 04024
040521,000631:
040522,000632: 14,3014 34761 R51C CAF OCT15
040523,000633: 14,3015 04616 TC BANKCALL
040524,000634: 14,3016 20624 CADR GOPERF1
040525,000635: 14,3017 06001 TC GOTOPOOH
040526,000636: 14,3020 03022 TC +2 # V33E
040527,000637: 14,3021 03045 TC R51E # ENTER
040528,000638: 14,3022 06042 TC INTPRET
040529,000639: 14,3023 43234 RTB DAD
040530,000640: 14,3024 21574 LOADTIME
040531,000641: 14,3025 31155 TSIGHT1
040532,000642: 14,3026 77624 CALL
040533,000643: 14,3027 30500 LOCSAM
040534,000644: 14,3030 77776 EXIT
040535,000645: 14,3031 04616 TC BANKCALL
040536,000646: 14,3032 30603 CADR R56
040537,000647: 14,3033 03035 TC R51I
040538,000648: 14,3034 03045 R51F TC R51E
040539,000649: 14,3035 05600 R51I TC ALARM
040540,000650: 14,3036 00405 OCT 405
040541,000651: 14,3037 35006 CAF VB05N09
040542,000652: 14,3040 04616 TC BANKCALL
040543,000653: 14,3041 20477 CADR GOFLASH
040544,000654: 14,3042 06001 TC GOTOPOOH
040545,000655: 14,3043 03045 TC R51E
040546,000656: 14,3044 03014 TC R51C
040547,000657: 14,3045 34755 R51E CAF ZERO
040548,000658: 14,3046 55757 TS STARIND
040549,000659: 14,3047 06042 R51.2 TC INTPRET
040550,000660: 14,3050 77776 R51.3 EXIT
040551,000661: 14,3051 05364 TC PHASCHNG
040552,000662: 14,3052 04024 OCT 04024
040553,000663:
040554,000664: 14,3053 06042 TC INTPRET
040555,000665: 14,3054 77624 CALL
040556,000666: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040557,000667: 14,3056 77776 EXIT
040558,000668: 14,3057 04616 TC BANKCALL
|
|
Page 934
|
040560,000670: 14,3060 16000 CADR AOTMARK
040561,000671: 14,3061 04616 TC BANKCALL
040562,000672: 14,3062 17716 CADR OPTSTALL
040563,000673: 14,3063 05712 TC CURTAINS
040564,000674: 14,3064 11757 CCS STARIND
040565,000675: 14,3065 13067 TCF +2
040566,000676: 14,3066 03137 TC R51.4
040567,000677: 14,3067 06042 TC INTPRET
040568,000678: 14,3070 77775 VLOAD
040569,000679: 14,3071 02715 STARAD +6
040570,000680: 14,3072 02767 STORE STARSAV2
040571,000681: 14,3073 77776 EXIT
040572,000682: 14,3074 05364 TC PHASCHNG
040573,000683: 14,3075 04024 OCT 04024
040574,000684:
040575,000685: 14,3076 06042 TC INTPRET
040576,000686: 14,3077 45145 DLOAD CALL
040577,000687: 14,3100 03562 TSIGHT
040578,000688: 14,3101 32461 PLANET
040579,000689: 14,3102 53521 MXV UNIT
040580,000690: 14,3103 01732 REFSMMAT
040581,000691: 14,3104 26715 STOVL STARAD +6
040582,000692: 14,3105 03554 PLANVEC
040583,000693: 14,3106 53521 MXV UNIT
040584,000694: 14,3107 01732 REFSMMAT
040585,000695: 14,3110 26707 STOVL STARAD
040586,000696: 14,3111 02761 STARSAV1
040587,000697: 14,3112 24007 STOVL 6D
040588,000698: 14,3113 02767 STARSAV2
040589,000699: 14,3114 34015 STCALL 12D
040590,000700: 14,3115 31250 R54 # STAR DATA TEST
040591,000701: 14,3116 45014 BOFF CALL
040592,000702: 14,3117 00354 FREEFLAG
040593,000703: 14,3120 31126 R51K
040594,000704: 14,3121 47437 AXISGEN
040595,000705: 14,3122 77624 CALL
040596,000706: 14,3123 31216 R55 # GYRO TORQUE
040597,000707: 14,3124 77614 CLEAR
040598,000708: 14,3125 01273 PFRATFLG
040599,000709: 14,3126 77776 R51K EXIT
040600,000710: 14,3127 35752 R51P63 CAF OCT14
040601,000711: 14,3130 04616 TC BANKCALL
040602,000712: 14,3131 20624 CADR GOPERF1
040603,000713: 14,3132 06001 TC GOTOPOOH
040604,000714: 14,3133 03014 TC R51C
040605,000715: 14,3134 06042 TC INTPRET
040606,000716: 14,3135 77650 GOTO
040607,000717: 14,3136 02746 QMAJ
040608,000718: 14,3137 06042 R51.4 TC INTPRET
040609,000719: 14,3140 77775 VLOAD
|
|
Page 935
|
040611,000721: 14,3141 02715 STARAD +6
040612,000722: 14,3142 02761 STORE STARSAV1
040613,000723: 14,3143 45145 DLOAD CALL
040614,000724: 14,3144 03562 TSIGHT
040615,000725: 14,3145 32461 PLANET
040616,000726: 14,3146 03554 STORE PLANVEC
040617,000727: 14,3147 77731 SSP
040618,000728: 14,3150 02760 STARIND
040619,000729: 14,3151 00001 1
040620,000730: 14,3152 77650 GOTO
040621,000731: 14,3153 31050 R51.3
040622,000732: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040623,000733:
|
|
Page 936
|
040625,000735: # GYRO TORQUE COARSE ALIGNMENT
040626,000736: 14,3156 45020 GYCOARS STQ CALL
040627,000737: 14,3157 02746 QMAJ
040628,000738: 14,3160 47245 CALCGTA
040629,000739: 14,3161 43014 CLEAR CLEAR
040630,000740: 14,3162 01260 DRIFTFLG
040631,000741: 14,3163 01662 REFSMFLG
040632,000742: 14,3164 77776 EXIT
040633,000743: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040634,000744: 14,3166 04616 TC BANKCALL
040635,000745: 14,3167 20452 CADR GODSPR
040636,000746: 14,3170 33247 CA R55CDR
040637,000747: 14,3171 04616 TC BANKCALL
040638,000748: 14,3172 17307 CADR IMUPULSE
040639,000749: 14,3173 04616 TC BANKCALL
040640,000750: 14,3174 17722 CADR IMUSTALL
040641,000751: 14,3175 05712 TC CURTAINS
040642,000752: 14,3176 05364 TC PHASCHNG
040643,000753: 14,3177 04024 OCT 04024
040644,000754:
040645,000755: 14,3200 06042 TC INTPRET
040646,000756: 14,3201 75160 AXC,1 AXC,2
040647,000757: 14,3202 03606 XSMD
040648,000758: 14,3203 01731 REFSMMAT
040649,000759: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040650,000760: 14,3205 31371 MATMOVE
040651,000761: 14,3206 43014 CLEAR SET
040652,000762: 14,3207 01273 PFRATFLG
040653,000763: 14,3210 01462 REFSMFLG
040654,000764: 14,3211 77624 CALL
040655,000765: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040656,000766: 14,3213 77650 GOTO
040657,000767: 14,3214 31126 R51K
040658,000768: 14,3215 04024 V16N20 VN 1620
040659,000769:
|
|
Page 937
|
040661,000771: # R55 GYRO TORQUE
040662,000772: # FUNCTION-COMPUTE AND SEND GYRO PULSES
040663,000773: # CALLING SEQ- CALL R55
040664,000774: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040665,000775: # OUTPUT- GYRO PULSES
040666,000776: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040667,000777: 14,3216 COUNT* $$/R55
040668,000778: 14,3216 77620 R55 STQ
040669,000779: 14,3217 02745 QMIN
040670,000780: 14,3220 77624 CALL
040671,000781: 14,3221 47245 CALCGTA
040672,000782: 14,3222 77776 PULSEM EXIT
040673,000783: 14,3223 33246 R55.1 CAF V06N93
040674,000784: 14,3224 04616 TC BANKCALL
040675,000785: 14,3225 20477 CADR GOFLASH
040676,000786: 14,3226 06001 TC GOTOPOOH
040677,000787: 14,3227 03231 TC R55.2
040678,000788: 14,3230 03243 TC R55RET
040679,000789: 14,3231 05364 R55.2 TC PHASCHNG
040680,000790: 14,3232 00214 OCT 00214
040681,000791: 14,3233 33247 CA R55CDR
040682,000792: 14,3234 04616 TC BANKCALL
040683,000793: 14,3235 17307 CADR IMUPULSE
040684,000794: 14,3236 04616 TC BANKCALL
040685,000795: 14,3237 17722 CADR IMUSTALL
040686,000796: 14,3240 05712 TC CURTAINS
040687,000797: 14,3241 05364 TC PHASCHNG
040688,000798: 14,3242 04024 OCT 04024
040689,000799:
040690,000800: 14,3243 06042 R55RET TC INTPRET
040691,000801: 14,3244 77650 GOTO
040692,000802: 14,3245 02745 QMIN
040693,000803: 14,3246 01535 V06N93 VN 0693
040694,000804: 14,3247 02737 R55CDR ECADR OGC
040695,000805: 14,3250 14,3250 R54 = CHKSDATA
040696,000806: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
040697,000807: # MOD NO- 0 LOG SECTION- P51-P53
040698,000808: # MODIFICATION BY- LONSKE ASSEMBLY-
040699,000809:
040700,000810: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040701,000811: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040702,000812: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040703,000813:
040704,000814: # OS1 = OBSERVED STAR 1 VECTOR
040705,000815: # OS2 = OBSERVED STAR 2 VECTOR
040706,000816: # SS1 = STORED STAR 1 VECTOR
040707,000817: # SS2 = STORED STAR 2 VECTOR
040708,000818: # A1 = ARCCOS(OS1 - OS2)
040709,000819: # A2 = ARCCOS(SS1 - SS2)
040710,000820: # A = ABS(2(A1 - A2))
|
|
Page 938
|
040712,000822: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040713,000823: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040714,000824: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040715,000825: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040716,000826: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040717,000827:
040718,000828: # ERASABLE INITIALIZATION REQUIRED -
040719,000829: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040720,000830: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040721,000831: # DEBRIS -
040722,000832: 14,3250 COUNT* $$/R54
040723,000833: 14,3250 43020 CHKSDATA STQ SET
040724,000834: 14,3251 02745 QMIN
040725,000835: 14,3252 00074 FREEFLAG
040726,000836: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040727,000837: 14,3254 02706 STARAD
040728,000838:
040729,000839: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040730,000840: 14,3256 00001 0,1
040731,000841: 14,3257 00007 6,1
040732,000842: 14,3260 65552 SL1 ACOS
040733,000843: 14,3261 00025 STORE THETA
040734,000844: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040735,000845: 14,3263 00354 FREEFLAG
040736,000846: 14,3264 31274 CHKSD
040737,000847: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040738,000848: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040739,000849: 14,3267 00006 6D
040740,000850: 14,3270 00025 THETA
040741,000851: 14,3271 00023 STORE 18D
040742,000852: 14,3272 77650 GOTO
040743,000853: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040744,000854: 14,3274 45345 CHKSD DLOAD DSU
040745,000855: 14,3275 00025 THETA
040746,000856: 14,3276 00023 18D
040747,000857: 14,3277 77634 RTB # COMPUTE POS DIFF
040748,000858: 14,3300 21613 SGNAGREE
040749,000859: 14,3301 01045 STORE NORMTEM1
040750,000860: 14,3302 77414 SET EXIT
040751,000861: 14,3303 00074 FREEFLAG
040752,000862: 14,3304 33320 CAF VB6N5
040753,000863: 14,3305 04616 TC BANKCALL
040754,000864: 14,3306 20477 CADR GOFLASH
040755,000865: 14,3307 16001 TCF GOTOPOOH
040756,000866: 14,3310 03315 TC CHKSDA # PROCEED
040757,000867: 14,3311 06042 TC INTPRET
040758,000868: 14,3312 52014 CLEAR GOTO
040759,000869: 14,3313 00274 FREEFLAG
040760,000870: 14,3314 02745 QMIN
040761,000871: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 939
|
040763,000873: 14,3316 77650 GOTO
040764,000874: 14,3317 02745 QMIN
040765,000875: 14,3320 01405 VB6N5 VN 605
040766,000876: # NAME - CAL53A
040767,000877: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040768,000878: # CALLING SEQUENCE - CALL CAL53A
040769,000879: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
040770,000880: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040771,000881: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040772,000882: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040773,000883: 14,3321 COUNT* $$/R50
040774,000884: 14,3321 77624 CAL53A CALL
040775,000885: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040776,000886: 14,3323 66234 RTB SSP
040777,000887: 14,3324 31405 RDCDUS # READ CDUS
040778,000888: 14,3325 00051 S1
040779,000889: 14,3326 00001 1
040780,000890: 14,3327 40370 AXT,1 SETPD
040781,000891: 14,3330 00003 3
040782,000892: 14,3331 00005 4
040783,000893: 14,3332 70543 CALOOP DLOAD* SR1
040784,000894: 14,3333 00325 THETAD +3D,1
040785,000895: 14,3334 70523 PDDL* SR1
040786,000896: 14,3335 00005 4,1
040787,000897: 14,3336 51425 DSU ABS
040788,000898: 14,3337 45206 PUSH DSU
040789,000899: 14,3340 31404 DEGREE1
040790,000900: 14,3341 71240 BMN DLOAD
040791,000901: 14,3342 31360 CALOOP1
040792,000902: 14,3343 51025 DSU BPL
040793,000903: 14,3344 31405 DEG359
040794,000904: 14,3345 31360 CALOOP1
040795,000905: 14,3346 77776 EXIT
040796,000906: 14,3347 05364 TC PHASCHNG
040797,000907: 14,3350 04024 OCT 04024
040798,000908:
040799,000909: 14,3351 06042 TC INTPRET
040800,000910: 14,3352 77624 COARFINE CALL
040801,000911: 14,3353 31557 COARSE
040802,000912: 14,3354 77624 CALL
040803,000913: 14,3355 31603 NCOARSE
040804,000914: 14,3356 77650 GOTO
040805,000915: 14,3357 31362 FINEONLY
040806,000916: 14,3360 77700 CALOOP1 TIX,1
040807,000917: 14,3361 31332 CALOOP
040808,000918: 14,3362 75160 FINEONLY AXC,1 AXC,2
040809,000919: 14,3363 02642 XSM
040810,000920: 14,3364 01731 REFSMMAT
040811,000921: 14,3365 77624 CALL
040812,000922: 14,3366 31371 MATMOVE
|
|
Page 940
|
040814,000924: 14,3367 77650 GOTO
040815,000925: 14,3370 32165 COARSRET
040816,000926: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040817,000927: 14,3372 00001 0,1
040818,000928: 14,3373 10001 STORE 0,2
040819,000929: 14,3374 77773 VLOAD*
040820,000930: 14,3375 00007 6D,1
040821,000931: 14,3376 10007 STORE 6D,2
040822,000932: 14,3377 77773 VLOAD*
040823,000933: 14,3400 00015 12D,1
040824,000934: 14,3401 10015 STORE 12D,2
040825,000935: 14,3402 77616 RVQ
040826,000936: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040827,000937: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040828,000938: 14,3405 00004 RDCDUS INHINT # READ CDUS
040829,000939: 14,3406 30032 CA CDUX
040830,000940: 14,3407 50120 INDEX FIXLOC
040831,000941: 14,3410 54001 TS 1
040832,000942: 14,3411 30033 CA CDUY
040833,000943: 14,3412 50120 INDEX FIXLOC
040834,000944: 14,3413 54002 TS 2
040835,000945: 14,3414 30034 CA CDUZ
040836,000946: 14,3415 50120 INDEX FIXLOC
040837,000947: 14,3416 54003 TS 3
040838,000948: 14,3417 00003 RELINT
040839,000949: 14,3420 06064 TC DANZIG # +
040840,000950: 14,3421 COUNT* $$/INFLT
040841,000951:
|
|
Page 941
|
040843,000953: # NAME - P51 - IMU ORIENTATION DETERMINATION
040844,000954: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
040845,000955: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040846,000956:
040847,000957: # FUNCTIONAL DESCRIPTION
040848,000958:
040849,000959: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040850,000960: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
040851,000961: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040852,000962: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040853,000963:
040854,000964: # CALLING SEQUENCE
040855,000965:
040856,000966: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040857,000967:
040858,000968: # SUBROUTINES CALLED.
040859,000969:
040860,000970: # GOPERF3
040861,000971: # GOPERF1
040862,000972: # GODSPR
040863,000973: # IMUCOARS
040864,000974: # IMUFIN20
040865,000975: # AOTMARK(R53)
040866,000976: # CHKSDATA(R54)
040867,000977: # MKRELEAS
040868,000978: # AXISGEN
040869,000979: # MATMOVE
040870,000980:
040871,000981: # ALARMS
040872,000982:
040873,000983: # NONE.
040874,000984:
040875,000985: # ERASABLE INITIALIZATION
040876,000986:
040877,000987: # IMU ZERO FLAG SHOULD BE SET.
040878,000988:
040879,000989: # OUTPUT
040880,000990:
040881,000991: # REFSMMAT
040882,000992: # REFSMFLG
040883,000993:
040884,000994: # DEBRIS
040885,000995:
040886,000996: # WORK AREA
040887,000997: # STARAD
040888,000998: # STARIND
040889,000999: # BESTI
040890,001000: # BESTJ
040891,001001:
040892,001002: 14,3421 COUNT* $$/P51
|
|
Page 942
|
040894,001004: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040895,001005: 14,3422 33627 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040896,001006:
040897,001007: 14,3423 34761 CAF OCT15
040898,001008: 14,3424 04616 TC BANKCALL
040899,001009: 14,3425 20624 CADR GOPERF1
040900,001010: 14,3426 06001 TC GOTOPOOH # TERM.
040901,001011: 14,3427 13453 TCF P51B # V33
040902,001012: 14,3430 05364 TC PHASCHNG
040903,001013: 14,3431 04024 OCT 04024
040904,001014:
040905,001015: 14,3432 34755 CAF ZERO
040906,001016: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040907,001017: 14,3434 54322 TS THETAD +1
040908,001018: 14,3435 54323 TS THETAD +2
040909,001019: 14,3436 35010 CAF V06N22
040910,001020: 14,3437 04616 TC BANKCALL
040911,001021: 14,3440 20447 CADR GODSPRET
040912,001022: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040913,001023: 14,3442 04616 TC BANKCALL
040914,001024: 14,3443 20447 CADR GODSPRET
040915,001025: 14,3444 06042 TC INTPRET
040916,001026: 14,3445 77624 CALL
040917,001027: 14,3446 31557 COARSE
040918,001028: 14,3447 77776 EXIT
040919,001029: 14,3450 05364 TC PHASCHNG
040920,001030: 14,3451 04024 OCT 04024
040921,001031: 14,3452 13423 TCF P51 +2
040922,001032:
040923,001033: 14,3453 05364 P51B TC PHASCHNG
040924,001034: 14,3454 00014 OCT 00014
040925,001035: 14,3455 06042 TC INTPRET
040926,001036: 14,3456 77624 CALL
040927,001037: 14,3457 31603 NCOARSE
040928,001038: 14,3460 40331 SSP SETPD
040929,001039: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
040930,001040: 14,3462 00000 0
040931,001041: 14,3463 00001 0
040932,001042: 14,3464 77776 P51C EXIT
040933,001043: 14,3465 05364 TC PHASCHNG
040934,001044: 14,3466 04024 OCT 04024
040935,001045:
040936,001046: 14,3467 04616 TC BANKCALL
040937,001047: 14,3470 16000 CADR AOTMARK # R53
040938,001048: 14,3471 04616 TC BANKCALL
040939,001049: 14,3472 17716 CADR AOTSTALL
040940,001050: 14,3473 05712 TC CURTAINS
040941,001051: 14,3474 11757 CCS STARIND
040942,001052: 14,3475 13503 TCF P51D +1
040943,001053: 14,3476 06042 TC INTPRET
|
|
Page 943
|
040945,001055: 14,3477 77775 VLOAD
040946,001056: 14,3500 02715 STARAD +6
040947,001057: 14,3501 02761 STORE STARSAV1
040948,001058: 14,3502 77776 P51D EXIT
040949,001059: 14,3503 05364 TC PHASCHNG
040950,001060: 14,3504 04024 OCT 04024
040951,001061:
040952,001062: 14,3505 11757 CCS STARIND
040953,001063: 14,3506 13522 TCF P51E
040954,001064: 14,3507 05364 TC PHASCHNG
040955,001065: 14,3510 04024 OCT 04024
040956,001066:
040957,001067: 14,3511 06042 TC INTPRET
040958,001068: 14,3512 45145 DLOAD CALL
040959,001069: 14,3513 03562 TSIGHT
040960,001070: 14,3514 32461 PLANET
040961,001071: 14,3515 03554 STORE PLANVEC
040962,001072: 14,3516 77776 EXIT
040963,001073: 14,3517 34753 CAF BIT1
040964,001074: 14,3520 55757 TS STARIND
040965,001075: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040966,001076: 14,3522 05364 P51E TC PHASCHNG
040967,001077: 14,3523 04024 OCT 04024
040968,001078:
040969,001079: 14,3524 06042 TC INTPRET
040970,001080: 14,3525 45145 DLOAD CALL
040971,001081: 14,3526 03562 TSIGHT
040972,001082: 14,3527 32461 PLANET
040973,001083: 14,3530 24015 STOVL 12D
040974,001084: 14,3531 03554 PLANVEC
040975,001085: 14,3532 24007 STOVL 6D
040976,001086: 14,3533 02761 STARSAV1
040977,001087: 14,3534 26707 STOVL STARAD
040978,001088: 14,3535 02767 STARSAV2
040979,001089: 14,3536 36715 STCALL STARAD +6
040980,001090: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040981,001091: 14,3540 77414 BON EXIT
040982,001092: 14,3541 00314 FREEFLAG
040983,001093: 14,3542 31544 P51G
040984,001094: 14,3543 03423 TC P51 +2
040985,001095: 14,3544 77624 P51G CALL
040986,001096: 14,3545 47437 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040987,001097: 14,3546 75160 AXC,1 AXC,2
040988,001098: 14,3547 02664 XDC
040989,001099: 14,3550 01731 REFSMMAT
040990,001100: 14,3551 77624 CALL
040991,001101: 14,3552 31371 MATMOVE
040992,001102: 14,3553 77414 SET EXIT
040993,001103: 14,3554 01462 REFSMFLG
040994,001104: 14,3555 06001 TC GOTOPOOH # FINIS
|
|
Page 944
|
040996,001106: 14,3556 12200 V41K VN 4100
040997,001107: 14,3557 77776 COARSE EXIT
040998,001108: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040999,001109: 14,3561 00006 EXTEND
041000,001110: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
041001,001111: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
041002,001112: 14,3564 04616 TC BANKCALL
041003,001113: 14,3565 01736 CADR DELAYJOB
041004,001114: 14,3566 13560 TCF COARSE +1
041005,001115: 14,3567 04616 DOCORS TC BANKCALL
041006,001116: 14,3570 16764 CADR IMUCOARS
041007,001117: 14,3571 04616 TC BANKCALL
041008,001118: 14,3572 17722 CADR IMUSTALL
041009,001119: 14,3573 05712 TC CURTAINS
041010,001120: 14,3574 04616 TC BANKCALL
041011,001121: 14,3575 17174 CADR IMUFINE
041012,001122: 14,3576 04616 TC BANKCALL
041013,001123: 14,3577 17722 CADR IMUSTALL
041014,001124: 14,3600 05712 TC CURTAINS
041015,001125: 14,3601 06042 TC INTPRET
041016,001126: 14,3602 77616 RVQ
041017,001127: 14,3603 77776 NCOARSE EXIT
041018,001128: 14,3604 30025 CA TIME1
041019,001129: 14,3605 55074 TS 1/PIPADT
041020,001130: 14,3606 44755 CS ZERO
041021,001131: 14,3607 54037 TS PIPAX
041022,001132: 14,3610 54040 TS PIPAY
041023,001133: 14,3611 54041 TS PIPAZ
041024,001134: 14,3612 06042 TC INTPRET
041025,001135: 14,3613 77775 VLOAD
041026,001136: 14,3614 24007 ZEROVEC
041027,001137: 14,3615 01472 STORE GCOMP
041028,001138: 14,3616 43414 SET RVQ
041029,001139: 14,3617 01060 DRIFTFLG
041030,001140:
|
|
Page 945
|
041032,001142: # NAME-S52.2
041033,001143: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041034,001144: # CALL- CALL S52.2
041035,001145: # INPUT- X,Y,ZSMD
041036,001146: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
041037,001147: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
041038,001148: 14,3620 COUNT* $$/S52.1
041039,001149: 14,3620 45020 S52.2 STQ CALL
041040,001150: 14,3621 02746 QMAJ
041041,001151: 14,3622 47535 CDUTRIG
041042,001152: 14,3623 77624 CALL
041043,001153: 14,3624 20030 CALCSMSC
041044,001154: 14,3625 66370 AXT,1 SSP
041045,001155: 14,3626 00022 18D
041046,001156: 14,3627 00051 S1
041047,001157: 14,3630 00006 6D
041048,001158: 14,3631 61373 S52.2A VLOAD* VXM
041049,001159: 14,3632 02707 XNB +18D,1
041050,001160: 14,3633 01732 REFSMMAT
041051,001161: 14,3634 77656 UNIT
041052,001162: 14,3635 06707 STORE XNB +18D,1
041053,001163: 14,3636 77700 TIX,1
041054,001164: 14,3637 31631 S52.2A
041055,001165: 14,3640 75160 S52.2.1 AXC,1 AXC,2
041056,001166: 14,3641 03606 XSMD
041057,001167: 14,3642 02642 XSM
041058,001168: 14,3643 77624 CALL
041059,001169: 14,3644 31371 MATMOVE
041060,001170: 14,3645 77624 CALL
041061,001171: 14,3646 47351 CALCGA
041062,001172: 14,3647 77650 GOTO
041063,001173: 14,3650 02746 QMAJ
041064,001174:
|
|
Page 946
|
041066,001176: # NAME-S52.3
041067,001177: # FUNCTION XSMD= UNIT R
041068,001178: # YSMD= UNIT(V X R)
041069,001179: # ZSMD= UNIT(XSMD X YSMD)
041070,001180: # CALL DLOAD CALL
041071,001181: # TALIGN
041072,001182: # S52.3
041073,001183: # INPUT- TIME OF ALIGNMENT IN MPAC
041074,001184: # OUTPUT- X,Y,ZSMD
041075,001185: # SUBROUTINES- CSMCONIC
041076,001186: 14,3651 COUNT* $$/S52.3
041077,001187: 14,3651 77620 S52.3 STQ
041078,001188: 14,3652 02746 QMAJ
041079,001189: 14,3653 34041 STCALL TDEC1
041080,001190: 14,3654 27077 LEMCONIC
041081,001191: 14,3655 53575 VLOAD UNIT
041082,001192: 14,3656 00001 RATT
041083,001193: 14,3657 27607 STOVL XSMD
041084,001194: 14,3660 00007 VATT
041085,001195: 14,3661 53435 VXV UNIT
041086,001196: 14,3662 00001 RATT
041087,001197: 14,3663 27615 STOVL YSMD
041088,001198: 14,3664 03607 XSMD
041089,001199: 14,3665 53435 VXV UNIT
041090,001200: 14,3666 03615 YSMD
041091,001201: 14,3667 37623 STCALL ZSMD
041092,001202: 14,3670 02746 QMAJ
041093,001203:
|
|
Page 947
|
041095,001205: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041096,001206:
041097,001207: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041098,001208: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041099,001209:
041100,001210: # CALLING -CALL R52
041101,001211:
041102,001212: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
041103,001213: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
041104,001214: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041105,001215: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041106,001216: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041107,001217:
041108,001218: # SUBROUT -R60LEM
041109,001219:
041110,001220: 14,3671 COUNT* $$/R52
041111,001221: 14,3671 77420 R52 STQ EXIT
041112,001222: 14,3672 03665 SAVQR52
041113,001223: 14,3673 51757 INDEX STARIND
041114,001224: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041115,001225: 14,3675 00006 EXTEND
041116,001226: 14,3676 73772 MP 1/6TH
041117,001227: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
041118,001228: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
041119,001229:
041120,001230: 14,3701 33773 R52A CAF V01N70
041121,001231: 14,3702 04616 TC BANKCALL
041122,001232: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041123,001233: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
041124,001234: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
041125,001235: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041126,001236:
041127,001237: 14,3707 05527 R52B TC DOWNFLAG
041128,001238: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041129,001239: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041130,001240: 14,3712 77747 MASK HIGH9
041131,001241: 14,3713 00006 EXTEND
041132,001242: 14,3714 74743 MP BIT9
041133,001243: 14,3715 54001 TS L # TEMP STORE DETENT
041134,001244:
041135,001245: 14,3716 00006 EXTEND
041136,001246: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041137,001247:
041138,001248: 14,3720 65661 AD NEG7
041139,001249: 14,3721 00006 EXTEND
041140,001250: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041141,001251:
041142,001252: 14,3723 E7,1551 EBANK= XYMARK
041143,001253: 14,3723 35016 CA EBANK7
041144,001254: 14,3724 54003 TS EBANK
041145,001255:
|
|
Page 948
|
041147,001257: 14,3725 50001 INDEX L
041148,001258: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041149,001259: 14,3727 54001 TS L
041150,001260: 14,3730 E5,1642 EBANK= XSM
041151,001261: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041152,001262: 14,3731 54003 TS EBANK
041153,001263: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041154,001264: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041155,001265: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041156,001266:
041157,001267: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041158,001268: 14,3736 04616 TC BANKCALL
041159,001269: 14,3737 20477 CADR GOFLASH
041160,001270: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
041161,001271: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
041162,001272: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
041163,001273:
041164,001274: 14,3743 00006 EXTEND
041165,001275: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041166,001276: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041167,001277: 14,3746 52011 DXCH 8D
041168,001278: 14,3747 06042 TC INTPRET
041169,001279: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041170,001280: 14,3751 10530 OANB # SCAXIS IN NB COORDS
041171,001281: 14,3752 45034 RTB CALL
041172,001282: 14,3753 21574 LOADTIME
041173,001283: 14,3754 32461 PLANET
041174,001284: 14,3755 53521 MXV UNIT
041175,001285: 14,3756 01732 REFSMMAT
041176,001286: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041177,001287:
041178,001288: 14,3760 77776 EXIT
041179,001289: 14,3761 04616 TC BANKCALL
041180,001290: 14,3762 54125 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041181,001291:
041182,001292: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041183,001293: 14,3764 70734 MASK STARCODE
041184,001294: 14,3765 00006 EXTEND
041185,001295: 14,3766 13701 BZF R52A
041186,001296:
041187,001297: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041188,001298: 14,3770 77650 GOTO
041189,001299: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041190,001300:
041191,001301: 14,3772 05253 1/6TH DEC .1666667
041192,001302: 14,3773 00306 V01N70 VN 0170
041193,001303: 14,3774 01527 V06N87 VN 687
041194,001304:
|
|
Page 949
|
041196,001306: # LUNAR SURFACE STAR AQUISITION
041197,001307:
041198,001308: 15,2251 BANK 15
041199,001309: 15,2000 SETLOC P50S
041200,001310: 15,2000 BANK
041201,001311: 15,2251 COUNT* $$/R59
041202,001312:
041203,001313: 15,2251 40077 R59 CS FLAGWRD3
041204,001314: 15,2252 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041205,001315: 15,2253 10000 CCS A
041206,001316: 15,2254 12444 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041207,001317:
041208,001318: 15,2255 32452 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041209,001319: 15,2256 04616 TC BANKCALL
041210,001320: 15,2257 20477 CADR GOFLASH
041211,001321: 15,2260 06001 TC GOTOPOOH # V34-TERMINATE
041212,001322: 15,2261 12263 TCF R59A # V33-PROCEED
041213,001323: 15,2262 12251 TCF R59 # V32-RECYCLE
041214,001324:
041215,001325: 15,2263 06042 R59A TC INTPRET
041216,001326: 15,2264 45034 RTB CALL
041217,001327: 15,2265 21574 LOADTIME
041218,001328: 15,2266 32461 PLANET # GO GET CELESTRIAL BODY IN REF COORDS.
041219,001329: 15,2267 53521 MXV UNIT
041220,001330: 15,2270 01732 REFSMMAT # TRANSFORM TO NB COORDS.
041221,001331: 15,2271 77624 CALL
041222,001332: 15,2272 47653 CDU*SMNB
041223,001333: 15,2273 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041224,001334: 15,2274 77776 EXIT
041225,001335:
041226,001336: 15,2275 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041227,001337: 15,2276 55241 TS POSCODE
041228,001338:
041229,001339: 15,2277 E7,1551 EBANK= XYMARK
041230,001340: 15,2277 35016 INCAZ CA EBANK7
041231,001341: 15,2300 54003 TS EBANK
041232,001342:
041233,001343: 15,2301 51241 INDEX POSCODE
041234,001344: 15,2302 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041235,001345: 15,2303 54001 TS L
041236,001346:
041237,001347: 15,2304 E5,1642 EBANK= XSM
041238,001348: 15,2304 35014 CA EBANK5
041239,001349: 15,2305 54003 TS EBANK
041240,001350:
041241,001351: 15,2306 34737 CA BIT13 # SET ELV TO 45 DEG
041242,001352: 15,2307 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041243,001353: 15,2310 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041244,001354: 15,2311 50120 INDEX FIXLOC
041245,001355: 15,2312 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041246,001356:
|
|
Page 950
|
041248,001358: 15,2313 06042 TC INTPRET
041249,001359: 15,2314 77624 CALL
041250,001360: 15,2315 10530 OANB # GO CALC OPTIC AXIS WRT NB
041251,001361: 15,2316 50375 VLOAD DOT
041252,001362: 15,2317 02731 STAR # DOT STAR WITH OA
041253,001363: 15,2320 03765 SCAXIS
041254,001364: 15,2321 65552 SL1 ARCCOS
041255,001365: 15,2322 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041256,001366:
041257,001367: 15,2323 51025 DSU BPL
041258,001368: 15,2324 32455 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041259,001369: 15,2325 32407 NXAX # NOT IN FIELD - TRY NEXT POSITION
041260,001370: 15,2326 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041261,001371: 15,2327 00031 24D
041262,001372: 15,2330 32457 DEG.5
041263,001373: 15,2331 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041264,001374: 15,2332 32402 ZSPCR # GO ZERO CURSOR AND SPIRAL
041265,001375: 15,2333 00031 24D # GET SPIRAL
041266,001376: 15,2334 42405 DMP SL4
041267,001377: 15,2335 11226 3/4 # 12 SCALED AT 16
041268,001378: 15,2336 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041269,001379:
041270,001380: 15,2337 03765 SCAXIS # OA
041271,001381: 15,2340 53435 VXV UNIT
041272,001382: 15,2341 24005 XUNIT
041273,001383: 15,2342 47206 PUSH VXV # OA X UNITX PD 0-5
041274,001384: 15,2343 03765 SCAXIS
041275,001385: 15,2344 77676 VCOMP
041276,001386: 15,2345 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
041277,001387: 15,2346 03765 SCAXIS
041278,001388: 15,2347 53435 VXV UNIT
041279,001389: 15,2350 02731 STAR
041280,001390: 15,2351 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041281,001391: 15,2352 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041282,001392: 15,2353 65552 SL1 ARCCOS
041283,001393: 15,2354 24033 STOVL 26D # STORE THET SCALED IN REVS
041284,001394:
041285,001395: 15,2355 77641 DOT # UP 12-17, UP 6-11 FOR C2
041286,001396: 15,2356 71244 BPL DLOAD # IF THET NEG-GET 360-THET
041287,001397: 15,2357 32364 R59D
041288,001398: 15,2360 32047 ABOUTONE
041289,001399: 15,2361 77625 DSU
041290,001400: 15,2362 00033 26D
041291,001401: 15,2363 00033 STORE 26D # 360-THET SCALED IN REVS
041292,001402:
041293,001403: 15,2364 70535 R59D SLOAD SR1
041294,001404: 15,2365 02746 QMIN # RESCALE AZ(N) TO REVS
041295,001405: 15,2366 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041296,001406: 15,2367 00033 26D
041297,001407: 15,2370 77634 RTB
|
|
Page 951
|
041299,001409: 15,2371 21615 1STO2S
041300,001410: 15,2372 15236 STODL CURSOR # YROT IN 1/2 REVS
041301,001411: 15,2373 00031 24D # LOAD SROT IN REVS
041302,001412: 15,2374 77615 DAD # 12(SEP) + YROT
041303,001413: 15,2375 77634 RTB
041304,001414: 15,2376 21615 1STO2S
041305,001415: 15,2377 01237 STORE SPIRAL # SROT IN 1/2 REVS
041306,001416: 15,2400 77776 EXIT
041307,001417: 15,2401 12426 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041308,001418:
041309,001419: 15,2402 77776 ZSPCR EXIT
041310,001420: 15,2403 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
041311,001421: 15,2404 55235 TS CURSOR # AND SPIRAL ANGLES
041312,001422: 15,2405 55236 TS SPIRAL
041313,001423: 15,2406 12426 TCF 79DISP
041314,001424:
041315,001425: 15,2407 77776 NXAX EXIT
041316,001426: 15,2410 25241 INCR POSCODE
041317,001427: 15,2411 41241 CS POSCODE
041318,001428: 15,2412 64757 AD SEVEN
041319,001429: 15,2413 00006 EXTEND
041320,001430: 15,2414 62416 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041321,001431: 15,2415 12277 TCF INCAZ
041322,001432:
041323,001433: 15,2416 05600 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041324,001434: 15,2417 00404 OCT 404
041325,001435: 15,2420 35006 CAF VB05N09 # DISPLAY ALARM
041326,001436: 15,2421 04616 TC BANKCALL
041327,001437: 15,2422 20477 CADR GOFLASH
041328,001438: 15,2423 16001 TCF GOTOPOOH # VB34-TERMINATE
041329,001439: 15,2424 12444 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
041330,001440: 15,2425 12251 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
041331,001441:
041332,001442: 15,2426 32453 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041333,001443: 15,2427 04616 TC BANKCALL
041334,001444: 15,2430 20477 CADR GOFLASH
041335,001445: 15,2431 16001 TCF GOTOPOOH # V34-TERMINATE
041336,001446: 15,2432 12434 TCF R59E # V33-PROCEED TO MARK ROUTINE
041337,001447: 15,2433 12251 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
041338,001448:
041339,001449: 15,2434 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041340,001450: 15,2435 71241 MASK POSCODE
041341,001451: 15,2436 00006 EXTEND
041342,001452: 15,2437 74745 MP BIT7 # DETENT CODE NOW IN L
041343,001453: 15,2440 47747 CS HIGH9
041344,001454: 15,2441 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041345,001455: 15,2442 60001 AD L
041346,001456: 15,2443 54734 TS AOTCODE # STORE DETENT 7-9
041347,001457:
041348,001458: 15,2444 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
|
|
Page 952
|
041350,001460: 15,2445 16000 CADR AOTMARK
041351,001461: 15,2446 04616 TC BANKCALL
041352,001462: 15,2447 17716 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041353,001463: 15,2450 05712 TC CURTAINS # BADEND RETURN FROM AOTMARK
041354,001464: 15,2451 13031 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041355,001465:
041356,001466: 15,2452 00306 V01N70* VN 170
041357,001467: 15,2453 01517 V06N79 VN 679
041358,001468: 15,2454 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041359,001469:
041360,001470: 15,2456 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041361,001471:
041362,001472: 15,2460 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041363,001473:
041364,001474: 15,2461 1235 CURSOR EQUALS GDT/2
041365,001475: 15,2461 1236 SPIRAL EQUALS GDT/2 +1
041366,001476: 15,2461 1241 POSCODE EQUALS GDT/2 +4
041367,001477:
|
|
Page 953
|
041369,001479: # NAME - PLANET
041370,001480: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041371,001481: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041372,001482: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041373,001483: # BY DSDY INPUT
041374,001484: # CALL - CALL
041375,001485: # PLANET
041376,001486: # INPUT - TIME IN MPAC
041377,001487: # OUTPUT - VECTOR IN MPAC
041378,001488: # SUBROUTINES - LOCSAM
041379,001489: # DEBRIS - VAC ,STARAD - STARAD +17
041380,001490:
041381,001491: 15,2000 SETLOC P50S
041382,001492: 15,2000 BANK
041383,001493: 15,2461 COUNT* $$/R58
041384,001494:
041385,001495: 15,2461 03562 PLANET STORE TSIGHT
041386,001496: 15,2462 77420 STQ EXIT
041387,001497: 15,2463 02736 GCTR
041388,001498: 15,2464 47747 CS HIGH9
041389,001499: 15,2465 70734 MASK AOTCODE
041390,001500: 15,2466 00006 EXTEND
041391,001501: 15,2467 76245 MP REVCNT
041392,001502: 15,2470 56001 XCH L
041393,001503: 15,2471 51757 INDEX STARIND
041394,001504: 15,2472 55755 TS BESTI
041395,001505: 15,2473 10000 CCS A
041396,001506: 15,2474 12511 TCF NOTPLAN
041397,001507: 15,2475 32550 CAF VNPLANV
041398,001508: 15,2476 04616 TC BANKCALL
041399,001509: 15,2477 20477 CADR GOFLASH
041400,001510: 15,2500 02475 TC -3
041401,001511: 15,2501 02503 TC +2
041402,001512: 15,2502 02475 TC -5
041403,001513: 15,2503 06042 TC INTPRET
041404,001514: 15,2504 74375 VLOAD VXSC
041405,001515: 15,2505 02707 STARAD
041406,001516: 15,2506 32552 1/SQR3
041407,001517: 15,2507 52056 UNIT GOTO
041408,001518: 15,2510 02736 GCTR
041409,001519:
041410,001520: 15,2511 40000 NOTPLAN CS A
041411,001521: 15,2512 62547 AD DEC227
041412,001522: 15,2513 00006 EXTEND
041413,001523: 15,2514 62525 BZMF CALSAM1
041414,001524: 15,2515 51757 INDEX STARIND
041415,001525: 15,2516 31755 CA BESTI
041416,001526: 15,2517 50120 INDEX FIXLOC
041417,001527: 15,2520 54046 TS X1
041418,001528: 15,2521 06042 TC INTPRET
|
|
Page 954
|
041420,001530: 15,2522 52173 VLOAD* GOTO
041421,001531: 15,2523 30347 CATLOG,1
041422,001532: 15,2524 02736 GCTR
041423,001533: 15,2525 06042 CALSAM1 TC INTPRET
041424,001534: 15,2526 45145 CALSAM DLOAD CALL
041425,001535: 15,2527 03562 TSIGHT
041426,001536: 15,2530 30500 LOCSAM
041427,001537: 15,2531 77340 LXC,1 VLOAD
041428,001538: 15,2532 02757 STARIND
041429,001539: 15,2533 02707 VEARTH
041430,001540: 15,2534 24001 STOVL 0D
041431,001541: 15,2535 02715 VSUN
041432,001542: 15,2536 26707 STOVL VEARTH
041433,001543: 15,2537 00001 0D
041434,001544: 15,2540 02715 STORE VSUN
041435,001545: 15,2541 70143 DLOAD* LXC,1
041436,001546: 15,2542 02756 BESTI,1
041437,001547: 15,2543 00154 MPAC
041438,001548: 15,2544 52173 VLOAD* GOTO
041439,001549: 15,2545 02343 STARAD -228D,1
041440,001550: 15,2546 02736 GCTR
041441,001551: 15,2547 00343 DEC227 DEC 227 B-14
041442,001552: 15,2550 01530 VNPLANV VN 0688
041443,001553: 15,2551 37,3543 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041444,001554: 15,2551 22363 11623 1/SQR3 2DEC .57735021
041445,001555:
|
|
Page 955
|
041447,001557: # GRAVITY VECTOR DETERMINATION ROUTINE
041448,001558: # BY KEN VINCENT
041449,001559: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041450,001560: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041451,001561: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041452,001562: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041453,001563: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041454,001564: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041455,001565: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041456,001566: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041457,001567: # READINGS.
041458,001568:
041459,001569: # CALL-
041460,001570: # TC BANKCALL
041461,001571: # CADR GVDETER
041462,001572: # INPUTS-
041463,001573: # PIPAS,CDUS
041464,001574: # OUTPUTS-
041465,001575: # STARSAV1 = UNIT GRAVITY
041466,001576: # GSAV = DITTO
041467,001577: # GRAVBIT = 1
041468,001578: # SUBROUTINES-
041469,001579: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041470,001580: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
041471,001581: # DEBRIS-
041472,001582: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041473,001583: 15,2553 32754 GVDETER CAF 42DEG
041474,001584: 15,2554 54321 TS THETAD
041475,001585: 15,2555 40000 COM
041476,001586: 15,2556 54322 TS THETAD +1
041477,001587: 15,2557 32755 CAF 35DEG
041478,001588: 15,2560 54323 TS THETAD +2
041479,001589: 15,2561 06042 TC INTPRET
041480,001590: 15,2562 45014 CLEAR CALL
041481,001591: 15,2563 01662 REFSMFLG
041482,001592: 15,2564 32660 LUNG
041483,001593: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
041484,001594:
041485,001595: # DEFINE G COOR SYS
041486,001596: # -
041487,001597: # X UNIT G
041488,001598: # * - -
041489,001599: # M= Y = UNITEZSM * X )
041490,001600: # - - -
041491,001601: # Z UNIT(X * Y )
041492,001602: # THEN ROTATED SM WRT PRESENT IS
041493,001603:
041494,001604:
041495,001605: # 1, 0 , 0
041496,001606: # * *T * * *
|
|
Page 956
|
041498,001608: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041499,001609: # I J
041500,001610: # 0, 0 ,-1
041501,001611:
041502,001612: # ALSO NB WRT PRES SM IS
041503,001613:
041504,001614: # * * *
041505,001615: # XNB = NBSM I
041506,001616: # * *
041507,001617: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041508,001618:
041509,001619: 15,2000 SETLOC P50S
041510,001620: 15,2000 BANK
041511,001621: 15,2565 COUNT* $$/P57
041512,001622: 15,2565 66370 AXT,1 SSP # X1=18
041513,001623: 15,2566 00022 18D # S1= 6
041514,001624: 15,2567 00051 S1 # X2, -2
041515,001625: 15,2570 00006 6D
041516,001626: 15,2571 77744 LXC,2
041517,001627: 15,2572 00050 S1
041518,001628: 15,2573 45173 GRAVEL VLOAD* CALL
041519,001629: 15,2574 54000 XUNIT -6,2
041520,001630: 15,2575 47700 *NBSM* # SIN AND COS COMPUTED IN LUNG
041521,001631: 15,2576 06707 STORE XNB +18D,1
041522,001632: 15,2577 77775 VLOAD
041523,001633: 15,2600 02731 STAR
041524,001634: 15,2601 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
041525,001635: 15,2602 00047 X2
041526,001636: 15,2603 75040 STAR +6,2 # OUTER PRODUCT
041527,001637: 15,2604 71152 VSL2 LXC,2
041528,001638: 15,2605 00047 X2
041529,001639: 15,2606 63047 VSU* INCR,2
041530,001640: 15,2607 54000 XUNIT -6,2
041531,001641: 15,2610 00002 2D
041532,001642: 15,2611 06665 STORE XSM +18D,1
041533,001643: 15,2612 45100 TIX,1 CALL
041534,001644: 15,2613 32573 GRAVEL
041535,001645: 15,2614 47351 CALCGA
041536,001646: 15,2615 74575 VLOAD VSR1
041537,001647: 15,2616 02715 GOUT
041538,001648: 15,2617 36723 STCALL STARAD +12D
041539,001649: 15,2620 32660 LUNG
041540,001650: 15,2621 74575 VLOAD VSR1
041541,001651: 15,2622 02715 GOUT
041542,001652: 15,2623 53455 VAD UNIT
041543,001653: 15,2624 02723 STARAD +12D
041544,001654: 15,2625 02761 STORE STARSAV1
041545,001655: 15,2626 77641 DOT
041546,001656: 15,2627 02231 GSAV
041547,001657: 15,2630 65552 SL1 ACOS
|
|
Page 957
|
041549,001659: 15,2631 01045 STORE DSPTEM1
041550,001660: 15,2632 77776 EXIT
041551,001661: 15,2633 05527 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041552,001662: 15,2634 00014 ADRES FREEFLAG
041553,001663:
041554,001664: 15,2635 32753 CA DISGRVER
041555,001665: 15,2636 04616 TC BANKCALL
041556,001666: 15,2637 20477 CADR GOFLASH
041557,001667: 15,2640 06001 TC GOTOPOOH
041558,001668: 15,2641 12644 TCF PROGRAV # VB33-PROCEED
041559,001669: 15,2642 05515 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041560,001670: 15,2643 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041561,001671:
041562,001672: 15,2644 05364 PROGRAV TC PHASCHNG
041563,001673: 15,2645 04024 OCT 04024
041564,001674:
041565,001675: 15,2646 06042 TC INTPRET
041566,001676: 15,2647 77775 VLOAD
041567,001677: 15,2650 02761 STARSAV1
041568,001678: 15,2651 02231 STORE GSAV
041569,001679: 15,2652 77776 EXIT
041570,001680: 15,2653 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041571,001681: 15,2654 70074 MASK FLAGWRD0
041572,001682: 15,2655 10000 CCS A
041573,001683: 15,2656 12553 TCF GVDETER # SET
041574,001684: 15,2657 13530 TCF ATTCHK # EXIT FROM GVDETER
041575,001685:
041576,001686: 15,2660 77220 LUNG STQ VLOAD
041577,001687: 15,2661 02745 QMIN
041578,001688: 15,2662 24007 ZEROVEC
041579,001689: 15,2663 02707 STORE GACC
041580,001690: 15,2664 77776 EXIT
041581,001691: 15,2665 05364 TC PHASCHNG
041582,001692: 15,2666 04024 OCT 04024
041583,001693:
041584,001694: 15,2667 06042 TC INTPRET
041585,001695: 15,2670 77624 CALL
041586,001696: 15,2671 31557 COARSE
041587,001697: 15,2672 77776 EXIT
041588,001698: 15,2673 32752 CA T/2SEC
041589,001699: 15,2674 55736 TS GCTR
041590,001700: 15,2675 37721 CA PRIO31
041591,001701: 15,2676 55074 TS 1/PIPADT
041592,001702: 15,2677 04616 TC BANKCALL
041593,001703: 15,2700 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041594,001704: 15,2701 05364 TC PHASCHNG
041595,001705: 15,2702 04024 OCT 04024
041596,001706:
041597,001707: 15,2703 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041598,001708: 15,2704 77543 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 958
|
041600,001710: 15,2705 06042 TC INTPRET
041601,001711: 15,2706 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041602,001712: 15,2707 35000 CAF 2SECS
041603,001713: 15,2710 05204 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041604,001714: 15,2711 02713 ADRES GRABGRAV
041605,001715:
041606,001716: 15,2712 05155 TC ENDOFJOB
041607,001717:
041608,001718: 15,2713 04674 GRABGRAV TC IBNKCALL
041609,001719: 15,2714 77543 CADR PIPSRINE
041610,001720: 15,2715 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041611,001721: 15,2716 05105 TC FINDVAC
041612,001722: 15,2717 E5,1706 EBANK= STARAD
041613,001723: 15,2717 02722 32065 2CADR ADDGRAV
041614,001724:
041615,001725:
041616,001726: 15,2721 05272 TC TASKOVER
041617,001727:
041618,001728: 15,2722 04616 ADDGRAV TC BANKCALL
041619,001729: 15,2723 15271 CADR 1/PIPA
041620,001730: 15,2724 25736 INCR GCTR
041621,001731: 15,2725 06042 TC INTPRET
041622,001732: 15,2726 53375 VLOAD VAD
041623,001733: 15,2727 00325 DELV
041624,001734: 15,2730 02707 GACC
041625,001735: 15,2731 02707 STORE GACC # ACCUMULATE G VECTOR
041626,001736: 15,2732 50135 SLOAD BMN
041627,001737: 15,2733 02737 GCTR
041628,001738: 15,2734 32706 GREED
041629,001739: 15,2735 53575 VLOAD UNIT
041630,001740: 15,2736 02707 GACC
041631,001741: 15,2737 36731 STCALL STAR
041632,001742: 15,2740 47535 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041633,001743: 15,2741 77624 CALL # IN OUTPUT
041634,001744: 15,2742 47676 *SMNB*
041635,001745: 15,2743 02715 STORE GOUT
041636,001746: 15,2744 77776 EXIT
041637,001747: 15,2745 05364 TC PHASCHNG
041638,001748: 15,2746 04024 OCT 04024
041639,001749:
041640,001750: 15,2747 06042 QMINEXIT TC INTPRET
041641,001751: 15,2750 77650 GOTO
041642,001752: 15,2751 02745 QMIN
041643,001753: 15,2752 77753 T/2SEC DEC -20 B-14
041644,001754: 15,2753 01404 DISGRVER VN 0604
041645,001755: 15,2754 07357 42DEG OCT 07357
041646,001756: 15,2755 06211 35DEG OCT 06211
041647,001757:
|
|
Page 959
|
041649,001759: # NAME GYROTRIM
041650,001760:
041651,001761: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041652,001762: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041653,001763: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041654,001764:
041655,001765: # CALL CALL
041656,001766: # GYROTRIM
041657,001767:
041658,001768: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041659,001769: # CDUX,CDUY,CDUZ
041660,001770:
041661,001771: # OUTPUT - GYRO TORQUE PULSES
041662,001772:
041663,001773: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041664,001774: # IMPULSE,IMUSTALL
041665,001775: # - - - * * -
041666,001776: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
041667,001777: 15,2756 COUNT* $$/P57
041668,001778: 15,2756 71220 GYROTRIM STQ DLOAD
041669,001779: 15,2757 02745 QMIN
041670,001780: 15,2760 00322 THETAD
041671,001781: 15,2761 65325 PDDL PDDL
041672,001782: 15,2762 00324 THETAD +2
041673,001783: 15,2763 00323 THETAD +1
041674,001784: 15,2764 77666 VDEF
041675,001785: 15,2765 24766 STOVL CDUSPOT
041676,001786: 15,2766 24005 XUNIT
041677,001787: 15,2767 77624 CALL
041678,001788: 15,2770 47671 TRG*NBSM
041679,001789: 15,2771 26707 STOVL STARAD
041680,001790: 15,2772 24003 YUNIT
041681,001791: 15,2773 77624 CALL
041682,001792: 15,2774 47700 *NBSM*
041683,001793: 15,2775 36715 STCALL STARAD +6
041684,001794: 15,2776 47535 CDUTRIG
041685,001795: 15,2777 77624 CALL
041686,001796: 15,3000 20030 CALCSMSC
041687,001797: 15,3001 77775 VLOAD
041688,001798: 15,3002 02665 XNB
041689,001799: 15,3003 24007 STOVL 6D
041690,001800: 15,3004 02673 YNB
041691,001801: 15,3005 34015 STCALL 12D
041692,001802: 15,3006 47437 AXISGEN
041693,001803: 15,3007 77624 CALL
041694,001804: 15,3010 47245 CALCGTA
041695,001805: 15,3011 77776 JUSTTRIM EXIT
041696,001806: 15,3012 33021 CA GYRCDR
041697,001807: 15,3013 04616 TC BANKCALL
041698,001808: 15,3014 17307 CADR IMUPULSE
|
|
Page 960
|
041700,001810: 15,3015 04616 TC BANKCALL
041701,001811: 15,3016 17722 CADR IMUSTALL
041702,001812: 15,3017 05712 TC CURTAINS
041703,001813: 15,3020 12747 TCF QMINEXIT
041704,001814:
041705,001815: 15,3021 02737 GYRCDR ECADR OGC
041706,001816:
|
|
Page 961
|
041708,001818: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041709,001819:
041710,001820: 15,3022 34755 2STARS CAF ZERO # INITALIZE STARIND
041711,001821: 15,3023 13025 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041712,001822: 15,3024 34753 1STAR CAF BIT1
041713,001823: 15,3025 55757 TS STARIND
041714,001824:
041715,001825: 15,3026 05364 TC PHASCHNG
041716,001826: 15,3027 04024 OCT 04024
041717,001827:
041718,001828: 15,3030 12251 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041719,001829:
041720,001830: 15,3031 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041721,001831: 15,3032 00006 EXTEND
041722,001832: 15,3033 13044 BZF ASTAR # 1ST STAR MARKED
041723,001833:
041724,001834: 15,3034 05364 TC PHASCHNG
041725,001835: 15,3035 04024 OCT 04024
041726,001836:
041727,001837: 15,3036 06042 TC INTPRET
041728,001838: 15,3037 45145 DLOAD CALL
041729,001839: 15,3040 03562 TSIGHT # TIME OF 2ND MARK
041730,001840: 15,3041 32461 PLANET
041731,001841: 15,3042 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041732,001842: 15,3043 33056 SURFLINE
041733,001843:
041734,001844: 15,3044 06042 ASTAR TC INTPRET
041735,001845: 15,3045 77775 VLOAD
041736,001846: 15,3046 02715 STARAD +6
041737,001847: 15,3047 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041738,001848: 15,3050 45145 DLOAD CALL
041739,001849: 15,3051 03562 TSIGHT # TIME OF 1ST MARK
041740,001850: 15,3052 32461 PLANET
041741,001851: 15,3053 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041742,001852: 15,3054 77776 EXIT
041743,001853: 15,3055 13024 TCF 1STAR # GO GET 2ND STAR SIGHTING
041744,001854:
|
|
Page 962
|
041746,001856: # DO FINE OR COARSE ALIGNMENT OF IMU
041747,001857:
041748,001858: 15,3056 77131 SURFLINE SSP AXT,2
041749,001859: 15,3057 00052 S2
041750,001860: 15,3060 00006 6
041751,001861: 15,3061 00014 12D
041752,001862: 15,3062 64373 WRTDESIR VLOAD* MXV
041753,001863: 15,3063 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041754,001864: 15,3064 03607 XSMD
041755,001865: 15,3065 77656 UNIT
041756,001866: 15,3066 12723 STORE STARAD +12D,2 # VEC IN SM
041757,001867: 15,3067 77773 VLOAD*
041758,001868: 15,3070 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041759,001869: 15,3071 10023 STORE 18D,2
041760,001870: 15,3072 43104 TIX,2 BON
041761,001871: 15,3073 33062 WRTDESIR
041762,001872: 15,3074 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041763,001873: 15,3075 33103 INITBY
041764,001874: 15,3076 77624 DOALIGN CALL
041765,001875: 15,3077 31250 R54 # DO CHKSDATA
041766,001876: 15,3100 77614 BOFF
041767,001877: 15,3101 00354 FREEFLAG
041768,001878: 15,3102 33163 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041769,001879: 15,3103 77624 INITBY CALL
041770,001880: 15,3104 47437 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041771,001881: 15,3105 77624 CALL
041772,001882: 15,3106 47245 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041773,001883: 15,3107 77776 EXIT
041774,001884: 15,3110 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041775,001885: 15,3111 70104 MASK FLAGWRD8
041776,001886: 15,3112 10000 CCS A
041777,001887: 15,3113 13122 TCF 5DEGTEST
041778,001888: 15,3114 33270 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041779,001889: 15,3115 04616 TC BANKCALL
041780,001890: 15,3116 20477 CADR GOFLASH
041781,001891: 15,3117 06001 TC GOTOPOOH # V34-TERMINATE
041782,001892: 15,3120 13122 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
041783,001893: 15,3121 13164 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
041784,001894:
041785,001895: 15,3122 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041786,001896: 15,3123 40175 VLOAD BOV
041787,001897: 15,3124 02740 OGC
041788,001898: 15,3125 33126 SURFSUP
041789,001899: 15,3126 02750 SURFSUP STORE OGCT
041790,001900: 15,3127 40141 V/SC BOV
041791,001901: 15,3130 30602 5DEGREES
041792,001902: 15,3131 33231 COATRIM
041793,001903: 15,3132 52131 SSP GOTO
041794,001904: 15,3133 02746 QMIN
041795,001905: 15,3134 33136 SURFDISP
|
|
Page 963
|
041797,001907: 15,3135 33011 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041798,001908:
041799,001909: 15,3136 77776 SURFDISP EXIT
041800,001910: 15,3137 05364 TC PHASCHNG
041801,001911: 15,3140 04024 OCT 04024
041802,001912:
041803,001913: 15,3141 06042 TC INTPRET
041804,001914: 15,3142 75160 AXC,1 AXC,2
041805,001915: 15,3143 03606 XSMD
041806,001916: 15,3144 01731 REFSMMAT
041807,001917: 15,3145 45014 SET CALL
041808,001918: 15,3146 01462 REFSMFLG
041809,001919: 15,3147 31371 MATMOVE
041810,001920: 15,3150 77776 EXIT
041811,001921: 15,3151 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041812,001922: 15,3152 13154 TCF B2F8
041813,001923: 15,3153 13164 TCF P57POST +1
041814,001924:
041815,001925: 15,3154 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041816,001926: 15,3155 70104 MASK FLAGWRD8
041817,001927: 15,3156 10000 CCS A
041818,001928: 15,3157 13536 TCF P57JUMP # ITS SET
041819,001929: 15,3160 06042 TC INTPRET
041820,001930: 15,3161 77624 CALL
041821,001931: 15,3162 33463 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041822,001932: 15,3163 77776 P57POST EXIT
041823,001933: 15,3164 35752 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041824,001934: 15,3165 04616 TC BANKCALL
041825,001935: 15,3166 20624 CADR GOPERF1
041826,001936: 15,3167 16001 TCF GOTOPOOH # VB34-TERMINATE
041827,001937: 15,3170 13536 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
041828,001938: 15,3171 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041829,001939: 15,3172 61144 AD OPTION2
041830,001940: 15,3173 00006 EXTEND
041831,001941: 15,3174 13176 BZF +2 # YES-GO CALCULATE LANDING SITE
041832,001942: 15,3175 16001 TCF GOTOPOOH # NO-EXIT P57
041833,001943: 15,3176 05364 TC PHASCHNG # RESTART PLACE
041834,001944: 15,3177 04024 OCT 04024
041835,001945: 15,3200 06042 TC INTPRET
041836,001946: 15,3201 45175 VLOAD CALL # USE GNB
041837,001947: 15,3202 02231 GSAV
041838,001948: 15,3203 47666 CDU*NBSM # GO TO SM COORDS
041839,001949: 15,3204 43105 VXM SET # ON MOON SO SET LUNAFLAG
041840,001950: 15,3205 01732 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041841,001951: 15,3206 01463 LUNAFLAG
041842,001952: 15,3207 51515 PDVL ABVAL
041843,001953: 15,3210 02021 RLS
041844,001954: 15,3211 45561 VXSC STADR
041845,001955: 15,3212 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041846,001956: 15,3213 47014 CLEAR RTB
|
|
Page 964
|
041848,001958: 15,3214 00662 ERADFLAG
041849,001959: 15,3215 21574 LOADTIME
041850,001960: 15,3216 77624 CALL
041851,001961: 15,3217 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041852,001962: 15,3220 01220 STORE RN # RN=RLS B-29 = LM POSITION
041853,001963: 15,3221 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041854,001964: 15,3222 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041855,001965: 15,3223 77606 PUSH # TIME AT 6-7 IN PDLIST
041856,001966: 15,3224 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041857,001967: 15,3225 51632 R-TO-RP
041858,001968: 15,3226 02021 STORE RLS # RLS IN MOON-FIXED COORDS
041859,001969: 15,3227 77776 EXIT
041860,001970: 15,3230 16001 TCF GOTOPOOH # EXIT P57
041861,001971:
|
|
Page 965
|
041863,001973: # COARSE AND FINE ALIGN IMU
041864,001974: 15,3231 75160 COATRIM AXC,1 AXC,2
041865,001975: 15,3232 02664 XDC
041866,001976: 15,3233 02642 XSM
041867,001977: 15,3234 77624 CALL
041868,001978: 15,3235 31371 MATMOVE
041869,001979: 15,3236 77624 CALL
041870,001980: 15,3237 47535 CDUTRIG
041871,001981: 15,3240 77624 CALL
041872,001982: 15,3241 20030 CALCSMSC
041873,001983: 15,3242 77624 CALL
041874,001984: 15,3243 47351 CALCGA
041875,001985: 15,3244 77414 BOFF EXIT
041876,001986: 15,3245 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041877,001987: 15,3246 33260 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041878,001988: 15,3247 35010 CAF V06N22 # THAN 5 DEGREES
041879,001989: 15,3250 04616 TC BANKCALL
041880,001990: 15,3251 20477 CADR GOFLASH
041881,001991: 15,3252 06001 TC GOTOPOOH
041882,001992: 15,3253 13255 TCF +2
041883,001993: 15,3254 13247 TCF -5
041884,001994: 15,3255 05364 TC PHASCHNG
041885,001995: 15,3256 04024 OCT 04024
041886,001996:
041887,001997: 15,3257 06042 TC INTPRET
041888,001998: 15,3260 77624 CORSIT CALL
041889,001999: 15,3261 31557 COARSE
041890,002000: 15,3262 77624 CALL
041891,002001: 15,3263 31603 NCOARSE
041892,002002: 15,3264 77624 CALL
041893,002003: 15,3265 32756 GYROTRIM
041894,002004: 15,3266 77650 GOTO
041895,002005: 15,3267 33136 SURFDISP
041896,002006: 15,3270 01535 DISPGYRO VN 0693
041897,002007:
|
|
Page 966
|
041899,002009: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041900,002010:
041901,002011: 15,3271 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041902,002012: 15,3272 33627 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041903,002013:
041904,002014: 15,3273 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041905,002015: 15,3274 55144 TS OPTION2
041906,002016: 15,3275 34753 P57OPT CAF BIT1
041907,002017: 15,3276 04616 TC BANKCALL
041908,002018: 15,3277 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041909,002019: 15,3300 06001 TC GOTOPOOH # V34 TERMINATE
041910,002020: 15,3301 13306 TCF ALIGNOPT # V33 PROCEED
041911,002021: 15,3302 13275 TCF P57OPT # V32 RECYCLE
041912,002022:
041913,002023: 15,3303 05364 TC PHASCHNG
041914,002024: 15,3304 00014 OCT 00014
041915,002025: 15,3305 05155 TC ENDOFJOB
041916,002026:
041917,002027: 15,3306 31144 ALIGNOPT CA OPTION2
041918,002028: 15,3307 76250 MASK THREE
041919,002029: 15,3310 50000 INDEX A
041920,002030: 15,3311 13312 TCF +1
041921,002031: 15,3312 13325 TCF TDISP # OPTION 4 LS ORIENTATION
041922,002032: 15,3313 13366 TCF PACKOPTN # OPTION 1 PREFERRED
041923,002033: 15,3314 13275 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041924,002034: 15,3315 06042 TC INTPRET # OPTION 3 REFSMMAT
041925,002035: 15,3316 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041926,002036: 15,3317 01731 REFSMMAT
041927,002037: 15,3320 03606 XSMD
041928,002038: 15,3321 77624 CALL
041929,002039: 15,3322 31371 MATMOVE
041930,002040: 15,3323 77650 GOTO
041931,002041: 15,3324 33365 PACKOPTN -1
041932,002042:
041933,002043: 15,3325 06042 TDISP TC INTPRET
041934,002044: 15,3326 77745 DLOAD
041935,002045: 15,3327 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041936,002046: 15,3330 01045 P57A STORE DSPTEM1
041937,002047: 15,3331 77776 EXIT
041938,002048: 15,3332 32174 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041939,002049: 15,3333 04616 TC BANKCALL
041940,002050: 15,3334 20477 CADR GOFLASH
041941,002051: 15,3335 16001 TCF GOTOPOOH # V34-TERMINATE
041942,002052: 15,3336 13340 TCF +2
041943,002053: 15,3337 13332 TCF P57AA # VB32-RECYCLE
041944,002054:
041945,002055: 15,3340 06042 TC INTPRET
041946,002056: 15,3341 65234 RTB PDDL
041947,002057: 15,3342 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041948,002058: 15,3343 01045 DSPTEM1
|
|
Page 967
|
041950,002060: 15,3344 65254 BZE PDDL
041951,002061: 15,3345 33355 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
041952,002062: 15,3346 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041953,002063: 15,3347 01045 DSPTEM1
041954,002064: 15,3350 33355 P57C
041955,002065: 15,3351 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041956,002066: 15,3352 74335 STORE TIG # STORE IT IN TIG
041957,002067: 15,3353 36775 STCALL TALIGN
041958,002068: 15,3354 33357 P57D
041959,002069: 15,3355 45545 P57C DLOAD STADR
041960,002070: 15,3356 75002 STORE TALIGN
041961,002071: 15,3357 34041 P57D STCALL TDEC1
041962,002072: 15,3360 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041963,002073: 15,3361 53575 VLOAD UNIT # IN X,Y,ZSMD
041964,002074: 15,3362 00001 RATT
041965,002075: 15,3363 37607 STCALL XSMD
041966,002076: 15,3364 10765 LSORIENT
041967,002077: 15,3365 77776 EXIT
041968,002078: 15,3366 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041969,002079: 15,3367 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041970,002080: 15,3370 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041971,002081: 15,3371 34737 CAF REFSMBIT
041972,002082: 15,3372 70077 MASK FLAGWRD3 # REFSMFLG
041973,002083: 15,3373 10000 CCS A
041974,002084: 15,3374 34745 CAF BIT7 # SET
041975,002085: 15,3375 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
041976,002086: 15,3376 34753 CAF ATTFLBIT
041977,002087: 15,3377 70102 MASK FLAGWRD6 # ATTFLG
041978,002088: 15,3400 10000 CCS A
041979,002089: 15,3401 34750 CAF BIT4 # SET
041980,002090: 15,3402 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
041981,002091: 15,3403 34750 CAF BIT4
041982,002092: 15,3404 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041983,002093:
041984,002094: 15,3405 33626 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041985,002095: 15,3406 04616 TC BANKCALL
041986,002096: 15,3407 20477 CADR GOFLASH
041987,002097: 15,3410 16001 TCF GOTOPOOH # VB34-TERMINATE
041988,002098: 15,3411 13413 TCF +2 # V33-PROCEED
041989,002099: 15,3412 13405 TCF DSPOPTN # V32-RECYCLE
041990,002100:
041991,002101: 15,3413 34737 CAF REFSMBIT
041992,002102: 15,3414 70077 MASK FLAGWRD3
041993,002103: 15,3415 10000 CCS A
041994,002104: 15,3416 13516 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041995,002105: 15,3417 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
041996,002106: 15,3420 70102 MASK FLAGWRD6
041997,002107: 15,3421 10000 CCS A
041998,002108: 15,3422 13522 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041999,002109: 15,3423 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
|
|
Page 968
|
042001,002111: 15,3424 71144 MASK OPTION2
042002,002112: 15,3425 10000 CCS A
042003,002113: 15,3426 13522 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042004,002114: 15,3427 05600 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
042005,002115: 15,3430 00701 OCT 701
042006,002116: 15,3431 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042007,002117: 15,3432 04616 TC BANKCALL
042008,002118: 15,3433 20477 CADR GOFLASH
042009,002119: 15,3434 16001 TCF GOTOPOOH # VB34-TERMINATE
042010,002120: 15,3435 13405 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
042011,002121: 15,3436 13405 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
042012,002122:
|
|
Page 969
|
042014,002124: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042015,002125:
042016,002126: 15,3437 40220 MFREF STQ SETPD
042017,002127: 15,3440 02746 QMAJ
042018,002128: 15,3441 00001 0
042019,002129: 15,3442 77634 RTB
042020,002130: 15,3443 21574 LOADTIME
042021,002131: 15,3444 27562 STOVL TSIGHT
042022,002132: 15,3445 03246 VEC1
042023,002133: 15,3446 41525 PDDL PUSH
042024,002134: 15,3447 03562 TSIGHT
042025,002135: 15,3450 77624 CALL
042026,002136: 15,3451 55720 RP-TO-R
042027,002137: 15,3452 27246 STOVL VEC1
042028,002138: 15,3453 03254 VEC2
042029,002139: 15,3454 65201 SETPD PDDL
042030,002140: 15,3455 00001 0
042031,002141: 15,3456 03562 TSIGHT
042032,002142: 15,3457 45006 PUSH CALL
042033,002143: 15,3460 55720 RP-TO-R
042034,002144: 15,3461 37254 STCALL VEC2
042035,002145: 15,3462 02746 QMAJ
042036,002146:
|
|
Page 970
|
042038,002148: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042039,002149: # STORE IN YNBSAV AND ZNBSAV
042040,002150:
042041,002151: 15,3463 45020 REFMF STQ CALL
042042,002152: 15,3464 02746 QMAJ
042043,002153: 15,3465 47535 CDUTRIG # GET SIN AND COS OF CDUS
042044,002154: 15,3466 40234 RTB SETPD
042045,002155: 15,3467 21574 LOADTIME
042046,002156: 15,3470 00001 0
042047,002157: 15,3471 37562 STCALL TSIGHT
042048,002158: 15,3472 20030 CALCSMSC # GET YNB IN SM
042049,002159: 15,3473 61375 VLOAD VXM
042050,002160: 15,3474 02673 YNB
042051,002161: 15,3475 01732 REFSMMAT # YNB TO REF
042052,002162: 15,3476 65256 UNIT PDDL
042053,002163: 15,3477 03562 TSIGHT
042054,002164: 15,3500 45006 PUSH CALL
042055,002165: 15,3501 51632 R-TO-RP
042056,002166: 15,3502 26237 STOVL YNBSAV # YNB TO MF
042057,002167: 15,3503 02701 ZNB
042058,002168: 15,3504 53505 VXM UNIT
042059,002169: 15,3505 01732 REFSMMAT # ZNB TO REF
042060,002170: 15,3506 41525 PDDL PUSH
042061,002171: 15,3507 03562 TSIGHT
042062,002172: 15,3510 77624 CALL
042063,002173: 15,3511 51632 R-TO-RP # ZNB TO MF
042064,002174: 15,3512 02245 STORE ZNBSAV
042065,002175: 15,3513 77614 SETGO
042066,002176: 15,3514 03036 ATTFLAG
042067,002177: 15,3515 02746 QMAJ
042068,002178:
|
|
Page 971
|
042070,002180: # BRANCH TO ALIGNMENT OPTION
042071,002181:
042072,002182: 15,3516 06042 GETLMATT TC INTPRET
042073,002183: 15,3517 77624 CALL
042074,002184: 15,3520 33463 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
042075,002185: 15,3521 77776 EXIT
042076,002186:
042077,002187: 15,3522 05515 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042078,002188: 15,3523 00205 ADRES INITALGN
042079,002189: 15,3524 34753 CAF BIT1
042080,002190: 15,3525 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
042081,002191: 15,3526 10000 CCS A
042082,002192: 15,3527 12553 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042083,002193:
042084,002194: 15,3530 05364 ATTCHK TC PHASCHNG
042085,002195: 15,3531 04024 OCT 04024
042086,002196:
042087,002197: 15,3532 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042088,002198: 15,3533 70102 MASK FLAGWRD6
042089,002199: 15,3534 10000 CCS A
042090,002200: 15,3535 13552 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042091,002201: 15,3536 05364 P57JUMP TC PHASCHNG
042092,002202: 15,3537 04024 OCT 04024
042093,002203:
042094,002204: 15,3540 05527 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
042095,002205: 15,3541 00205 ADRES INITALGN
042096,002206: 15,3542 36250 CAF THREE
042097,002207: 15,3543 71144 MASK OPTION2 # BRANCH ON OPTION CODE
042098,002208: 15,3544 50000 INDEX A
042099,002209: 15,3545 13546 TCF +1
042100,002210: 15,3546 13552 TCF P57OPT0 # OPTION IS 0
042101,002211: 15,3547 13573 TCF P57OPT1 # OPTION IS 1
042102,002212: 15,3550 13611 TCF P57OPT2 # OPTION IS 2
042103,002213: 15,3551 13612 TCF P57OPT3 # OPTION IS 3
042104,002214:
|
|
Page 972
|
042106,002216: # OPTION 0, GET TWO ATTITUDE VECS
042107,002217:
042108,002218: 15,3552 06042 P57OPT0 TC INTPRET
042109,002219: 15,3553 77775 VLOAD
042110,002220: 15,3554 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042111,002221: 15,3555 27246 STOVL VEC1
042112,002222: 15,3556 02245 ZNBSAV
042113,002223: 15,3557 37254 STCALL VEC2
042114,002224: 15,3560 47535 CDUTRIG
042115,002225: 15,3561 77624 CALL
042116,002226: 15,3562 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042117,002227: 15,3563 77775 VLOAD
042118,002228: 15,3564 02673 YNB
042119,002229: 15,3565 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042120,002230: 15,3566 02701 ZNB
042121,002231: 15,3567 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042122,002232: 15,3570 33437 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042123,002233: 15,3571 77650 GOTO
042124,002234: 15,3572 33056 SURFLINE
042125,002235:
042126,002236: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042127,002237:
042128,002238: 15,3573 06042 P57OPT1 TC INTPRET
042129,002239: 15,3574 53575 VLOAD UNIT
042130,002240: 15,3575 02021 RLS # LANDING SITE VEC
042131,002241: 15,3576 27246 STOVL VEC1
042132,002242: 15,3577 02245 ZNBSAV # Z ATTITUDE VEC
042133,002243: 15,3600 37254 STCALL VEC2
042134,002244: 15,3601 47535 CDUTRIG
042135,002245: 15,3602 77624 CALL
042136,002246: 15,3603 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042137,002247: 15,3604 45175 VLOAD CALL
042138,002248: 15,3605 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042139,002249: 15,3606 47666 CDU*NBSM
042140,002250: 15,3607 77650 GOTO
042141,002251: 15,3610 33565 SAMETYP # NOW DO SAME AS OPTION 0
042142,002252:
|
|
Page 973
|
042144,002254: # OPTION 2, GET TWO STAR SIGHTINGS
042145,002255:
042146,002256: 15,3611 13022 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042147,002257:
042148,002258: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042149,002259:
042150,002260: 15,3612 06042 P57OPT3 TC INTPRET
042151,002261: 15,3613 53575 VLOAD UNIT
042152,002262: 15,3614 02021 RLS # LANDING SITE VEC
042153,002263: 15,3615 03246 STORE VEC1
042154,002264: 15,3616 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042155,002265: 15,3617 02231 GSAV # GRAVITY VEC NB
042156,002266: 15,3620 77624 CALL
042157,002267: 15,3621 47666 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042158,002268: 15,3622 36761 STCALL STARSAV1
042159,002269: 15,3623 33437 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042160,002270: 15,3624 77776 EXIT
042161,002271: 15,3625 13024 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042162,002272:
042163,002273: 15,3626 01206 VB05N06 VN 506
042164,002274:
|
|
Page 974
|
042166,002276: # CHECK IMODES30 TO VARIFY IMU IS ON
042167,002277:
042168,002278: 15,3627 41277 IMUCHK CS IMODES30
042169,002279: 15,3630 74743 MASK BIT9
042170,002280: 15,3631 10000 CCS A # IS IMU ON
042171,002281: 15,3632 13636 TCF +4 # YES
042172,002282:
042173,002283: 15,3633 05600 TC ALARM # NO, SEND ALARM AND EXIT
042174,002284: 15,3634 00210 OCT 210
042175,002285: 15,3635 06001 TC GOTOPOOH
042176,002286:
042177,002287: 15,3636 05515 TC UPFLAG
042178,002288: 15,3637 00007 ADRES IMUSE # SET IMUSE FLAG
042179,002289:
042180,002290: 15,3640 04631 TC SWRETURN
042181,002291:
042182,002292: 04,2765 BANK 04
042183,002293: 04,2000 SETLOC AOTMARK2
042184,002294: 04,2000 BANK
042185,002295: 04,2765 COUNT* $$/P57
042186,002296:
042187,002297: 04,2765 77220 LSORIENT STQ VLOAD
042188,002298: 04,2766 02746 QMAJ
042189,002299: 04,2767 01555 RRECTCSM
042190,002300: 04,2770 47235 VXV VXV
042191,002301: 04,2771 01563 VRECTCSM
042192,002302: 04,2772 03607 XSMD
042193,002303: 04,2773 77656 UNIT
042194,002304: 04,2774 03623 STORE ZSMD
042195,002305: 04,2775 53435 VXV UNIT
042196,002306: 04,2776 03607 XSMD
042197,002307: 04,2777 37615 STCALL YSMD
042198,002308: 04,3000 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc