Source Code
|
These source-code files are part of a reconstructed copy of Luminary 173, the
second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 178. Changes
between revision 173 and 178 were backed out, as described by Luminary memo 167
(revision 1). 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 173 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.
|
039960,000002: ## Copyright: Public domain.
039961,000003: ## Filename: P51-P53.agc
039962,000004: ## Purpose: A section of Luminary revision 173.
039963,000005: ## It is part of the reconstructed source code for the second
039964,000006: ## (unflown) release of the flight software for the Lunar
039965,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
039966,000008: ## The code has been recreated from a reconstructed copy of
039967,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
039968,000010: ## It has been adapted such that the resulting bugger words
039969,000011: ## exactly match those specified for Luminary 173 in NASA
039970,000012: ## drawing 2021152N, which gives relatively high confidence
039971,000013: ## that the reconstruction is correct.
039972,000014: ## Reference: pp. 918-974
039973,000015: ## Assembler: yaYUL
039974,000016: ## Contact: Ron Burkey <info@sandroid.org>.
039975,000017: ## Website: www.ibiblio.org/apollo/index.html
039976,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
039977,000019:
|
|
Page 918
|
039979,000021: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
039980,000022: # MOD NO- 0 LOG SECTION- P51-P53
039981,000023: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
039982,000024:
039983,000025: # FUNCTIONAL DESCRIPTION-
039984,000026:
039985,000027: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039986,000028: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039987,000029:
039988,000030: # (A) PREFERRED ORIENTATION
039989,000031:
039990,000032: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039991,000033: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039992,000034:
039993,000035: # (B) NOMINAL ORIENTATION
039994,000036:
039995,000037: # X = UNIT ( R )
039996,000038: # -SM
039997,000039:
039998,000040: # Y = UNIT (V X R)
039999,000041: # SM
040000,000042:
040001,000043: # Z = UNIT (X X Y )
040002,000044: # SM SM SM
040003,000045:
040004,000046: # WHERE_
040005,000047: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040006,000048: # -
040007,000049:
040008,000050: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040009,000051: # -
040010,000052:
040011,000053: # (C) REFSMMAT ORIENTATION
040012,000054:
040013,000055: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040014,000056:
040015,000057: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040016,000058: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040017,000059: # SINCE THE LAST ALIGNMENT).
040018,000060:
040019,000061: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040020,000062: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040021,000063: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040022,000064: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040023,000065: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040024,000066: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040025,000067: # REQUESTED.
040026,000068:
040027,000069: # CALLING SEQUENCE-
|
|
Page 919
|
040029,000071: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040030,000072:
040031,000073: # SUBROUTINES CALLED-
040032,000074:
040033,000075: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040034,000076: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040035,000077: # 3. GOPERF4 9. FLAGUP
040036,000078: # 4. MATMOVE 10. R56
040037,000079: # 5. GOFLASH 11. R51
040038,000080: # 6. S52.3 12. GOPERF3
040039,000081:
040040,000082: # NORMAL EXIT MODES-
040041,000083:
040042,000084: # EXITS TO ENDOFJOB
040043,000085:
040044,000086: # ALARM OR ABORT EXIT MODES-
040045,000087:
040046,000088: # NONE
040047,000089:
040048,000090: # OUTPUT-
040049,000091:
040050,000092: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040051,000093: # 1. IMU ORIENTATION CODE
040052,000094: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
040053,000095: # 3. TIME OF NEXT IGNITION
040054,000096: # 4. GIMBAL ANGLES
040055,000097: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
040056,000098: # 6. PLEASE PERFORM P00
040057,000099: # THE MODE DISPLAY MAY BE CHANGED TO 20
040058,000100:
040059,000101: # ERASABLE INITIALIZATION REQUIRED-
040060,000102:
040061,000103: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
040062,000104: # XSMD,YSMD,ZSMD.
040063,000105: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040064,000106:
040065,000107: # DEBRIS-
040066,000108:
040067,000109: # WORK AREA
040068,000110: 33,3530 BANK 33
040069,000111: 15,2000 SETLOC P50S
040070,000112: 15,2000 BANK
040071,000113:
040072,000114: 15,2067 E5,1755 EBANK= BESTI
040073,000115: 15,2067 COUNT* $$/P52
040074,000116: 15,2067 04616 PROG52 TC BANKCALL
040075,000117: 15,2070 11241 CADR R02BOTH # IMU STATUS CHECK
040076,000118: 15,2071 34750 CAF PFRATBIT
040077,000119: 15,2072 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040078,000120: 15,2073 10000 CCS A
|
|
Page 920
|
040080,000122: 15,2074 02077 TC P52A # YES
040081,000123: 15,2075 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
040082,000124: 15,2076 02100 TC P52A +1
040083,000125: 15,2077 34753 P52A CAF BIT1
040084,000126: 15,2100 55144 TS OPTION2
040085,000127: 15,2101 34753 P52B CAF BIT1
040086,000128: 15,2102 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040087,000129: 15,2103 20714 CADR GOPERF4R # FLASH V04N06
040088,000130: 15,2104 06001 TC GOTOPOOH
040089,000131: 15,2105 12112 TCF +5 # V33-PROCEED
040090,000132: 15,2106 02101 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040091,000133: 15,2107 05364 TC PHASCHNG # DISPLAY RETURN
040092,000134: 15,2110 00014 OCT 00014
040093,000135: 15,2111 05155 TC ENDOFJOB
040094,000136:
040095,000137: 15,2112 31144 CA OPTION2
040096,000138: 15,2113 76250 MASK THREE
040097,000139: 15,2114 50000 INDEX A
040098,000140: 15,2115 02116 TC +1
040099,000141: 15,2116 12124 TCF OPT4 # OPTION 4 LANDING SITE
040100,000142: 15,2117 12176 TCF P52H # OPTION 1 PREFERRED
040101,000143: 15,2120 12131 TCF P52T # OPTION 2 NOMINAL
040102,000144: 15,2121 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
040103,000145: 15,2122 77650 GOTO
040104,000146: 15,2123 32207 P52F # GO DO R51
040105,000147:
040106,000148: 15,2124 34741 OPT4 CAF EBANK4 # SET EBANK TO USE TLAND
040107,000149: 15,2125 54003 TS EBANK
040108,000150: 15,2126 E4,1426 EBANK= TLAND
040109,000151: 15,2126 00006 EXTEND
040110,000152: 15,2127 31427 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040111,000153: 15,2130 12133 TCF P52T +2
040112,000154:
040113,000155: 15,2131 00006 P52T EXTEND
040114,000156: 15,2132 34755 DCA NEG0
040115,000157: 15,2133 53045 DXCH DSPTEM1
040116,000158: 15,2134 35014 CAF EBANK5 # RESTORE EBANK AFTER USE OF TLAND
040117,000159: 15,2135 54003 TS EBANK
040118,000160: 15,2136 E5,1774 EBANK= TALIGN
040119,000161: 15,2136 32213 CAF V06N34*
040120,000162: 15,2137 04616 TC BANKCALL
040121,000163: 15,2140 20477 CADR GOFLASH
040122,000164: 15,2141 06001 TC GOTOPOOH
040123,000165: 15,2142 02144 TC +2
040124,000166: 15,2143 02136 TC -5
040125,000167: 15,2144 53045 DXCH DSPTEM1
040126,000168: 15,2145 00006 EXTEND
040127,000169: 15,2146 62150 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040128,000170: 15,2147 12152 TCF +3
040129,000171: 15,2150 00006 EXTEND
|
|
Page 921
|
040131,000173: 15,2151 30025 DCA TIME2
040132,000174: 15,2152 53775 DXCH TALIGN
040133,000175: 15,2153 31144 P52V CA OPTION2
040134,000176: 15,2154 74752 MASK BIT2
040135,000177: 15,2155 10000 CCS A
040136,000178: 15,2156 02162 TC P52W
040137,000179: 15,2157 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040138,000180: 15,2160 77650 GOTO
040139,000181: 15,2161 32243 P52LS
040140,000182:
|
|
Page 922
|
040142,000184: # START ALIGNMENT
040143,000185:
040144,000186: 15,2162 06042 P52W TC INTPRET
040145,000187: 15,2163 45145 DLOAD CALL # PICK UP ALIGN TIME
040146,000188: 15,2164 02775 TALIGN # COMPUTE NOMINAL IMU
040147,000189: 15,2165 31651 S52.3 # ORIENTATION
040148,000190: 15,2166 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040149,000191: 15,2167 31620 S52.2 # COMPUTE GIMBAL ANGLES
040150,000192: 15,2170 77776 EXIT
040151,000193: 15,2171 35010 CAF V06N22
040152,000194: 15,2172 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040153,000195: 15,2173 20477 CADR GOFLASH
040154,000196: 15,2174 06001 TC GOTOPOOH
040155,000197: 15,2175 12214 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
040156,000198: 15,2176 06042 P52H TC INTPRET
040157,000199: 15,2177 77650 GOTO
040158,000200: 15,2200 32166 P52D
040159,000201: 15,2201 06042 REGCOARS TC INTPRET
040160,000202: 15,2202 77624 CALL # DO COARSE ALIGN
040161,000203: 15,2203 31321 CAL53A # ROUTINE
040162,000204: 15,2204 43014 COARSRET SET CLEAR
040163,000205: 15,2205 01462 REFSMFLG
040164,000206: 15,2206 01273 PFRATFLG
040165,000207: 15,2207 77624 P52F CALL
040166,000208: 15,2210 31007 R51
040167,000209: 15,2211 77776 P52OUT EXIT
040168,000210: 15,2212 06001 TC GOTOPOOH
040169,000211: 15,2213 5006 VB05N09 = V05N09
040170,000212: 15,2213 01442 V06N34* VN 634
040171,000213:
|
|
Page 923
|
040173,000215: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040174,000216: 15,2214 32242 COARSTYP CAF OCT13
040175,000217: 15,2215 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040176,000218: 15,2216 20624 CADR GOPERF1
040177,000219: 15,2217 16001 TCF GOTOPOOH # V34-TERMIN&OE
040178,000220: 15,2220 12201 TCF REGCOARS # V33-NORMAL COARSE
040179,000221: 15,2221 06042 TC INTPRET # V32-GYRO TORQUE COARSE
040180,000222: 15,2222 64375 VLOAD MXV
040181,000223: 15,2223 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040182,000224: 15,2224 01732 REFSMMAT
040183,000225: 15,2225 77656 UNIT
040184,000226: 15,2226 26665 STOVL XDC
040185,000227: 15,2227 03615 YSMD
040186,000228: 15,2230 53521 MXV UNIT
040187,000229: 15,2231 01732 REFSMMAT
040188,000230: 15,2232 26673 STOVL YDC
040189,000231: 15,2233 03623 ZSMD
040190,000232: 15,2234 53521 MXV UNIT
040191,000233: 15,2235 01732 REFSMMAT
040192,000234: 15,2236 36701 STCALL ZDC
040193,000235: 15,2237 31156 GYCOARS
040194,000236: 15,2240 77650 GOTO
040195,000237: 15,2241 32211 P52OUT
040196,000238: 15,2242 00013 OCT13 OCT 13
040197,000239:
|
|
Page 924
|
040199,000241: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040200,000242: 15,2243 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040201,000243: 15,2244 01463 LUNAFLAG
040202,000244: 15,2245 00662 ERADFLAG # TO PICK UP RLS
040203,000245: 15,2246 77201 SETPD VLOAD
040204,000246: 15,2247 00001 0
040205,000247: 15,2250 02021 RLS # PICK UP LANDING SITE VEC IN MF
040206,000248: 15,2251 41525 PDDL PUSH # RLS PD 0-5
040207,000249: 15,2252 02775 TALIGN
040208,000250: 15,2253 36027 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040209,000251:
040210,000252: 15,2254 55720 RP-TO-R # TRANS RLS TO REF
040211,000253: 15,2255 77742 VSR2
040212,000254: 15,2256 16032 STODL ALPHAV # INPUT TO LAT-LONG
040213,000255: 15,2257 02775 TALIGN
040214,000256: 15,2260 77624 CALL
040215,000257: 15,2261 30440 N89DISP
040216,000258: 15,2262 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040217,000259: 15,2263 02032 ALPHAV
040218,000260: 15,2264 37607 STCALL XSMD
040219,000261: 15,2265 10765 LSORIENT
040220,000262: 15,2266 77650 GOTO
040221,000263: 15,2267 32166 P52D # NOW GO COMPUTE GIMBAL ANGLES
040222,000264:
|
|
Page 925
|
040224,000266: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040225,000267:
040226,000268: 14,2000 SETLOC P50S1
040227,000269: 14,2000 BANK
040228,000270: 14,2440 E5,1642 EBANK= XSM
040229,000271:
040230,000272: 14,2440 77620 N89DISP STQ
040231,000273: 14,2441 02746 QMAJ
040232,000274: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040233,000275: 14,2443 26347 LAT-LONG
040234,000276: 14,2444 70545 DLOAD SR1
040235,000277: 14,2445 01122 LONG
040236,000278: 14,2446 16711 STODL LANDLONG
040237,000279: 14,2447 01124 ALT
040238,000280: 14,2450 16713 STODL LANDALT
040239,000281: 14,2451 01120 LAT
040240,000282: 14,2452 02707 STORE LANDLAT
040241,000283: 14,2453 77776 EXIT
040242,000284:
040243,000285: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040244,000286: 14,2455 04616 TC BANKCALL
040245,000287: 14,2456 20477 CADR GOFLASH
040246,000288: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
040247,000289: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
040248,000290: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040249,000291:
040250,000292: 14,2462 06042 TC INTPRET
040251,000293: 14,2463 72545 DLOAD SL1
040252,000294: 14,2464 02711 LANDLONG
040253,000295: 14,2465 15122 STODL LONG
040254,000296: 14,2466 02713 LANDALT
040255,000297: 14,2467 15124 STODL ALT
040256,000298: 14,2470 02707 LANDLAT
040257,000299: 14,2471 15120 STODL LAT
040258,000300: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040259,000301: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG, ALT
040260,000302: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040261,000303: 14,2475 77650 GOTO
040262,000304: 14,2476 02746 QMAJ
040263,000305: 14,2477 01531 V06N89* VN 689
040264,000306:
|
|
Page 926
|
040266,000308: # NAME -S50 ALIAS LOCSAM
040267,000309: # BY
040268,000310: # VINCENT
040269,000311: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040270,000312:
040271,000313: # DEFINE
040272,000314:
040273,000315:
040274,000316: # U = UNIT( SUN WRT EARTH)
040275,000317: # ES
040276,000318:
040277,000319: # U =UNIT( MOON WRT EARTH)
040278,000320: # EM
040279,000321:
040280,000322: # R =POSITION VECTOR OF LEM
040281,000323: # L
040282,000324:
040283,000325: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040284,000326: # EM
040285,000327:
040286,000328: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
040287,000329: # EM
040288,000330:
040289,000331: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040290,000332: # E
040291,000333:
040292,000334: # LOCSAM COMPUTES IN EARTH INFLUENCE
040293,000335:
040294,000336: # VSUN = U
040295,000337: # ES
040296,000338:
040297,000339: # VEARTH = -UNIT( R )
040298,000340: # L
040299,000341:
040300,000342: # VMOON = UNIT(R .U - R )
040301,000343: # EM EM L
040302,000344:
040303,000345: # CSUN = COS 90
040304,000346:
040305,000347: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040306,000348: # E L
040307,000349:
040308,000350: # CMOON = COS 5
040309,000351:
040310,000352:
040311,000353: # INPUT - TIME IN MPAC
040312,000354: # OUTPUT - LISTED ABOVE
040313,000355: # SUBROUTINES -LSPOS,LEMPREC
040314,000356: # DEBRIS - VAC AREA ,TSIGHT
040315,000357:
|
|
Page 927
|
040317,000359: 14,2500 COUNT* $$/LOSAM
040318,000360:
040319,000361: 14,2500 14,2500 S50 = LOCSAM
040320,000362: 14,2500 77620 LOCSAM STQ
040321,000363: 14,2501 02745 QMIN
040322,000364: 14,2502 37562 STCALL TSIGHT
040323,000365: 14,2503 33660 LSPOS
040324,000366: 14,2504 77745 DLOAD
040325,000367: 14,2505 03562 TSIGHT
040326,000368: 14,2506 34041 STCALL TDEC1
040327,000369: 14,2507 27056 LEMPREC
040328,000370: 14,2510 61131 SSP TIX,2
040329,000371: 14,2511 00052 S2
040330,000372: 14,2512 00000 0
040331,000373: 14,2513 30535 MOONCNTR
040332,000374: 14,2514 74375 EARTCNTR VLOAD VXSC
040333,000375: 14,2515 02723 VMOON
040334,000376: 14,2516 30001 RSUBEM
040335,000377: 14,2517 52372 VSL1 VSU
040336,000378: 14,2520 00001 RATT
040337,000379: 14,2521 77656 UNIT
040338,000380: 14,2522 26723 STOVL VMOON
040339,000381: 14,2523 00001 RATT
040340,000382: 14,2524 57456 UNIT VCOMP
040341,000383: 14,2525 16707 STODL VEARTH
040342,000384: 14,2526 30005 RSUBE
040343,000385: 14,2527 77624 CALL
040344,000386: 14,2530 30567 OCCOS
040345,000387: 14,2531 14017 STODL CEARTH
040346,000388: 14,2532 30576 CSS5
040347,000389: 14,2533 34023 STCALL CMOON
040348,000390: 14,2534 30562 ENDSAM
040349,000391: 14,2535 74375 MOONCNTR VLOAD VXSC
040350,000392: 14,2536 02723 VMOON
040351,000393: 14,2537 30007 ROE
040352,000394: 14,2540 53445 BVSU UNIT
040353,000395: 14,2541 02715 VSUN
040354,000396: 14,2542 26715 STOVL VSUN
040355,000397: 14,2543 02723 VMOON
040356,000398: 14,2544 53361 VXSC VAD
040357,000399: 14,2545 30001 RSUBEM
040358,000400: 14,2546 00001 RATT
040359,000401: 14,2547 57456 UNIT VCOMP
040360,000402: 14,2550 26707 STOVL VEARTH
040361,000403: 14,2551 00001 RATT
040362,000404: 14,2552 57456 UNIT VCOMP
040363,000405: 14,2553 16723 STODL VMOON
040364,000406: 14,2554 30003 RSUBM
040365,000407: 14,2555 77624 CALL
040366,000408: 14,2556 30567 OCCOS
|
|
Page 928
|
040368,000410: 14,2557 14023 STODL CMOON
040369,000411: 14,2560 30576 CSS5
040370,000412: 14,2561 00017 STORE CEARTH
040371,000413: 14,2562 77745 ENDSAM DLOAD
040372,000414: 14,2563 30600 CSSUN
040373,000415: 14,2564 00021 STORE CSUN
040374,000416: 14,2565 77650 GOTO
040375,000417: 14,2566 02745 QMIN
040376,000418: 14,2567 70471 OCCOS DDV SR1
040377,000419: 14,2570 00045 36D
040378,000420: 14,2571 43336 ASIN DAD
040379,000421: 14,2572 30602 5DEGREES
040380,000422: 14,2573 70546 COS SR1
040381,000423: 14,2574 77616 RVQ
040382,000424: 14,2575 CEARTH = 14D
040383,000425: 14,2575 CSUN = 16D
040384,000426: 14,2575 CMOON = 18D
040385,000427: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040386,000428:
040387,000429: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
040388,000430:
040389,000431: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040390,000432:
|
|
Page 929
|
040392,000434: # PROGRAM NAME - R56 DATE DEC 20 66
040393,000435: # MOD 1 LOG SECTION P51-P53
040394,000436: # ASSEMBLY SUNDISK REV40
040395,000437: # BY KEN VINCENT
040396,000438:
040397,000439: # FUNCTION
040398,000440: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040399,000441: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040400,000442: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040401,000443: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040402,000444: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040403,000445: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040404,000446: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040405,000447: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040406,000448: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040407,000449: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040408,000450: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040409,000451: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
040410,000452:
040411,000453: # CALLING SEQUENCE
040412,000454: # L TC BANKCALL
040413,000455: # L+1 CADR R56
040414,000456: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040415,000457: # L+3 NORMAL RETURN
040416,000458:
040417,000459: # OUTPUT
040418,000460: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040419,000461: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040420,000462:
040421,000463: # INITIALIZATION
040422,000464: # 1)A CALL TO LOCSAM MUST BE MADE
040423,000465:
040424,000466: # DEBRIS
040425,000467: # WORK AREA
040426,000468: # X,Y,ZNB
040427,000469: # SINCDU,COSCDU
040428,000470: # STARAD - STAR +5
040429,000471:
040430,000472: 14,2603 14,2603 R56 = PICAPAR
040431,000473: 14,2603 COUNT* $$/R56
040432,000474: 14,2603 04645 PICAPAR TC MAKECADR
040433,000475: 14,2604 55745 TS QMIN
040434,000476: 14,2605 06042 TC INTPRET
040435,000477: 14,2606 77624 CALL
040436,000478: 14,2607 47535 CDUTRIG
040437,000479: 14,2610 77624 CALL
040438,000480: 14,2611 20030 CALCSMSC
040439,000481: 14,2612 77601 SETPD
040440,000482: 14,2613 00001 0
040441,000483: 14,2614 71214 SET DLOAD # VFLAG = 1
040442,000484: 14,2615 01465 VFLAG
|
|
Page 930
|
040444,000486: 14,2616 24007 DPZERO
040445,000487: 14,2617 26756 STOVL BESTI
040446,000488: 14,2620 02665 XNB
040447,000489: 14,2621 63361 VXSC PDVL
040448,000490: 14,2622 24005 HALFDP
040449,000491: 14,2623 02701 ZNB
040450,000492: 14,2624 74370 AXT,1 VXSC
040451,000493: 14,2625 00344 228D # X1 = 37 X 6 +6
040452,000494: 14,2626 24005 HALFDP
040453,000495: 14,2627 77655 VAD
040454,000496: 14,2630 53505 VXM UNIT
040455,000497: 14,2631 01732 REFSMMAT
040456,000498: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040457,000499: 14,2633 66331 SSP SSP # S1=S2=6
040458,000500: 14,2634 00051 S1
040459,000501: 14,2635 00006 6
040460,000502: 14,2636 00052 S2
040461,000503: 14,2637 00006 6
040462,000504: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040463,000505: 14,2641 30643 PIC2
040464,000506: 14,2642 30760 PICEND
040465,000507: 14,2643 50373 PIC2 VLOAD* DOT
040466,000508: 14,2644 30347 CATLOG,1
040467,000509: 14,2645 02731 SAX
040468,000510: 14,2646 50025 DSU BMN
040469,000511: 14,2647 30757 CSS33
040470,000512: 14,2650 30640 PIC1
040471,000513: 14,2651 77754 LXA,2
040472,000514: 14,2652 00046 X1
040473,000515: 14,2653 52104 PIC3 TIX,2 GOTO
040474,000516: 14,2654 30656 PIC4
040475,000517: 14,2655 30640 PIC1
040476,000518: 14,2656 50373 PIC4 VLOAD* DOT
040477,000519: 14,2657 47430 CATLOG,2
040478,000520: 14,2660 02731 SAX
040479,000521: 14,2661 50025 DSU BMN
040480,000522: 14,2662 30757 CSS33
040481,000523: 14,2663 30653 PIC3
040482,000524: 14,2664 47773 VLOAD* DOT*
040483,000525: 14,2665 30347 CATLOG,1
040484,000526: 14,2666 47430 CATLOG,2
040485,000527: 14,2667 51025 DSU BPL
040486,000528: 14,2670 30755 CSS40
040487,000529: 14,2671 30653 PIC3
040488,000530: 14,2672 45173 VLOAD* CALL
040489,000531: 14,2673 30347 CATLOG,1
040490,000532: 14,2674 30732 OCCULT
040491,000533: 14,2675 77614 BON
040492,000534: 14,2676 01710 CULTFLAG
040493,000535: 14,2677 30640 PIC1
|
|
Page 931
|
040495,000537: 14,2700 45173 VLOAD* CALL
040496,000538: 14,2701 47430 CATLOG,2
040497,000539: 14,2702 30732 OCCULT
040498,000540: 14,2703 77614 BON
040499,000541: 14,2704 01710 CULTFLAG
040500,000542: 14,2705 30653 PIC3
040501,000543: 14,2706 77614 STRATGY BONCLR
040502,000544: 14,2707 01605 VFLAG
040503,000545: 14,2710 30725 NEWPAR
040504,000546: 14,2711 65120 XCHX,1 XCHX,2
040505,000547: 14,2712 02755 BESTI
040506,000548: 14,2713 02756 BESTJ
040507,000549: 14,2714 47773 STRAT VLOAD* DOT*
040508,000550: 14,2715 30347 CATLOG,1
040509,000551: 14,2716 47430 CATLOG,2
040510,000552: 14,2717 43006 PUSH BOFINV
040511,000553: 14,2720 01545 VFLAG
040512,000554: 14,2721 30711 STRAT -3
040513,000555: 14,2722 45345 DLOAD DSU
040514,000556: 14,2723 77644 BPL
040515,000557: 14,2724 30653 PIC3
040516,000558: 14,2725 67130 NEWPAR SXA,1 SXA,2
040517,000559: 14,2726 02755 BESTI
040518,000560: 14,2727 02756 BESTJ
040519,000561: 14,2730 77650 GOTO
040520,000562: 14,2731 30653 PIC3
040521,000563: 14,2732 51321 OCCULT MXV BVSU
040522,000564: 14,2733 02707 CULTRIX
040523,000565: 14,2734 00017 CSS
040524,000566: 14,2735 77654 BZE
040525,000567: 14,2736 30751 CULTED
040526,000568: 14,2737 75240 BMN SIGN
040527,000569: 14,2740 30751 CULTED
040528,000570: 14,2741 00160 MPAC +3
040529,000571: 14,2742 75240 BMN SIGN
040530,000572: 14,2743 30751 CULTED
040531,000573: 14,2744 00162 MPAC +5
040532,000574: 14,2745 43040 BMN CLRGO
040533,000575: 14,2746 30751 CULTED
040534,000576: 14,2747 01630 CULTFLAG
040535,000577: 14,2750 00052 QPRET
040536,000578: 14,2751 77614 CULTED SETGO
040537,000579: 14,2752 01430 CULTFLAG
040538,000580: 14,2753 00052 QPRET
040539,000581: 14,2754 0000016 CSS = CEARTH
040540,000582: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 /4
040541,000583:
040542,000584: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 /4
040543,000585:
040544,000586: 14,2760 77414 PICEND BOFF EXIT
|
|
Page 932
|
040546,000588: 14,2761 01745 VFLAG
040547,000589: 14,2762 30764 PICGXT
040548,000590: 14,2763 03005 TC PICBXT
040549,000591: 14,2764 73150 PICGXT LXA,1 LXA,2
040550,000592: 14,2765 02755 BESTI
040551,000593: 14,2766 02756 BESTJ
040552,000594: 14,2767 47775 VLOAD DOT*
040553,000595: 14,2770 02731 SAX
040554,000596: 14,2771 30347 CATLOG,1
040555,000597: 14,2772 47715 PDVL DOT*
040556,000598: 14,2773 02731 SAX
040557,000599: 14,2774 47430 CATLOG,2
040558,000600: 14,2775 77625 DSU
040559,000601: 14,2776 66044 BPL SXA,1
040560,000602: 14,2777 31003 PICNSWP
040561,000603: 14,3000 02756 BESTJ
040562,000604: 14,3001 77734 SXA,2
040563,000605: 14,3002 02755 BESTI
040564,000606: 14,3003 77776 PICNSWP EXIT
040565,000607: 14,3004 25745 INCR QMIN
040566,000608: 14,3005 31745 PICBXT CA QMIN
040567,000609: 14,3006 04622 TC SWCALL
040568,000610: 14,3007 VPD = 0D
040569,000611: 14,3007 V0 = 6D
040570,000612: 14,3007 V1 = 12D
040571,000613: 14,3007 V2 = 18D
040572,000614: 14,3007 V3 = 24D
040573,000615: 14,3007 DP0 = 30D
040574,000616: 14,3007 DP1 = 32D
040575,000617:
|
|
Page 933
|
040577,000619: # NAME-R51 FINE ALIGN
040578,000620: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040579,000621: # CALLING SEQ- CALL R51
040580,000622: # INPUT - REFSMMAT
040581,000623: # OUTPUT- GYRO TORQUE PULSES
040582,000624: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040583,000625: 14,3007 COUNT* $$/R51
040584,000626: 14,3007 77620 R51 STQ
040585,000627: 14,3010 02746 QMAJ
040586,000628: 14,3011 77776 R51.1 EXIT
040587,000629: 14,3012 05364 TC PHASCHNG
040588,000630: 14,3013 04024 OCT 04024
040589,000631:
040590,000632: 14,3014 34761 R51C CAF OCT15
040591,000633: 14,3015 04616 TC BANKCALL
040592,000634: 14,3016 20624 CADR GOPERF1
040593,000635: 14,3017 06001 TC GOTOPOOH
040594,000636: 14,3020 03022 TC +2 # V33E
040595,000637: 14,3021 03045 TC R51E # ENTER
040596,000638: 14,3022 06042 TC INTPRET
040597,000639: 14,3023 43234 RTB DAD
040598,000640: 14,3024 21574 LOADTIME
040599,000641: 14,3025 31155 TSIGHT1
040600,000642: 14,3026 77624 CALL
040601,000643: 14,3027 30500 LOCSAM
040602,000644: 14,3030 77776 EXIT
040603,000645: 14,3031 04616 TC BANKCALL
040604,000646: 14,3032 30603 CADR R56
040605,000647: 14,3033 03035 TC R51I
040606,000648: 14,3034 03045 R51F TC R51E
040607,000649: 14,3035 05600 R51I TC ALARM
040608,000650: 14,3036 00405 OCT 405
040609,000651: 14,3037 35006 CAF VB05N09
040610,000652: 14,3040 04616 TC BANKCALL
040611,000653: 14,3041 20477 CADR GOFLASH
040612,000654: 14,3042 06001 TC GOTOPOOH
040613,000655: 14,3043 03045 TC R51E
040614,000656: 14,3044 03014 TC R51C
040615,000657: 14,3045 34755 R51E CAF ZERO
040616,000658: 14,3046 55757 TS STARIND
040617,000659: 14,3047 06042 R51.2 TC INTPRET
040618,000660: 14,3050 77776 R51.3 EXIT
040619,000661: 14,3051 05364 TC PHASCHNG
040620,000662: 14,3052 04024 OCT 04024
040621,000663:
040622,000664: 14,3053 06042 TC INTPRET
040623,000665: 14,3054 77624 CALL
040624,000666: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040625,000667: 14,3056 77776 EXIT
040626,000668: 14,3057 04616 TC BANKCALL
|
|
Page 934
|
040628,000670: 14,3060 16000 CADR AOTMARK
040629,000671: 14,3061 04616 TC BANKCALL
040630,000672: 14,3062 17716 CADR OPTSTALL
040631,000673: 14,3063 05712 TC CURTAINS
040632,000674: 14,3064 11757 CCS STARIND
040633,000675: 14,3065 13067 TCF +2
040634,000676: 14,3066 03137 TC R51.4
040635,000677: 14,3067 06042 TC INTPRET
040636,000678: 14,3070 77775 VLOAD
040637,000679: 14,3071 02715 STARAD +6
040638,000680: 14,3072 02767 STORE STARSAV2
040639,000681: 14,3073 77776 EXIT
040640,000682: 14,3074 05364 TC PHASCHNG
040641,000683: 14,3075 04024 OCT 04024
040642,000684:
040643,000685: 14,3076 06042 TC INTPRET
040644,000686: 14,3077 45145 DLOAD CALL
040645,000687: 14,3100 03562 TSIGHT
040646,000688: 14,3101 32500 PLANET
040647,000689: 14,3102 53521 MXV UNIT
040648,000690: 14,3103 01732 REFSMMAT
040649,000691: 14,3104 26715 STOVL STARAD +6
040650,000692: 14,3105 03554 PLANVEC
040651,000693: 14,3106 53521 MXV UNIT
040652,000694: 14,3107 01732 REFSMMAT
040653,000695: 14,3110 26707 STOVL STARAD
040654,000696: 14,3111 02761 STARSAV1
040655,000697: 14,3112 24007 STOVL 6D
040656,000698: 14,3113 02767 STARSAV2
040657,000699: 14,3114 34015 STCALL 12D
040658,000700: 14,3115 31250 R54 # STAR DATA TEST
040659,000701: 14,3116 45014 BOFF CALL
040660,000702: 14,3117 00354 FREEFLAG
040661,000703: 14,3120 31126 R51K
040662,000704: 14,3121 47437 AXISGEN
040663,000705: 14,3122 77624 CALL
040664,000706: 14,3123 31216 R55 # GYRO TORQUE
040665,000707: 14,3124 77614 CLEAR
040666,000708: 14,3125 01273 PFRATFLG
040667,000709: 14,3126 77776 R51K EXIT
040668,000710: 14,3127 35752 R51P63 CAF OCT14
040669,000711: 14,3130 04616 TC BANKCALL
040670,000712: 14,3131 20624 CADR GOPERF1
040671,000713: 14,3132 06001 TC GOTOPOOH
040672,000714: 14,3133 03014 TC R51C
040673,000715: 14,3134 06042 TC INTPRET
040674,000716: 14,3135 77650 GOTO
040675,000717: 14,3136 02746 QMAJ
040676,000718: 14,3137 06042 R51.4 TC INTPRET
040677,000719: 14,3140 77775 VLOAD
|
|
Page 935
|
040679,000721: 14,3141 02715 STARAD +6
040680,000722: 14,3142 02761 STORE STARSAV1
040681,000723: 14,3143 45145 DLOAD CALL
040682,000724: 14,3144 03562 TSIGHT
040683,000725: 14,3145 32500 PLANET
040684,000726: 14,3146 03554 STORE PLANVEC
040685,000727: 14,3147 77731 SSP
040686,000728: 14,3150 02760 STARIND
040687,000729: 14,3151 00001 1
040688,000730: 14,3152 77650 GOTO
040689,000731: 14,3153 31050 R51.3
040690,000732: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040691,000733:
|
|
Page 936
|
040693,000735: # GYRO TORQUE COARSE ALIGNMENT
040694,000736: 14,3156 45020 GYCOARS STQ CALL
040695,000737: 14,3157 02746 QMAJ
040696,000738: 14,3160 47245 CALCGTA
040697,000739: 14,3161 43014 CLEAR CLEAR
040698,000740: 14,3162 01260 DRIFTFLG
040699,000741: 14,3163 01662 REFSMFLG
040700,000742: 14,3164 77776 EXIT
040701,000743: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040702,000744: 14,3166 04616 TC BANKCALL
040703,000745: 14,3167 20452 CADR GODSPR
040704,000746: 14,3170 33247 CA R55CDR
040705,000747: 14,3171 04616 TC BANKCALL
040706,000748: 14,3172 17307 CADR IMUPULSE
040707,000749: 14,3173 04616 TC BANKCALL
040708,000750: 14,3174 17722 CADR IMUSTALL
040709,000751: 14,3175 05712 TC CURTAINS
040710,000752: 14,3176 05364 TC PHASCHNG
040711,000753: 14,3177 04024 OCT 04024
040712,000754:
040713,000755: 14,3200 06042 TC INTPRET
040714,000756: 14,3201 75160 AXC,1 AXC,2
040715,000757: 14,3202 03606 XSMD
040716,000758: 14,3203 01731 REFSMMAT
040717,000759: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040718,000760: 14,3205 31371 MATMOVE
040719,000761: 14,3206 43014 CLEAR SET
040720,000762: 14,3207 01273 PFRATFLG
040721,000763: 14,3210 01462 REFSMFLG
040722,000764: 14,3211 77624 CALL
040723,000765: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040724,000766: 14,3213 77650 GOTO
040725,000767: 14,3214 31126 R51K
040726,000768: 14,3215 04024 V16N20 VN 1620
040727,000769:
|
|
Page 937
|
040729,000771: # R55 GYRO TORQUE
040730,000772: # FUNCTION-COMPUTE AND SEND GYRO PULSES
040731,000773: # CALLING SEQ- CALL R55
040732,000774: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040733,000775: # OUTPUT- GYRO PULSES
040734,000776: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040735,000777: 14,3216 COUNT* $$/R55
040736,000778: 14,3216 77620 R55 STQ
040737,000779: 14,3217 02745 QMIN
040738,000780: 14,3220 77624 CALL
040739,000781: 14,3221 47245 CALCGTA
040740,000782: 14,3222 77776 PULSEM EXIT
040741,000783: 14,3223 33246 R55.1 CAF V06N93
040742,000784: 14,3224 04616 TC BANKCALL
040743,000785: 14,3225 20477 CADR GOFLASH
040744,000786: 14,3226 06001 TC GOTOPOOH
040745,000787: 14,3227 03231 TC R55.2
040746,000788: 14,3230 03243 TC R55RET
040747,000789: 14,3231 05364 R55.2 TC PHASCHNG
040748,000790: 14,3232 00214 OCT 00214
040749,000791: 14,3233 33247 CA R55CDR
040750,000792: 14,3234 04616 TC BANKCALL
040751,000793: 14,3235 17307 CADR IMUPULSE
040752,000794: 14,3236 04616 TC BANKCALL
040753,000795: 14,3237 17722 CADR IMUSTALL
040754,000796: 14,3240 05712 TC CURTAINS
040755,000797: 14,3241 05364 TC PHASCHNG
040756,000798: 14,3242 04024 OCT 04024
040757,000799:
040758,000800: 14,3243 06042 R55RET TC INTPRET
040759,000801: 14,3244 77650 GOTO
040760,000802: 14,3245 02745 QMIN
040761,000803: 14,3246 01535 V06N93 VN 0693
040762,000804: 14,3247 02737 R55CDR ECADR OGC
040763,000805: 14,3250 14,3250 R54 = CHKSDATA
040764,000806: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
040765,000807: # MOD NO- 0 LOG SECTION- P51-P53
040766,000808: # MODIFICATION BY- LONSKE ASSEMBLY-
040767,000809:
040768,000810: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040769,000811: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040770,000812: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040771,000813:
040772,000814: # OS1 = OBSERVED STAR 1 VECTOR
040773,000815: # OS2 = OBSERVED STAR 2 VECTOR
040774,000816: # SS1 = STORED STAR 1 VECTOR
040775,000817: # SS2 = STORED STAR 2 VECTOR
040776,000818: # A1 = ARCCOS(OS1 - OS2)
040777,000819: # A2 = ARCCOS(SS1 - SS2)
040778,000820: # A = ABS(2(A1 - A2))
|
|
Page 938
|
040780,000822: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040781,000823: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040782,000824: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040783,000825: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040784,000826: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040785,000827:
040786,000828: # ERASABLE INITIALIZATION REQUIRED -
040787,000829: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040788,000830: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040789,000831: # DEBRIS -
040790,000832: 14,3250 COUNT* $$/R54
040791,000833: 14,3250 43020 CHKSDATA STQ SET
040792,000834: 14,3251 02745 QMIN
040793,000835: 14,3252 00074 FREEFLAG
040794,000836: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040795,000837: 14,3254 02706 STARAD
040796,000838:
040797,000839: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040798,000840: 14,3256 00001 0,1
040799,000841: 14,3257 00007 6,1
040800,000842: 14,3260 65552 SL1 ACOS
040801,000843: 14,3261 00025 STORE THETA
040802,000844: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040803,000845: 14,3263 00354 FREEFLAG
040804,000846: 14,3264 31274 CHKSD
040805,000847: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040806,000848: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040807,000849: 14,3267 00006 6D
040808,000850: 14,3270 00025 THETA
040809,000851: 14,3271 00023 STORE 18D
040810,000852: 14,3272 77650 GOTO
040811,000853: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040812,000854: 14,3274 45345 CHKSD DLOAD DSU
040813,000855: 14,3275 00025 THETA
040814,000856: 14,3276 00023 18D
040815,000857: 14,3277 77634 RTB # COMPUTE POS DIFF
040816,000858: 14,3300 21613 SGNAGREE
040817,000859: 14,3301 01045 STORE NORMTEM1
040818,000860: 14,3302 77414 SET EXIT
040819,000861: 14,3303 00074 FREEFLAG
040820,000862: 14,3304 33320 CAF VB6N5
040821,000863: 14,3305 04616 TC BANKCALL
040822,000864: 14,3306 20477 CADR GOFLASH
040823,000865: 14,3307 16001 TCF GOTOPOOH
040824,000866: 14,3310 03315 TC CHKSDA # PROCEED
040825,000867: 14,3311 06042 TC INTPRET
040826,000868: 14,3312 52014 CLEAR GOTO
040827,000869: 14,3313 00274 FREEFLAG
040828,000870: 14,3314 02745 QMIN
040829,000871: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 939
|
040831,000873: 14,3316 77650 GOTO
040832,000874: 14,3317 02745 QMIN
040833,000875: 14,3320 01405 VB6N5 VN 605
040834,000876: # NAME - CAL53A
040835,000877: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040836,000878: # CALLING SEQUENCE - CALL CAL53A
040837,000879: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
040838,000880: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040839,000881: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040840,000882: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040841,000883: 14,3321 COUNT* $$/R50
040842,000884: 14,3321 77624 CAL53A CALL
040843,000885: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040844,000886: 14,3323 66234 RTB SSP
040845,000887: 14,3324 31405 RDCDUS # READ CDUS
040846,000888: 14,3325 00051 S1
040847,000889: 14,3326 00001 1
040848,000890: 14,3327 40370 AXT,1 SETPD
040849,000891: 14,3330 00003 3
040850,000892: 14,3331 00005 4
040851,000893: 14,3332 70543 CALOOP DLOAD* SR1
040852,000894: 14,3333 00325 THETAD +3D,1
040853,000895: 14,3334 70523 PDDL* SR1
040854,000896: 14,3335 00005 4,1
040855,000897: 14,3336 51425 DSU ABS
040856,000898: 14,3337 45206 PUSH DSU
040857,000899: 14,3340 31404 DEGREE1
040858,000900: 14,3341 71240 BMN DLOAD
040859,000901: 14,3342 31360 CALOOP1
040860,000902: 14,3343 51025 DSU BPL
040861,000903: 14,3344 31405 DEG359
040862,000904: 14,3345 31360 CALOOP1
040863,000905: 14,3346 77776 EXIT
040864,000906: 14,3347 05364 TC PHASCHNG
040865,000907: 14,3350 04024 OCT 04024
040866,000908:
040867,000909: 14,3351 06042 TC INTPRET
040868,000910: 14,3352 77624 COARFINE CALL
040869,000911: 14,3353 31557 COARSE
040870,000912: 14,3354 77624 CALL
040871,000913: 14,3355 31603 NCOARSE
040872,000914: 14,3356 77650 GOTO
040873,000915: 14,3357 31362 FINEONLY
040874,000916: 14,3360 77700 CALOOP1 TIX,1
040875,000917: 14,3361 31332 CALOOP
040876,000918: 14,3362 75160 FINEONLY AXC,1 AXC,2
040877,000919: 14,3363 02642 XSM
040878,000920: 14,3364 01731 REFSMMAT
040879,000921: 14,3365 77624 CALL
040880,000922: 14,3366 31371 MATMOVE
|
|
Page 940
|
040882,000924: 14,3367 77650 GOTO
040883,000925: 14,3370 32204 COARSRET
040884,000926: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040885,000927: 14,3372 00001 0,1
040886,000928: 14,3373 10001 STORE 0,2
040887,000929: 14,3374 77773 VLOAD*
040888,000930: 14,3375 00007 6D,1
040889,000931: 14,3376 10007 STORE 6D,2
040890,000932: 14,3377 77773 VLOAD*
040891,000933: 14,3400 00015 12D,1
040892,000934: 14,3401 10015 STORE 12D,2
040893,000935: 14,3402 77616 RVQ
040894,000936: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040895,000937: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040896,000938: 14,3405 00004 RDCDUS INHINT # READ CDUS
040897,000939: 14,3406 30032 CA CDUX
040898,000940: 14,3407 50120 INDEX FIXLOC
040899,000941: 14,3410 54001 TS 1
040900,000942: 14,3411 30033 CA CDUY
040901,000943: 14,3412 50120 INDEX FIXLOC
040902,000944: 14,3413 54002 TS 2
040903,000945: 14,3414 30034 CA CDUZ
040904,000946: 14,3415 50120 INDEX FIXLOC
040905,000947: 14,3416 54003 TS 3
040906,000948: 14,3417 00003 RELINT
040907,000949: 14,3420 06064 TC DANZIG # +
040908,000950: 14,3421 COUNT* $$/INFLT
040909,000951:
|
|
Page 941
|
040911,000953: # NAME - P51 - IMU ORIENTATION DETERMINATION
040912,000954: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
040913,000955: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040914,000956:
040915,000957: # FUNCTIONAL DESCRIPTION
040916,000958:
040917,000959: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040918,000960: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
040919,000961: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040920,000962: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040921,000963:
040922,000964: # CALLING SEQUENCE
040923,000965:
040924,000966: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040925,000967:
040926,000968: # SUBROUTINES CALLED.
040927,000969:
040928,000970: # GOPERF3
040929,000971: # GOPERF1
040930,000972: # GODSPR
040931,000973: # IMUCOARS
040932,000974: # IMUFIN20
040933,000975: # AOTMARK(R53)
040934,000976: # CHKSDATA(R54)
040935,000977: # MKRELEAS
040936,000978: # AXISGEN
040937,000979: # MATMOVE
040938,000980:
040939,000981: # ALARMS
040940,000982:
040941,000983: # NONE.
040942,000984:
040943,000985: # ERASABLE INITIALIZATION
040944,000986:
040945,000987: # IMU ZERO FLAG SHOULD BE SET.
040946,000988:
040947,000989: # OUTPUT
040948,000990:
040949,000991: # REFSMMAT
040950,000992: # REFSMFLG
040951,000993:
040952,000994: # DEBRIS
040953,000995:
040954,000996: # WORK AREA
040955,000997: # STARAD
040956,000998: # STARIND
040957,000999: # BESTI
040958,001000: # BESTJ
040959,001001:
040960,001002: 14,3421 COUNT* $$/P51
|
|
Page 942
|
040962,001004: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040963,001005: 14,3422 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040964,001006:
040965,001007: 14,3423 34761 CAF OCT15
040966,001008: 14,3424 04616 TC BANKCALL
040967,001009: 14,3425 20624 CADR GOPERF1
040968,001010: 14,3426 06001 TC GOTOPOOH # TERM.
040969,001011: 14,3427 13453 TCF P51B # V33
040970,001012: 14,3430 05364 TC PHASCHNG
040971,001013: 14,3431 04024 OCT 04024
040972,001014:
040973,001015: 14,3432 34755 CAF ZERO
040974,001016: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040975,001017: 14,3434 54322 TS THETAD +1
040976,001018: 14,3435 54323 TS THETAD +2
040977,001019: 14,3436 35010 CAF V06N22
040978,001020: 14,3437 04616 TC BANKCALL
040979,001021: 14,3440 20447 CADR GODSPRET
040980,001022: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040981,001023: 14,3442 04616 TC BANKCALL
040982,001024: 14,3443 20447 CADR GODSPRET
040983,001025: 14,3444 06042 TC INTPRET
040984,001026: 14,3445 77624 CALL
040985,001027: 14,3446 31557 COARSE
040986,001028: 14,3447 77776 EXIT
040987,001029: 14,3450 05364 TC PHASCHNG
040988,001030: 14,3451 04024 OCT 04024
040989,001031: 14,3452 13423 TCF P51 +2
040990,001032:
040991,001033: 14,3453 05364 P51B TC PHASCHNG
040992,001034: 14,3454 00014 OCT 00014
040993,001035: 14,3455 06042 TC INTPRET
040994,001036: 14,3456 77624 CALL
040995,001037: 14,3457 31603 NCOARSE
040996,001038: 14,3460 40331 SSP SETPD
040997,001039: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
040998,001040: 14,3462 00000 0
040999,001041: 14,3463 00001 0
041000,001042: 14,3464 77776 P51C EXIT
041001,001043: 14,3465 05364 TC PHASCHNG
041002,001044: 14,3466 04024 OCT 04024
041003,001045:
041004,001046: 14,3467 04616 TC BANKCALL
041005,001047: 14,3470 16000 CADR AOTMARK # R53
041006,001048: 14,3471 04616 TC BANKCALL
041007,001049: 14,3472 17716 CADR AOTSTALL
041008,001050: 14,3473 05712 TC CURTAINS
041009,001051: 14,3474 11757 CCS STARIND
041010,001052: 14,3475 13503 TCF P51D +1
041011,001053: 14,3476 06042 TC INTPRET
|
|
Page 943
|
041013,001055: 14,3477 77775 VLOAD
041014,001056: 14,3500 02715 STARAD +6
041015,001057: 14,3501 02761 STORE STARSAV1
041016,001058: 14,3502 77776 P51D EXIT
041017,001059: 14,3503 05364 TC PHASCHNG
041018,001060: 14,3504 04024 OCT 04024
041019,001061:
041020,001062: 14,3505 11757 CCS STARIND
041021,001063: 14,3506 13522 TCF P51E
041022,001064: 14,3507 05364 TC PHASCHNG
041023,001065: 14,3510 04024 OCT 04024
041024,001066:
041025,001067: 14,3511 06042 TC INTPRET
041026,001068: 14,3512 45145 DLOAD CALL
041027,001069: 14,3513 03562 TSIGHT
041028,001070: 14,3514 32500 PLANET
041029,001071: 14,3515 03554 STORE PLANVEC
041030,001072: 14,3516 77776 EXIT
041031,001073: 14,3517 34753 CAF BIT1
041032,001074: 14,3520 55757 TS STARIND
041033,001075: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
041034,001076: 14,3522 05364 P51E TC PHASCHNG
041035,001077: 14,3523 04024 OCT 04024
041036,001078:
041037,001079: 14,3524 06042 TC INTPRET
041038,001080: 14,3525 45145 DLOAD CALL
041039,001081: 14,3526 03562 TSIGHT
041040,001082: 14,3527 32500 PLANET
041041,001083: 14,3530 24015 STOVL 12D
041042,001084: 14,3531 03554 PLANVEC
041043,001085: 14,3532 24007 STOVL 6D
041044,001086: 14,3533 02761 STARSAV1
041045,001087: 14,3534 26707 STOVL STARAD
041046,001088: 14,3535 02767 STARSAV2
041047,001089: 14,3536 36715 STCALL STARAD +6
041048,001090: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041049,001091: 14,3540 77414 BON EXIT
041050,001092: 14,3541 00314 FREEFLAG
041051,001093: 14,3542 31544 P51G
041052,001094: 14,3543 03423 TC P51 +2
041053,001095: 14,3544 77624 P51G CALL
041054,001096: 14,3545 47437 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041055,001097: 14,3546 75160 AXC,1 AXC,2
041056,001098: 14,3547 02664 XDC
041057,001099: 14,3550 01731 REFSMMAT
041058,001100: 14,3551 77624 CALL
041059,001101: 14,3552 31371 MATMOVE
041060,001102: 14,3553 77414 SET EXIT
041061,001103: 14,3554 01462 REFSMFLG
041062,001104: 14,3555 06001 TC GOTOPOOH # FINIS
|
|
Page 944
|
041064,001106: 14,3556 12200 V41K VN 4100
041065,001107: 14,3557 77776 COARSE EXIT
041066,001108: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
041067,001109: 14,3561 00006 EXTEND
041068,001110: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
041069,001111: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
041070,001112: 14,3564 04616 TC BANKCALL
041071,001113: 14,3565 01736 CADR DELAYJOB
041072,001114: 14,3566 13560 TCF COARSE +1
041073,001115: 14,3567 04616 DOCORS TC BANKCALL
041074,001116: 14,3570 16764 CADR IMUCOARS
041075,001117: 14,3571 04616 TC BANKCALL
041076,001118: 14,3572 17722 CADR IMUSTALL
041077,001119: 14,3573 05712 TC CURTAINS
041078,001120: 14,3574 04616 TC BANKCALL
041079,001121: 14,3575 17174 CADR IMUFINE
041080,001122: 14,3576 04616 TC BANKCALL
041081,001123: 14,3577 17722 CADR IMUSTALL
041082,001124: 14,3600 05712 TC CURTAINS
041083,001125: 14,3601 06042 TC INTPRET
041084,001126: 14,3602 77616 RVQ
041085,001127: 14,3603 77776 NCOARSE EXIT
041086,001128: 14,3604 30025 CA TIME1
041087,001129: 14,3605 55074 TS 1/PIPADT
041088,001130: 14,3606 44755 CS ZERO
041089,001131: 14,3607 54037 TS PIPAX
041090,001132: 14,3610 54040 TS PIPAY
041091,001133: 14,3611 54041 TS PIPAZ
041092,001134: 14,3612 06042 TC INTPRET
041093,001135: 14,3613 77775 VLOAD
041094,001136: 14,3614 24007 ZEROVEC
041095,001137: 14,3615 01472 STORE GCOMP
041096,001138: 14,3616 43414 SET RVQ
041097,001139: 14,3617 01060 DRIFTFLG
041098,001140:
|
|
Page 945
|
041100,001142: # NAME-S52.2
041101,001143: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041102,001144: # CALL- CALL S52.2
041103,001145: # INPUT- X,Y,ZSMD
041104,001146: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
041105,001147: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
041106,001148: 14,3620 COUNT* $$/S52.1
041107,001149: 14,3620 45020 S52.2 STQ CALL
041108,001150: 14,3621 02746 QMAJ
041109,001151: 14,3622 47535 CDUTRIG
041110,001152: 14,3623 77624 CALL
041111,001153: 14,3624 20030 CALCSMSC
041112,001154: 14,3625 66370 AXT,1 SSP
041113,001155: 14,3626 00022 18D
041114,001156: 14,3627 00051 S1
041115,001157: 14,3630 00006 6D
041116,001158: 14,3631 61373 S52.2A VLOAD* VXM
041117,001159: 14,3632 02707 XNB +18D,1
041118,001160: 14,3633 01732 REFSMMAT
041119,001161: 14,3634 77656 UNIT
041120,001162: 14,3635 06707 STORE XNB +18D,1
041121,001163: 14,3636 77700 TIX,1
041122,001164: 14,3637 31631 S52.2A
041123,001165: 14,3640 75160 S52.2.1 AXC,1 AXC,2
041124,001166: 14,3641 03606 XSMD
041125,001167: 14,3642 02642 XSM
041126,001168: 14,3643 77624 CALL
041127,001169: 14,3644 31371 MATMOVE
041128,001170: 14,3645 77624 CALL
041129,001171: 14,3646 47351 CALCGA
041130,001172: 14,3647 77650 GOTO
041131,001173: 14,3650 02746 QMAJ
041132,001174:
|
|
Page 946
|
041134,001176: # NAME-S52.3
041135,001177: # FUNCTION XSMD= UNIT R
041136,001178: # YSMD= UNIT(V X R)
041137,001179: # ZSMD= UNIT(XSMD X YSMD)
041138,001180: # CALL DLOAD CALL
041139,001181: # TALIGN
041140,001182: # S52.3
041141,001183: # INPUT- TIME OF ALIGNMENT IN MPAC
041142,001184: # OUTPUT- X,Y,ZSMD
041143,001185: # SUBROUTINES- CSMCONIC
041144,001186: 14,3651 COUNT* $$/S52.3
041145,001187: 14,3651 77620 S52.3 STQ
041146,001188: 14,3652 02746 QMAJ
041147,001189: 14,3653 34041 STCALL TDEC1
041148,001190: 14,3654 27077 LEMCONIC
041149,001191: 14,3655 53575 VLOAD UNIT
041150,001192: 14,3656 00001 RATT
041151,001193: 14,3657 27607 STOVL XSMD
041152,001194: 14,3660 00007 VATT
041153,001195: 14,3661 53435 VXV UNIT
041154,001196: 14,3662 00001 RATT
041155,001197: 14,3663 27615 STOVL YSMD
041156,001198: 14,3664 03607 XSMD
041157,001199: 14,3665 53435 VXV UNIT
041158,001200: 14,3666 03615 YSMD
041159,001201: 14,3667 37623 STCALL ZSMD
041160,001202: 14,3670 02746 QMAJ
041161,001203:
|
|
Page 947
|
041163,001205: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041164,001206:
041165,001207: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041166,001208: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041167,001209:
041168,001210: # CALLING -CALL R52
041169,001211:
041170,001212: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
041171,001213: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
041172,001214: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041173,001215: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041174,001216: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041175,001217:
041176,001218: # SUBROUT -R60LEM
041177,001219:
041178,001220: 14,3671 COUNT* $$/R52
041179,001221: 14,3671 77420 R52 STQ EXIT
041180,001222: 14,3672 03665 SAVQR52
041181,001223: 14,3673 51757 INDEX STARIND
041182,001224: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041183,001225: 14,3675 00006 EXTEND
041184,001226: 14,3676 73772 MP 1/6TH
041185,001227: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
041186,001228: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
041187,001229:
041188,001230: 14,3701 33773 R52A CAF V01N70
041189,001231: 14,3702 04616 TC BANKCALL
041190,001232: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041191,001233: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
041192,001234: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
041193,001235: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041194,001236:
041195,001237: 14,3707 05527 R52B TC DOWNFLAG
041196,001238: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041197,001239: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041198,001240: 14,3712 77747 MASK HIGH9
041199,001241: 14,3713 00006 EXTEND
041200,001242: 14,3714 74743 MP BIT9
041201,001243: 14,3715 54001 TS L # TEMP STORE DETENT
041202,001244:
041203,001245: 14,3716 00006 EXTEND
041204,001246: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041205,001247:
041206,001248: 14,3720 65661 AD NEG7
041207,001249: 14,3721 00006 EXTEND
041208,001250: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041209,001251:
041210,001252: 14,3723 E7,1551 EBANK= XYMARK
041211,001253: 14,3723 35016 CA EBANK7
041212,001254: 14,3724 54003 TS EBANK
041213,001255:
|
|
Page 948
|
041215,001257: 14,3725 50001 INDEX L
041216,001258: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041217,001259: 14,3727 54001 TS L
041218,001260: 14,3730 E5,1642 EBANK= XSM
041219,001261: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041220,001262: 14,3731 54003 TS EBANK
041221,001263: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041222,001264: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041223,001265: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041224,001266:
041225,001267: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041226,001268: 14,3736 04616 TC BANKCALL
041227,001269: 14,3737 20477 CADR GOFLASH
041228,001270: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
041229,001271: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
041230,001272: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
041231,001273:
041232,001274: 14,3743 00006 EXTEND
041233,001275: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041234,001276: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041235,001277: 14,3746 52011 DXCH 8D
041236,001278: 14,3747 06042 TC INTPRET
041237,001279: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041238,001280: 14,3751 10530 OANB # SCAXIS IN NB COORDS
041239,001281: 14,3752 45034 RTB CALL
041240,001282: 14,3753 21574 LOADTIME
041241,001283: 14,3754 32500 PLANET
041242,001284: 14,3755 53521 MXV UNIT
041243,001285: 14,3756 01732 REFSMMAT
041244,001286: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041245,001287:
041246,001288: 14,3760 77776 EXIT
041247,001289: 14,3761 04616 TC BANKCALL
041248,001290: 14,3762 54125 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041249,001291:
041250,001292: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041251,001293: 14,3764 70734 MASK STARCODE
041252,001294: 14,3765 00006 EXTEND
041253,001295: 14,3766 13701 BZF R52A
041254,001296:
041255,001297: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041256,001298: 14,3770 77650 GOTO
041257,001299: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041258,001300:
041259,001301: 14,3772 05253 1/6TH DEC .1666667
041260,001302: 14,3773 00306 V01N70 VN 0170
041261,001303: 14,3774 01527 V06N87 VN 687
041262,001304:
|
|
Page 949
|
041264,001306: # LUNAR SURFACE STAR AQUISITION
041265,001307:
041266,001308: 15,2270 BANK 15
041267,001309: 15,2000 SETLOC P50S
041268,001310: 15,2000 BANK
041269,001311: 15,2270 COUNT* $$/R59
041270,001312:
041271,001313: 15,2270 40077 R59 CS FLAGWRD3
041272,001314: 15,2271 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041273,001315: 15,2272 10000 CCS A
041274,001316: 15,2273 12463 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041275,001317:
041276,001318: 15,2274 32471 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041277,001319: 15,2275 04616 TC BANKCALL
041278,001320: 15,2276 20477 CADR GOFLASH
041279,001321: 15,2277 06001 TC GOTOPOOH # V34-TERMINATE
041280,001322: 15,2300 12302 TCF R59A # V33-PROCEED
041281,001323: 15,2301 12270 TCF R59 # V32-RECYCLE
041282,001324:
041283,001325: 15,2302 06042 R59A TC INTPRET
041284,001326: 15,2303 45034 RTB CALL
041285,001327: 15,2304 21574 LOADTIME
041286,001328: 15,2305 32500 PLANET # GO GET CELESTRIAL BODY IN REF COORDS.
041287,001329: 15,2306 53521 MXV UNIT
041288,001330: 15,2307 01732 REFSMMAT # TRANSFORM TO NB COORDS.
041289,001331: 15,2310 77624 CALL
041290,001332: 15,2311 47653 CDU*SMNB
041291,001333: 15,2312 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041292,001334: 15,2313 77776 EXIT
041293,001335:
041294,001336: 15,2314 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041295,001337: 15,2315 55241 TS POSCODE
041296,001338:
041297,001339: 15,2316 E7,1551 EBANK= XYMARK
041298,001340: 15,2316 35016 INCAZ CA EBANK7
041299,001341: 15,2317 54003 TS EBANK
041300,001342:
041301,001343: 15,2320 51241 INDEX POSCODE
041302,001344: 15,2321 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041303,001345: 15,2322 54001 TS L
041304,001346:
041305,001347: 15,2323 E5,1642 EBANK= XSM
041306,001348: 15,2323 35014 CA EBANK5
041307,001349: 15,2324 54003 TS EBANK
041308,001350:
041309,001351: 15,2325 34737 CA BIT13 # SET ELV TO 45 DEG
041310,001352: 15,2326 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041311,001353: 15,2327 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041312,001354: 15,2330 50120 INDEX FIXLOC
041313,001355: 15,2331 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041314,001356:
|
|
Page 950
|
041316,001358: 15,2332 06042 TC INTPRET
041317,001359: 15,2333 77624 CALL
041318,001360: 15,2334 10530 OANB # GO CALC OPTIC AXIS WRT NB
041319,001361: 15,2335 50375 VLOAD DOT
041320,001362: 15,2336 02731 STAR # DOT STAR WITH OA
041321,001363: 15,2337 03765 SCAXIS
041322,001364: 15,2340 65552 SL1 ARCCOS
041323,001365: 15,2341 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041324,001366:
041325,001367: 15,2342 51025 DSU BPL
041326,001368: 15,2343 32474 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041327,001369: 15,2344 32426 NXAX # NOT IN FIELD - TRY NEXT POSITION
041328,001370: 15,2345 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041329,001371: 15,2346 00031 24D
041330,001372: 15,2347 32476 DEG.5
041331,001373: 15,2350 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041332,001374: 15,2351 32421 ZSPCR # GO ZERO CURSOR AND SPIRAL
041333,001375: 15,2352 00031 24D # GET SPIRAL
041334,001376: 15,2353 42405 DMP SL4
041335,001377: 15,2354 11226 3/4 # 12 SCALED AT 16
041336,001378: 15,2355 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041337,001379:
041338,001380: 15,2356 03765 SCAXIS # OA
041339,001381: 15,2357 53435 VXV UNIT
041340,001382: 15,2360 24005 XUNIT
041341,001383: 15,2361 47206 PUSH VXV # OA X UNITX PD 0-5
041342,001384: 15,2362 03765 SCAXIS
041343,001385: 15,2363 77676 VCOMP
041344,001386: 15,2364 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
041345,001387: 15,2365 03765 SCAXIS
041346,001388: 15,2366 53435 VXV UNIT
041347,001389: 15,2367 02731 STAR
041348,001390: 15,2370 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041349,001391: 15,2371 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041350,001392: 15,2372 65552 SL1 ARCCOS
041351,001393: 15,2373 24033 STOVL 26D # STORE THET SCALED IN REVS
041352,001394:
041353,001395: 15,2374 77641 DOT # UP 12-17, UP 6-11 FOR C2
041354,001396: 15,2375 71244 BPL DLOAD # IF THET NEG-GET 360-THET
041355,001397: 15,2376 32403 R59D
041356,001398: 15,2377 32047 ABOUTONE
041357,001399: 15,2400 77625 DSU
041358,001400: 15,2401 00033 26D
041359,001401: 15,2402 00033 STORE 26D # 360-THET SCALED IN REVS
041360,001402:
041361,001403: 15,2403 70535 R59D SLOAD SR1
041362,001404: 15,2404 02746 QMIN # RESCALE AZ(N) TO REVS
041363,001405: 15,2405 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041364,001406: 15,2406 00033 26D
041365,001407: 15,2407 77634 RTB
|
|
Page 951
|
041367,001409: 15,2410 21615 1STO2S
041368,001410: 15,2411 15236 STODL CURSOR # YROT IN 1/2 REVS
041369,001411: 15,2412 00031 24D # LOAD SROT IN REVS
041370,001412: 15,2413 77615 DAD # 12(SEP) + YROT
041371,001413: 15,2414 77634 RTB
041372,001414: 15,2415 21615 1STO2S
041373,001415: 15,2416 01237 STORE SPIRAL # SROT IN 1/2 REVS
041374,001416: 15,2417 77776 EXIT
041375,001417: 15,2420 12445 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041376,001418:
041377,001419: 15,2421 77776 ZSPCR EXIT
041378,001420: 15,2422 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
041379,001421: 15,2423 55235 TS CURSOR # AND SPIRAL ANGLES
041380,001422: 15,2424 55236 TS SPIRAL
041381,001423: 15,2425 12445 TCF 79DISP
041382,001424:
041383,001425: 15,2426 77776 NXAX EXIT
041384,001426: 15,2427 25241 INCR POSCODE
041385,001427: 15,2430 41241 CS POSCODE
041386,001428: 15,2431 64757 AD SEVEN
041387,001429: 15,2432 00006 EXTEND
041388,001430: 15,2433 62435 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041389,001431: 15,2434 12316 TCF INCAZ
041390,001432:
041391,001433: 15,2435 05600 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041392,001434: 15,2436 00404 OCT 404
041393,001435: 15,2437 35006 CAF VB05N09 # DISPLAY ALARM
041394,001436: 15,2440 04616 TC BANKCALL
041395,001437: 15,2441 20477 CADR GOFLASH
041396,001438: 15,2442 16001 TCF GOTOPOOH # VB34-TERMINATE
041397,001439: 15,2443 12463 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
041398,001440: 15,2444 12270 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
041399,001441:
041400,001442: 15,2445 32472 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041401,001443: 15,2446 04616 TC BANKCALL
041402,001444: 15,2447 20477 CADR GOFLASH
041403,001445: 15,2450 16001 TCF GOTOPOOH # V34-TERMINATE
041404,001446: 15,2451 12453 TCF R59E # V33-PROCEED TO MARK ROUTINE
041405,001447: 15,2452 12270 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
041406,001448:
041407,001449: 15,2453 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041408,001450: 15,2454 71241 MASK POSCODE
041409,001451: 15,2455 00006 EXTEND
041410,001452: 15,2456 74745 MP BIT7 # DETENT CODE NOW IN L
041411,001453: 15,2457 47747 CS HIGH9
041412,001454: 15,2460 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041413,001455: 15,2461 60001 AD L
041414,001456: 15,2462 54734 TS AOTCODE # STORE DETENT 7-9
041415,001457:
041416,001458: 15,2463 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
|
|
Page 952
|
041418,001460: 15,2464 16000 CADR AOTMARK
041419,001461: 15,2465 04616 TC BANKCALL
041420,001462: 15,2466 17716 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041421,001463: 15,2467 05712 TC CURTAINS # BADEND RETURN FROM AOTMARK
041422,001464: 15,2470 13050 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041423,001465:
041424,001466: 15,2471 00306 V01N70* VN 170
041425,001467: 15,2472 01517 V06N79 VN 679
041426,001468: 15,2473 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041427,001469:
041428,001470: 15,2475 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041429,001471:
041430,001472: 15,2477 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041431,001473:
041432,001474: 15,2500 1235 CURSOR EQUALS GDT/2
041433,001475: 15,2500 1236 SPIRAL EQUALS GDT/2 +1
041434,001476: 15,2500 1241 POSCODE EQUALS GDT/2 +4
041435,001477:
|
|
Page 953
|
041437,001479: # NAME - PLANET
041438,001480: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041439,001481: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041440,001482: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041441,001483: # BY DSDY INPUT
041442,001484: # CALL - CALL
041443,001485: # PLANET
041444,001486: # INPUT - TIME IN MPAC
041445,001487: # OUTPUT - VECTOR IN MPAC
041446,001488: # SUBROUTINES - LOCSAM
041447,001489: # DEBRIS - VAC ,STARAD - STARAD +17
041448,001490:
041449,001491: 15,2000 SETLOC P50S
041450,001492: 15,2000 BANK
041451,001493: 15,2500 COUNT* $$/R58
041452,001494:
041453,001495: 15,2500 03562 PLANET STORE TSIGHT
041454,001496: 15,2501 77420 STQ EXIT
041455,001497: 15,2502 02736 GCTR
041456,001498: 15,2503 47747 CS HIGH9
041457,001499: 15,2504 70734 MASK AOTCODE
041458,001500: 15,2505 00006 EXTEND
041459,001501: 15,2506 76245 MP REVCNT
041460,001502: 15,2507 56001 XCH L
041461,001503: 15,2510 51757 INDEX STARIND
041462,001504: 15,2511 55755 TS BESTI
041463,001505: 15,2512 10000 CCS A
041464,001506: 15,2513 12530 TCF NOTPLAN
041465,001507: 15,2514 32567 CAF VNPLANV
041466,001508: 15,2515 04616 TC BANKCALL
041467,001509: 15,2516 20477 CADR GOFLASH
041468,001510: 15,2517 02514 TC -3
041469,001511: 15,2520 02522 TC +2
041470,001512: 15,2521 02514 TC -5
041471,001513: 15,2522 06042 TC INTPRET
041472,001514: 15,2523 74375 VLOAD VXSC
041473,001515: 15,2524 02707 STARAD
041474,001516: 15,2525 32571 1/SQR3
041475,001517: 15,2526 52056 UNIT GOTO
041476,001518: 15,2527 02736 GCTR
041477,001519:
041478,001520: 15,2530 40000 NOTPLAN CS A
041479,001521: 15,2531 62566 AD DEC227
041480,001522: 15,2532 00006 EXTEND
041481,001523: 15,2533 62544 BZMF CALSAM1
041482,001524: 15,2534 51757 INDEX STARIND
041483,001525: 15,2535 31755 CA BESTI
041484,001526: 15,2536 50120 INDEX FIXLOC
041485,001527: 15,2537 54046 TS X1
041486,001528: 15,2540 06042 TC INTPRET
|
|
Page 954
|
041488,001530: 15,2541 52173 VLOAD* GOTO
041489,001531: 15,2542 30347 CATLOG,1
041490,001532: 15,2543 02736 GCTR
041491,001533: 15,2544 06042 CALSAM1 TC INTPRET
041492,001534: 15,2545 45145 CALSAM DLOAD CALL
041493,001535: 15,2546 03562 TSIGHT
041494,001536: 15,2547 30500 LOCSAM
041495,001537: 15,2550 77340 LXC,1 VLOAD
041496,001538: 15,2551 02757 STARIND
041497,001539: 15,2552 02707 VEARTH
041498,001540: 15,2553 24001 STOVL 0D
041499,001541: 15,2554 02715 VSUN
041500,001542: 15,2555 26707 STOVL VEARTH
041501,001543: 15,2556 00001 0D
041502,001544: 15,2557 02715 STORE VSUN
041503,001545: 15,2560 70143 DLOAD* LXC,1
041504,001546: 15,2561 02756 BESTI,1
041505,001547: 15,2562 00154 MPAC
041506,001548: 15,2563 52173 VLOAD* GOTO
041507,001549: 15,2564 02343 STARAD -228D,1
041508,001550: 15,2565 02736 GCTR
041509,001551: 15,2566 00343 DEC227 DEC 227 B-14
041510,001552: 15,2567 01530 VNPLANV VN 0688
041511,001553: 15,2570 37,3543 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041512,001554: 15,2570 22363 11623 1/SQR3 2DEC .57735021
041513,001555:
|
|
Page 955
|
041515,001557: # GRAVITY VECTOR DETERMINATION ROUTINE
041516,001558: # BY KEN VINCENT
041517,001559: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041518,001560: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041519,001561: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041520,001562: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041521,001563: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041522,001564: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041523,001565: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041524,001566: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041525,001567: # READINGS.
041526,001568:
041527,001569: # CALL-
041528,001570: # TC BANKCALL
041529,001571: # CADR GVDETER
041530,001572: # INPUTS-
041531,001573: # PIPAS,CDUS
041532,001574: # OUTPUTS-
041533,001575: # STARSAV1 = UNIT GRAVITY
041534,001576: # GSAV = DITTO
041535,001577: # GRAVBIT = 1
041536,001578: # SUBROUTINES-
041537,001579: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041538,001580: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
041539,001581: # DEBRIS-
041540,001582: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041541,001583: 15,2572 32773 GVDETER CAF 42DEG
041542,001584: 15,2573 54321 TS THETAD
041543,001585: 15,2574 40000 COM
041544,001586: 15,2575 54322 TS THETAD +1
041545,001587: 15,2576 32774 CAF 35DEG
041546,001588: 15,2577 54323 TS THETAD +2
041547,001589: 15,2600 06042 TC INTPRET
041548,001590: 15,2601 45014 CLEAR CALL
041549,001591: 15,2602 01662 REFSMFLG
041550,001592: 15,2603 32677 LUNG
041551,001593: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
041552,001594:
041553,001595: # DEFINE G COOR SYS
041554,001596: # -
041555,001597: # X UNIT G
041556,001598: # * - -
041557,001599: # M= Y = UNITEZSM * X )
041558,001600: # - - -
041559,001601: # Z UNIT(X * Y )
041560,001602: # THEN ROTATED SM WRT PRESENT IS
041561,001603:
041562,001604:
041563,001605: # 1, 0 , 0
041564,001606: # * *T * * *
|
|
Page 956
|
041566,001608: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041567,001609: # I J
041568,001610: # 0, 0 ,-1
041569,001611:
041570,001612: # ALSO NB WRT PRES SM IS
041571,001613:
041572,001614: # * * *
041573,001615: # XNB = NBSM I
041574,001616: # * *
041575,001617: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041576,001618:
041577,001619: 15,2000 SETLOC P50S
041578,001620: 15,2000 BANK
041579,001621: 15,2604 COUNT* $$/P57
041580,001622: 15,2604 66370 AXT,1 SSP # X1=18
041581,001623: 15,2605 00022 18D # S1= 6
041582,001624: 15,2606 00051 S1 # X2, -2
041583,001625: 15,2607 00006 6D
041584,001626: 15,2610 77744 LXC,2
041585,001627: 15,2611 00050 S1
041586,001628: 15,2612 45173 GRAVEL VLOAD* CALL
041587,001629: 15,2613 54000 XUNIT -6,2
041588,001630: 15,2614 47700 *NBSM* # SIN AND COS COMPUTED IN LUNG
041589,001631: 15,2615 06707 STORE XNB +18D,1
041590,001632: 15,2616 77775 VLOAD
041591,001633: 15,2617 02731 STAR
041592,001634: 15,2620 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
041593,001635: 15,2621 00047 X2
041594,001636: 15,2622 75040 STAR +6,2 # OUTER PRODUCT
041595,001637: 15,2623 71152 VSL2 LXC,2
041596,001638: 15,2624 00047 X2
041597,001639: 15,2625 63047 VSU* INCR,2
041598,001640: 15,2626 54000 XUNIT -6,2
041599,001641: 15,2627 00002 2D
041600,001642: 15,2630 06665 STORE XSM +18D,1
041601,001643: 15,2631 45100 TIX,1 CALL
041602,001644: 15,2632 32612 GRAVEL
041603,001645: 15,2633 47351 CALCGA
041604,001646: 15,2634 74575 VLOAD VSR1
041605,001647: 15,2635 02715 GOUT
041606,001648: 15,2636 36723 STCALL STARAD +12D
041607,001649: 15,2637 32677 LUNG
041608,001650: 15,2640 74575 VLOAD VSR1
041609,001651: 15,2641 02715 GOUT
041610,001652: 15,2642 53455 VAD UNIT
041611,001653: 15,2643 02723 STARAD +12D
041612,001654: 15,2644 02761 STORE STARSAV1
041613,001655: 15,2645 77641 DOT
041614,001656: 15,2646 02231 GSAV
041615,001657: 15,2647 65552 SL1 ACOS
|
|
Page 957
|
041617,001659: 15,2650 01045 STORE DSPTEM1
041618,001660: 15,2651 77776 EXIT
041619,001661: 15,2652 05527 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041620,001662: 15,2653 00014 ADRES FREEFLAG
041621,001663:
041622,001664: 15,2654 32772 CA DISGRVER
041623,001665: 15,2655 04616 TC BANKCALL
041624,001666: 15,2656 20477 CADR GOFLASH
041625,001667: 15,2657 06001 TC GOTOPOOH
041626,001668: 15,2660 12663 TCF PROGRAV # VB33-PROCEED
041627,001669: 15,2661 05515 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041628,001670: 15,2662 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041629,001671:
041630,001672: 15,2663 05364 PROGRAV TC PHASCHNG
041631,001673: 15,2664 04024 OCT 04024
041632,001674:
041633,001675: 15,2665 06042 TC INTPRET
041634,001676: 15,2666 77775 VLOAD
041635,001677: 15,2667 02761 STARSAV1
041636,001678: 15,2670 02231 STORE GSAV
041637,001679: 15,2671 77776 EXIT
041638,001680: 15,2672 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041639,001681: 15,2673 70074 MASK FLAGWRD0
041640,001682: 15,2674 10000 CCS A
041641,001683: 15,2675 12572 TCF GVDETER # SET
041642,001684: 15,2676 13547 TCF ATTCHK # EXIT FROM GVDETER
041643,001685:
041644,001686: 15,2677 77220 LUNG STQ VLOAD
041645,001687: 15,2700 02745 QMIN
041646,001688: 15,2701 24007 ZEROVEC
041647,001689: 15,2702 02707 STORE GACC
041648,001690: 15,2703 77776 EXIT
041649,001691: 15,2704 05364 TC PHASCHNG
041650,001692: 15,2705 04024 OCT 04024
041651,001693:
041652,001694: 15,2706 06042 TC INTPRET
041653,001695: 15,2707 77624 CALL
041654,001696: 15,2710 31557 COARSE
041655,001697: 15,2711 77776 EXIT
041656,001698: 15,2712 32771 CA T/2SEC
041657,001699: 15,2713 55736 TS GCTR
041658,001700: 15,2714 37721 CA PRIO31
041659,001701: 15,2715 55074 TS 1/PIPADT
041660,001702: 15,2716 04616 TC BANKCALL
041661,001703: 15,2717 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041662,001704: 15,2720 05364 TC PHASCHNG
041663,001705: 15,2721 04024 OCT 04024
041664,001706:
041665,001707: 15,2722 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041666,001708: 15,2723 77543 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 958
|
041668,001710: 15,2724 06042 TC INTPRET
041669,001711: 15,2725 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041670,001712: 15,2726 35000 CAF 2SECS
041671,001713: 15,2727 05204 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041672,001714: 15,2730 02732 ADRES GRABGRAV
041673,001715:
041674,001716: 15,2731 05155 TC ENDOFJOB
041675,001717:
041676,001718: 15,2732 04674 GRABGRAV TC IBNKCALL
041677,001719: 15,2733 77543 CADR PIPSRINE
041678,001720: 15,2734 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041679,001721: 15,2735 05105 TC FINDVAC
041680,001722: 15,2736 E5,1706 EBANK= STARAD
041681,001723: 15,2736 02741 32065 2CADR ADDGRAV
041682,001724:
041683,001725:
041684,001726: 15,2740 05272 TC TASKOVER
041685,001727:
041686,001728: 15,2741 04616 ADDGRAV TC BANKCALL
041687,001729: 15,2742 15271 CADR 1/PIPA
041688,001730: 15,2743 25736 INCR GCTR
041689,001731: 15,2744 06042 TC INTPRET
041690,001732: 15,2745 53375 VLOAD VAD
041691,001733: 15,2746 00325 DELV
041692,001734: 15,2747 02707 GACC
041693,001735: 15,2750 02707 STORE GACC # ACCUMULATE G VECTOR
041694,001736: 15,2751 50135 SLOAD BMN
041695,001737: 15,2752 02737 GCTR
041696,001738: 15,2753 32725 GREED
041697,001739: 15,2754 53575 VLOAD UNIT
041698,001740: 15,2755 02707 GACC
041699,001741: 15,2756 36731 STCALL STAR
041700,001742: 15,2757 47535 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041701,001743: 15,2760 77624 CALL # IN OUTPUT
041702,001744: 15,2761 47676 *SMNB*
041703,001745: 15,2762 02715 STORE GOUT
041704,001746: 15,2763 77776 EXIT
041705,001747: 15,2764 05364 TC PHASCHNG
041706,001748: 15,2765 04024 OCT 04024
041707,001749:
041708,001750: 15,2766 06042 QMINEXIT TC INTPRET
041709,001751: 15,2767 77650 GOTO
041710,001752: 15,2770 02745 QMIN
041711,001753: 15,2771 77753 T/2SEC DEC -20 B-14
041712,001754: 15,2772 01404 DISGRVER VN 0604
041713,001755: 15,2773 07357 42DEG OCT 07357
041714,001756: 15,2774 06211 35DEG OCT 06211
041715,001757:
|
|
Page 959
|
041717,001759: # NAME GYROTRIM
041718,001760:
041719,001761: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041720,001762: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041721,001763: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041722,001764:
041723,001765: # CALL CALL
041724,001766: # GYROTRIM
041725,001767:
041726,001768: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041727,001769: # CDUX,CDUY,CDUZ
041728,001770:
041729,001771: # OUTPUT - GYRO TORQUE PULSES
041730,001772:
041731,001773: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041732,001774: # IMPULSE,IMUSTALL
041733,001775: # - - - * * -
041734,001776: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
041735,001777: 15,2775 COUNT* $$/P57
041736,001778: 15,2775 71220 GYROTRIM STQ DLOAD
041737,001779: 15,2776 02745 QMIN
041738,001780: 15,2777 00322 THETAD
041739,001781: 15,3000 65325 PDDL PDDL
041740,001782: 15,3001 00324 THETAD +2
041741,001783: 15,3002 00323 THETAD +1
041742,001784: 15,3003 77666 VDEF
041743,001785: 15,3004 24766 STOVL CDUSPOT
041744,001786: 15,3005 24005 XUNIT
041745,001787: 15,3006 77624 CALL
041746,001788: 15,3007 47671 TRG*NBSM
041747,001789: 15,3010 26707 STOVL STARAD
041748,001790: 15,3011 24003 YUNIT
041749,001791: 15,3012 77624 CALL
041750,001792: 15,3013 47700 *NBSM*
041751,001793: 15,3014 36715 STCALL STARAD +6
041752,001794: 15,3015 47535 CDUTRIG
041753,001795: 15,3016 77624 CALL
041754,001796: 15,3017 20030 CALCSMSC
041755,001797: 15,3020 77775 VLOAD
041756,001798: 15,3021 02665 XNB
041757,001799: 15,3022 24007 STOVL 6D
041758,001800: 15,3023 02673 YNB
041759,001801: 15,3024 34015 STCALL 12D
041760,001802: 15,3025 47437 AXISGEN
041761,001803: 15,3026 77624 CALL
041762,001804: 15,3027 47245 CALCGTA
041763,001805: 15,3030 77776 JUSTTRIM EXIT
041764,001806: 15,3031 33040 CA GYRCDR
041765,001807: 15,3032 04616 TC BANKCALL
041766,001808: 15,3033 17307 CADR IMUPULSE
|
|
Page 960
|
041768,001810: 15,3034 04616 TC BANKCALL
041769,001811: 15,3035 17722 CADR IMUSTALL
041770,001812: 15,3036 05712 TC CURTAINS
041771,001813: 15,3037 12766 TCF QMINEXIT
041772,001814:
041773,001815: 15,3040 02737 GYRCDR ECADR OGC
041774,001816:
|
|
Page 961
|
041776,001818: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041777,001819:
041778,001820: 15,3041 34755 2STARS CAF ZERO # INITALIZE STARIND
041779,001821: 15,3042 13044 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041780,001822: 15,3043 34753 1STAR CAF BIT1
041781,001823: 15,3044 55757 TS STARIND
041782,001824:
041783,001825: 15,3045 05364 TC PHASCHNG
041784,001826: 15,3046 04024 OCT 04024
041785,001827:
041786,001828: 15,3047 12270 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041787,001829:
041788,001830: 15,3050 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041789,001831: 15,3051 00006 EXTEND
041790,001832: 15,3052 13063 BZF ASTAR # 1ST STAR MARKED
041791,001833:
041792,001834: 15,3053 05364 TC PHASCHNG
041793,001835: 15,3054 04024 OCT 04024
041794,001836:
041795,001837: 15,3055 06042 TC INTPRET
041796,001838: 15,3056 45145 DLOAD CALL
041797,001839: 15,3057 03562 TSIGHT # TIME OF 2ND MARK
041798,001840: 15,3060 32500 PLANET
041799,001841: 15,3061 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041800,001842: 15,3062 33075 SURFLINE
041801,001843:
041802,001844: 15,3063 06042 ASTAR TC INTPRET
041803,001845: 15,3064 77775 VLOAD
041804,001846: 15,3065 02715 STARAD +6
041805,001847: 15,3066 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041806,001848: 15,3067 45145 DLOAD CALL
041807,001849: 15,3070 03562 TSIGHT # TIME OF 1ST MARK
041808,001850: 15,3071 32500 PLANET
041809,001851: 15,3072 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041810,001852: 15,3073 77776 EXIT
041811,001853: 15,3074 13043 TCF 1STAR # GO GET 2ND STAR SIGHTING
041812,001854:
|
|
Page 962
|
041814,001856: # DO FINE OR COARSE ALIGNMENT OF IMU
041815,001857:
041816,001858: 15,3075 77131 SURFLINE SSP AXT,2
041817,001859: 15,3076 00052 S2
041818,001860: 15,3077 00006 6
041819,001861: 15,3100 00014 12D
041820,001862: 15,3101 64373 WRTDESIR VLOAD* MXV
041821,001863: 15,3102 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041822,001864: 15,3103 03607 XSMD
041823,001865: 15,3104 77656 UNIT
041824,001866: 15,3105 12723 STORE STARAD +12D,2 # VEC IN SM
041825,001867: 15,3106 77773 VLOAD*
041826,001868: 15,3107 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041827,001869: 15,3110 10023 STORE 18D,2
041828,001870: 15,3111 43104 TIX,2 BON
041829,001871: 15,3112 33101 WRTDESIR
041830,001872: 15,3113 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041831,001873: 15,3114 33122 INITBY
041832,001874: 15,3115 77624 DOALIGN CALL
041833,001875: 15,3116 31250 R54 # DO CHKSDATA
041834,001876: 15,3117 77614 BOFF
041835,001877: 15,3120 00354 FREEFLAG
041836,001878: 15,3121 33202 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041837,001879: 15,3122 77624 INITBY CALL
041838,001880: 15,3123 47437 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041839,001881: 15,3124 77624 CALL
041840,001882: 15,3125 47245 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041841,001883: 15,3126 77776 EXIT
041842,001884: 15,3127 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041843,001885: 15,3130 70104 MASK FLAGWRD8
041844,001886: 15,3131 10000 CCS A
041845,001887: 15,3132 13141 TCF 5DEGTEST
041846,001888: 15,3133 33307 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041847,001889: 15,3134 04616 TC BANKCALL
041848,001890: 15,3135 20477 CADR GOFLASH
041849,001891: 15,3136 06001 TC GOTOPOOH # V34-TERMINATE
041850,001892: 15,3137 13141 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
041851,001893: 15,3140 13203 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
041852,001894:
041853,001895: 15,3141 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041854,001896: 15,3142 40175 VLOAD BOV
041855,001897: 15,3143 02740 OGC
041856,001898: 15,3144 33145 SURFSUP
041857,001899: 15,3145 02750 SURFSUP STORE OGCT
041858,001900: 15,3146 40141 V/SC BOV
041859,001901: 15,3147 30602 5DEGREES
041860,001902: 15,3150 33250 COATRIM
041861,001903: 15,3151 52131 SSP GOTO
041862,001904: 15,3152 02746 QMIN
041863,001905: 15,3153 33155 SURFDISP
|
|
Page 963
|
041865,001907: 15,3154 33030 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041866,001908:
041867,001909: 15,3155 77776 SURFDISP EXIT
041868,001910: 15,3156 05364 TC PHASCHNG
041869,001911: 15,3157 04024 OCT 04024
041870,001912:
041871,001913: 15,3160 06042 TC INTPRET
041872,001914: 15,3161 75160 AXC,1 AXC,2
041873,001915: 15,3162 03606 XSMD
041874,001916: 15,3163 01731 REFSMMAT
041875,001917: 15,3164 45014 SET CALL
041876,001918: 15,3165 01462 REFSMFLG
041877,001919: 15,3166 31371 MATMOVE
041878,001920: 15,3167 77776 EXIT
041879,001921: 15,3170 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041880,001922: 15,3171 13173 TCF B2F8
041881,001923: 15,3172 13203 TCF P57POST +1
041882,001924:
041883,001925: 15,3173 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041884,001926: 15,3174 70104 MASK FLAGWRD8
041885,001927: 15,3175 10000 CCS A
041886,001928: 15,3176 13555 TCF P57JUMP # ITS SET
041887,001929: 15,3177 06042 TC INTPRET
041888,001930: 15,3200 77624 CALL
041889,001931: 15,3201 33502 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041890,001932: 15,3202 77776 P57POST EXIT
041891,001933: 15,3203 35752 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041892,001934: 15,3204 04616 TC BANKCALL
041893,001935: 15,3205 20624 CADR GOPERF1
041894,001936: 15,3206 16001 TCF GOTOPOOH # VB34-TERMINATE
041895,001937: 15,3207 13555 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
041896,001938: 15,3210 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041897,001939: 15,3211 61144 AD OPTION2
041898,001940: 15,3212 00006 EXTEND
041899,001941: 15,3213 13215 BZF +2 # YES-GO CALCULATE LANDING SITE
041900,001942: 15,3214 16001 TCF GOTOPOOH # NO-EXIT P57
041901,001943: 15,3215 05364 TC PHASCHNG # RESTART PLACE
041902,001944: 15,3216 04024 OCT 04024
041903,001945: 15,3217 06042 TC INTPRET
041904,001946: 15,3220 45175 VLOAD CALL # USE GNB
041905,001947: 15,3221 02231 GSAV
041906,001948: 15,3222 47666 CDU*NBSM # GO TO SM COORDS
041907,001949: 15,3223 43105 VXM SET # ON MOON SO SET LUNAFLAG
041908,001950: 15,3224 01732 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041909,001951: 15,3225 01463 LUNAFLAG
041910,001952: 15,3226 51515 PDVL ABVAL
041911,001953: 15,3227 02021 RLS
041912,001954: 15,3230 45561 VXSC STADR
041913,001955: 15,3231 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041914,001956: 15,3232 47014 CLEAR RTB
|
|
Page 964
|
041916,001958: 15,3233 00662 ERADFLAG
041917,001959: 15,3234 21574 LOADTIME
041918,001960: 15,3235 77624 CALL
041919,001961: 15,3236 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041920,001962: 15,3237 01220 STORE RN # RN=RLS B-29 = LM POSITION
041921,001963: 15,3240 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041922,001964: 15,3241 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041923,001965: 15,3242 77606 PUSH # TIME AT 6-7 IN PDLIST
041924,001966: 15,3243 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041925,001967: 15,3244 51642 R-TO-RP
041926,001968: 15,3245 02021 STORE RLS # RLS IN MOON-FIXED COORDS
041927,001969: 15,3246 77776 EXIT
041928,001970: 15,3247 16001 TCF GOTOPOOH # EXIT P57
041929,001971:
|
|
Page 965
|
041931,001973: # COARSE AND FINE ALIGN IMU
041932,001974: 15,3250 75160 COATRIM AXC,1 AXC,2
041933,001975: 15,3251 02664 XDC
041934,001976: 15,3252 02642 XSM
041935,001977: 15,3253 77624 CALL
041936,001978: 15,3254 31371 MATMOVE
041937,001979: 15,3255 77624 CALL
041938,001980: 15,3256 47535 CDUTRIG
041939,001981: 15,3257 77624 CALL
041940,001982: 15,3260 20030 CALCSMSC
041941,001983: 15,3261 77624 CALL
041942,001984: 15,3262 47351 CALCGA
041943,001985: 15,3263 77414 BOFF EXIT
041944,001986: 15,3264 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041945,001987: 15,3265 33277 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041946,001988: 15,3266 35010 CAF V06N22 # THAN 5 DEGREES
041947,001989: 15,3267 04616 TC BANKCALL
041948,001990: 15,3270 20477 CADR GOFLASH
041949,001991: 15,3271 06001 TC GOTOPOOH
041950,001992: 15,3272 13274 TCF +2
041951,001993: 15,3273 13266 TCF -5
041952,001994: 15,3274 05364 TC PHASCHNG
041953,001995: 15,3275 04024 OCT 04024
041954,001996:
041955,001997: 15,3276 06042 TC INTPRET
041956,001998: 15,3277 77624 CORSIT CALL
041957,001999: 15,3300 31557 COARSE
041958,002000: 15,3301 77624 CALL
041959,002001: 15,3302 31603 NCOARSE
041960,002002: 15,3303 77624 CALL
041961,002003: 15,3304 32775 GYROTRIM
041962,002004: 15,3305 77650 GOTO
041963,002005: 15,3306 33155 SURFDISP
041964,002006: 15,3307 01535 DISPGYRO VN 0693
041965,002007:
|
|
Page 966
|
041967,002009: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041968,002010:
041969,002011: 15,3310 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041970,002012: 15,3311 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041971,002013:
041972,002014: 15,3312 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041973,002015: 15,3313 55144 TS OPTION2
041974,002016: 15,3314 34753 P57OPT CAF BIT1
041975,002017: 15,3315 04616 TC BANKCALL
041976,002018: 15,3316 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041977,002019: 15,3317 06001 TC GOTOPOOH # V34 TERMINATE
041978,002020: 15,3320 13325 TCF ALIGNOPT # V33 PROCEED
041979,002021: 15,3321 13314 TCF P57OPT # V32 RECYCLE
041980,002022:
041981,002023: 15,3322 05364 TC PHASCHNG
041982,002024: 15,3323 00014 OCT 00014
041983,002025: 15,3324 05155 TC ENDOFJOB
041984,002026:
041985,002027: 15,3325 31144 ALIGNOPT CA OPTION2
041986,002028: 15,3326 76250 MASK THREE
041987,002029: 15,3327 50000 INDEX A
041988,002030: 15,3330 13331 TCF +1
041989,002031: 15,3331 13344 TCF TDISP # OPTION 4 LS ORIENTATION
041990,002032: 15,3332 13405 TCF PACKOPTN # OPTION 1 PREFERRED
041991,002033: 15,3333 13314 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041992,002034: 15,3334 06042 TC INTPRET # OPTION 3 REFSMMAT
041993,002035: 15,3335 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041994,002036: 15,3336 01731 REFSMMAT
041995,002037: 15,3337 03606 XSMD
041996,002038: 15,3340 77624 CALL
041997,002039: 15,3341 31371 MATMOVE
041998,002040: 15,3342 77650 GOTO
041999,002041: 15,3343 33404 PACKOPTN -1
042000,002042:
042001,002043: 15,3344 06042 TDISP TC INTPRET
042002,002044: 15,3345 77745 DLOAD
042003,002045: 15,3346 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042004,002046: 15,3347 01045 P57A STORE DSPTEM1
042005,002047: 15,3350 77776 EXIT
042006,002048: 15,3351 32213 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042007,002049: 15,3352 04616 TC BANKCALL
042008,002050: 15,3353 20477 CADR GOFLASH
042009,002051: 15,3354 16001 TCF GOTOPOOH # V34-TERMINATE
042010,002052: 15,3355 13357 TCF +2
042011,002053: 15,3356 13351 TCF P57AA # VB32-RECYCLE
042012,002054:
042013,002055: 15,3357 06042 TC INTPRET
042014,002056: 15,3360 65234 RTB PDDL
042015,002057: 15,3361 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042016,002058: 15,3362 01045 DSPTEM1
|
|
Page 967
|
042018,002060: 15,3363 65254 BZE PDDL
042019,002061: 15,3364 33374 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
042020,002062: 15,3365 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042021,002063: 15,3366 01045 DSPTEM1
042022,002064: 15,3367 33374 P57C
042023,002065: 15,3370 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042024,002066: 15,3371 74335 STORE TIG # STORE IT IN TIG
042025,002067: 15,3372 36775 STCALL TALIGN
042026,002068: 15,3373 33376 P57D
042027,002069: 15,3374 45545 P57C DLOAD STADR
042028,002070: 15,3375 75002 STORE TALIGN
042029,002071: 15,3376 34041 P57D STCALL TDEC1
042030,002072: 15,3377 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042031,002073: 15,3400 53575 VLOAD UNIT # IN X,Y,ZSMD
042032,002074: 15,3401 00001 RATT
042033,002075: 15,3402 37607 STCALL XSMD
042034,002076: 15,3403 10765 LSORIENT
042035,002077: 15,3404 77776 EXIT
042036,002078: 15,3405 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042037,002079: 15,3406 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042038,002080: 15,3407 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042039,002081: 15,3410 34737 CAF REFSMBIT
042040,002082: 15,3411 70077 MASK FLAGWRD3 # REFSMFLG
042041,002083: 15,3412 10000 CCS A
042042,002084: 15,3413 34745 CAF BIT7 # SET
042043,002085: 15,3414 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
042044,002086: 15,3415 34753 CAF ATTFLBIT
042045,002087: 15,3416 70102 MASK FLAGWRD6 # ATTFLG
042046,002088: 15,3417 10000 CCS A
042047,002089: 15,3420 34750 CAF BIT4 # SET
042048,002090: 15,3421 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
042049,002091: 15,3422 34750 CAF BIT4
042050,002092: 15,3423 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042051,002093:
042052,002094: 15,3424 33645 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042053,002095: 15,3425 04616 TC BANKCALL
042054,002096: 15,3426 20477 CADR GOFLASH
042055,002097: 15,3427 16001 TCF GOTOPOOH # VB34-TERMINATE
042056,002098: 15,3430 13432 TCF +2 # V33-PROCEED
042057,002099: 15,3431 13424 TCF DSPOPTN # V32-RECYCLE
042058,002100:
042059,002101: 15,3432 34737 CAF REFSMBIT
042060,002102: 15,3433 70077 MASK FLAGWRD3
042061,002103: 15,3434 10000 CCS A
042062,002104: 15,3435 13535 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042063,002105: 15,3436 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
042064,002106: 15,3437 70102 MASK FLAGWRD6
042065,002107: 15,3440 10000 CCS A
042066,002108: 15,3441 13541 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042067,002109: 15,3442 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
|
|
Page 968
|
042069,002111: 15,3443 71144 MASK OPTION2
042070,002112: 15,3444 10000 CCS A
042071,002113: 15,3445 13541 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042072,002114: 15,3446 05600 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
042073,002115: 15,3447 00701 OCT 701
042074,002116: 15,3450 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042075,002117: 15,3451 04616 TC BANKCALL
042076,002118: 15,3452 20477 CADR GOFLASH
042077,002119: 15,3453 16001 TCF GOTOPOOH # VB34-TERMINATE
042078,002120: 15,3454 13424 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
042079,002121: 15,3455 13424 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
042080,002122:
|
|
Page 969
|
042082,002124: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042083,002125:
042084,002126: 15,3456 40220 MFREF STQ SETPD
042085,002127: 15,3457 02746 QMAJ
042086,002128: 15,3460 00001 0
042087,002129: 15,3461 77634 RTB
042088,002130: 15,3462 21574 LOADTIME
042089,002131: 15,3463 27562 STOVL TSIGHT
042090,002132: 15,3464 03246 VEC1
042091,002133: 15,3465 41525 PDDL PUSH
042092,002134: 15,3466 03562 TSIGHT
042093,002135: 15,3467 77624 CALL
042094,002136: 15,3470 55720 RP-TO-R
042095,002137: 15,3471 27246 STOVL VEC1
042096,002138: 15,3472 03254 VEC2
042097,002139: 15,3473 65201 SETPD PDDL
042098,002140: 15,3474 00001 0
042099,002141: 15,3475 03562 TSIGHT
042100,002142: 15,3476 45006 PUSH CALL
042101,002143: 15,3477 55720 RP-TO-R
042102,002144: 15,3500 37254 STCALL VEC2
042103,002145: 15,3501 02746 QMAJ
042104,002146:
|
|
Page 970
|
042106,002148: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042107,002149: # STORE IN YNBSAV AND ZNBSAV
042108,002150:
042109,002151: 15,3502 45020 REFMF STQ CALL
042110,002152: 15,3503 02746 QMAJ
042111,002153: 15,3504 47535 CDUTRIG # GET SIN AND COS OF CDUS
042112,002154: 15,3505 40234 RTB SETPD
042113,002155: 15,3506 21574 LOADTIME
042114,002156: 15,3507 00001 0
042115,002157: 15,3510 37562 STCALL TSIGHT
042116,002158: 15,3511 20030 CALCSMSC # GET YNB IN SM
042117,002159: 15,3512 61375 VLOAD VXM
042118,002160: 15,3513 02673 YNB
042119,002161: 15,3514 01732 REFSMMAT # YNB TO REF
042120,002162: 15,3515 65256 UNIT PDDL
042121,002163: 15,3516 03562 TSIGHT
042122,002164: 15,3517 45006 PUSH CALL
042123,002165: 15,3520 51642 R-TO-RP
042124,002166: 15,3521 26237 STOVL YNBSAV # YNB TO MF
042125,002167: 15,3522 02701 ZNB
042126,002168: 15,3523 53505 VXM UNIT
042127,002169: 15,3524 01732 REFSMMAT # ZNB TO REF
042128,002170: 15,3525 41525 PDDL PUSH
042129,002171: 15,3526 03562 TSIGHT
042130,002172: 15,3527 77624 CALL
042131,002173: 15,3530 51642 R-TO-RP # ZNB TO MF
042132,002174: 15,3531 02245 STORE ZNBSAV
042133,002175: 15,3532 77614 SETGO
042134,002176: 15,3533 03036 ATTFLAG
042135,002177: 15,3534 02746 QMAJ
042136,002178:
|
|
Page 971
|
042138,002180: # BRANCH TO ALIGNMENT OPTION
042139,002181:
042140,002182: 15,3535 06042 GETLMATT TC INTPRET
042141,002183: 15,3536 77624 CALL
042142,002184: 15,3537 33502 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
042143,002185: 15,3540 77776 EXIT
042144,002186:
042145,002187: 15,3541 05515 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042146,002188: 15,3542 00205 ADRES INITALGN
042147,002189: 15,3543 34753 CAF BIT1
042148,002190: 15,3544 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
042149,002191: 15,3545 10000 CCS A
042150,002192: 15,3546 12572 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042151,002193:
042152,002194: 15,3547 05364 ATTCHK TC PHASCHNG
042153,002195: 15,3550 04024 OCT 04024
042154,002196:
042155,002197: 15,3551 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042156,002198: 15,3552 70102 MASK FLAGWRD6
042157,002199: 15,3553 10000 CCS A
042158,002200: 15,3554 13571 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042159,002201: 15,3555 05364 P57JUMP TC PHASCHNG
042160,002202: 15,3556 04024 OCT 04024
042161,002203:
042162,002204: 15,3557 05527 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
042163,002205: 15,3560 00205 ADRES INITALGN
042164,002206: 15,3561 36250 CAF THREE
042165,002207: 15,3562 71144 MASK OPTION2 # BRANCH ON OPTION CODE
042166,002208: 15,3563 50000 INDEX A
042167,002209: 15,3564 13565 TCF +1
042168,002210: 15,3565 13571 TCF P57OPT0 # OPTION IS 0
042169,002211: 15,3566 13612 TCF P57OPT1 # OPTION IS 1
042170,002212: 15,3567 13630 TCF P57OPT2 # OPTION IS 2
042171,002213: 15,3570 13631 TCF P57OPT3 # OPTION IS 3
042172,002214:
|
|
Page 972
|
042174,002216: # OPTION 0, GET TWO ATTITUDE VECS
042175,002217:
042176,002218: 15,3571 06042 P57OPT0 TC INTPRET
042177,002219: 15,3572 77775 VLOAD
042178,002220: 15,3573 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042179,002221: 15,3574 27246 STOVL VEC1
042180,002222: 15,3575 02245 ZNBSAV
042181,002223: 15,3576 37254 STCALL VEC2
042182,002224: 15,3577 47535 CDUTRIG
042183,002225: 15,3600 77624 CALL
042184,002226: 15,3601 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042185,002227: 15,3602 77775 VLOAD
042186,002228: 15,3603 02673 YNB
042187,002229: 15,3604 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042188,002230: 15,3605 02701 ZNB
042189,002231: 15,3606 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042190,002232: 15,3607 33456 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042191,002233: 15,3610 77650 GOTO
042192,002234: 15,3611 33075 SURFLINE
042193,002235:
042194,002236: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042195,002237:
042196,002238: 15,3612 06042 P57OPT1 TC INTPRET
042197,002239: 15,3613 53575 VLOAD UNIT
042198,002240: 15,3614 02021 RLS # LANDING SITE VEC
042199,002241: 15,3615 27246 STOVL VEC1
042200,002242: 15,3616 02245 ZNBSAV # Z ATTITUDE VEC
042201,002243: 15,3617 37254 STCALL VEC2
042202,002244: 15,3620 47535 CDUTRIG
042203,002245: 15,3621 77624 CALL
042204,002246: 15,3622 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042205,002247: 15,3623 45175 VLOAD CALL
042206,002248: 15,3624 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042207,002249: 15,3625 47666 CDU*NBSM
042208,002250: 15,3626 77650 GOTO
042209,002251: 15,3627 33604 SAMETYP # NOW DO SAME AS OPTION 0
042210,002252:
|
|
Page 973
|
042212,002254: # OPTION 2, GET TWO STAR SIGHTINGS
042213,002255:
042214,002256: 15,3630 13041 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042215,002257:
042216,002258: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042217,002259:
042218,002260: 15,3631 06042 P57OPT3 TC INTPRET
042219,002261: 15,3632 53575 VLOAD UNIT
042220,002262: 15,3633 02021 RLS # LANDING SITE VEC
042221,002263: 15,3634 03246 STORE VEC1
042222,002264: 15,3635 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042223,002265: 15,3636 02231 GSAV # GRAVITY VEC NB
042224,002266: 15,3637 77624 CALL
042225,002267: 15,3640 47666 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042226,002268: 15,3641 36761 STCALL STARSAV1
042227,002269: 15,3642 33456 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042228,002270: 15,3643 77776 EXIT
042229,002271: 15,3644 13043 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042230,002272:
042231,002273: 15,3645 01206 VB05N06 VN 506
042232,002274:
|
|
Page 974
|
042234,002276: # CHECK IMODES30 TO VARIFY IMU IS ON
042235,002277:
042236,002278: 15,3646 41277 IMUCHK CS IMODES30
042237,002279: 15,3647 74743 MASK BIT9
042238,002280: 15,3650 10000 CCS A # IS IMU ON
042239,002281: 15,3651 13655 TCF +4 # YES
042240,002282:
042241,002283: 15,3652 05600 TC ALARM # NO, SEND ALARM AND EXIT
042242,002284: 15,3653 00210 OCT 210
042243,002285: 15,3654 06001 TC GOTOPOOH
042244,002286:
042245,002287: 15,3655 05515 TC UPFLAG
042246,002288: 15,3656 00007 ADRES IMUSE # SET IMUSE FLAG
042247,002289:
042248,002290: 15,3657 04631 TC SWRETURN
042249,002291:
042250,002292: 04,2765 BANK 04
042251,002293: 04,2000 SETLOC AOTMARK2
042252,002294: 04,2000 BANK
042253,002295: 04,2765 COUNT* $$/P57
042254,002296:
042255,002297: 04,2765 77220 LSORIENT STQ VLOAD
042256,002298: 04,2766 02746 QMAJ
042257,002299: 04,2767 01555 RRECTCSM
042258,002300: 04,2770 47235 VXV VXV
042259,002301: 04,2771 01563 VRECTCSM
042260,002302: 04,2772 03607 XSMD
042261,002303: 04,2773 77656 UNIT
042262,002304: 04,2774 03623 STORE ZSMD
042263,002305: 04,2775 53435 VXV UNIT
042264,002306: 04,2776 03607 XSMD
042265,002307: 04,2777 37615 STCALL YSMD
042266,002308: 04,3000 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc