Source Code
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These source-code files are part of a reconstructed copy of Luminary 178, the
final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Zerlina 56, Luminary 210, and
Luminary 131, previously transcribed from digitized copies of those programs.
The code was created by combining the three, using Zerlina 56 as a base, since
it was based off of Luminary 183. The differences between the three were
carefully merged using the Luminary memos as a guide, with all changes made
after Luminary 178 being backed out. 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 178 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.
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040049,000002: ## Copyright: Public domain.
040050,000003: ## Filename: P51-P53.agc
040051,000004: ## Purpose: A section of Luminary revision 178.
040052,000005: ## It is part of the reconstructed source code for the final
040053,000006: ## release of the flight software for the Lunar Module's
040054,000007: ## (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
040055,000008: ## code has been recreated from copies of Zerlina 56, Luminary
040056,000009: ## 210, and Luminary 131, as well as many Luminary memos.
040057,000010: ## It has been adapted such that the resulting bugger words
040058,000011: ## exactly match those specified for Luminary 178 in NASA
040059,000012: ## drawing 2021152N, which gives relatively high confidence
040060,000013: ## that the reconstruction is correct.
040061,000014: ## Reference: pp. 918-974
040062,000015: ## Assembler: yaYUL
040063,000016: ## Contact: Ron Burkey <info@sandroid.org>.
040064,000017: ## Website: www.ibiblio.org/apollo/index.html
040065,000018: ## Mod history: 2019-08-14 MAS Created from Zerlina 56.
040066,000019: ## 2019-09-15 MAS Updated for Luminary 178. Restored definitions
040067,000020: ## of SPIRAL, CURSOR, and POSCODE.
040068,000021:
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Page 918
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040070,000023: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
040071,000024: # MOD NO- 0 LOG SECTION- P51-P53
040072,000025: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
040073,000026:
040074,000027: # FUNCTIONAL DESCRIPTION-
040075,000028:
040076,000029: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040077,000030: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
040078,000031:
040079,000032: # (A) PREFERRED ORIENTATION
040080,000033:
040081,000034: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
040082,000035: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040083,000036:
040084,000037: # (B) NOMINAL ORIENTATION
040085,000038:
040086,000039: # X = UNIT ( R )
040087,000040: # -SM
040088,000041:
040089,000042: # Y = UNIT (V X R)
040090,000043: # SM
040091,000044:
040092,000045: # Z = UNIT (X X Y )
040093,000046: # SM SM SM
040094,000047:
040095,000048: # WHERE_
040096,000049: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040097,000050: # -
040098,000051:
040099,000052: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040100,000053: # -
040101,000054:
040102,000055: # (C) REFSMMAT ORIENTATION
040103,000056:
040104,000057: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040105,000058:
040106,000059: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040107,000060: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040108,000061: # SINCE THE LAST ALIGNMENT).
040109,000062:
040110,000063: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040111,000064: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040112,000065: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040113,000066: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040114,000067: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040115,000068: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040116,000069: # REQUESTED.
040117,000070:
040118,000071: # CALLING SEQUENCE-
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Page 919
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040120,000073: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040121,000074:
040122,000075: # SUBROUTINES CALLED-
040123,000076:
040124,000077: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040125,000078: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040126,000079: # 3. GOPERF4 9. FLAGUP
040127,000080: # 4. MATMOVE 10. R56
040128,000081: # 5. GOFLASH 11. R51
040129,000082: # 6. S52.3 12. GOPERF3
040130,000083:
040131,000084: # NORMAL EXIT MODES-
040132,000085:
040133,000086: # EXITS TO ENDOFJOB
040134,000087:
040135,000088: # ALARM OR ABORT EXIT MODES-
040136,000089:
040137,000090: # NONE
040138,000091:
040139,000092: # OUTPUT-
040140,000093:
040141,000094: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040142,000095: # 1. IMU ORIENTATION CODE
040143,000096: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
040144,000097: # 3. TIME OF NEXT IGNITION
040145,000098: # 4. GIMBAL ANGLES
040146,000099: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
040147,000100: # 6. PLEASE PERFORM P00
040148,000101: # THE MODE DISPLAY MAY BE CHANGED TO 20
040149,000102:
040150,000103: # ERASABLE INITIALIZATION REQUIRED-
040151,000104:
040152,000105: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
040153,000106: # XSMD,YSMD,ZSMD.
040154,000107: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040155,000108:
040156,000109: # DEBRIS-
040157,000110:
040158,000111: # WORK AREA
040159,000112: 33,3560 BANK 33
040160,000113: 15,2000 SETLOC P50S
040161,000114: 15,2000 BANK
040162,000115:
040163,000116: 15,2067 E5,1755 EBANK= BESTI
040164,000117: 15,2067 COUNT* $$/P52
040165,000118: 15,2067 04616 PROG52 TC BANKCALL
040166,000119: 15,2070 11241 CADR R02BOTH # IMU STATUS CHECK
040167,000120: 15,2071 34750 CAF PFRATBIT
040168,000121: 15,2072 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040169,000122: 15,2073 10000 CCS A
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Page 920
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040171,000124: 15,2074 02077 TC P52A # YES
040172,000125: 15,2075 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
040173,000126: 15,2076 02100 TC P52A +1
040174,000127: 15,2077 34753 P52A CAF BIT1
040175,000128: 15,2100 55144 TS OPTION2
040176,000129: 15,2101 34753 P52B CAF BIT1
040177,000130: 15,2102 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040178,000131: 15,2103 20714 CADR GOPERF4R # FLASH V04N06
040179,000132: 15,2104 06001 TC GOTOPOOH
040180,000133: 15,2105 12112 TCF +5 # V33-PROCEED
040181,000134: 15,2106 02101 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040182,000135: 15,2107 05364 TC PHASCHNG # DISPLAY RETURN
040183,000136: 15,2110 00014 OCT 00014
040184,000137: 15,2111 05155 TC ENDOFJOB
040185,000138:
040186,000139: 15,2112 31144 CA OPTION2
040187,000140: 15,2113 76250 MASK THREE
040188,000141: 15,2114 50000 INDEX A
040189,000142: 15,2115 02116 TC +1
040190,000143: 15,2116 12124 TCF OPT4 # OPTION 4 LANDING SITE
040191,000144: 15,2117 12176 TCF P52H # OPTION 1 PREFERRED
040192,000145: 15,2120 12131 TCF P52T # OPTION 2 NOMINAL
040193,000146: 15,2121 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
040194,000147: 15,2122 77650 GOTO
040195,000148: 15,2123 32207 P52F # GO DO R51
040196,000149:
040197,000150: 15,2124 34741 OPT4 CAF EBANK4 # SET EBANK TO USE TLAND
040198,000151: 15,2125 54003 TS EBANK
040199,000152: 15,2126 E4,1426 EBANK= TLAND
040200,000153: 15,2126 00006 EXTEND
040201,000154: 15,2127 31427 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040202,000155: 15,2130 12133 TCF P52T +2
040203,000156:
040204,000157: 15,2131 00006 P52T EXTEND
040205,000158: 15,2132 34755 DCA NEG0
040206,000159: 15,2133 53045 DXCH DSPTEM1
040207,000160: 15,2134 35014 CAF EBANK5 # RESTORE EBANK AFTER USE OF TLAND
040208,000161: 15,2135 54003 TS EBANK
040209,000162: 15,2136 E5,1774 EBANK= TALIGN
040210,000163: 15,2136 32213 CAF V06N34*
040211,000164: 15,2137 04616 TC BANKCALL
040212,000165: 15,2140 20477 CADR GOFLASH
040213,000166: 15,2141 06001 TC GOTOPOOH
040214,000167: 15,2142 02144 TC +2
040215,000168: 15,2143 02136 TC -5
040216,000169: 15,2144 53045 DXCH DSPTEM1
040217,000170: 15,2145 00006 EXTEND
040218,000171: 15,2146 62150 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040219,000172: 15,2147 12152 TCF +3
040220,000173: 15,2150 00006 EXTEND
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Page 921
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040222,000175: 15,2151 30025 DCA TIME2
040223,000176: 15,2152 53775 DXCH TALIGN
040224,000177: 15,2153 31144 P52V CA OPTION2
040225,000178: 15,2154 74752 MASK BIT2
040226,000179: 15,2155 10000 CCS A
040227,000180: 15,2156 02162 TC P52W
040228,000181: 15,2157 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040229,000182: 15,2160 77650 GOTO
040230,000183: 15,2161 32243 P52LS
040231,000184:
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Page 922
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040233,000186: # START ALIGNMENT
040234,000187:
040235,000188: 15,2162 06042 P52W TC INTPRET
040236,000189: 15,2163 45145 DLOAD CALL # PICK UP ALIGN TIME
040237,000190: 15,2164 02775 TALIGN # COMPUTE NOMINAL IMU
040238,000191: 15,2165 31651 S52.3 # ORIENTATION
040239,000192: 15,2166 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040240,000193: 15,2167 31620 S52.2 # COMPUTE GIMBAL ANGLES
040241,000194: 15,2170 77776 EXIT
040242,000195: 15,2171 35010 CAF V06N22
040243,000196: 15,2172 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040244,000197: 15,2173 20477 CADR GOFLASH
040245,000198: 15,2174 06001 TC GOTOPOOH
040246,000199: 15,2175 12214 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
040247,000200: 15,2176 06042 P52H TC INTPRET
040248,000201: 15,2177 77650 GOTO
040249,000202: 15,2200 32166 P52D
040250,000203: 15,2201 06042 REGCOARS TC INTPRET
040251,000204: 15,2202 77624 CALL # DO COARSE ALIGN
040252,000205: 15,2203 31321 CAL53A # ROUTINE
040253,000206: 15,2204 43014 COARSRET SET CLEAR
040254,000207: 15,2205 01462 REFSMFLG
040255,000208: 15,2206 01273 PFRATFLG
040256,000209: 15,2207 77624 P52F CALL
040257,000210: 15,2210 31007 R51
040258,000211: 15,2211 77776 P52OUT EXIT
040259,000212: 15,2212 06001 TC GOTOPOOH
040260,000213: 15,2213 5006 VB05N09 = V05N09
040261,000214: 15,2213 01442 V06N34* VN 634
040262,000215:
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Page 923
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040264,000217: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040265,000218: 15,2214 32242 COARSTYP CAF OCT13
040266,000219: 15,2215 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040267,000220: 15,2216 20624 CADR GOPERF1
040268,000221: 15,2217 16001 TCF GOTOPOOH # V34-TERMIN&OE
040269,000222: 15,2220 12201 TCF REGCOARS # V33-NORMAL COARSE
040270,000223: 15,2221 06042 TC INTPRET # V32-GYRO TORQUE COARSE
040271,000224: 15,2222 64375 VLOAD MXV
040272,000225: 15,2223 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040273,000226: 15,2224 01732 REFSMMAT
040274,000227: 15,2225 77656 UNIT
040275,000228: 15,2226 26665 STOVL XDC
040276,000229: 15,2227 03615 YSMD
040277,000230: 15,2230 53521 MXV UNIT
040278,000231: 15,2231 01732 REFSMMAT
040279,000232: 15,2232 26673 STOVL YDC
040280,000233: 15,2233 03623 ZSMD
040281,000234: 15,2234 53521 MXV UNIT
040282,000235: 15,2235 01732 REFSMMAT
040283,000236: 15,2236 36701 STCALL ZDC
040284,000237: 15,2237 31156 GYCOARS
040285,000238: 15,2240 77650 GOTO
040286,000239: 15,2241 32211 P52OUT
040287,000240: 15,2242 00013 OCT13 OCT 13
040288,000241:
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Page 924
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040290,000243: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040291,000244: 15,2243 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040292,000245: 15,2244 01463 LUNAFLAG
040293,000246: 15,2245 00662 ERADFLAG # TO PICK UP RLS
040294,000247: 15,2246 77201 SETPD VLOAD
040295,000248: 15,2247 00001 0
040296,000249: 15,2250 02021 RLS # PICK UP LANDING SITE VEC IN MF
040297,000250: 15,2251 41525 PDDL PUSH # RLS PD 0-5
040298,000251: 15,2252 02775 TALIGN
040299,000252: 15,2253 36027 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040300,000253:
040301,000254: 15,2254 55720 RP-TO-R # TRANS RLS TO REF
040302,000255: 15,2255 77742 VSR2
040303,000256: 15,2256 16032 STODL ALPHAV # INPUT TO LAT-LONG
040304,000257: 15,2257 02775 TALIGN
040305,000258: 15,2260 77624 CALL
040306,000259: 15,2261 30440 N89DISP
040307,000260: 15,2262 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040308,000261: 15,2263 02032 ALPHAV
040309,000262: 15,2264 37607 STCALL XSMD
040310,000263: 15,2265 10765 LSORIENT
040311,000264: 15,2266 77650 GOTO
040312,000265: 15,2267 32166 P52D # NOW GO COMPUTE GIMBAL ANGLES
040313,000266:
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Page 925
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040315,000268: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040316,000269:
040317,000270: 14,2000 SETLOC P50S1
040318,000271: 14,2000 BANK
040319,000272: 14,2440 E5,1642 EBANK= XSM
040320,000273:
040321,000274: 14,2440 77620 N89DISP STQ
040322,000275: 14,2441 02746 QMAJ
040323,000276: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040324,000277: 14,2443 26347 LAT-LONG
040325,000278: 14,2444 70545 DLOAD SR1
040326,000279: 14,2445 01122 LONG
040327,000280: 14,2446 16711 STODL LANDLONG
040328,000281: 14,2447 01124 ALT
040329,000282: 14,2450 16713 STODL LANDALT
040330,000283: 14,2451 01120 LAT
040331,000284: 14,2452 02707 STORE LANDLAT
040332,000285: 14,2453 77776 EXIT
040333,000286:
040334,000287: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040335,000288: 14,2455 04616 TC BANKCALL
040336,000289: 14,2456 20477 CADR GOFLASH
040337,000290: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
040338,000291: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
040339,000292: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040340,000293:
040341,000294: 14,2462 06042 TC INTPRET
040342,000295: 14,2463 72545 DLOAD SL1
040343,000296: 14,2464 02711 LANDLONG
040344,000297: 14,2465 15122 STODL LONG
040345,000298: 14,2466 02713 LANDALT
040346,000299: 14,2467 15124 STODL ALT
040347,000300: 14,2470 02707 LANDLAT
040348,000301: 14,2471 15120 STODL LAT
040349,000302: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040350,000303: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG, ALT
040351,000304: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040352,000305: 14,2475 77650 GOTO
040353,000306: 14,2476 02746 QMAJ
040354,000307: 14,2477 01531 V06N89* VN 689
040355,000308:
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Page 926
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040357,000310: # NAME -S50 ALIAS LOCSAM
040358,000311: # BY
040359,000312: # VINCENT
040360,000313: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040361,000314:
040362,000315: # DEFINE
040363,000316:
040364,000317:
040365,000318: # U = UNIT( SUN WRT EARTH)
040366,000319: # ES
040367,000320:
040368,000321: # U =UNIT( MOON WRT EARTH)
040369,000322: # EM
040370,000323:
040371,000324: # R =POSITION VECTOR OF LEM
040372,000325: # L
040373,000326:
040374,000327: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040375,000328: # EM
040376,000329:
040377,000330: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
040378,000331: # EM
040379,000332:
040380,000333: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040381,000334: # E
040382,000335:
040383,000336: # LOCSAM COMPUTES IN EARTH INFLUENCE
040384,000337:
040385,000338: # VSUN = U
040386,000339: # ES
040387,000340:
040388,000341: # VEARTH = -UNIT( R )
040389,000342: # L
040390,000343:
040391,000344: # VMOON = UNIT(R .U - R )
040392,000345: # EM EM L
040393,000346:
040394,000347: # CSUN = COS 90
040395,000348:
040396,000349: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040397,000350: # E L
040398,000351:
040399,000352: # CMOON = COS 5
040400,000353:
040401,000354:
040402,000355: # INPUT - TIME IN MPAC
040403,000356: # OUTPUT - LISTED ABOVE
040404,000357: # SUBROUTINES -LSPOS,LEMPREC
040405,000358: # DEBRIS - VAC AREA ,TSIGHT
040406,000359:
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Page 927
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040408,000361: 14,2500 COUNT* $$/LOSAM
040409,000362:
040410,000363: 14,2500 14,2500 S50 = LOCSAM
040411,000364: 14,2500 77620 LOCSAM STQ
040412,000365: 14,2501 02745 QMIN
040413,000366: 14,2502 37562 STCALL TSIGHT
040414,000367: 14,2503 33660 LSPOS
040415,000368: 14,2504 77745 DLOAD
040416,000369: 14,2505 03562 TSIGHT
040417,000370: 14,2506 34041 STCALL TDEC1
040418,000371: 14,2507 27056 LEMPREC
040419,000372: 14,2510 61131 SSP TIX,2
040420,000373: 14,2511 00052 S2
040421,000374: 14,2512 00000 0
040422,000375: 14,2513 30535 MOONCNTR
040423,000376: 14,2514 74375 EARTCNTR VLOAD VXSC
040424,000377: 14,2515 02723 VMOON
040425,000378: 14,2516 30001 RSUBEM
040426,000379: 14,2517 52372 VSL1 VSU
040427,000380: 14,2520 00001 RATT
040428,000381: 14,2521 77656 UNIT
040429,000382: 14,2522 26723 STOVL VMOON
040430,000383: 14,2523 00001 RATT
040431,000384: 14,2524 57456 UNIT VCOMP
040432,000385: 14,2525 16707 STODL VEARTH
040433,000386: 14,2526 30005 RSUBE
040434,000387: 14,2527 77624 CALL
040435,000388: 14,2530 30567 OCCOS
040436,000389: 14,2531 14017 STODL CEARTH
040437,000390: 14,2532 30576 CSS5
040438,000391: 14,2533 34023 STCALL CMOON
040439,000392: 14,2534 30562 ENDSAM
040440,000393: 14,2535 74375 MOONCNTR VLOAD VXSC
040441,000394: 14,2536 02723 VMOON
040442,000395: 14,2537 30007 ROE
040443,000396: 14,2540 53445 BVSU UNIT
040444,000397: 14,2541 02715 VSUN
040445,000398: 14,2542 26715 STOVL VSUN
040446,000399: 14,2543 02723 VMOON
040447,000400: 14,2544 53361 VXSC VAD
040448,000401: 14,2545 30001 RSUBEM
040449,000402: 14,2546 00001 RATT
040450,000403: 14,2547 57456 UNIT VCOMP
040451,000404: 14,2550 26707 STOVL VEARTH
040452,000405: 14,2551 00001 RATT
040453,000406: 14,2552 57456 UNIT VCOMP
040454,000407: 14,2553 16723 STODL VMOON
040455,000408: 14,2554 30003 RSUBM
040456,000409: 14,2555 77624 CALL
040457,000410: 14,2556 30567 OCCOS
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Page 928
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040459,000412: 14,2557 14023 STODL CMOON
040460,000413: 14,2560 30576 CSS5
040461,000414: 14,2561 00017 STORE CEARTH
040462,000415: 14,2562 77745 ENDSAM DLOAD
040463,000416: 14,2563 30600 CSSUN
040464,000417: 14,2564 00021 STORE CSUN
040465,000418: 14,2565 77650 GOTO
040466,000419: 14,2566 02745 QMIN
040467,000420: 14,2567 70471 OCCOS DDV SR1
040468,000421: 14,2570 00045 36D
040469,000422: 14,2571 43336 ASIN DAD
040470,000423: 14,2572 30602 5DEGREES
040471,000424: 14,2573 70546 COS SR1
040472,000425: 14,2574 77616 RVQ
040473,000426: 14,2575 CEARTH = 14D
040474,000427: 14,2575 CSUN = 16D
040475,000428: 14,2575 CMOON = 18D
040476,000429: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040477,000430:
040478,000431: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
040479,000432:
040480,000433: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040481,000434:
|
|
Page 929
|
040483,000436: # PROGRAM NAME - R56 DATE DEC 20 66
040484,000437: # MOD 1 LOG SECTION P51-P53
040485,000438: # ASSEMBLY SUNDISK REV40
040486,000439: # BY KEN VINCENT
040487,000440:
040488,000441: # FUNCTION
040489,000442: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040490,000443: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040491,000444: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040492,000445: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040493,000446: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040494,000447: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040495,000448: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040496,000449: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040497,000450: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040498,000451: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040499,000452: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040500,000453: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
040501,000454:
040502,000455: # CALLING SEQUENCE
040503,000456: # L TC BANKCALL
040504,000457: # L+1 CADR R56
040505,000458: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040506,000459: # L+3 NORMAL RETURN
040507,000460:
040508,000461: # OUTPUT
040509,000462: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040510,000463: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040511,000464:
040512,000465: # INITIALIZATION
040513,000466: # 1)A CALL TO LOCSAM MUST BE MADE
040514,000467:
040515,000468: # DEBRIS
040516,000469: # WORK AREA
040517,000470: # X,Y,ZNB
040518,000471: # SINCDU,COSCDU
040519,000472: # STARAD - STAR +5
040520,000473:
040521,000474: 14,2603 14,2603 R56 = PICAPAR
040522,000475: 14,2603 COUNT* $$/R56
040523,000476: 14,2603 04645 PICAPAR TC MAKECADR
040524,000477: 14,2604 55745 TS QMIN
040525,000478: 14,2605 06042 TC INTPRET
040526,000479: 14,2606 77624 CALL
040527,000480: 14,2607 47505 CDUTRIG
040528,000481: 14,2610 77624 CALL
040529,000482: 14,2611 20030 CALCSMSC
040530,000483: 14,2612 77601 SETPD
040531,000484: 14,2613 00001 0
040532,000485: 14,2614 71214 SET DLOAD # VFLAG = 1
040533,000486: 14,2615 01465 VFLAG
|
|
Page 930
|
040535,000488: 14,2616 24007 DPZERO
040536,000489: 14,2617 26756 STOVL BESTI
040537,000490: 14,2620 02665 XNB
040538,000491: 14,2621 63361 VXSC PDVL
040539,000492: 14,2622 24005 HALFDP
040540,000493: 14,2623 02701 ZNB
040541,000494: 14,2624 74370 AXT,1 VXSC
040542,000495: 14,2625 00344 228D # X1 = 37 X 6 +6
040543,000496: 14,2626 24005 HALFDP
040544,000497: 14,2627 77655 VAD
040545,000498: 14,2630 53505 VXM UNIT
040546,000499: 14,2631 01732 REFSMMAT
040547,000500: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040548,000501: 14,2633 66331 SSP SSP # S1=S2=6
040549,000502: 14,2634 00051 S1
040550,000503: 14,2635 00006 6
040551,000504: 14,2636 00052 S2
040552,000505: 14,2637 00006 6
040553,000506: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040554,000507: 14,2641 30643 PIC2
040555,000508: 14,2642 30760 PICEND
040556,000509: 14,2643 50373 PIC2 VLOAD* DOT
040557,000510: 14,2644 30347 CATLOG,1
040558,000511: 14,2645 02731 SAX
040559,000512: 14,2646 50025 DSU BMN
040560,000513: 14,2647 30757 CSS33
040561,000514: 14,2650 30640 PIC1
040562,000515: 14,2651 77754 LXA,2
040563,000516: 14,2652 00046 X1
040564,000517: 14,2653 52104 PIC3 TIX,2 GOTO
040565,000518: 14,2654 30656 PIC4
040566,000519: 14,2655 30640 PIC1
040567,000520: 14,2656 50373 PIC4 VLOAD* DOT
040568,000521: 14,2657 47430 CATLOG,2
040569,000522: 14,2660 02731 SAX
040570,000523: 14,2661 50025 DSU BMN
040571,000524: 14,2662 30757 CSS33
040572,000525: 14,2663 30653 PIC3
040573,000526: 14,2664 47773 VLOAD* DOT*
040574,000527: 14,2665 30347 CATLOG,1
040575,000528: 14,2666 47430 CATLOG,2
040576,000529: 14,2667 51025 DSU BPL
040577,000530: 14,2670 30755 CSS40
040578,000531: 14,2671 30653 PIC3
040579,000532: 14,2672 45173 VLOAD* CALL
040580,000533: 14,2673 30347 CATLOG,1
040581,000534: 14,2674 30732 OCCULT
040582,000535: 14,2675 77614 BON
040583,000536: 14,2676 01710 CULTFLAG
040584,000537: 14,2677 30640 PIC1
|
|
Page 931
|
040586,000539: 14,2700 45173 VLOAD* CALL
040587,000540: 14,2701 47430 CATLOG,2
040588,000541: 14,2702 30732 OCCULT
040589,000542: 14,2703 77614 BON
040590,000543: 14,2704 01710 CULTFLAG
040591,000544: 14,2705 30653 PIC3
040592,000545: 14,2706 77614 STRATGY BONCLR
040593,000546: 14,2707 01605 VFLAG
040594,000547: 14,2710 30725 NEWPAR
040595,000548: 14,2711 65120 XCHX,1 XCHX,2
040596,000549: 14,2712 02755 BESTI
040597,000550: 14,2713 02756 BESTJ
040598,000551: 14,2714 47773 STRAT VLOAD* DOT*
040599,000552: 14,2715 30347 CATLOG,1
040600,000553: 14,2716 47430 CATLOG,2
040601,000554: 14,2717 43006 PUSH BOFINV
040602,000555: 14,2720 01545 VFLAG
040603,000556: 14,2721 30711 STRAT -3
040604,000557: 14,2722 45345 DLOAD DSU
040605,000558: 14,2723 77644 BPL
040606,000559: 14,2724 30653 PIC3
040607,000560: 14,2725 67130 NEWPAR SXA,1 SXA,2
040608,000561: 14,2726 02755 BESTI
040609,000562: 14,2727 02756 BESTJ
040610,000563: 14,2730 77650 GOTO
040611,000564: 14,2731 30653 PIC3
040612,000565: 14,2732 51321 OCCULT MXV BVSU
040613,000566: 14,2733 02707 CULTRIX
040614,000567: 14,2734 00017 CSS
040615,000568: 14,2735 77654 BZE
040616,000569: 14,2736 30751 CULTED
040617,000570: 14,2737 75240 BMN SIGN
040618,000571: 14,2740 30751 CULTED
040619,000572: 14,2741 00160 MPAC +3
040620,000573: 14,2742 75240 BMN SIGN
040621,000574: 14,2743 30751 CULTED
040622,000575: 14,2744 00162 MPAC +5
040623,000576: 14,2745 43040 BMN CLRGO
040624,000577: 14,2746 30751 CULTED
040625,000578: 14,2747 01630 CULTFLAG
040626,000579: 14,2750 00052 QPRET
040627,000580: 14,2751 77614 CULTED SETGO
040628,000581: 14,2752 01430 CULTFLAG
040629,000582: 14,2753 00052 QPRET
040630,000583: 14,2754 0000016 CSS = CEARTH
040631,000584: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 /4
040632,000585:
040633,000586: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 /4
040634,000587:
040635,000588: 14,2760 77414 PICEND BOFF EXIT
|
|
Page 932
|
040637,000590: 14,2761 01745 VFLAG
040638,000591: 14,2762 30764 PICGXT
040639,000592: 14,2763 03005 TC PICBXT
040640,000593: 14,2764 73150 PICGXT LXA,1 LXA,2
040641,000594: 14,2765 02755 BESTI
040642,000595: 14,2766 02756 BESTJ
040643,000596: 14,2767 47775 VLOAD DOT*
040644,000597: 14,2770 02731 SAX
040645,000598: 14,2771 30347 CATLOG,1
040646,000599: 14,2772 47715 PDVL DOT*
040647,000600: 14,2773 02731 SAX
040648,000601: 14,2774 47430 CATLOG,2
040649,000602: 14,2775 77625 DSU
040650,000603: 14,2776 66044 BPL SXA,1
040651,000604: 14,2777 31003 PICNSWP
040652,000605: 14,3000 02756 BESTJ
040653,000606: 14,3001 77734 SXA,2
040654,000607: 14,3002 02755 BESTI
040655,000608: 14,3003 77776 PICNSWP EXIT
040656,000609: 14,3004 25745 INCR QMIN
040657,000610: 14,3005 31745 PICBXT CA QMIN
040658,000611: 14,3006 04622 TC SWCALL
040659,000612: 14,3007 VPD = 0D
040660,000613: 14,3007 V0 = 6D
040661,000614: 14,3007 V1 = 12D
040662,000615: 14,3007 V2 = 18D
040663,000616: 14,3007 V3 = 24D
040664,000617: 14,3007 DP0 = 30D
040665,000618: 14,3007 DP1 = 32D
040666,000619:
|
|
Page 933
|
040668,000621: # NAME-R51 FINE ALIGN
040669,000622: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040670,000623: # CALLING SEQ- CALL R51
040671,000624: # INPUT - REFSMMAT
040672,000625: # OUTPUT- GYRO TORQUE PULSES
040673,000626: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040674,000627: 14,3007 COUNT* $$/R51
040675,000628: 14,3007 77620 R51 STQ
040676,000629: 14,3010 02746 QMAJ
040677,000630: 14,3011 77776 R51.1 EXIT
040678,000631: 14,3012 05364 TC PHASCHNG
040679,000632: 14,3013 04024 OCT 04024
040680,000633:
040681,000634: 14,3014 34761 R51C CAF OCT15
040682,000635: 14,3015 04616 TC BANKCALL
040683,000636: 14,3016 20624 CADR GOPERF1
040684,000637: 14,3017 06001 TC GOTOPOOH
040685,000638: 14,3020 03022 TC +2 # V33E
040686,000639: 14,3021 03045 TC R51E # ENTER
040687,000640: 14,3022 06042 TC INTPRET
040688,000641: 14,3023 43234 RTB DAD
040689,000642: 14,3024 21574 LOADTIME
040690,000643: 14,3025 31155 TSIGHT1
040691,000644: 14,3026 77624 CALL
040692,000645: 14,3027 30500 LOCSAM
040693,000646: 14,3030 77776 EXIT
040694,000647: 14,3031 04616 TC BANKCALL
040695,000648: 14,3032 30603 CADR R56
040696,000649: 14,3033 03035 TC R51I
040697,000650: 14,3034 03045 R51F TC R51E
040698,000651: 14,3035 05600 R51I TC ALARM
040699,000652: 14,3036 00405 OCT 405
040700,000653: 14,3037 35006 CAF VB05N09
040701,000654: 14,3040 04616 TC BANKCALL
040702,000655: 14,3041 20477 CADR GOFLASH
040703,000656: 14,3042 06001 TC GOTOPOOH
040704,000657: 14,3043 03045 TC R51E
040705,000658: 14,3044 03014 TC R51C
040706,000659: 14,3045 34755 R51E CAF ZERO
040707,000660: 14,3046 55757 TS STARIND
040708,000661: 14,3047 06042 R51.2 TC INTPRET
040709,000662: 14,3050 77776 R51.3 EXIT
040710,000663: 14,3051 05364 TC PHASCHNG
040711,000664: 14,3052 04024 OCT 04024
040712,000665:
040713,000666: 14,3053 06042 TC INTPRET
040714,000667: 14,3054 77624 CALL
040715,000668: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040716,000669: 14,3056 77776 EXIT
040717,000670: 14,3057 04616 TC BANKCALL
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|
Page 934
|
040719,000672: 14,3060 16000 CADR AOTMARK
040720,000673: 14,3061 04616 TC BANKCALL
040721,000674: 14,3062 17716 CADR OPTSTALL
040722,000675: 14,3063 05712 TC CURTAINS
040723,000676: 14,3064 11757 CCS STARIND
040724,000677: 14,3065 13067 TCF +2
040725,000678: 14,3066 03137 TC R51.4
040726,000679: 14,3067 06042 TC INTPRET
040727,000680: 14,3070 77775 VLOAD
040728,000681: 14,3071 02715 STARAD +6
040729,000682: 14,3072 02767 STORE STARSAV2
040730,000683: 14,3073 77776 EXIT
040731,000684: 14,3074 05364 TC PHASCHNG
040732,000685: 14,3075 04024 OCT 04024
040733,000686:
040734,000687: 14,3076 06042 TC INTPRET
040735,000688: 14,3077 45145 DLOAD CALL
040736,000689: 14,3100 03562 TSIGHT
040737,000690: 14,3101 32500 PLANET
040738,000691: 14,3102 53521 MXV UNIT
040739,000692: 14,3103 01732 REFSMMAT
040740,000693: 14,3104 26715 STOVL STARAD +6
040741,000694: 14,3105 03554 PLANVEC
040742,000695: 14,3106 53521 MXV UNIT
040743,000696: 14,3107 01732 REFSMMAT
040744,000697: 14,3110 26707 STOVL STARAD
040745,000698: 14,3111 02761 STARSAV1
040746,000699: 14,3112 24007 STOVL 6D
040747,000700: 14,3113 02767 STARSAV2
040748,000701: 14,3114 34015 STCALL 12D
040749,000702: 14,3115 31250 R54 # STAR DATA TEST
040750,000703: 14,3116 45014 BOFF CALL
040751,000704: 14,3117 00354 FREEFLAG
040752,000705: 14,3120 31126 R51K
040753,000706: 14,3121 47407 AXISGEN
040754,000707: 14,3122 77624 CALL
040755,000708: 14,3123 31216 R55 # GYRO TORQUE
040756,000709: 14,3124 77614 CLEAR
040757,000710: 14,3125 01273 PFRATFLG
040758,000711: 14,3126 77776 R51K EXIT
040759,000712: 14,3127 35752 R51P63 CAF OCT14
040760,000713: 14,3130 04616 TC BANKCALL
040761,000714: 14,3131 20624 CADR GOPERF1
040762,000715: 14,3132 06001 TC GOTOPOOH
040763,000716: 14,3133 03014 TC R51C
040764,000717: 14,3134 06042 TC INTPRET
040765,000718: 14,3135 77650 GOTO
040766,000719: 14,3136 02746 QMAJ
040767,000720: 14,3137 06042 R51.4 TC INTPRET
040768,000721: 14,3140 77775 VLOAD
|
|
Page 935
|
040770,000723: 14,3141 02715 STARAD +6
040771,000724: 14,3142 02761 STORE STARSAV1
040772,000725: 14,3143 45145 DLOAD CALL
040773,000726: 14,3144 03562 TSIGHT
040774,000727: 14,3145 32500 PLANET
040775,000728: 14,3146 03554 STORE PLANVEC
040776,000729: 14,3147 77731 SSP
040777,000730: 14,3150 02760 STARIND
040778,000731: 14,3151 00001 1
040779,000732: 14,3152 77650 GOTO
040780,000733: 14,3153 31050 R51.3
040781,000734: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040782,000735:
|
|
Page 936
|
040784,000737: # GYRO TORQUE COARSE ALIGNMENT
040785,000738: 14,3156 45020 GYCOARS STQ CALL
040786,000739: 14,3157 02746 QMAJ
040787,000740: 14,3160 47215 CALCGTA
040788,000741: 14,3161 43014 CLEAR CLEAR
040789,000742: 14,3162 01260 DRIFTFLG
040790,000743: 14,3163 01662 REFSMFLG
040791,000744: 14,3164 77776 EXIT
040792,000745: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040793,000746: 14,3166 04616 TC BANKCALL
040794,000747: 14,3167 20452 CADR GODSPR
040795,000748: 14,3170 33247 CA R55CDR
040796,000749: 14,3171 04616 TC BANKCALL
040797,000750: 14,3172 17307 CADR IMUPULSE
040798,000751: 14,3173 04616 TC BANKCALL
040799,000752: 14,3174 17722 CADR IMUSTALL
040800,000753: 14,3175 05712 TC CURTAINS
040801,000754: 14,3176 05364 TC PHASCHNG
040802,000755: 14,3177 04024 OCT 04024
040803,000756:
040804,000757: 14,3200 06042 TC INTPRET
040805,000758: 14,3201 75160 AXC,1 AXC,2
040806,000759: 14,3202 03606 XSMD
040807,000760: 14,3203 01731 REFSMMAT
040808,000761: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040809,000762: 14,3205 31371 MATMOVE
040810,000763: 14,3206 43014 CLEAR SET
040811,000764: 14,3207 01273 PFRATFLG
040812,000765: 14,3210 01462 REFSMFLG
040813,000766: 14,3211 77624 CALL
040814,000767: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040815,000768: 14,3213 77650 GOTO
040816,000769: 14,3214 31126 R51K
040817,000770: 14,3215 04024 V16N20 VN 1620
040818,000771:
|
|
Page 937
|
040820,000773: # R55 GYRO TORQUE
040821,000774: # FUNCTION-COMPUTE AND SEND GYRO PULSES
040822,000775: # CALLING SEQ- CALL R55
040823,000776: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040824,000777: # OUTPUT- GYRO PULSES
040825,000778: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040826,000779: 14,3216 COUNT* $$/R55
040827,000780: 14,3216 77620 R55 STQ
040828,000781: 14,3217 02745 QMIN
040829,000782: 14,3220 77624 CALL
040830,000783: 14,3221 47215 CALCGTA
040831,000784: 14,3222 77776 PULSEM EXIT
040832,000785: 14,3223 33246 R55.1 CAF V06N93
040833,000786: 14,3224 04616 TC BANKCALL
040834,000787: 14,3225 20477 CADR GOFLASH
040835,000788: 14,3226 06001 TC GOTOPOOH
040836,000789: 14,3227 03231 TC R55.2
040837,000790: 14,3230 03243 TC R55RET
040838,000791: 14,3231 05364 R55.2 TC PHASCHNG
040839,000792: 14,3232 00214 OCT 00214
040840,000793: 14,3233 33247 CA R55CDR
040841,000794: 14,3234 04616 TC BANKCALL
040842,000795: 14,3235 17307 CADR IMUPULSE
040843,000796: 14,3236 04616 TC BANKCALL
040844,000797: 14,3237 17722 CADR IMUSTALL
040845,000798: 14,3240 05712 TC CURTAINS
040846,000799: 14,3241 05364 TC PHASCHNG
040847,000800: 14,3242 04024 OCT 04024
040848,000801:
040849,000802: 14,3243 06042 R55RET TC INTPRET
040850,000803: 14,3244 77650 GOTO
040851,000804: 14,3245 02745 QMIN
040852,000805: 14,3246 01535 V06N93 VN 0693
040853,000806: 14,3247 02737 R55CDR ECADR OGC
040854,000807: 14,3250 14,3250 R54 = CHKSDATA
040855,000808: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
040856,000809: # MOD NO- 0 LOG SECTION- P51-P53
040857,000810: # MODIFICATION BY- LONSKE ASSEMBLY-
040858,000811:
040859,000812: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040860,000813: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040861,000814: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040862,000815:
040863,000816: # OS1 = OBSERVED STAR 1 VECTOR
040864,000817: # OS2 = OBSERVED STAR 2 VECTOR
040865,000818: # SS1 = STORED STAR 1 VECTOR
040866,000819: # SS2 = STORED STAR 2 VECTOR
040867,000820: # A1 = ARCCOS(OS1 - OS2)
040868,000821: # A2 = ARCCOS(SS1 - SS2)
040869,000822: # A = ABS(2(A1 - A2))
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|
Page 938
|
040871,000824: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040872,000825: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040873,000826: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040874,000827: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040875,000828: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040876,000829:
040877,000830: # ERASABLE INITIALIZATION REQUIRED -
040878,000831: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040879,000832: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040880,000833: # DEBRIS -
040881,000834: 14,3250 COUNT* $$/R54
040882,000835: 14,3250 43020 CHKSDATA STQ SET
040883,000836: 14,3251 02745 QMIN
040884,000837: 14,3252 00074 FREEFLAG
040885,000838: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040886,000839: 14,3254 02706 STARAD
040887,000840:
040888,000841: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040889,000842: 14,3256 00001 0,1
040890,000843: 14,3257 00007 6,1
040891,000844: 14,3260 65552 SL1 ACOS
040892,000845: 14,3261 00025 STORE THETA
040893,000846: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040894,000847: 14,3263 00354 FREEFLAG
040895,000848: 14,3264 31274 CHKSD
040896,000849: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040897,000850: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040898,000851: 14,3267 00006 6D
040899,000852: 14,3270 00025 THETA
040900,000853: 14,3271 00023 STORE 18D
040901,000854: 14,3272 77650 GOTO
040902,000855: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040903,000856: 14,3274 45345 CHKSD DLOAD DSU
040904,000857: 14,3275 00025 THETA
040905,000858: 14,3276 00023 18D
040906,000859: 14,3277 77634 RTB # COMPUTE POS DIFF
040907,000860: 14,3300 21613 SGNAGREE
040908,000861: 14,3301 01045 STORE NORMTEM1
040909,000862: 14,3302 77414 SET EXIT
040910,000863: 14,3303 00074 FREEFLAG
040911,000864: 14,3304 33320 CAF VB6N5
040912,000865: 14,3305 04616 TC BANKCALL
040913,000866: 14,3306 20477 CADR GOFLASH
040914,000867: 14,3307 16001 TCF GOTOPOOH
040915,000868: 14,3310 03315 TC CHKSDA # PROCEED
040916,000869: 14,3311 06042 TC INTPRET
040917,000870: 14,3312 52014 CLEAR GOTO
040918,000871: 14,3313 00274 FREEFLAG
040919,000872: 14,3314 02745 QMIN
040920,000873: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 939
|
040922,000875: 14,3316 77650 GOTO
040923,000876: 14,3317 02745 QMIN
040924,000877: 14,3320 01405 VB6N5 VN 605
040925,000878: # NAME - CAL53A
040926,000879: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040927,000880: # CALLING SEQUENCE - CALL CAL53A
040928,000881: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
040929,000882: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040930,000883: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040931,000884: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040932,000885: 14,3321 COUNT* $$/R50
040933,000886: 14,3321 77624 CAL53A CALL
040934,000887: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040935,000888: 14,3323 66234 RTB SSP
040936,000889: 14,3324 31405 RDCDUS # READ CDUS
040937,000890: 14,3325 00051 S1
040938,000891: 14,3326 00001 1
040939,000892: 14,3327 40370 AXT,1 SETPD
040940,000893: 14,3330 00003 3
040941,000894: 14,3331 00005 4
040942,000895: 14,3332 70543 CALOOP DLOAD* SR1
040943,000896: 14,3333 00325 THETAD +3D,1
040944,000897: 14,3334 70523 PDDL* SR1
040945,000898: 14,3335 00005 4,1
040946,000899: 14,3336 51425 DSU ABS
040947,000900: 14,3337 45206 PUSH DSU
040948,000901: 14,3340 31404 DEGREE1
040949,000902: 14,3341 71240 BMN DLOAD
040950,000903: 14,3342 31360 CALOOP1
040951,000904: 14,3343 51025 DSU BPL
040952,000905: 14,3344 31405 DEG359
040953,000906: 14,3345 31360 CALOOP1
040954,000907: 14,3346 77776 EXIT
040955,000908: 14,3347 05364 TC PHASCHNG
040956,000909: 14,3350 04024 OCT 04024
040957,000910:
040958,000911: 14,3351 06042 TC INTPRET
040959,000912: 14,3352 77624 COARFINE CALL
040960,000913: 14,3353 31557 COARSE
040961,000914: 14,3354 77624 CALL
040962,000915: 14,3355 31603 NCOARSE
040963,000916: 14,3356 77650 GOTO
040964,000917: 14,3357 31362 FINEONLY
040965,000918: 14,3360 77700 CALOOP1 TIX,1
040966,000919: 14,3361 31332 CALOOP
040967,000920: 14,3362 75160 FINEONLY AXC,1 AXC,2
040968,000921: 14,3363 02642 XSM
040969,000922: 14,3364 01731 REFSMMAT
040970,000923: 14,3365 77624 CALL
040971,000924: 14,3366 31371 MATMOVE
|
|
Page 940
|
040973,000926: 14,3367 77650 GOTO
040974,000927: 14,3370 32204 COARSRET
040975,000928: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040976,000929: 14,3372 00001 0,1
040977,000930: 14,3373 10001 STORE 0,2
040978,000931: 14,3374 77773 VLOAD*
040979,000932: 14,3375 00007 6D,1
040980,000933: 14,3376 10007 STORE 6D,2
040981,000934: 14,3377 77773 VLOAD*
040982,000935: 14,3400 00015 12D,1
040983,000936: 14,3401 10015 STORE 12D,2
040984,000937: 14,3402 77616 RVQ
040985,000938: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040986,000939: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040987,000940: 14,3405 00004 RDCDUS INHINT # READ CDUS
040988,000941: 14,3406 30032 CA CDUX
040989,000942: 14,3407 50120 INDEX FIXLOC
040990,000943: 14,3410 54001 TS 1
040991,000944: 14,3411 30033 CA CDUY
040992,000945: 14,3412 50120 INDEX FIXLOC
040993,000946: 14,3413 54002 TS 2
040994,000947: 14,3414 30034 CA CDUZ
040995,000948: 14,3415 50120 INDEX FIXLOC
040996,000949: 14,3416 54003 TS 3
040997,000950: 14,3417 00003 RELINT
040998,000951: 14,3420 06064 TC DANZIG # +
040999,000952: 14,3421 COUNT* $$/INFLT
041000,000953:
|
|
Page 941
|
041002,000955: # NAME - P51 - IMU ORIENTATION DETERMINATION
041003,000956: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
041004,000957: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041005,000958:
041006,000959: # FUNCTIONAL DESCRIPTION
041007,000960:
041008,000961: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041009,000962: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
041010,000963: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041011,000964: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041012,000965:
041013,000966: # CALLING SEQUENCE
041014,000967:
041015,000968: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041016,000969:
041017,000970: # SUBROUTINES CALLED.
041018,000971:
041019,000972: # GOPERF3
041020,000973: # GOPERF1
041021,000974: # GODSPR
041022,000975: # IMUCOARS
041023,000976: # IMUFIN20
041024,000977: # AOTMARK(R53)
041025,000978: # CHKSDATA(R54)
041026,000979: # MKRELEAS
041027,000980: # AXISGEN
041028,000981: # MATMOVE
041029,000982:
041030,000983: # ALARMS
041031,000984:
041032,000985: # NONE.
041033,000986:
041034,000987: # ERASABLE INITIALIZATION
041035,000988:
041036,000989: # IMU ZERO FLAG SHOULD BE SET.
041037,000990:
041038,000991: # OUTPUT
041039,000992:
041040,000993: # REFSMMAT
041041,000994: # REFSMFLG
041042,000995:
041043,000996: # DEBRIS
041044,000997:
041045,000998: # WORK AREA
041046,000999: # STARAD
041047,001000: # STARIND
041048,001001: # BESTI
041049,001002: # BESTJ
041050,001003:
041051,001004: 14,3421 COUNT* $$/P51
|
|
Page 942
|
041053,001006: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041054,001007: 14,3422 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041055,001008:
041056,001009: 14,3423 34761 CAF OCT15
041057,001010: 14,3424 04616 TC BANKCALL
041058,001011: 14,3425 20624 CADR GOPERF1
041059,001012: 14,3426 06001 TC GOTOPOOH # TERM.
041060,001013: 14,3427 13453 TCF P51B # V33
041061,001014: 14,3430 05364 TC PHASCHNG
041062,001015: 14,3431 04024 OCT 04024
041063,001016:
041064,001017: 14,3432 34755 CAF ZERO
041065,001018: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
041066,001019: 14,3434 54322 TS THETAD +1
041067,001020: 14,3435 54323 TS THETAD +2
041068,001021: 14,3436 35010 CAF V06N22
041069,001022: 14,3437 04616 TC BANKCALL
041070,001023: 14,3440 20447 CADR GODSPRET
041071,001024: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041072,001025: 14,3442 04616 TC BANKCALL
041073,001026: 14,3443 20447 CADR GODSPRET
041074,001027: 14,3444 06042 TC INTPRET
041075,001028: 14,3445 77624 CALL
041076,001029: 14,3446 31557 COARSE
041077,001030: 14,3447 77776 EXIT
041078,001031: 14,3450 05364 TC PHASCHNG
041079,001032: 14,3451 04024 OCT 04024
041080,001033: 14,3452 13423 TCF P51 +2
041081,001034:
041082,001035: 14,3453 05364 P51B TC PHASCHNG
041083,001036: 14,3454 00014 OCT 00014
041084,001037: 14,3455 06042 TC INTPRET
041085,001038: 14,3456 77624 CALL
041086,001039: 14,3457 31603 NCOARSE
041087,001040: 14,3460 40331 SSP SETPD
041088,001041: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
041089,001042: 14,3462 00000 0
041090,001043: 14,3463 00001 0
041091,001044: 14,3464 77776 P51C EXIT
041092,001045: 14,3465 05364 TC PHASCHNG
041093,001046: 14,3466 04024 OCT 04024
041094,001047:
041095,001048: 14,3467 04616 TC BANKCALL
041096,001049: 14,3470 16000 CADR AOTMARK # R53
041097,001050: 14,3471 04616 TC BANKCALL
041098,001051: 14,3472 17716 CADR AOTSTALL
041099,001052: 14,3473 05712 TC CURTAINS
041100,001053: 14,3474 11757 CCS STARIND
041101,001054: 14,3475 13503 TCF P51D +1
041102,001055: 14,3476 06042 TC INTPRET
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|
Page 943
|
041104,001057: 14,3477 77775 VLOAD
041105,001058: 14,3500 02715 STARAD +6
041106,001059: 14,3501 02761 STORE STARSAV1
041107,001060: 14,3502 77776 P51D EXIT
041108,001061: 14,3503 05364 TC PHASCHNG
041109,001062: 14,3504 04024 OCT 04024
041110,001063:
041111,001064: 14,3505 11757 CCS STARIND
041112,001065: 14,3506 13522 TCF P51E
041113,001066: 14,3507 05364 TC PHASCHNG
041114,001067: 14,3510 04024 OCT 04024
041115,001068:
041116,001069: 14,3511 06042 TC INTPRET
041117,001070: 14,3512 45145 DLOAD CALL
041118,001071: 14,3513 03562 TSIGHT
041119,001072: 14,3514 32500 PLANET
041120,001073: 14,3515 03554 STORE PLANVEC
041121,001074: 14,3516 77776 EXIT
041122,001075: 14,3517 34753 CAF BIT1
041123,001076: 14,3520 55757 TS STARIND
041124,001077: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
041125,001078: 14,3522 05364 P51E TC PHASCHNG
041126,001079: 14,3523 04024 OCT 04024
041127,001080:
041128,001081: 14,3524 06042 TC INTPRET
041129,001082: 14,3525 45145 DLOAD CALL
041130,001083: 14,3526 03562 TSIGHT
041131,001084: 14,3527 32500 PLANET
041132,001085: 14,3530 24015 STOVL 12D
041133,001086: 14,3531 03554 PLANVEC
041134,001087: 14,3532 24007 STOVL 6D
041135,001088: 14,3533 02761 STARSAV1
041136,001089: 14,3534 26707 STOVL STARAD
041137,001090: 14,3535 02767 STARSAV2
041138,001091: 14,3536 36715 STCALL STARAD +6
041139,001092: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041140,001093: 14,3540 77414 BON EXIT
041141,001094: 14,3541 00314 FREEFLAG
041142,001095: 14,3542 31544 P51G
041143,001096: 14,3543 03423 TC P51 +2
041144,001097: 14,3544 77624 P51G CALL
041145,001098: 14,3545 47407 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041146,001099: 14,3546 75160 AXC,1 AXC,2
041147,001100: 14,3547 02664 XDC
041148,001101: 14,3550 01731 REFSMMAT
041149,001102: 14,3551 77624 CALL
041150,001103: 14,3552 31371 MATMOVE
041151,001104: 14,3553 77414 SET EXIT
041152,001105: 14,3554 01462 REFSMFLG
041153,001106: 14,3555 06001 TC GOTOPOOH # FINIS
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|
Page 944
|
041155,001108: 14,3556 12200 V41K VN 4100
041156,001109: 14,3557 77776 COARSE EXIT
041157,001110: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
041158,001111: 14,3561 00006 EXTEND
041159,001112: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
041160,001113: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
041161,001114: 14,3564 04616 TC BANKCALL
041162,001115: 14,3565 01736 CADR DELAYJOB
041163,001116: 14,3566 13560 TCF COARSE +1
041164,001117: 14,3567 04616 DOCORS TC BANKCALL
041165,001118: 14,3570 16764 CADR IMUCOARS
041166,001119: 14,3571 04616 TC BANKCALL
041167,001120: 14,3572 17722 CADR IMUSTALL
041168,001121: 14,3573 05712 TC CURTAINS
041169,001122: 14,3574 04616 TC BANKCALL
041170,001123: 14,3575 17174 CADR IMUFINE
041171,001124: 14,3576 04616 TC BANKCALL
041172,001125: 14,3577 17722 CADR IMUSTALL
041173,001126: 14,3600 05712 TC CURTAINS
041174,001127: 14,3601 06042 TC INTPRET
041175,001128: 14,3602 77616 RVQ
041176,001129: 14,3603 77776 NCOARSE EXIT
041177,001130: 14,3604 30025 CA TIME1
041178,001131: 14,3605 55074 TS 1/PIPADT
041179,001132: 14,3606 44755 CS ZERO
041180,001133: 14,3607 54037 TS PIPAX
041181,001134: 14,3610 54040 TS PIPAY
041182,001135: 14,3611 54041 TS PIPAZ
041183,001136: 14,3612 06042 TC INTPRET
041184,001137: 14,3613 77775 VLOAD
041185,001138: 14,3614 24007 ZEROVEC
041186,001139: 14,3615 01472 STORE GCOMP
041187,001140: 14,3616 43414 SET RVQ
041188,001141: 14,3617 01060 DRIFTFLG
041189,001142:
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|
Page 945
|
041191,001144: # NAME-S52.2
041192,001145: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041193,001146: # CALL- CALL S52.2
041194,001147: # INPUT- X,Y,ZSMD
041195,001148: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
041196,001149: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
041197,001150: 14,3620 COUNT* $$/S52.1
041198,001151: 14,3620 45020 S52.2 STQ CALL
041199,001152: 14,3621 02746 QMAJ
041200,001153: 14,3622 47505 CDUTRIG
041201,001154: 14,3623 77624 CALL
041202,001155: 14,3624 20030 CALCSMSC
041203,001156: 14,3625 66370 AXT,1 SSP
041204,001157: 14,3626 00022 18D
041205,001158: 14,3627 00051 S1
041206,001159: 14,3630 00006 6D
041207,001160: 14,3631 61373 S52.2A VLOAD* VXM
041208,001161: 14,3632 02707 XNB +18D,1
041209,001162: 14,3633 01732 REFSMMAT
041210,001163: 14,3634 77656 UNIT
041211,001164: 14,3635 06707 STORE XNB +18D,1
041212,001165: 14,3636 77700 TIX,1
041213,001166: 14,3637 31631 S52.2A
041214,001167: 14,3640 75160 S52.2.1 AXC,1 AXC,2
041215,001168: 14,3641 03606 XSMD
041216,001169: 14,3642 02642 XSM
041217,001170: 14,3643 77624 CALL
041218,001171: 14,3644 31371 MATMOVE
041219,001172: 14,3645 77624 CALL
041220,001173: 14,3646 47321 CALCGA
041221,001174: 14,3647 77650 GOTO
041222,001175: 14,3650 02746 QMAJ
041223,001176:
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|
Page 946
|
041225,001178: # NAME-S52.3
041226,001179: # FUNCTION XSMD= UNIT R
041227,001180: # YSMD= UNIT(V X R)
041228,001181: # ZSMD= UNIT(XSMD X YSMD)
041229,001182: # CALL DLOAD CALL
041230,001183: # TALIGN
041231,001184: # S52.3
041232,001185: # INPUT- TIME OF ALIGNMENT IN MPAC
041233,001186: # OUTPUT- X,Y,ZSMD
041234,001187: # SUBROUTINES- CSMCONIC
041235,001188: 14,3651 COUNT* $$/S52.3
041236,001189: 14,3651 77620 S52.3 STQ
041237,001190: 14,3652 02746 QMAJ
041238,001191: 14,3653 34041 STCALL TDEC1
041239,001192: 14,3654 27077 LEMCONIC
041240,001193: 14,3655 53575 VLOAD UNIT
041241,001194: 14,3656 00001 RATT
041242,001195: 14,3657 27607 STOVL XSMD
041243,001196: 14,3660 00007 VATT
041244,001197: 14,3661 53435 VXV UNIT
041245,001198: 14,3662 00001 RATT
041246,001199: 14,3663 27615 STOVL YSMD
041247,001200: 14,3664 03607 XSMD
041248,001201: 14,3665 53435 VXV UNIT
041249,001202: 14,3666 03615 YSMD
041250,001203: 14,3667 37623 STCALL ZSMD
041251,001204: 14,3670 02746 QMAJ
041252,001205:
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|
Page 947
|
041254,001207: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041255,001208:
041256,001209: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041257,001210: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041258,001211:
041259,001212: # CALLING -CALL R52
041260,001213:
041261,001214: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
041262,001215: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
041263,001216: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041264,001217: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041265,001218: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041266,001219:
041267,001220: # SUBROUT -R60LEM
041268,001221:
041269,001222: 14,3671 COUNT* $$/R52
041270,001223: 14,3671 77420 R52 STQ EXIT
041271,001224: 14,3672 03665 SAVQR52
041272,001225: 14,3673 51757 INDEX STARIND
041273,001226: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041274,001227: 14,3675 00006 EXTEND
041275,001228: 14,3676 73772 MP 1/6TH
041276,001229: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
041277,001230: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
041278,001231:
041279,001232: 14,3701 33773 R52A CAF V01N70
041280,001233: 14,3702 04616 TC BANKCALL
041281,001234: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041282,001235: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
041283,001236: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
041284,001237: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041285,001238:
041286,001239: 14,3707 05527 R52B TC DOWNFLAG
041287,001240: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041288,001241: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041289,001242: 14,3712 77747 MASK HIGH9
041290,001243: 14,3713 00006 EXTEND
041291,001244: 14,3714 74743 MP BIT9
041292,001245: 14,3715 54001 TS L # TEMP STORE DETENT
041293,001246:
041294,001247: 14,3716 00006 EXTEND
041295,001248: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041296,001249:
041297,001250: 14,3720 65661 AD NEG7
041298,001251: 14,3721 00006 EXTEND
041299,001252: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041300,001253:
041301,001254: 14,3723 E7,1551 EBANK= XYMARK
041302,001255: 14,3723 35016 CA EBANK7
041303,001256: 14,3724 54003 TS EBANK
041304,001257:
|
|
Page 948
|
041306,001259: 14,3725 50001 INDEX L
041307,001260: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041308,001261: 14,3727 54001 TS L
041309,001262: 14,3730 E5,1642 EBANK= XSM
041310,001263: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041311,001264: 14,3731 54003 TS EBANK
041312,001265: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041313,001266: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041314,001267: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041315,001268:
041316,001269: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041317,001270: 14,3736 04616 TC BANKCALL
041318,001271: 14,3737 20477 CADR GOFLASH
041319,001272: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
041320,001273: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
041321,001274: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
041322,001275:
041323,001276: 14,3743 00006 EXTEND
041324,001277: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041325,001278: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041326,001279: 14,3746 52011 DXCH 8D
041327,001280: 14,3747 06042 TC INTPRET
041328,001281: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041329,001282: 14,3751 10530 OANB # SCAXIS IN NB COORDS
041330,001283: 14,3752 45034 RTB CALL
041331,001284: 14,3753 21574 LOADTIME
041332,001285: 14,3754 32500 PLANET
041333,001286: 14,3755 53521 MXV UNIT
041334,001287: 14,3756 01732 REFSMMAT
041335,001288: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041336,001289:
041337,001290: 14,3760 77776 EXIT
041338,001291: 14,3761 04616 TC BANKCALL
041339,001292: 14,3762 54125 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041340,001293:
041341,001294: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041342,001295: 14,3764 70734 MASK STARCODE
041343,001296: 14,3765 00006 EXTEND
041344,001297: 14,3766 13701 BZF R52A
041345,001298:
041346,001299: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041347,001300: 14,3770 77650 GOTO
041348,001301: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041349,001302:
041350,001303: 14,3772 05253 1/6TH DEC .1666667
041351,001304: 14,3773 00306 V01N70 VN 0170
041352,001305: 14,3774 01527 V06N87 VN 687
041353,001306:
|
|
Page 949
|
041355,001308: # LUNAR SURFACE STAR AQUISITION
041356,001309:
041357,001310: 15,2270 BANK 15
041358,001311: 15,2000 SETLOC P50S
041359,001312: 15,2000 BANK
041360,001313: 15,2270 COUNT* $$/R59
041361,001314:
041362,001315: 15,2270 40077 R59 CS FLAGWRD3
041363,001316: 15,2271 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041364,001317: 15,2272 10000 CCS A
041365,001318: 15,2273 12463 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041366,001319:
041367,001320: 15,2274 32471 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041368,001321: 15,2275 04616 TC BANKCALL
041369,001322: 15,2276 20477 CADR GOFLASH
041370,001323: 15,2277 06001 TC GOTOPOOH # V34-TERMINATE
041371,001324: 15,2300 12302 TCF R59A # V33-PROCEED
041372,001325: 15,2301 12270 TCF R59 # V32-RECYCLE
041373,001326:
041374,001327: 15,2302 06042 R59A TC INTPRET
041375,001328: 15,2303 45034 RTB CALL
041376,001329: 15,2304 21574 LOADTIME
041377,001330: 15,2305 32500 PLANET # GO GET CELESTRIAL BODY IN REF COORDS.
041378,001331: 15,2306 53521 MXV UNIT
041379,001332: 15,2307 01732 REFSMMAT # TRANSFORM TO NB COORDS.
041380,001333: 15,2310 77624 CALL
041381,001334: 15,2311 47623 CDU*SMNB
041382,001335: 15,2312 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041383,001336: 15,2313 77776 EXIT
041384,001337:
041385,001338: 15,2314 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041386,001339: 15,2315 55241 TS POSCODE
041387,001340:
041388,001341: 15,2316 E7,1551 EBANK= XYMARK
041389,001342: 15,2316 35016 INCAZ CA EBANK7
041390,001343: 15,2317 54003 TS EBANK
041391,001344:
041392,001345: 15,2320 51241 INDEX POSCODE
041393,001346: 15,2321 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041394,001347: 15,2322 54001 TS L
041395,001348:
041396,001349: 15,2323 E5,1642 EBANK= XSM
041397,001350: 15,2323 35014 CA EBANK5
041398,001351: 15,2324 54003 TS EBANK
041399,001352:
041400,001353: 15,2325 34737 CA BIT13 # SET ELV TO 45 DEG
041401,001354: 15,2326 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041402,001355: 15,2327 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041403,001356: 15,2330 50120 INDEX FIXLOC
041404,001357: 15,2331 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041405,001358:
|
|
Page 950
|
041407,001360: 15,2332 06042 TC INTPRET
041408,001361: 15,2333 77624 CALL
041409,001362: 15,2334 10530 OANB # GO CALC OPTIC AXIS WRT NB
041410,001363: 15,2335 50375 VLOAD DOT
041411,001364: 15,2336 02731 STAR # DOT STAR WITH OA
041412,001365: 15,2337 03765 SCAXIS
041413,001366: 15,2340 65552 SL1 ARCCOS
041414,001367: 15,2341 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041415,001368:
041416,001369: 15,2342 51025 DSU BPL
041417,001370: 15,2343 32474 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041418,001371: 15,2344 32426 NXAX # NOT IN FIELD - TRY NEXT POSITION
041419,001372: 15,2345 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041420,001373: 15,2346 00031 24D
041421,001374: 15,2347 32476 DEG.5
041422,001375: 15,2350 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041423,001376: 15,2351 32421 ZSPCR # GO ZERO CURSOR AND SPIRAL
041424,001377: 15,2352 00031 24D # GET SPIRAL
041425,001378: 15,2353 42405 DMP SL4
041426,001379: 15,2354 11226 3/4 # 12 SCALED AT 16
041427,001380: 15,2355 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041428,001381:
041429,001382: 15,2356 03765 SCAXIS # OA
041430,001383: 15,2357 53435 VXV UNIT
041431,001384: 15,2360 24005 XUNIT
041432,001385: 15,2361 47206 PUSH VXV # OA X UNITX PD 0-5
041433,001386: 15,2362 03765 SCAXIS
041434,001387: 15,2363 77676 VCOMP
041435,001388: 15,2364 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
041436,001389: 15,2365 03765 SCAXIS
041437,001390: 15,2366 53435 VXV UNIT
041438,001391: 15,2367 02731 STAR
041439,001392: 15,2370 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041440,001393: 15,2371 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041441,001394: 15,2372 65552 SL1 ARCCOS
041442,001395: 15,2373 24033 STOVL 26D # STORE THET SCALED IN REVS
041443,001396:
041444,001397: 15,2374 77641 DOT # UP 12-17, UP 6-11 FOR C2
041445,001398: 15,2375 71244 BPL DLOAD # IF THET NEG-GET 360-THET
041446,001399: 15,2376 32403 R59D
041447,001400: 15,2377 32047 ABOUTONE
041448,001401: 15,2400 77625 DSU
041449,001402: 15,2401 00033 26D
041450,001403: 15,2402 00033 STORE 26D # 360-THET SCALED IN REVS
041451,001404:
041452,001405: 15,2403 70535 R59D SLOAD SR1
041453,001406: 15,2404 02746 QMIN # RESCALE AZ(N) TO REVS
041454,001407: 15,2405 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041455,001408: 15,2406 00033 26D
041456,001409: 15,2407 77634 RTB
|
|
Page 951
|
041458,001411: 15,2410 21615 1STO2S
041459,001412: 15,2411 15236 STODL CURSOR # YROT IN 1/2 REVS
041460,001413: 15,2412 00031 24D # LOAD SROT IN REVS
041461,001414: 15,2413 77615 DAD # 12(SEP) + YROT
041462,001415: 15,2414 77634 RTB
041463,001416: 15,2415 21615 1STO2S
041464,001417: 15,2416 01237 STORE SPIRAL # SROT IN 1/2 REVS
041465,001418: 15,2417 77776 EXIT
041466,001419: 15,2420 12445 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041467,001420:
041468,001421: 15,2421 77776 ZSPCR EXIT
041469,001422: 15,2422 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
041470,001423: 15,2423 55235 TS CURSOR # AND SPIRAL ANGLES
041471,001424: 15,2424 55236 TS SPIRAL
041472,001425: 15,2425 12445 TCF 79DISP
041473,001426:
041474,001427: 15,2426 77776 NXAX EXIT
041475,001428: 15,2427 25241 INCR POSCODE
041476,001429: 15,2430 41241 CS POSCODE
041477,001430: 15,2431 64757 AD SEVEN
041478,001431: 15,2432 00006 EXTEND
041479,001432: 15,2433 62435 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041480,001433: 15,2434 12316 TCF INCAZ
041481,001434:
041482,001435: 15,2435 05600 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041483,001436: 15,2436 00404 OCT 404
041484,001437: 15,2437 35006 CAF VB05N09 # DISPLAY ALARM
041485,001438: 15,2440 04616 TC BANKCALL
041486,001439: 15,2441 20477 CADR GOFLASH
041487,001440: 15,2442 16001 TCF GOTOPOOH # VB34-TERMINATE
041488,001441: 15,2443 12463 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
041489,001442: 15,2444 12270 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
041490,001443:
041491,001444: 15,2445 32472 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041492,001445: 15,2446 04616 TC BANKCALL
041493,001446: 15,2447 20477 CADR GOFLASH
041494,001447: 15,2450 16001 TCF GOTOPOOH # V34-TERMINATE
041495,001448: 15,2451 12453 TCF R59E # V33-PROCEED TO MARK ROUTINE
041496,001449: 15,2452 12270 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
041497,001450:
041498,001451: 15,2453 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041499,001452: 15,2454 71241 MASK POSCODE
041500,001453: 15,2455 00006 EXTEND
041501,001454: 15,2456 74745 MP BIT7 # DETENT CODE NOW IN L
041502,001455: 15,2457 47747 CS HIGH9
041503,001456: 15,2460 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041504,001457: 15,2461 60001 AD L
041505,001458: 15,2462 54734 TS AOTCODE # STORE DETENT 7-9
041506,001459:
041507,001460: 15,2463 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
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|
Page 952
|
041509,001462: 15,2464 16000 CADR AOTMARK
041510,001463: 15,2465 04616 TC BANKCALL
041511,001464: 15,2466 17716 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041512,001465: 15,2467 05712 TC CURTAINS # BADEND RETURN FROM AOTMARK
041513,001466: 15,2470 13050 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041514,001467:
041515,001468: 15,2471 00306 V01N70* VN 170
041516,001469: 15,2472 01517 V06N79 VN 679
041517,001470: 15,2473 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041518,001471:
041519,001472: 15,2475 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041520,001473:
041521,001474: 15,2477 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041522,001475:
041523,001476: 15,2500 1235 CURSOR EQUALS GDT/2
041524,001477: 15,2500 1236 SPIRAL EQUALS GDT/2 +1
041525,001478: 15,2500 1241 POSCODE EQUALS GDT/2 +4
041526,001479:
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|
Page 953
|
041528,001481: # NAME - PLANET
041529,001482: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041530,001483: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041531,001484: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041532,001485: # BY DSDY INPUT
041533,001486: # CALL - CALL
041534,001487: # PLANET
041535,001488: # INPUT - TIME IN MPAC
041536,001489: # OUTPUT - VECTOR IN MPAC
041537,001490: # SUBROUTINES - LOCSAM
041538,001491: # DEBRIS - VAC ,STARAD - STARAD +17
041539,001492:
041540,001493: 15,2000 SETLOC P50S
041541,001494: 15,2000 BANK
041542,001495: 15,2500 COUNT* $$/R58
041543,001496:
041544,001497: 15,2500 03562 PLANET STORE TSIGHT
041545,001498: 15,2501 77420 STQ EXIT
041546,001499: 15,2502 02736 GCTR
041547,001500: 15,2503 47747 CS HIGH9
041548,001501: 15,2504 70734 MASK AOTCODE
041549,001502: 15,2505 00006 EXTEND
041550,001503: 15,2506 76245 MP REVCNT
041551,001504: 15,2507 56001 XCH L
041552,001505: 15,2510 51757 INDEX STARIND
041553,001506: 15,2511 55755 TS BESTI
041554,001507: 15,2512 10000 CCS A
041555,001508: 15,2513 12530 TCF NOTPLAN
041556,001509: 15,2514 32567 CAF VNPLANV
041557,001510: 15,2515 04616 TC BANKCALL
041558,001511: 15,2516 20477 CADR GOFLASH
041559,001512: 15,2517 02514 TC -3
041560,001513: 15,2520 02522 TC +2
041561,001514: 15,2521 02514 TC -5
041562,001515: 15,2522 06042 TC INTPRET
041563,001516: 15,2523 74375 VLOAD VXSC
041564,001517: 15,2524 02707 STARAD
041565,001518: 15,2525 32571 1/SQR3
041566,001519: 15,2526 52056 UNIT GOTO
041567,001520: 15,2527 02736 GCTR
041568,001521:
041569,001522: 15,2530 40000 NOTPLAN CS A
041570,001523: 15,2531 62566 AD DEC227
041571,001524: 15,2532 00006 EXTEND
041572,001525: 15,2533 62544 BZMF CALSAM1
041573,001526: 15,2534 51757 INDEX STARIND
041574,001527: 15,2535 31755 CA BESTI
041575,001528: 15,2536 50120 INDEX FIXLOC
041576,001529: 15,2537 54046 TS X1
041577,001530: 15,2540 06042 TC INTPRET
|
|
Page 954
|
041579,001532: 15,2541 52173 VLOAD* GOTO
041580,001533: 15,2542 30347 CATLOG,1
041581,001534: 15,2543 02736 GCTR
041582,001535: 15,2544 06042 CALSAM1 TC INTPRET
041583,001536: 15,2545 45145 CALSAM DLOAD CALL
041584,001537: 15,2546 03562 TSIGHT
041585,001538: 15,2547 30500 LOCSAM
041586,001539: 15,2550 77340 LXC,1 VLOAD
041587,001540: 15,2551 02757 STARIND
041588,001541: 15,2552 02707 VEARTH
041589,001542: 15,2553 24001 STOVL 0D
041590,001543: 15,2554 02715 VSUN
041591,001544: 15,2555 26707 STOVL VEARTH
041592,001545: 15,2556 00001 0D
041593,001546: 15,2557 02715 STORE VSUN
041594,001547: 15,2560 70143 DLOAD* LXC,1
041595,001548: 15,2561 02756 BESTI,1
041596,001549: 15,2562 00154 MPAC
041597,001550: 15,2563 52173 VLOAD* GOTO
041598,001551: 15,2564 02343 STARAD -228D,1
041599,001552: 15,2565 02736 GCTR
041600,001553: 15,2566 00343 DEC227 DEC 227 B-14
041601,001554: 15,2567 01530 VNPLANV VN 0688
041602,001555: 15,2570 37,3543 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041603,001556: 15,2570 22363 11623 1/SQR3 2DEC .57735021
041604,001557:
|
|
Page 955
|
041606,001559: # GRAVITY VECTOR DETERMINATION ROUTINE
041607,001560: # BY KEN VINCENT
041608,001561: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041609,001562: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041610,001563: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041611,001564: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041612,001565: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041613,001566: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041614,001567: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041615,001568: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041616,001569: # READINGS.
041617,001570:
041618,001571: # CALL-
041619,001572: # TC BANKCALL
041620,001573: # CADR GVDETER
041621,001574: # INPUTS-
041622,001575: # PIPAS,CDUS
041623,001576: # OUTPUTS-
041624,001577: # STARSAV1 = UNIT GRAVITY
041625,001578: # GSAV = DITTO
041626,001579: # GRAVBIT = 1
041627,001580: # SUBROUTINES-
041628,001581: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041629,001582: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
041630,001583: # DEBRIS-
041631,001584: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041632,001585: 15,2572 32773 GVDETER CAF 42DEG
041633,001586: 15,2573 54321 TS THETAD
041634,001587: 15,2574 40000 COM
041635,001588: 15,2575 54322 TS THETAD +1
041636,001589: 15,2576 32774 CAF 35DEG
041637,001590: 15,2577 54323 TS THETAD +2
041638,001591: 15,2600 06042 TC INTPRET
041639,001592: 15,2601 45014 CLEAR CALL
041640,001593: 15,2602 01662 REFSMFLG
041641,001594: 15,2603 32677 LUNG
041642,001595: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
041643,001596:
041644,001597: # DEFINE G COOR SYS
041645,001598: # -
041646,001599: # X UNIT G
041647,001600: # * - -
041648,001601: # M= Y = UNITEZSM * X )
041649,001602: # - - -
041650,001603: # Z UNIT(X * Y )
041651,001604: # THEN ROTATED SM WRT PRESENT IS
041652,001605:
041653,001606:
041654,001607: # 1, 0 , 0
041655,001608: # * *T * * *
|
|
Page 956
|
041657,001610: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041658,001611: # I J
041659,001612: # 0, 0 ,-1
041660,001613:
041661,001614: # ALSO NB WRT PRES SM IS
041662,001615:
041663,001616: # * * *
041664,001617: # XNB = NBSM I
041665,001618: # * *
041666,001619: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041667,001620:
041668,001621: 15,2000 SETLOC P50S
041669,001622: 15,2000 BANK
041670,001623: 15,2604 COUNT* $$/P57
041671,001624: 15,2604 66370 AXT,1 SSP # X1=18
041672,001625: 15,2605 00022 18D # S1= 6
041673,001626: 15,2606 00051 S1 # X2, -2
041674,001627: 15,2607 00006 6D
041675,001628: 15,2610 77744 LXC,2
041676,001629: 15,2611 00050 S1
041677,001630: 15,2612 45173 GRAVEL VLOAD* CALL
041678,001631: 15,2613 54000 XUNIT -6,2
041679,001632: 15,2614 47650 *NBSM* # SIN AND COS COMPUTED IN LUNG
041680,001633: 15,2615 06707 STORE XNB +18D,1
041681,001634: 15,2616 77775 VLOAD
041682,001635: 15,2617 02731 STAR
041683,001636: 15,2620 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
041684,001637: 15,2621 00047 X2
041685,001638: 15,2622 75040 STAR +6,2 # OUTER PRODUCT
041686,001639: 15,2623 71152 VSL2 LXC,2
041687,001640: 15,2624 00047 X2
041688,001641: 15,2625 63047 VSU* INCR,2
041689,001642: 15,2626 54000 XUNIT -6,2
041690,001643: 15,2627 00002 2D
041691,001644: 15,2630 06665 STORE XSM +18D,1
041692,001645: 15,2631 45100 TIX,1 CALL
041693,001646: 15,2632 32612 GRAVEL
041694,001647: 15,2633 47321 CALCGA
041695,001648: 15,2634 74575 VLOAD VSR1
041696,001649: 15,2635 02715 GOUT
041697,001650: 15,2636 36723 STCALL STARAD +12D
041698,001651: 15,2637 32677 LUNG
041699,001652: 15,2640 74575 VLOAD VSR1
041700,001653: 15,2641 02715 GOUT
041701,001654: 15,2642 53455 VAD UNIT
041702,001655: 15,2643 02723 STARAD +12D
041703,001656: 15,2644 02761 STORE STARSAV1
041704,001657: 15,2645 77641 DOT
041705,001658: 15,2646 02231 GSAV
041706,001659: 15,2647 65552 SL1 ACOS
|
|
Page 957
|
041708,001661: 15,2650 01045 STORE DSPTEM1
041709,001662: 15,2651 77776 EXIT
041710,001663: 15,2652 05527 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041711,001664: 15,2653 00014 ADRES FREEFLAG
041712,001665:
041713,001666: 15,2654 32772 CA DISGRVER
041714,001667: 15,2655 04616 TC BANKCALL
041715,001668: 15,2656 20477 CADR GOFLASH
041716,001669: 15,2657 06001 TC GOTOPOOH
041717,001670: 15,2660 12663 TCF PROGRAV # VB33-PROCEED
041718,001671: 15,2661 05515 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041719,001672: 15,2662 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041720,001673:
041721,001674: 15,2663 05364 PROGRAV TC PHASCHNG
041722,001675: 15,2664 04024 OCT 04024
041723,001676:
041724,001677: 15,2665 06042 TC INTPRET
041725,001678: 15,2666 77775 VLOAD
041726,001679: 15,2667 02761 STARSAV1
041727,001680: 15,2670 02231 STORE GSAV
041728,001681: 15,2671 77776 EXIT
041729,001682: 15,2672 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041730,001683: 15,2673 70074 MASK FLAGWRD0
041731,001684: 15,2674 10000 CCS A
041732,001685: 15,2675 12572 TCF GVDETER # SET
041733,001686: 15,2676 13547 TCF ATTCHK # EXIT FROM GVDETER
041734,001687:
041735,001688: 15,2677 77220 LUNG STQ VLOAD
041736,001689: 15,2700 02745 QMIN
041737,001690: 15,2701 24007 ZEROVEC
041738,001691: 15,2702 02707 STORE GACC
041739,001692: 15,2703 77776 EXIT
041740,001693: 15,2704 05364 TC PHASCHNG
041741,001694: 15,2705 04024 OCT 04024
041742,001695:
041743,001696: 15,2706 06042 TC INTPRET
041744,001697: 15,2707 77624 CALL
041745,001698: 15,2710 31557 COARSE
041746,001699: 15,2711 77776 EXIT
041747,001700: 15,2712 32771 CA T/2SEC
041748,001701: 15,2713 55736 TS GCTR
041749,001702: 15,2714 37721 CA PRIO31
041750,001703: 15,2715 55074 TS 1/PIPADT
041751,001704: 15,2716 04616 TC BANKCALL
041752,001705: 15,2717 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041753,001706: 15,2720 05364 TC PHASCHNG
041754,001707: 15,2721 04024 OCT 04024
041755,001708:
041756,001709: 15,2722 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041757,001710: 15,2723 77543 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 958
|
041759,001712: 15,2724 06042 TC INTPRET
041760,001713: 15,2725 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041761,001714: 15,2726 35000 CAF 2SECS
041762,001715: 15,2727 05204 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041763,001716: 15,2730 02732 ADRES GRABGRAV
041764,001717:
041765,001718: 15,2731 05155 TC ENDOFJOB
041766,001719:
041767,001720: 15,2732 04674 GRABGRAV TC IBNKCALL
041768,001721: 15,2733 77543 CADR PIPSRINE
041769,001722: 15,2734 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041770,001723: 15,2735 05105 TC FINDVAC
041771,001724: 15,2736 E5,1706 EBANK= STARAD
041772,001725: 15,2736 02741 32065 2CADR ADDGRAV
041773,001726:
041774,001727:
041775,001728: 15,2740 05272 TC TASKOVER
041776,001729:
041777,001730: 15,2741 04616 ADDGRAV TC BANKCALL
041778,001731: 15,2742 15271 CADR 1/PIPA
041779,001732: 15,2743 25736 INCR GCTR
041780,001733: 15,2744 06042 TC INTPRET
041781,001734: 15,2745 53375 VLOAD VAD
041782,001735: 15,2746 00325 DELV
041783,001736: 15,2747 02707 GACC
041784,001737: 15,2750 02707 STORE GACC # ACCUMULATE G VECTOR
041785,001738: 15,2751 50135 SLOAD BMN
041786,001739: 15,2752 02737 GCTR
041787,001740: 15,2753 32725 GREED
041788,001741: 15,2754 53575 VLOAD UNIT
041789,001742: 15,2755 02707 GACC
041790,001743: 15,2756 36731 STCALL STAR
041791,001744: 15,2757 47505 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041792,001745: 15,2760 77624 CALL # IN OUTPUT
041793,001746: 15,2761 47646 *SMNB*
041794,001747: 15,2762 02715 STORE GOUT
041795,001748: 15,2763 77776 EXIT
041796,001749: 15,2764 05364 TC PHASCHNG
041797,001750: 15,2765 04024 OCT 04024
041798,001751:
041799,001752: 15,2766 06042 QMINEXIT TC INTPRET
041800,001753: 15,2767 77650 GOTO
041801,001754: 15,2770 02745 QMIN
041802,001755: 15,2771 77753 T/2SEC DEC -20 B-14
041803,001756: 15,2772 01404 DISGRVER VN 0604
041804,001757: 15,2773 07357 42DEG OCT 07357
041805,001758: 15,2774 06211 35DEG OCT 06211
041806,001759:
|
|
Page 959
|
041808,001761: # NAME GYROTRIM
041809,001762:
041810,001763: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041811,001764: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041812,001765: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041813,001766:
041814,001767: # CALL CALL
041815,001768: # GYROTRIM
041816,001769:
041817,001770: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041818,001771: # CDUX,CDUY,CDUZ
041819,001772:
041820,001773: # OUTPUT - GYRO TORQUE PULSES
041821,001774:
041822,001775: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041823,001776: # IMPULSE,IMUSTALL
041824,001777: # - - - * * -
041825,001778: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
041826,001779: 15,2775 COUNT* $$/P57
041827,001780: 15,2775 71220 GYROTRIM STQ DLOAD
041828,001781: 15,2776 02745 QMIN
041829,001782: 15,2777 00322 THETAD
041830,001783: 15,3000 65325 PDDL PDDL
041831,001784: 15,3001 00324 THETAD +2
041832,001785: 15,3002 00323 THETAD +1
041833,001786: 15,3003 77666 VDEF
041834,001787: 15,3004 24766 STOVL CDUSPOT
041835,001788: 15,3005 24005 XUNIT
041836,001789: 15,3006 77624 CALL
041837,001790: 15,3007 47641 TRG*NBSM
041838,001791: 15,3010 26707 STOVL STARAD
041839,001792: 15,3011 24003 YUNIT
041840,001793: 15,3012 77624 CALL
041841,001794: 15,3013 47650 *NBSM*
041842,001795: 15,3014 36715 STCALL STARAD +6
041843,001796: 15,3015 47505 CDUTRIG
041844,001797: 15,3016 77624 CALL
041845,001798: 15,3017 20030 CALCSMSC
041846,001799: 15,3020 77775 VLOAD
041847,001800: 15,3021 02665 XNB
041848,001801: 15,3022 24007 STOVL 6D
041849,001802: 15,3023 02673 YNB
041850,001803: 15,3024 34015 STCALL 12D
041851,001804: 15,3025 47407 AXISGEN
041852,001805: 15,3026 77624 CALL
041853,001806: 15,3027 47215 CALCGTA
041854,001807: 15,3030 77776 JUSTTRIM EXIT
041855,001808: 15,3031 33040 CA GYRCDR
041856,001809: 15,3032 04616 TC BANKCALL
041857,001810: 15,3033 17307 CADR IMUPULSE
|
|
Page 960
|
041859,001812: 15,3034 04616 TC BANKCALL
041860,001813: 15,3035 17722 CADR IMUSTALL
041861,001814: 15,3036 05712 TC CURTAINS
041862,001815: 15,3037 12766 TCF QMINEXIT
041863,001816:
041864,001817: 15,3040 02737 GYRCDR ECADR OGC
041865,001818:
|
|
Page 961
|
041867,001820: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041868,001821:
041869,001822: 15,3041 34755 2STARS CAF ZERO # INITALIZE STARIND
041870,001823: 15,3042 13044 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041871,001824: 15,3043 34753 1STAR CAF BIT1
041872,001825: 15,3044 55757 TS STARIND
041873,001826:
041874,001827: 15,3045 05364 TC PHASCHNG
041875,001828: 15,3046 04024 OCT 04024
041876,001829:
041877,001830: 15,3047 12270 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041878,001831:
041879,001832: 15,3050 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041880,001833: 15,3051 00006 EXTEND
041881,001834: 15,3052 13063 BZF ASTAR # 1ST STAR MARKED
041882,001835:
041883,001836: 15,3053 05364 TC PHASCHNG
041884,001837: 15,3054 04024 OCT 04024
041885,001838:
041886,001839: 15,3055 06042 TC INTPRET
041887,001840: 15,3056 45145 DLOAD CALL
041888,001841: 15,3057 03562 TSIGHT # TIME OF 2ND MARK
041889,001842: 15,3060 32500 PLANET
041890,001843: 15,3061 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041891,001844: 15,3062 33075 SURFLINE
041892,001845:
041893,001846: 15,3063 06042 ASTAR TC INTPRET
041894,001847: 15,3064 77775 VLOAD
041895,001848: 15,3065 02715 STARAD +6
041896,001849: 15,3066 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041897,001850: 15,3067 45145 DLOAD CALL
041898,001851: 15,3070 03562 TSIGHT # TIME OF 1ST MARK
041899,001852: 15,3071 32500 PLANET
041900,001853: 15,3072 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041901,001854: 15,3073 77776 EXIT
041902,001855: 15,3074 13043 TCF 1STAR # GO GET 2ND STAR SIGHTING
041903,001856:
|
|
Page 962
|
041905,001858: # DO FINE OR COARSE ALIGNMENT OF IMU
041906,001859:
041907,001860: 15,3075 77131 SURFLINE SSP AXT,2
041908,001861: 15,3076 00052 S2
041909,001862: 15,3077 00006 6
041910,001863: 15,3100 00014 12D
041911,001864: 15,3101 64373 WRTDESIR VLOAD* MXV
041912,001865: 15,3102 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041913,001866: 15,3103 03607 XSMD
041914,001867: 15,3104 77656 UNIT
041915,001868: 15,3105 12723 STORE STARAD +12D,2 # VEC IN SM
041916,001869: 15,3106 77773 VLOAD*
041917,001870: 15,3107 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041918,001871: 15,3110 10023 STORE 18D,2
041919,001872: 15,3111 43104 TIX,2 BON
041920,001873: 15,3112 33101 WRTDESIR
041921,001874: 15,3113 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041922,001875: 15,3114 33122 INITBY
041923,001876: 15,3115 77624 DOALIGN CALL
041924,001877: 15,3116 31250 R54 # DO CHKSDATA
041925,001878: 15,3117 77614 BOFF
041926,001879: 15,3120 00354 FREEFLAG
041927,001880: 15,3121 33202 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041928,001881: 15,3122 77624 INITBY CALL
041929,001882: 15,3123 47407 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041930,001883: 15,3124 77624 CALL
041931,001884: 15,3125 47215 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041932,001885: 15,3126 77776 EXIT
041933,001886: 15,3127 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041934,001887: 15,3130 70104 MASK FLAGWRD8
041935,001888: 15,3131 10000 CCS A
041936,001889: 15,3132 13141 TCF 5DEGTEST
041937,001890: 15,3133 33307 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041938,001891: 15,3134 04616 TC BANKCALL
041939,001892: 15,3135 20477 CADR GOFLASH
041940,001893: 15,3136 06001 TC GOTOPOOH # V34-TERMINATE
041941,001894: 15,3137 13141 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
041942,001895: 15,3140 13203 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
041943,001896:
041944,001897: 15,3141 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041945,001898: 15,3142 40175 VLOAD BOV
041946,001899: 15,3143 02740 OGC
041947,001900: 15,3144 33145 SURFSUP
041948,001901: 15,3145 02750 SURFSUP STORE OGCT
041949,001902: 15,3146 40141 V/SC BOV
041950,001903: 15,3147 30602 5DEGREES
041951,001904: 15,3150 33250 COATRIM
041952,001905: 15,3151 52131 SSP GOTO
041953,001906: 15,3152 02746 QMIN
041954,001907: 15,3153 33155 SURFDISP
|
|
Page 963
|
041956,001909: 15,3154 33030 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041957,001910:
041958,001911: 15,3155 77776 SURFDISP EXIT
041959,001912: 15,3156 05364 TC PHASCHNG
041960,001913: 15,3157 04024 OCT 04024
041961,001914:
041962,001915: 15,3160 06042 TC INTPRET
041963,001916: 15,3161 75160 AXC,1 AXC,2
041964,001917: 15,3162 03606 XSMD
041965,001918: 15,3163 01731 REFSMMAT
041966,001919: 15,3164 45014 SET CALL
041967,001920: 15,3165 01462 REFSMFLG
041968,001921: 15,3166 31371 MATMOVE
041969,001922: 15,3167 77776 EXIT
041970,001923: 15,3170 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041971,001924: 15,3171 13173 TCF B2F8
041972,001925: 15,3172 13203 TCF P57POST +1
041973,001926:
041974,001927: 15,3173 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041975,001928: 15,3174 70104 MASK FLAGWRD8
041976,001929: 15,3175 10000 CCS A
041977,001930: 15,3176 13555 TCF P57JUMP # ITS SET
041978,001931: 15,3177 06042 TC INTPRET
041979,001932: 15,3200 77624 CALL
041980,001933: 15,3201 33502 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041981,001934: 15,3202 77776 P57POST EXIT
041982,001935: 15,3203 35752 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041983,001936: 15,3204 04616 TC BANKCALL
041984,001937: 15,3205 20624 CADR GOPERF1
041985,001938: 15,3206 16001 TCF GOTOPOOH # VB34-TERMINATE
041986,001939: 15,3207 13555 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
041987,001940: 15,3210 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041988,001941: 15,3211 61144 AD OPTION2
041989,001942: 15,3212 00006 EXTEND
041990,001943: 15,3213 13215 BZF +2 # YES-GO CALCULATE LANDING SITE
041991,001944: 15,3214 16001 TCF GOTOPOOH # NO-EXIT P57
041992,001945: 15,3215 05364 TC PHASCHNG # RESTART PLACE
041993,001946: 15,3216 04024 OCT 04024
041994,001947: 15,3217 06042 TC INTPRET
041995,001948: 15,3220 45175 VLOAD CALL # USE GNB
041996,001949: 15,3221 02231 GSAV
041997,001950: 15,3222 47636 CDU*NBSM # GO TO SM COORDS
041998,001951: 15,3223 43105 VXM SET # ON MOON SO SET LUNAFLAG
041999,001952: 15,3224 01732 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
042000,001953: 15,3225 01463 LUNAFLAG
042001,001954: 15,3226 51515 PDVL ABVAL
042002,001955: 15,3227 02021 RLS
042003,001956: 15,3230 45561 VXSC STADR
042004,001957: 15,3231 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
042005,001958: 15,3232 47014 CLEAR RTB
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|
Page 964
|
042007,001960: 15,3233 00662 ERADFLAG
042008,001961: 15,3234 21574 LOADTIME
042009,001962: 15,3235 77624 CALL
042010,001963: 15,3236 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
042011,001964: 15,3237 01220 STORE RN # RN=RLS B-29 = LM POSITION
042012,001965: 15,3240 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
042013,001966: 15,3241 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
042014,001967: 15,3242 77606 PUSH # TIME AT 6-7 IN PDLIST
042015,001968: 15,3243 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
042016,001969: 15,3244 51642 R-TO-RP
042017,001970: 15,3245 02021 STORE RLS # RLS IN MOON-FIXED COORDS
042018,001971: 15,3246 77776 EXIT
042019,001972: 15,3247 16001 TCF GOTOPOOH # EXIT P57
042020,001973:
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|
Page 965
|
042022,001975: # COARSE AND FINE ALIGN IMU
042023,001976: 15,3250 75160 COATRIM AXC,1 AXC,2
042024,001977: 15,3251 02664 XDC
042025,001978: 15,3252 02642 XSM
042026,001979: 15,3253 77624 CALL
042027,001980: 15,3254 31371 MATMOVE
042028,001981: 15,3255 77624 CALL
042029,001982: 15,3256 47505 CDUTRIG
042030,001983: 15,3257 77624 CALL
042031,001984: 15,3260 20030 CALCSMSC
042032,001985: 15,3261 77624 CALL
042033,001986: 15,3262 47321 CALCGA
042034,001987: 15,3263 77414 BOFF EXIT
042035,001988: 15,3264 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
042036,001989: 15,3265 33277 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
042037,001990: 15,3266 35010 CAF V06N22 # THAN 5 DEGREES
042038,001991: 15,3267 04616 TC BANKCALL
042039,001992: 15,3270 20477 CADR GOFLASH
042040,001993: 15,3271 06001 TC GOTOPOOH
042041,001994: 15,3272 13274 TCF +2
042042,001995: 15,3273 13266 TCF -5
042043,001996: 15,3274 05364 TC PHASCHNG
042044,001997: 15,3275 04024 OCT 04024
042045,001998:
042046,001999: 15,3276 06042 TC INTPRET
042047,002000: 15,3277 77624 CORSIT CALL
042048,002001: 15,3300 31557 COARSE
042049,002002: 15,3301 77624 CALL
042050,002003: 15,3302 31603 NCOARSE
042051,002004: 15,3303 77624 CALL
042052,002005: 15,3304 32775 GYROTRIM
042053,002006: 15,3305 77650 GOTO
042054,002007: 15,3306 33155 SURFDISP
042055,002008: 15,3307 01535 DISPGYRO VN 0693
042056,002009:
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|
Page 966
|
042058,002011: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042059,002012:
042060,002013: 15,3310 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042061,002014: 15,3311 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
042062,002015:
042063,002016: 15,3312 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042064,002017: 15,3313 55144 TS OPTION2
042065,002018: 15,3314 34753 P57OPT CAF BIT1
042066,002019: 15,3315 04616 TC BANKCALL
042067,002020: 15,3316 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
042068,002021: 15,3317 06001 TC GOTOPOOH # V34 TERMINATE
042069,002022: 15,3320 13325 TCF ALIGNOPT # V33 PROCEED
042070,002023: 15,3321 13314 TCF P57OPT # V32 RECYCLE
042071,002024:
042072,002025: 15,3322 05364 TC PHASCHNG
042073,002026: 15,3323 00014 OCT 00014
042074,002027: 15,3324 05155 TC ENDOFJOB
042075,002028:
042076,002029: 15,3325 31144 ALIGNOPT CA OPTION2
042077,002030: 15,3326 76250 MASK THREE
042078,002031: 15,3327 50000 INDEX A
042079,002032: 15,3330 13331 TCF +1
042080,002033: 15,3331 13344 TCF TDISP # OPTION 4 LS ORIENTATION
042081,002034: 15,3332 13405 TCF PACKOPTN # OPTION 1 PREFERRED
042082,002035: 15,3333 13314 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
042083,002036: 15,3334 06042 TC INTPRET # OPTION 3 REFSMMAT
042084,002037: 15,3335 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
042085,002038: 15,3336 01731 REFSMMAT
042086,002039: 15,3337 03606 XSMD
042087,002040: 15,3340 77624 CALL
042088,002041: 15,3341 31371 MATMOVE
042089,002042: 15,3342 77650 GOTO
042090,002043: 15,3343 33404 PACKOPTN -1
042091,002044:
042092,002045: 15,3344 06042 TDISP TC INTPRET
042093,002046: 15,3345 77745 DLOAD
042094,002047: 15,3346 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042095,002048: 15,3347 01045 P57A STORE DSPTEM1
042096,002049: 15,3350 77776 EXIT
042097,002050: 15,3351 32213 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042098,002051: 15,3352 04616 TC BANKCALL
042099,002052: 15,3353 20477 CADR GOFLASH
042100,002053: 15,3354 16001 TCF GOTOPOOH # V34-TERMINATE
042101,002054: 15,3355 13357 TCF +2
042102,002055: 15,3356 13351 TCF P57AA # VB32-RECYCLE
042103,002056:
042104,002057: 15,3357 06042 TC INTPRET
042105,002058: 15,3360 65234 RTB PDDL
042106,002059: 15,3361 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042107,002060: 15,3362 01045 DSPTEM1
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|
Page 967
|
042109,002062: 15,3363 65254 BZE PDDL
042110,002063: 15,3364 33374 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
042111,002064: 15,3365 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042112,002065: 15,3366 01045 DSPTEM1
042113,002066: 15,3367 33374 P57C
042114,002067: 15,3370 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042115,002068: 15,3371 74335 STORE TIG # STORE IT IN TIG
042116,002069: 15,3372 36775 STCALL TALIGN
042117,002070: 15,3373 33376 P57D
042118,002071: 15,3374 45545 P57C DLOAD STADR
042119,002072: 15,3375 75002 STORE TALIGN
042120,002073: 15,3376 34041 P57D STCALL TDEC1
042121,002074: 15,3377 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042122,002075: 15,3400 53575 VLOAD UNIT # IN X,Y,ZSMD
042123,002076: 15,3401 00001 RATT
042124,002077: 15,3402 37607 STCALL XSMD
042125,002078: 15,3403 10765 LSORIENT
042126,002079: 15,3404 77776 EXIT
042127,002080: 15,3405 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042128,002081: 15,3406 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042129,002082: 15,3407 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042130,002083: 15,3410 34737 CAF REFSMBIT
042131,002084: 15,3411 70077 MASK FLAGWRD3 # REFSMFLG
042132,002085: 15,3412 10000 CCS A
042133,002086: 15,3413 34745 CAF BIT7 # SET
042134,002087: 15,3414 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
042135,002088: 15,3415 34753 CAF ATTFLBIT
042136,002089: 15,3416 70102 MASK FLAGWRD6 # ATTFLG
042137,002090: 15,3417 10000 CCS A
042138,002091: 15,3420 34750 CAF BIT4 # SET
042139,002092: 15,3421 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
042140,002093: 15,3422 34750 CAF BIT4
042141,002094: 15,3423 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042142,002095:
042143,002096: 15,3424 33645 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042144,002097: 15,3425 04616 TC BANKCALL
042145,002098: 15,3426 20477 CADR GOFLASH
042146,002099: 15,3427 16001 TCF GOTOPOOH # VB34-TERMINATE
042147,002100: 15,3430 13432 TCF +2 # V33-PROCEED
042148,002101: 15,3431 13424 TCF DSPOPTN # V32-RECYCLE
042149,002102:
042150,002103: 15,3432 34737 CAF REFSMBIT
042151,002104: 15,3433 70077 MASK FLAGWRD3
042152,002105: 15,3434 10000 CCS A
042153,002106: 15,3435 13535 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042154,002107: 15,3436 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
042155,002108: 15,3437 70102 MASK FLAGWRD6
042156,002109: 15,3440 10000 CCS A
042157,002110: 15,3441 13541 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042158,002111: 15,3442 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 968
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042160,002113: 15,3443 71144 MASK OPTION2
042161,002114: 15,3444 10000 CCS A
042162,002115: 15,3445 13541 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042163,002116: 15,3446 05600 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
042164,002117: 15,3447 00701 OCT 701
042165,002118: 15,3450 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042166,002119: 15,3451 04616 TC BANKCALL
042167,002120: 15,3452 20477 CADR GOFLASH
042168,002121: 15,3453 16001 TCF GOTOPOOH # VB34-TERMINATE
042169,002122: 15,3454 13424 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
042170,002123: 15,3455 13424 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
042171,002124:
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|
Page 969
|
042173,002126: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042174,002127:
042175,002128: 15,3456 40220 MFREF STQ SETPD
042176,002129: 15,3457 02746 QMAJ
042177,002130: 15,3460 00001 0
042178,002131: 15,3461 77634 RTB
042179,002132: 15,3462 21574 LOADTIME
042180,002133: 15,3463 27562 STOVL TSIGHT
042181,002134: 15,3464 03246 VEC1
042182,002135: 15,3465 41525 PDDL PUSH
042183,002136: 15,3466 03562 TSIGHT
042184,002137: 15,3467 77624 CALL
042185,002138: 15,3470 55720 RP-TO-R
042186,002139: 15,3471 27246 STOVL VEC1
042187,002140: 15,3472 03254 VEC2
042188,002141: 15,3473 65201 SETPD PDDL
042189,002142: 15,3474 00001 0
042190,002143: 15,3475 03562 TSIGHT
042191,002144: 15,3476 45006 PUSH CALL
042192,002145: 15,3477 55720 RP-TO-R
042193,002146: 15,3500 37254 STCALL VEC2
042194,002147: 15,3501 02746 QMAJ
042195,002148:
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|
Page 970
|
042197,002150: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042198,002151: # STORE IN YNBSAV AND ZNBSAV
042199,002152:
042200,002153: 15,3502 45020 REFMF STQ CALL
042201,002154: 15,3503 02746 QMAJ
042202,002155: 15,3504 47505 CDUTRIG # GET SIN AND COS OF CDUS
042203,002156: 15,3505 40234 RTB SETPD
042204,002157: 15,3506 21574 LOADTIME
042205,002158: 15,3507 00001 0
042206,002159: 15,3510 37562 STCALL TSIGHT
042207,002160: 15,3511 20030 CALCSMSC # GET YNB IN SM
042208,002161: 15,3512 61375 VLOAD VXM
042209,002162: 15,3513 02673 YNB
042210,002163: 15,3514 01732 REFSMMAT # YNB TO REF
042211,002164: 15,3515 65256 UNIT PDDL
042212,002165: 15,3516 03562 TSIGHT
042213,002166: 15,3517 45006 PUSH CALL
042214,002167: 15,3520 51642 R-TO-RP
042215,002168: 15,3521 26237 STOVL YNBSAV # YNB TO MF
042216,002169: 15,3522 02701 ZNB
042217,002170: 15,3523 53505 VXM UNIT
042218,002171: 15,3524 01732 REFSMMAT # ZNB TO REF
042219,002172: 15,3525 41525 PDDL PUSH
042220,002173: 15,3526 03562 TSIGHT
042221,002174: 15,3527 77624 CALL
042222,002175: 15,3530 51642 R-TO-RP # ZNB TO MF
042223,002176: 15,3531 02245 STORE ZNBSAV
042224,002177: 15,3532 77614 SETGO
042225,002178: 15,3533 03036 ATTFLAG
042226,002179: 15,3534 02746 QMAJ
042227,002180:
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|
Page 971
|
042229,002182: # BRANCH TO ALIGNMENT OPTION
042230,002183:
042231,002184: 15,3535 06042 GETLMATT TC INTPRET
042232,002185: 15,3536 77624 CALL
042233,002186: 15,3537 33502 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
042234,002187: 15,3540 77776 EXIT
042235,002188:
042236,002189: 15,3541 05515 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042237,002190: 15,3542 00205 ADRES INITALGN
042238,002191: 15,3543 34753 CAF BIT1
042239,002192: 15,3544 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
042240,002193: 15,3545 10000 CCS A
042241,002194: 15,3546 12572 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042242,002195:
042243,002196: 15,3547 05364 ATTCHK TC PHASCHNG
042244,002197: 15,3550 04024 OCT 04024
042245,002198:
042246,002199: 15,3551 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042247,002200: 15,3552 70102 MASK FLAGWRD6
042248,002201: 15,3553 10000 CCS A
042249,002202: 15,3554 13571 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042250,002203: 15,3555 05364 P57JUMP TC PHASCHNG
042251,002204: 15,3556 04024 OCT 04024
042252,002205:
042253,002206: 15,3557 05527 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
042254,002207: 15,3560 00205 ADRES INITALGN
042255,002208: 15,3561 36250 CAF THREE
042256,002209: 15,3562 71144 MASK OPTION2 # BRANCH ON OPTION CODE
042257,002210: 15,3563 50000 INDEX A
042258,002211: 15,3564 13565 TCF +1
042259,002212: 15,3565 13571 TCF P57OPT0 # OPTION IS 0
042260,002213: 15,3566 13612 TCF P57OPT1 # OPTION IS 1
042261,002214: 15,3567 13630 TCF P57OPT2 # OPTION IS 2
042262,002215: 15,3570 13631 TCF P57OPT3 # OPTION IS 3
042263,002216:
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|
Page 972
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042265,002218: # OPTION 0, GET TWO ATTITUDE VECS
042266,002219:
042267,002220: 15,3571 06042 P57OPT0 TC INTPRET
042268,002221: 15,3572 77775 VLOAD
042269,002222: 15,3573 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042270,002223: 15,3574 27246 STOVL VEC1
042271,002224: 15,3575 02245 ZNBSAV
042272,002225: 15,3576 37254 STCALL VEC2
042273,002226: 15,3577 47505 CDUTRIG
042274,002227: 15,3600 77624 CALL
042275,002228: 15,3601 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042276,002229: 15,3602 77775 VLOAD
042277,002230: 15,3603 02673 YNB
042278,002231: 15,3604 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042279,002232: 15,3605 02701 ZNB
042280,002233: 15,3606 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042281,002234: 15,3607 33456 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042282,002235: 15,3610 77650 GOTO
042283,002236: 15,3611 33075 SURFLINE
042284,002237:
042285,002238: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042286,002239:
042287,002240: 15,3612 06042 P57OPT1 TC INTPRET
042288,002241: 15,3613 53575 VLOAD UNIT
042289,002242: 15,3614 02021 RLS # LANDING SITE VEC
042290,002243: 15,3615 27246 STOVL VEC1
042291,002244: 15,3616 02245 ZNBSAV # Z ATTITUDE VEC
042292,002245: 15,3617 37254 STCALL VEC2
042293,002246: 15,3620 47505 CDUTRIG
042294,002247: 15,3621 77624 CALL
042295,002248: 15,3622 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042296,002249: 15,3623 45175 VLOAD CALL
042297,002250: 15,3624 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042298,002251: 15,3625 47636 CDU*NBSM
042299,002252: 15,3626 77650 GOTO
042300,002253: 15,3627 33604 SAMETYP # NOW DO SAME AS OPTION 0
042301,002254:
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|
Page 973
|
042303,002256: # OPTION 2, GET TWO STAR SIGHTINGS
042304,002257:
042305,002258: 15,3630 13041 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042306,002259:
042307,002260: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042308,002261:
042309,002262: 15,3631 06042 P57OPT3 TC INTPRET
042310,002263: 15,3632 53575 VLOAD UNIT
042311,002264: 15,3633 02021 RLS # LANDING SITE VEC
042312,002265: 15,3634 03246 STORE VEC1
042313,002266: 15,3635 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042314,002267: 15,3636 02231 GSAV # GRAVITY VEC NB
042315,002268: 15,3637 77624 CALL
042316,002269: 15,3640 47636 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042317,002270: 15,3641 36761 STCALL STARSAV1
042318,002271: 15,3642 33456 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042319,002272: 15,3643 77776 EXIT
042320,002273: 15,3644 13043 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042321,002274:
042322,002275: 15,3645 01206 VB05N06 VN 506
042323,002276:
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|
Page 974
|
042325,002278: # CHECK IMODES30 TO VARIFY IMU IS ON
042326,002279:
042327,002280: 15,3646 41277 IMUCHK CS IMODES30
042328,002281: 15,3647 74743 MASK BIT9
042329,002282: 15,3650 10000 CCS A # IS IMU ON
042330,002283: 15,3651 13655 TCF +4 # YES
042331,002284:
042332,002285: 15,3652 05600 TC ALARM # NO, SEND ALARM AND EXIT
042333,002286: 15,3653 00210 OCT 210
042334,002287: 15,3654 06001 TC GOTOPOOH
042335,002288:
042336,002289: 15,3655 05515 TC UPFLAG
042337,002290: 15,3656 00007 ADRES IMUSE # SET IMUSE FLAG
042338,002291:
042339,002292: 15,3657 04631 TC SWRETURN
042340,002293:
042341,002294: 04,2765 BANK 04
042342,002295: 04,2000 SETLOC AOTMARK2
042343,002296: 04,2000 BANK
042344,002297: 04,2765 COUNT* $$/P57
042345,002298:
042346,002299: 04,2765 77220 LSORIENT STQ VLOAD
042347,002300: 04,2766 02746 QMAJ
042348,002301: 04,2767 01555 RRECTCSM
042349,002302: 04,2770 47235 VXV VXV
042350,002303: 04,2771 01563 VRECTCSM
042351,002304: 04,2772 03607 XSMD
042352,002305: 04,2773 77656 UNIT
042353,002306: 04,2774 03623 STORE ZSMD
042354,002307: 04,2775 53435 VXV UNIT
042355,002308: 04,2776 03607 XSMD
042356,002309: 04,2777 37615 STCALL YSMD
042357,002310: 04,3000 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc