Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
|
|
These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
040846,000002: ## Copyright: Public domain.
040847,000003: ## Filename: P51-P53.agc
040848,000004: ## Purpose: A section of Luminary revision 210.
040849,000005: ## It is part of the source code for the Lunar Module's (LM)
040850,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
040851,000007: ## This file is intended to be a faithful transcription, except
040852,000008: ## that the code format has been changed to conform to the
040853,000009: ## requirements of the yaYUL assembler rather than the
040854,000010: ## original YUL assembler.
040855,000011: ## Reference: pp. 923-981
040856,000012: ## Assembler: yaYUL
040857,000013: ## Contact: Ron Burkey <info@sandroid.org>.
040858,000014: ## Website: www.ibiblio.org/apollo/index.html
040859,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
040860,000016: ## 2016-12-07 MAS Began transcription.
040861,000017: ## 2016-12-08 MAS Finished updates for Luminary 210.
040862,000018: ## 2016-12-11 HG Fix operand FLT69FLG -> FLT59FLG
040863,000019: ## Operator TCF GOTOPOOH -> TC GOTOPOOH
040864,000020: ## TC CHKOUT -> TCF CHKOUT
040865,000021: ## 2016-12-26 RSB Comment-text proofed using ProoferComments
040866,000022: ## and corrected errors found.
040867,000023: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
040868,000024: ## side-by-side diff of Luminary 69/99/116/131/210.
040869,000025:
|
|
Page 923 |
040871,000027: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
040872,000028: # MOD NO- 0 LOG SECTION- P51-P53
040873,000029: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
040874,000030:
040875,000031: # FUNCTIONAL DESCRIPTION-
040876,000032:
040877,000033: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040878,000034: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
040879,000035:
040880,000036: # (A) PREFERRED ORIENTATION
040881,000037:
040882,000038: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
040883,000039: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040884,000040:
040885,000041: # (B) NOMINAL ORIENTATION
040886,000042:
040887,000043: # X = UNIT ( R )
040888,000044: # -SM
040889,000045:
040890,000046: # Y = UNIT (V X R)
040891,000047: # SM
040892,000048:
040893,000049: # Z = UNIT (X X Y )
040894,000050: # SM SM SM
040895,000051:
040896,000052: # WHERE_
040897,000053: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040898,000054: # -
040899,000055:
040900,000056: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040901,000057: # -
040902,000058:
040903,000059: # (C) REFSMMAT ORIENTATION
040904,000060:
040905,000061: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040906,000062:
040907,000063: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040908,000064: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040909,000065: # SINCE THE LAST ALIGNMENT).
040910,000066:
040911,000067: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040912,000068: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040913,000069: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040914,000070: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040915,000071: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040916,000072: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040917,000073: # REQUESTED.
040918,000074:
040919,000075: # CALLING SEQUENCE-
|
|
Page 924 |
040921,000077: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040922,000078:
040923,000079: # SUBROUTINES CALLED-
040924,000080:
040925,000081: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040926,000082: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040927,000083: # 3. GOPERF4 9. FLAGUP
040928,000084: # 4. MATMOVE 10. R56
040929,000085: # 5. GOFLASH 11. R51
040930,000086: # 6. S52.3 12. GOPERF3
040931,000087:
040932,000088: # NORMAL EXIT MODES-
040933,000089:
040934,000090: # EXITS TO ENDOFJOB
040935,000091:
040936,000092: # ALARM OR ABORT EXIT MODES-
040937,000093:
040938,000094: # NONE
040939,000095:
040940,000096: # OUTPUT-
040941,000097:
040942,000098: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040943,000099: # 1. IMU ORIENTATION CODE
040944,000100: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
040945,000101: # 3. TIME OF NEXT IGNITION
040946,000102: # 4. GIMBAL ANGLES
040947,000103: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
040948,000104: # 6. PLEASE PERFORM P00
040949,000105: # THE MODE DISPLAY MAY BE CHANGED TO 20
040950,000106:
040951,000107: # ERASABLE INITIALIZATION REQUIRED-
040952,000108:
040953,000109: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
040954,000110: # XSMD,YSMD,ZSMD.
040955,000111: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040956,000112:
040957,000113: # DEBRIS-
040958,000114:
040959,000115: # WORK AREA
040960,000116: 15,2000 SETLOC P50S
040961,000117: 15,2000 BANK
040962,000118:
040963,000119: 15,2201 E5,1755 EBANK= BESTI
040964,000120: 15,2201 COUNT* $$/P52
040965,000121: 15,2201 04607 PROG52 TC BANKCALL
040966,000122: 15,2202 33757 CADR R02BOTH # IMU STATUS CHECK
040967,000123: 15,2203 34741 CAF PFRATBIT
040968,000124: 15,2204 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040969,000125: 15,2205 10000 CCS A
040970,000126: 15,2206 02211 TC P52A # YES
|
|
Page 925 |
040972,000128: 15,2207 36266 CAF THREE # DISPLAY REFSMMAT OPTION 3
040973,000129: 15,2210 02212 TC P52A +1
040974,000130: 15,2211 34744 P52A CAF BIT1
040975,000131: 15,2212 55144 TS OPTION2
040976,000132: 15,2213 34744 P52B CAF BIT1
040977,000133: 15,2214 04607 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040978,000134: 15,2215 20725 CADR GOPERF4R # FLASH V04N06
040979,000135: 15,2216 06001 TC GOTOPOOH
040980,000136: 15,2217 12224 TCF +5 # V33-PROCEED
040981,000137: 15,2220 02213 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040982,000138: 15,2221 05355 TC PHASCHNG # DISPLAY RETURN
040983,000139: 15,2222 00014 OCT 00014
040984,000140: 15,2223 05146 TC ENDOFJOB
040985,000141:
040986,000142: 15,2224 31144 CA OPTION2
040987,000143: 15,2225 76266 MASK THREE
040988,000144: 15,2226 50000 INDEX A
040989,000145: 15,2227 02230 TC +1
040990,000146: 15,2230 12236 TCF OPT4 # OPTION 4 LANDING SITE
040991,000147: 15,2231 12310 TCF P52H # OPTION 1 PREFERRED
040992,000148: 15,2232 12243 TCF P52T # OPTION 2 NOMINAL
040993,000149: 15,2233 06060 P52E TC INTPRET # OPTION 3 REFSMMAT
040994,000150: 15,2234 77650 GOTO
040995,000151: 15,2235 32321 P52F # GO DO R51
040996,000152:
040997,000153: 15,2236 34732 OPT4 CAF EBANK4 # SET EBANK TO USE TLAND
040998,000154: 15,2237 54003 TS EBANK
040999,000155: 15,2240 E4,1426 EBANK= TLAND
041000,000156: 15,2240 00006 EXTEND
041001,000157: 15,2241 31427 DCA TLAND # IF OPTION 4 DISPLAY TLAND
041002,000158: 15,2242 12245 TCF P52T +2
041003,000159:
041004,000160: 15,2243 00006 P52T EXTEND
041005,000161: 15,2244 34746 DCA NEG0
041006,000162: 15,2245 53045 DXCH DSPTEM1
041007,000163: 15,2246 35005 CAF EBANK5 # RESTORE EBANK AFTER USE OF TLAND
041008,000164: 15,2247 54003 TS EBANK
041009,000165: 15,2250 E5,1774 EBANK= TALIGN
041010,000166: 15,2250 32325 CAF V06N34*
041011,000167: 15,2251 04607 TC BANKCALL
041012,000168: 15,2252 20471 CADR GOFLASH
041013,000169: 15,2253 06001 TC GOTOPOOH
041014,000170: 15,2254 02256 TC +2
041015,000171: 15,2255 02250 TC -5
041016,000172: 15,2256 53045 DXCH DSPTEM1
041017,000173: 15,2257 00006 EXTEND
041018,000174: 15,2260 62262 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
041019,000175: 15,2261 12264 TCF +3
041020,000176: 15,2262 00006 EXTEND
041021,000177: 15,2263 30025 DCA TIME2
|
|
Page 926 |
041023,000179: 15,2264 53775 DXCH TALIGN
041024,000180: 15,2265 31144 P52V CA OPTION2
041025,000181: 15,2266 74743 MASK BIT2
041026,000182: 15,2267 10000 CCS A
041027,000183: 15,2270 02274 TC P52W
041028,000184: 15,2271 06060 TC INTPRET # OPTION 4 - GET LS ORIENTATION
041029,000185: 15,2272 77650 GOTO
041030,000186: 15,2273 32355 P52LS
041031,000187:
|
|
Page 927 |
041033,000189: # START ALIGNMENT
041034,000190:
041035,000191: 15,2274 06060 P52W TC INTPRET
041036,000192: 15,2275 45145 DLOAD CALL # PICK UP ALIGN TIME
041037,000193: 15,2276 02775 TALIGN # COMPUTE NOMINAL IMU
041038,000194: 15,2277 42740 S52.3 # ORIENTATION
041039,000195: 15,2300 77624 P52D CALL # READ VEHICLE ATTITUDE AND
041040,000196: 15,2301 42707 S52.2 # COMPUTE GIMBAL ANGLES
041041,000197: 15,2302 77776 EXIT
041042,000198: 15,2303 35001 CAF V06N22
041043,000199: 15,2304 04607 TC BANKCALL # DISPLAY GIMBAL ANGLES
041044,000200: 15,2305 20471 CADR GOFLASH
041045,000201: 15,2306 06001 TC GOTOPOOH
041046,000202: 15,2307 12326 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
041047,000203: 15,2310 06060 P52H TC INTPRET
041048,000204: 15,2311 77650 GOTO
041049,000205: 15,2312 32300 P52D
041050,000206: 15,2313 06060 REGCOARS TC INTPRET
041051,000207: 15,2314 77624 CALL # DO COARSE ALIGN
041052,000208: 15,2315 31316 CAL53A # ROUTINE
041053,000209: 15,2316 43014 COARSRET SET CLEAR
041054,000210: 15,2317 01462 REFSMFLG
041055,000211: 15,2320 01273 PFRATFLG
041056,000212: 15,2321 77624 P52F CALL
041057,000213: 15,2322 31023 R51
041058,000214: 15,2323 77776 P52OUT EXIT
041059,000215: 15,2324 06001 TC GOTOPOOH
041060,000216: 15,2325 4777 VB05N09 = V05N09
041061,000217: 15,2325 01442 V06N34* VN 634
041062,000218:
|
|
Page 928 |
041064,000220: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041065,000221: 15,2326 32354 COARSTYP CAF OCT13
041066,000222: 15,2327 04607 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041067,000223: 15,2330 20635 CADR GOPERF1
041068,000224: 15,2331 16001 TCF GOTOPOOH # V34-TERMIN&OE
041069,000225: 15,2332 12313 TCF REGCOARS # V33-NORMAL COARSE
041070,000226: 15,2333 06060 TC INTPRET # V32-GYRO TORQUE COARSE
041071,000227: 15,2334 64375 VLOAD MXV
041072,000228: 15,2335 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
041073,000229: 15,2336 01732 REFSMMAT
041074,000230: 15,2337 77656 UNIT
041075,000231: 15,2340 26665 STOVL XDC
041076,000232: 15,2341 03615 YSMD
041077,000233: 15,2342 53521 MXV UNIT
041078,000234: 15,2343 01732 REFSMMAT
041079,000235: 15,2344 26673 STOVL YDC
041080,000236: 15,2345 03623 ZSMD
041081,000237: 15,2346 53521 MXV UNIT
041082,000238: 15,2347 01732 REFSMMAT
041083,000239: 15,2350 36701 STCALL ZDC
041084,000240: 15,2351 31174 GYCOARS
041085,000241: 15,2352 77650 GOTO
041086,000242: 15,2353 32323 P52OUT
041087,000243: 15,2354 00013 OCT13 OCT 13
041088,000244:
|
|
Page 929 |
041090,000246: # COMPUTE LANDING ORIENTATION FOR OPTION 4
041091,000247: 15,2355 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
041092,000248: 15,2356 01463 LUNAFLAG
041093,000249: 15,2357 00662 ERADFLAG # TO PICK UP RLS
041094,000250: 15,2360 77201 SETPD VLOAD
041095,000251: 15,2361 00001 0
041096,000252: 15,2362 02021 RLS # PICK UP LANDING SITE VEC IN MF
041097,000253: 15,2363 41525 PDDL PUSH # RLS PD 0-5
041098,000254: 15,2364 02775 TALIGN
041099,000255: 15,2365 36027 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
041100,000256:
041101,000257: 15,2366 55716 RP-TO-R # TRANS RLS TO REF
041102,000258: 15,2367 77742 VSR2
041103,000259: 15,2370 16032 STODL ALPHAV # INPUT TO LAT-LONG
041104,000260: 15,2371 02775 TALIGN
041105,000261: 15,2372 77624 CALL
041106,000262: 15,2373 30455 N89DISP
041107,000263: 15,2374 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
041108,000264: 15,2375 02032 ALPHAV
041109,000265: 15,2376 37607 STCALL XSMD
041110,000266: 15,2377 11014 LSORIENT
041111,000267: 15,2400 77650 GOTO
041112,000268: 15,2401 32300 P52D # NOW GO COMPUTE GIMBAL ANGLES
041113,000269:
041114,000270: 13,2000 SETLOC P50S2
041115,000271: 13,2000 BANK
041116,000272:
041117,000273: 13,2374 77773 MATMOVE VLOAD*
041118,000274: 13,2375 00001 0,1
041119,000275: 13,2376 10001 STORE 0,2
041120,000276: 13,2377 77773 VLOAD*
041121,000277: 13,2400 00007 6D,1
041122,000278: 13,2401 10007 STORE 6D,2
041123,000279: 13,2402 77773 VLOAD*
041124,000280: 13,2403 00015 12D,1
041125,000281: 13,2404 10015 STORE 12D,2
041126,000282: 13,2405 77616 RVQ
041127,000283:
|
|
Page 930 |
041129,000285: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
041130,000286:
041131,000287: 14,2000 SETLOC P50S1
041132,000288: 14,2000 BANK
041133,000289: 14,2455 E5,1642 EBANK= XSM
041134,000290:
041135,000291: 14,2455 77620 N89DISP STQ
041136,000292: 14,2456 02746 QMAJ
041137,000293: 14,2457 35242 STCALL SITIME # STORE TIME
041138,000294: 14,2460 26406 LAT-LONG
041139,000295: 14,2461 70545 DLOAD SR1
041140,000296: 14,2462 01122 LONG
041141,000297: 14,2463 16711 STODL LANDLONG
041142,000298: 14,2464 01124 ALT
041143,000299: 14,2465 16713 STODL LANDALT
041144,000300: 14,2466 01120 LAT
041145,000301: 14,2467 02707 STORE LANDLAT
041146,000302: 14,2470 77776 EXIT
041147,000303:
041148,000304: 14,2471 32514 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
041149,000305: 14,2472 04607 TC BANKCALL
041150,000306: 14,2473 20471 CADR GOFLASH
041151,000307: 14,2474 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
041152,000308: 14,2475 12477 TCF +2 # V33-PROCEED- ACCEPT LS DATA
041153,000309: 14,2476 12471 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
041154,000310:
041155,000311: 14,2477 06060 TC INTPRET
041156,000312: 14,2500 72545 DLOAD SL1
041157,000313: 14,2501 02711 LANDLONG
041158,000314: 14,2502 15122 STODL LONG
041159,000315: 14,2503 02713 LANDALT
041160,000316: 14,2504 15124 STODL ALT
041161,000317: 14,2505 02707 LANDLAT
041162,000318: 14,2506 15120 STODL LAT
041163,000319: 14,2507 01242 SITIME # PICK UP TIME
041164,000320: 14,2510 77624 CALL # GET RLS BACK FROM LAT,LONG, ALT
041165,000321: 14,2511 26457 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
041166,000322: 14,2512 77650 GOTO
041167,000323: 14,2513 02746 QMAJ
041168,000324: 14,2514 01531 V06N89* VN 689
041169,000325:
|
|
Page 931 |
041171,000327: # NAME -S50 ALIAS LOCSAM
041172,000328: # BY
041173,000329: # VINCENT
041174,000330: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
041175,000331:
041176,000332: # DEFINE
041177,000333:
041178,000334:
041179,000335: # U = UNIT( SUN WRT EARTH)
041180,000336: # ES
041181,000337:
041182,000338: # U =UNIT( MOON WRT EARTH)
041183,000339: # EM
041184,000340:
041185,000341: # R =POSITION VECTOR OF LEM
041186,000342: # L
041187,000343:
041188,000344: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041189,000345: # EM
041190,000346:
041191,000347: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
041192,000348: # EM
041193,000349:
041194,000350: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041195,000351: # E
041196,000352:
041197,000353: # LOCSAM COMPUTES IN EARTH INFLUENCE
041198,000354:
041199,000355: # VSUN = U
041200,000356: # ES
041201,000357:
041202,000358: # VEARTH = -UNIT( R )
041203,000359: # L
041204,000360:
041205,000361: # VMOON = UNIT(R .U - R )
041206,000362: # EM EM L
041207,000363:
041208,000364: # CSUN = COS 90
041209,000365:
041210,000366: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041211,000367: # E L
041212,000368:
041213,000369: # CMOON = COS 5
041214,000370:
041215,000371:
041216,000372: # INPUT - TIME IN MPAC
041217,000373: # OUTPUT - LISTED ABOVE
041218,000374: # SUBROUTINES -LSPOS,LEMPREC
041219,000375: # DEBRIS - VAC AREA ,TSIGHT
041220,000376:
|
|
Page 932 |
041222,000378: 14,2515 COUNT* $$/LOSAM
041223,000379:
041224,000380: 14,2515 14,2515 S50 = LOCSAM
041225,000381: 14,2515 77620 LOCSAM STQ
041226,000382: 14,2516 02745 QMIN
041227,000383: 14,2517 37562 STCALL TSIGHT
041228,000384: 14,2520 33646 LSPOS
041229,000385: 14,2521 77745 DLOAD
041230,000386: 14,2522 03562 TSIGHT
041231,000387: 14,2523 34041 STCALL TDEC1
041232,000388: 14,2524 27115 LEMPREC
041233,000389: 14,2525 61131 SSP TIX,2
041234,000390: 14,2526 00052 S2
041235,000391: 14,2527 00000 0
041236,000392: 14,2530 30552 MOONCNTR
041237,000393: 14,2531 74375 EARTCNTR VLOAD VXSC
041238,000394: 14,2532 02723 VMOON
041239,000395: 14,2533 30001 RSUBEM
041240,000396: 14,2534 52372 VSL1 VSU
041241,000397: 14,2535 00001 RATT
041242,000398: 14,2536 77656 UNIT
041243,000399: 14,2537 26723 STOVL VMOON
041244,000400: 14,2540 00001 RATT
041245,000401: 14,2541 57456 UNIT VCOMP
041246,000402: 14,2542 16707 STODL VEARTH
041247,000403: 14,2543 30005 RSUBE
041248,000404: 14,2544 77624 CALL
041249,000405: 14,2545 30604 OCCOS
041250,000406: 14,2546 14017 STODL CEARTH
041251,000407: 14,2547 30613 CSS5
041252,000408: 14,2550 34023 STCALL CMOON
041253,000409: 14,2551 30577 ENDSAM
041254,000410: 14,2552 74375 MOONCNTR VLOAD VXSC
041255,000411: 14,2553 02723 VMOON
041256,000412: 14,2554 30007 ROE
041257,000413: 14,2555 53445 BVSU UNIT
041258,000414: 14,2556 02715 VSUN
041259,000415: 14,2557 26715 STOVL VSUN
041260,000416: 14,2560 02723 VMOON
041261,000417: 14,2561 53361 VXSC VAD
041262,000418: 14,2562 30001 RSUBEM
041263,000419: 14,2563 00001 RATT
041264,000420: 14,2564 57456 UNIT VCOMP
041265,000421: 14,2565 26707 STOVL VEARTH
041266,000422: 14,2566 00001 RATT
041267,000423: 14,2567 57456 UNIT VCOMP
041268,000424: 14,2570 16723 STODL VMOON
041269,000425: 14,2571 30003 RSUBM
041270,000426: 14,2572 77624 CALL
041271,000427: 14,2573 30604 OCCOS
|
|
Page 933 |
041273,000429: 14,2574 14023 STODL CMOON
041274,000430: 14,2575 30613 CSS5
041275,000431: 14,2576 00017 STORE CEARTH
041276,000432: 14,2577 77745 ENDSAM DLOAD
041277,000433: 14,2600 30615 CSSUN
041278,000434: 14,2601 00021 STORE CSUN
041279,000435: 14,2602 77650 GOTO
041280,000436: 14,2603 02745 QMIN
041281,000437: 14,2604 70471 OCCOS DDV SR1
041282,000438: 14,2605 00045 36D
041283,000439: 14,2606 43336 ASIN DAD
041284,000440: 14,2607 30617 5DEGREES
041285,000441: 14,2610 70546 COS SR1
041286,000442: 14,2611 77616 RVQ
041287,000443: 14,2612 CEARTH = 14D
041288,000444: 14,2612 CSUN = 16D
041289,000445: 14,2612 CMOON = 18D
041290,000446: 14,2612 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041291,000447:
041292,000448: 14,2614 04000 00000 CSSUN 2DEC .125 # (COS60)/4
041293,000449:
041294,000450: 14,2616 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041295,000451:
|
|
Page 934 |
041297,000453: # PROGRAM NAME - R56 DATE DEC 20 66
041298,000454: # MOD 1 LOG SECTION P51-P53
041299,000455: # ASSEMBLY SUNDISK REV40
041300,000456: # BY KEN VINCENT
041301,000457:
041302,000458: # FUNCTION
041303,000459: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041304,000460: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041305,000461: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041306,000462: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041307,000463: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041308,000464: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041309,000465: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041310,000466: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041311,000467: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041312,000468: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041313,000469: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041314,000470: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
041315,000471:
041316,000472: # CALLING SEQUENCE
041317,000473: # L TC BANKCALL
041318,000474: # L+1 CADR R56
041319,000475: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041320,000476: # L+3 NORMAL RETURN
041321,000477:
041322,000478: # OUTPUT
041323,000479: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041324,000480: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041325,000481:
041326,000482: # INITIALIZATION
041327,000483: # 1)A CALL TO LOCSAM MUST BE MADE
041328,000484:
041329,000485: # DEBRIS
041330,000486: # WORK AREA
041331,000487: # X,Y,ZNB
041332,000488: # SINCDU,COSCDU
041333,000489: # STARAD - STAR +5
041334,000490:
041335,000491: 14,2620 14,2620 R56 = PICAPAR
041336,000492: 14,2620 COUNT* $$/R56
041337,000493: 14,2620 04636 PICAPAR TC MAKECADR
041338,000494: 14,2621 55745 TS QMIN
041339,000495: 14,2622 06060 TC INTPRET
041340,000496: 14,2623 45014 SET CALL
041341,000497: 14,2624 01465 VFLAG
041342,000498: 14,2625 47522 CDUTRIG
041343,000499: 14,2626 77624 CALL
041344,000500: 14,2627 20030 CALCSMSC
041345,000501: 14,2630 71201 SETPD DLOAD
041346,000502: 14,2631 00001 0
041347,000503: 14,2632 24007 DPZERO
|
|
Page 935 |
041349,000505: 14,2633 26756 STOVL BESTI
041350,000506: 14,2634 02665 XNB
041351,000507: 14,2635 63361 VXSC PDVL
041352,000508: 14,2636 24005 HALFDP
041353,000509: 14,2637 02701 ZNB
041354,000510: 14,2640 74370 AXT,1 VXSC
041355,000511: 14,2641 00344 228D # X1 = 37 X 6 +6
041356,000512: 14,2642 24005 HALFDP
041357,000513: 14,2643 77655 VAD
041358,000514: 14,2644 53505 VXM UNIT
041359,000515: 14,2645 01732 REFSMMAT
041360,000516: 14,2646 02731 STORE SAX # SAX = SHAFT AXIS
041361,000517: 14,2647 66331 SSP SSP # S1=S2=6
041362,000518: 14,2650 00051 S1
041363,000519: 14,2651 00006 6
041364,000520: 14,2652 00052 S2
041365,000521: 14,2653 00006 6
041366,000522: 14,2654 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041367,000523: 14,2655 30657 PIC2
041368,000524: 14,2656 30774 PICEND
041369,000525: 14,2657 50373 PIC2 VLOAD* DOT
041370,000526: 14,2660 30347 CATLOG,1
041371,000527: 14,2661 02731 SAX
041372,000528: 14,2662 50025 DSU BMN
041373,000529: 14,2663 30773 CSS33
041374,000530: 14,2664 30654 PIC1
041375,000531: 14,2665 77754 LXA,2
041376,000532: 14,2666 00046 X1
041377,000533: 14,2667 52104 PIC3 TIX,2 GOTO
041378,000534: 14,2670 30672 PIC4
041379,000535: 14,2671 30654 PIC1
041380,000536: 14,2672 50373 PIC4 VLOAD* DOT
041381,000537: 14,2673 47430 CATLOG,2
041382,000538: 14,2674 02731 SAX
041383,000539: 14,2675 50025 DSU BMN
041384,000540: 14,2676 30773 CSS33
041385,000541: 14,2677 30667 PIC3
041386,000542: 14,2700 47773 VLOAD* DOT*
041387,000543: 14,2701 30347 CATLOG,1
041388,000544: 14,2702 47430 CATLOG,2
041389,000545: 14,2703 51025 DSU BPL
041390,000546: 14,2704 30771 CSS40
041391,000547: 14,2705 30667 PIC3
041392,000548: 14,2706 45173 VLOAD* CALL
041393,000549: 14,2707 30347 CATLOG,1
041394,000550: 14,2710 30746 OCCULT
041395,000551: 14,2711 77614 BON
041396,000552: 14,2712 01710 CULTFLAG
041397,000553: 14,2713 30654 PIC1
041398,000554: 14,2714 45173 VLOAD* CALL
|
|
Page 936 |
041400,000556: 14,2715 47430 CATLOG,2
041401,000557: 14,2716 30746 OCCULT
041402,000558: 14,2717 77614 BON
041403,000559: 14,2720 01710 CULTFLAG
041404,000560: 14,2721 30667 PIC3
041405,000561: 14,2722 77614 STRATGY BONCLR
041406,000562: 14,2723 01605 VFLAG
041407,000563: 14,2724 30741 NEWPAR
041408,000564: 14,2725 65120 XCHX,1 XCHX,2
041409,000565: 14,2726 02755 BESTI
041410,000566: 14,2727 02756 BESTJ
041411,000567: 14,2730 47773 STRAT VLOAD* DOT*
041412,000568: 14,2731 30347 CATLOG,1
041413,000569: 14,2732 47430 CATLOG,2
041414,000570: 14,2733 43006 PUSH BOFINV
041415,000571: 14,2734 01545 VFLAG
041416,000572: 14,2735 30725 STRAT -3
041417,000573: 14,2736 45345 DLOAD DSU
041418,000574: 14,2737 77644 BPL
041419,000575: 14,2740 30667 PIC3
041420,000576: 14,2741 67130 NEWPAR SXA,1 SXA,2
041421,000577: 14,2742 02755 BESTI
041422,000578: 14,2743 02756 BESTJ
041423,000579: 14,2744 77650 GOTO
041424,000580: 14,2745 30667 PIC3
041425,000581: 14,2746 51321 OCCULT MXV BVSU
041426,000582: 14,2747 02707 CULTRIX
041427,000583: 14,2750 00017 CSS
041428,000584: 14,2751 77654 BZE
041429,000585: 14,2752 30765 CULTED
041430,000586: 14,2753 75240 BMN SIGN
041431,000587: 14,2754 30765 CULTED
041432,000588: 14,2755 00160 MPAC +3
041433,000589: 14,2756 75240 BMN SIGN
041434,000590: 14,2757 30765 CULTED
041435,000591: 14,2760 00162 MPAC +5
041436,000592: 14,2761 43040 BMN CLRGO
041437,000593: 14,2762 30765 CULTED
041438,000594: 14,2763 01630 CULTFLAG
041439,000595: 14,2764 00052 QPRET
041440,000596: 14,2765 77614 CULTED SETGO
041441,000597: 14,2766 01430 CULTFLAG
041442,000598: 14,2767 00052 QPRET
041443,000599: 14,2770 0000016 CSS = CEARTH
041444,000600: 14,2770 05110 35052 CSS40 2DEC .16070 # COS 50 /4
041445,000601:
041446,000602: 14,2772 05110 35052 CSS33 2DEC .16070 # COS 50 /4
041447,000603:
041448,000604: 14,2774 77414 PICEND BOFF EXIT
041449,000605: 14,2775 01745 VFLAG
|
|
Page 937 |
041451,000607: 14,2776 31000 PICGXT
041452,000608: 14,2777 03021 TC PICBXT
041453,000609: 14,3000 73150 PICGXT LXA,1 LXA,2
041454,000610: 14,3001 02755 BESTI
041455,000611: 14,3002 02756 BESTJ
041456,000612: 14,3003 47775 VLOAD DOT*
041457,000613: 14,3004 02731 SAX
041458,000614: 14,3005 30347 CATLOG,1
041459,000615: 14,3006 47715 PDVL DOT*
041460,000616: 14,3007 02731 SAX
041461,000617: 14,3010 47430 CATLOG,2
041462,000618: 14,3011 77625 DSU
041463,000619: 14,3012 66044 BPL SXA,1
041464,000620: 14,3013 31017 PICNSWP
041465,000621: 14,3014 02756 BESTJ
041466,000622: 14,3015 77734 SXA,2
041467,000623: 14,3016 02755 BESTI
041468,000624: 14,3017 77776 PICNSWP EXIT
041469,000625: 14,3020 25745 INCR QMIN
041470,000626: 14,3021 31745 PICBXT CA QMIN
041471,000627: 14,3022 04613 TC SWCALL
041472,000628: 14,3023 VPD = 0D
041473,000629: 14,3023 V0 = 6D
041474,000630: 14,3023 V1 = 12D
041475,000631: 14,3023 V2 = 18D
041476,000632: 14,3023 V3 = 24D
041477,000633: 14,3023 DP0 = 30D
041478,000634: 14,3023 DP1 = 32D
041479,000635:
|
|
Page 938 |
041481,000637: # NAME-R51 FINE ALIGN
041482,000638: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041483,000639: # CALLING SEQ- CALL R51
041484,000640: # INPUT - REFSMMAT
041485,000641: # OUTPUT- GYRO TORQUE PULSES
041486,000642: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041487,000643:
041488,000644: 14,3023 COUNT* $$/R51
041489,000645: 14,3023 77620 R51 STQ
041490,000646: 14,3024 02746 QMAJ
041491,000647: 14,3025 77776 R51.1 EXIT
041492,000648: 14,3026 05355 TC PHASCHNG
041493,000649: 14,3027 04024 OCT 04024
041494,000650:
041495,000651: 14,3030 05520 R51C TC DOWNFLAG
041496,000652: 14,3031 00222 ADRES FLT59FLG
041497,000653:
041498,000654: 14,3032 34752 CAF OCT15
041499,000655: 14,3033 04607 TC BANKCALL
041500,000656: 14,3034 20635 CADR GOPERF1
041501,000657: 14,3035 06001 TC GOTOPOOH
041502,000658: 14,3036 03046 TC DOSAM
041503,000659: 14,3037 44737 CS BIT6
041504,000660: 14,3040 70154 MASK MPAC
041505,000661: 14,3041 10000 CCS A
041506,000662: 14,3042 13071 TCF R51E # ENTER
041507,000663: 14,3043 05506 TC UPFLAG # V32-SET FLT59FLG
041508,000664: 14,3044 00222 ADRES FLT59FLG
041509,000665: 14,3045 13071 TCF R51E
041510,000666:
041511,000667: 14,3046 06060 DOSAM TC INTPRET
041512,000668: 14,3047 43234 RTB DAD
041513,000669: 14,3050 21603 LOADTIME
041514,000670: 14,3051 31173 TSIGHT1
041515,000671: 14,3052 77624 CALL
041516,000672: 14,3053 30515 LOCSAM
041517,000673: 14,3054 77776 EXIT
041518,000674: 14,3055 04607 TC BANKCALL
041519,000675: 14,3056 30620 CADR R56
041520,000676: 14,3057 03061 TC R51I
041521,000677: 14,3060 03071 R51F TC R51E
041522,000678: 14,3061 05571 R51I TC ALARM
041523,000679: 14,3062 00405 OCT 405
041524,000680: 14,3063 34777 CAF VB05N09
041525,000681: 14,3064 04607 TC BANKCALL
041526,000682: 14,3065 20471 CADR GOFLASH
041527,000683: 14,3066 06001 TC GOTOPOOH
041528,000684: 14,3067 03071 TC R51E
041529,000685: 14,3070 03030 TC R51C
041530,000686: 14,3071 34746 R51E CAF ZERO
041531,000687: 14,3072 55757 TS STARIND
|
|
Page 939 |
041533,000689: 14,3073 06060 R51.2 TC INTPRET
041534,000690: 14,3074 77776 R51.3 EXIT
041535,000691: 14,3075 05355 TC PHASCHNG
041536,000692: 14,3076 04024 OCT 04024
041537,000693:
041538,000694: 14,3077 06060 TC INTPRET
041539,000695: 14,3100 77624 CALL
041540,000696: 14,3101 31603 R52 # AOP WILL MAKE CALLS TO SIGHTING
041541,000697: 14,3102 77776 EXIT
041542,000698: 14,3103 04607 TC BANKCALL
041543,000699: 14,3104 16000 CADR AOTMARK
041544,000700: 14,3105 04607 TC BANKCALL
041545,000701: 14,3106 17731 CADR OPTSTALL
041546,000702: 14,3107 05705 TC CURTAINS
041547,000703: 14,3110 11757 CCS STARIND
041548,000704: 14,3111 13113 TCF +2
041549,000705: 14,3112 03156 TC R51.4
041550,000706: 14,3113 05355 TC PHASCHNG
041551,000707: 14,3114 04024 OCT 04024
041552,000708:
041553,000709: 14,3115 06060 TC INTPRET
041554,000710: 14,3116 45145 DLOAD CALL
041555,000711: 14,3117 03562 TSIGHT
041556,000712: 14,3120 16607 PLANET
041557,000713: 14,3121 53521 MXV UNIT
041558,000714: 14,3122 01732 REFSMMAT
041559,000715: 14,3123 26715 STOVL STARAD +6
041560,000716: 14,3124 03554 PLANVEC
041561,000717: 14,3125 53521 MXV UNIT
041562,000718: 14,3126 01732 REFSMMAT
041563,000719: 14,3127 26707 STOVL STARAD
041564,000720: 14,3130 02761 STARSAV1
041565,000721: 14,3131 24007 STOVL 6D
041566,000722: 14,3132 02767 STARSAV2
041567,000723: 14,3133 34015 STCALL 12D
041568,000724: 14,3134 31265 R54 # STAR DATA TEST
041569,000725: 14,3135 45014 BOFF CALL
041570,000726: 14,3136 00354 FREEFLAG
041571,000727: 14,3137 31145 R51K
041572,000728: 14,3140 47424 AXISGEN
041573,000729: 14,3141 77624 CALL
041574,000730: 14,3142 31234 R55 # GYRO TORQUE
041575,000731: 14,3143 77614 CLEAR
041576,000732: 14,3144 01273 PFRATFLG
041577,000733: 14,3145 77776 R51K EXIT
041578,000734: 14,3146 35745 R51P63 CAF OCT14
041579,000735: 14,3147 04607 TC BANKCALL
041580,000736: 14,3150 20635 CADR GOPERF1
041581,000737: 14,3151 06001 TC GOTOPOOH
041582,000738: 14,3152 03030 TC R51C
|
|
Page 940 |
041584,000740: 14,3153 06060 TC INTPRET
041585,000741: 14,3154 77650 GOTO
041586,000742: 14,3155 02746 QMAJ
041587,000743: 14,3156 06060 R51.4 TC INTPRET
041588,000744: 14,3157 77775 VLOAD
041589,000745: 14,3160 02767 STARSAV2
041590,000746: 14,3161 02761 STORE STARSAV1
041591,000747: 14,3162 45145 DLOAD CALL
041592,000748: 14,3163 03562 TSIGHT
041593,000749: 14,3164 16607 PLANET
041594,000750: 14,3165 03554 STORE PLANVEC
041595,000751: 14,3166 52131 SSP GOTO
041596,000752: 14,3167 02760 STARIND
041597,000753: 14,3170 00001 1
041598,000754: 14,3171 31074 R51.3
041599,000755:
041600,000756: 14,3172 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041601,000757:
|
|
Page 941 |
041603,000759: # GYRO TORQUE COARSE ALIGNMENT
041604,000760: 14,3174 45020 GYCOARS STQ CALL
041605,000761: 14,3175 02746 QMAJ
041606,000762: 14,3176 47232 CALCGTA
|
|
The first CLEAR and DRIFTFLG below are circled. |
041608,000764: 14,3177 43014 CLEAR CLEAR
041609,000765: 14,3200 01260 DRIFTFLG
041610,000766: 14,3201 01662 REFSMFLG
041611,000767: 14,3202 77776 EXIT
041612,000768: 14,3203 33233 CAF V16N20 # MONITOR GIMBALS
041613,000769: 14,3204 04607 TC BANKCALL
041614,000770: 14,3205 20444 CADR GODSPR
041615,000771: 14,3206 33264 CA R55CDR
041616,000772: 14,3207 04607 TC BANKCALL
041617,000773: 14,3210 17310 CADR IMUPULSE
041618,000774: 14,3211 04607 TC BANKCALL
041619,000775: 14,3212 17735 CADR IMUSTALL
041620,000776: 14,3213 05705 TC CURTAINS
041621,000777: 14,3214 05355 TC PHASCHNG
041622,000778: 14,3215 04024 OCT 04024
041623,000779:
041624,000780: 14,3216 06060 TC INTPRET
041625,000781: 14,3217 75160 AXC,1 AXC,2
041626,000782: 14,3220 03606 XSMD
041627,000783: 14,3221 01731 REFSMMAT
041628,000784: 14,3222 77624 CALL # STORE DESIRED REFSMMAT
041629,000785: 14,3223 26374 MATMOVE
041630,000786: 14,3224 43014 CLEAR SET
041631,000787: 14,3225 01273 PFRATFLG
041632,000788: 14,3226 01462 REFSMFLG
041633,000789: 14,3227 77624 CALL
041634,000790: 14,3230 31566 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041635,000791: 14,3231 77650 GOTO
041636,000792: 14,3232 31145 R51K
041637,000793: 14,3233 04024 V16N20 VN 1620
041638,000794:
|
|
Page 942 |
041640,000796: # R55 GYRO TORQUE
041641,000797: # FUNCTION-COMPUTE AND SEND GYRO PULSES
041642,000798: # CALLING SEQ- CALL R55
041643,000799: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
041644,000800: # OUTPUT- GYRO PULSES
041645,000801: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
041646,000802: 14,3234 COUNT* $$/R55
041647,000803: 14,3234 45020 R55 STQ CALL
041648,000804: 14,3235 02745 QMIN
041649,000805: 14,3236 47232 CALCGTA
041650,000806: 14,3237 77776 PULSEM EXIT
041651,000807: 14,3240 33263 R55.1 CAF V06N93
041652,000808: 14,3241 04607 TC BANKCALL
041653,000809: 14,3242 20471 CADR GOFLASH
041654,000810: 14,3243 06001 TC GOTOPOOH
041655,000811: 14,3244 03246 TC R55.2
041656,000812: 14,3245 03260 TC R55RET
041657,000813: 14,3246 05355 R55.2 TC PHASCHNG
041658,000814: 14,3247 00214 OCT 00214
041659,000815: 14,3250 33264 CA R55CDR
041660,000816: 14,3251 04607 TC BANKCALL
041661,000817: 14,3252 17310 CADR IMUPULSE
041662,000818: 14,3253 04607 TC BANKCALL
041663,000819: 14,3254 17735 CADR IMUSTALL
041664,000820: 14,3255 05705 TC CURTAINS
041665,000821: 14,3256 05355 TC PHASCHNG
041666,000822: 14,3257 04024 OCT 04024
041667,000823:
041668,000824: 14,3260 06060 R55RET TC INTPRET
041669,000825: 14,3261 77650 GOTO
041670,000826: 14,3262 02745 QMIN
041671,000827: 14,3263 01535 V06N93 VN 0693
041672,000828: 14,3264 02737 R55CDR ECADR OGC
041673,000829: 14,3265 14,3265 R54 = CHKSDATA
041674,000830:
|
|
Page 943 |
041676,000832: # CHKSDATA DATE- JAN 9, 1967
041677,000833: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041678,000834: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041679,000835: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041680,000836: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041681,000837: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041682,000838:
041683,000839: # ERASABLE INITIALIZATION REQUIRED -
041684,000840: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041685,000841: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
041686,000842: # DEBRIS -
041687,000843: 14,3265 COUNT* $$/R54
041688,000844: 14,3265 50375 CHKSDATA VLOAD DOT
041689,000845: 14,3266 02707 STARAD # 1ST CATALOG STAR
041690,000846: 14,3267 02715 STARAD +6 # 2ND CATALOG STAR
041691,000847: 14,3270 65552 SL1 ACOS
041692,000848: 14,3271 24025 STOVL THETA
041693,000849: 14,3272 00007 6 # 1ST OBSERVED STAR
041694,000850: 14,3273 72441 DOT SL1
041695,000851: 14,3274 00015 12D # 2ND OBSERVED STAR
041696,000852: 14,3275 45326 ACOS DSU
041697,000853: 14,3276 00025 THETA
041698,000854: 14,3277 77634 RTB
041699,000855: 14,3300 21622 SGNAGREE
041700,000856: 14,3301 01045 STORE NORMTEM1 # OBSERVED DIF - CATALOG DIF
041701,000857: 14,3302 77414 SET EXIT
041702,000858: 14,3303 00074 FREEFLAG
041703,000859: 14,3304 33315 CAF VB6N5
041704,000860: 14,3305 04607 TC BANKCALL
041705,000861: 14,3306 20471 CADR GOFLASH
041706,000862: 14,3307 06001 TC GOTOPOOH # V34
041707,000863: 14,3310 13313 TCF CHKOUT # V33-PROCEED
041708,000864: 14,3311 05520 TC DOWNFLAG # V32-REJECT DATA-CLEAR FLAG
041709,000865: 14,3312 00014 ADRES FREEFLAG
041710,000866: 14,3313 06060 CHKOUT TC INTPRET
041711,000867: 14,3314 77616 RVQ
041712,000868:
041713,000869: 14,3315 01405 VB6N5 VN 605
041714,000870:
|
|
Page 944 |
041716,000872: # CAL53A
041717,000873: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041718,000874: # CALLING SEQUENCE - CALL CAL53A
041719,000875: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
041720,000876: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041721,000877: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041722,000878: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
041723,000879: 14,3316 COUNT* $$/R50
041724,000880: 14,3316 77624 CAL53A CALL
041725,000881: 14,3317 42707 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
041726,000882: 14,3320 66234 RTB SSP
041727,000883: 14,3321 31370 RDCDUS # READ CDUS
041728,000884: 14,3322 00051 S1
041729,000885: 14,3323 00001 1
041730,000886: 14,3324 40370 AXT,1 SETPD
041731,000887: 14,3325 00003 3
041732,000888: 14,3326 00005 4
041733,000889: 14,3327 70543 CALOOP DLOAD* SR1
041734,000890: 14,3330 00325 THETAD +3D,1
041735,000891: 14,3331 70523 PDDL* SR1
041736,000892: 14,3332 00005 4,1
041737,000893: 14,3333 51425 DSU ABS
041738,000894: 14,3334 45206 PUSH DSU
041739,000895: 14,3335 31367 DEGREE1
041740,000896: 14,3336 71240 BMN DLOAD
041741,000897: 14,3337 31355 CALOOP1
041742,000898: 14,3340 51025 DSU BPL
041743,000899: 14,3341 31370 DEG359
041744,000900: 14,3342 31355 CALOOP1
041745,000901: 14,3343 77776 EXIT
041746,000902: 14,3344 05355 TC PHASCHNG
041747,000903: 14,3345 04024 OCT 04024
041748,000904:
041749,000905: 14,3346 06060 TC INTPRET
041750,000906: 14,3347 77624 COARFINE CALL
041751,000907: 14,3350 31542 COARSE
041752,000908: 14,3351 77624 CALL
041753,000909: 14,3352 31566 NCOARSE
041754,000910: 14,3353 77650 GOTO
041755,000911: 14,3354 31357 FINEONLY
041756,000912: 14,3355 77700 CALOOP1 TIX,1
041757,000913: 14,3356 31327 CALOOP
041758,000914: 14,3357 75160 FINEONLY AXC,1 AXC,2
041759,000915: 14,3360 02642 XSM
041760,000916: 14,3361 01731 REFSMMAT
041761,000917: 14,3362 77624 CALL
041762,000918: 14,3363 26374 MATMOVE
041763,000919: 14,3364 77650 GOTO
041764,000920: 14,3365 32316 COARSRET
041765,000921: 14,3366 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
|
|
Page 945 |
041767,000923: 14,3367 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041768,000924: 14,3370 00004 RDCDUS INHINT # READ CDUS
041769,000925: 14,3371 30032 CA CDUX
041770,000926: 14,3372 50120 INDEX FIXLOC
041771,000927: 14,3373 54001 TS 1
041772,000928: 14,3374 30033 CA CDUY
041773,000929: 14,3375 50120 INDEX FIXLOC
041774,000930: 14,3376 54002 TS 2
041775,000931: 14,3377 30034 CA CDUZ
041776,000932: 14,3400 50120 INDEX FIXLOC
041777,000933: 14,3401 54003 TS 3
041778,000934: 14,3402 00003 RELINT
041779,000935: 14,3403 06102 TC DANZIG # +
041780,000936: 14,3404 COUNT* $$/INFLT
041781,000937:
|
|
Page 946 |
041783,000939: # NAME - P51 - IMU ORIENTATION DETERMINATION
041784,000940: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
041785,000941: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041786,000942:
041787,000943: # FUNCTIONAL DESCRIPTION
041788,000944:
041789,000945: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041790,000946: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
041791,000947: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041792,000948: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041793,000949:
041794,000950: # CALLING SEQUENCE
041795,000951:
041796,000952: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041797,000953:
041798,000954: # SUBROUTINES CALLED.
041799,000955:
041800,000956: # GOPERF3
041801,000957: # GOPERF1
041802,000958: # GODSPR
041803,000959: # IMUCOARS
041804,000960: # IMUFIN20
041805,000961: # AOTMARK(R53)
041806,000962: # CHKSDATA(R54)
041807,000963: # MKRELEAS
041808,000964: # AXISGEN
041809,000965: # MATMOVE
041810,000966:
041811,000967: # ALARMS
041812,000968:
041813,000969: # NONE.
041814,000970:
041815,000971: # ERASABLE INITIALIZATION
041816,000972:
041817,000973: # IMU ZERO FLAG SHOULD BE SET.
041818,000974:
041819,000975: # OUTPUT
041820,000976:
041821,000977: # REFSMMAT
041822,000978: # REFSMFLG
041823,000979:
041824,000980: # DEBRIS
041825,000981:
041826,000982: # WORK AREA
041827,000983: # STARAD
041828,000984: # STARIND
041829,000985: # BESTI
041830,000986: # BESTJ
041831,000987:
041832,000988: 14,3404 COUNT* $$/P51
|
|
Page 947 |
041834,000990: 14,3404 04607 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041835,000991: 14,3405 33634 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041836,000992:
041837,000993: 14,3406 34752 CAF OCT15
041838,000994: 14,3407 04607 TC BANKCALL
041839,000995: 14,3410 20635 CADR GOPERF1
041840,000996: 14,3411 06001 TC GOTOPOOH # TERM.
041841,000997: 14,3412 13436 TCF P51B # V33
041842,000998: 14,3413 05355 TC PHASCHNG
041843,000999: 14,3414 04024 OCT 04024
041844,001000:
041845,001001: 14,3415 34746 CAF ZERO
041846,001002: 14,3416 54321 TS THETAD # ZERO THE GIMBALS
041847,001003: 14,3417 54322 TS THETAD +1
041848,001004: 14,3420 54323 TS THETAD +2
041849,001005: 14,3421 35001 CAF V06N22
041850,001006: 14,3422 04607 TC BANKCALL
041851,001007: 14,3423 20441 CADR GODSPRET
041852,001008: 14,3424 33541 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041853,001009: 14,3425 04607 TC BANKCALL
041854,001010: 14,3426 20441 CADR GODSPRET
041855,001011: 14,3427 06060 TC INTPRET
041856,001012: 14,3430 77624 CALL
041857,001013: 14,3431 31542 COARSE
041858,001014: 14,3432 77776 EXIT
041859,001015: 14,3433 05355 TC PHASCHNG
041860,001016: 14,3434 04024 OCT 04024
041861,001017: 14,3435 13406 TCF P51 +2
041862,001018:
041863,001019: 14,3436 05355 P51B TC PHASCHNG
041864,001020: 14,3437 00014 OCT 00014
041865,001021: 14,3440 06060 TC INTPRET
041866,001022: 14,3441 77624 CALL
041867,001023: 14,3442 31566 NCOARSE
041868,001024: 14,3443 40331 SSP SETPD
041869,001025: 14,3444 02760 STARIND # INDEX-STAR 1 OR 2
041870,001026: 14,3445 00000 0
041871,001027: 14,3446 00001 0
041872,001028: 14,3447 77776 P51C EXIT
041873,001029: 14,3450 05355 TC PHASCHNG
041874,001030: 14,3451 04024 OCT 04024
041875,001031:
041876,001032: 14,3452 04607 TC BANKCALL
041877,001033: 14,3453 16000 CADR AOTMARK # R53
041878,001034: 14,3454 04607 TC BANKCALL
041879,001035: 14,3455 17731 CADR AOTSTALL
041880,001036: 14,3456 05705 TC CURTAINS
041881,001037: 14,3457 11757 CCS STARIND
041882,001038: 14,3460 13466 TCF P51D +1
041883,001039: 14,3461 06060 TC INTPRET
|
|
Page 948 |
041885,001041: 14,3462 77775 VLOAD
041886,001042: 14,3463 02767 STARSAV2
041887,001043: 14,3464 02761 STORE STARSAV1
041888,001044: 14,3465 77776 P51D EXIT
041889,001045: 14,3466 05355 TC PHASCHNG
041890,001046: 14,3467 04024 OCT 04024
041891,001047:
041892,001048: 14,3470 11757 CCS STARIND
041893,001049: 14,3471 13505 TCF P51E
041894,001050: 14,3472 05355 TC PHASCHNG
041895,001051: 14,3473 04024 OCT 04024
041896,001052:
041897,001053: 14,3474 06060 TC INTPRET
041898,001054: 14,3475 45145 DLOAD CALL
041899,001055: 14,3476 03562 TSIGHT
041900,001056: 14,3477 16607 PLANET
041901,001057: 14,3500 03554 STORE PLANVEC
041902,001058: 14,3501 77776 EXIT
041903,001059: 14,3502 34744 CAF BIT1
041904,001060: 14,3503 55757 TS STARIND
041905,001061: 14,3504 13450 TCF P51C +1 # DO SECOND STAR
041906,001062: 14,3505 05355 P51E TC PHASCHNG
041907,001063: 14,3506 04024 OCT 04024
041908,001064:
041909,001065: 14,3507 06060 TC INTPRET
041910,001066: 14,3510 45145 DLOAD CALL
041911,001067: 14,3511 03562 TSIGHT
041912,001068: 14,3512 16607 PLANET
041913,001069: 14,3513 24015 STOVL 12D
041914,001070: 14,3514 03554 PLANVEC
041915,001071: 14,3515 24007 STOVL 6D
041916,001072: 14,3516 02761 STARSAV1
041917,001073: 14,3517 26707 STOVL STARAD
041918,001074: 14,3520 02767 STARSAV2
041919,001075: 14,3521 36715 STCALL STARAD +6
041920,001076: 14,3522 31265 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041921,001077: 14,3523 77414 BON EXIT
041922,001078: 14,3524 00314 FREEFLAG
041923,001079: 14,3525 31527 P51G
041924,001080: 14,3526 03406 TC P51 +2
041925,001081: 14,3527 77624 P51G CALL
041926,001082: 14,3530 47424 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041927,001083: 14,3531 75160 AXC,1 AXC,2
041928,001084: 14,3532 02664 XDC
041929,001085: 14,3533 01731 REFSMMAT
041930,001086: 14,3534 77624 CALL
041931,001087: 14,3535 26374 MATMOVE
041932,001088: 14,3536 77414 SET EXIT
041933,001089: 14,3537 01462 REFSMFLG
041934,001090: 14,3540 06001 TC GOTOPOOH # FINIS
|
|
Page 949 |
041936,001092: 14,3541 12200 V41K VN 4100
041937,001093: 14,3542 77776 COARSE EXIT
041938,001094: 14,3543 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
041939,001095: 14,3544 00006 EXTEND
041940,001096: 14,3545 13552 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
041941,001097: 14,3546 34770 CAF 1SEC # IN USE, DELAY ONE SEC
041942,001098: 14,3547 04607 TC BANKCALL
041943,001099: 14,3550 01736 CADR DELAYJOB
041944,001100: 14,3551 13543 TCF COARSE +1
041945,001101: 14,3552 04607 DOCORS TC BANKCALL
041946,001102: 14,3553 16765 CADR IMUCOARS
041947,001103: 14,3554 04607 TC BANKCALL
041948,001104: 14,3555 17735 CADR IMUSTALL
041949,001105: 14,3556 05705 TC CURTAINS
041950,001106: 14,3557 04607 TC BANKCALL
041951,001107: 14,3560 17175 CADR IMUFINE
041952,001108: 14,3561 04607 TC BANKCALL
041953,001109: 14,3562 17735 CADR IMUSTALL
041954,001110: 14,3563 05705 TC CURTAINS
041955,001111: 14,3564 06060 TC INTPRET
041956,001112: 14,3565 77616 RVQ
041957,001113: 14,3566 77776 NCOARSE EXIT
041958,001114: 14,3567 30025 CA TIME1
041959,001115: 14,3570 55074 TS 1/PIPADT
041960,001116: 14,3571 44746 CS ZERO
041961,001117: 14,3572 54037 TS PIPAX
041962,001118: 14,3573 54040 TS PIPAY
041963,001119: 14,3574 54041 TS PIPAZ
041964,001120: 14,3575 06060 TC INTPRET
041965,001121: 14,3576 77775 VLOAD
041966,001122: 14,3577 24007 ZEROVEC
041967,001123: 14,3600 01472 STORE GCOMP
|
|
SET and DRIFTFLG below are circled. |
041969,001125: 14,3601 43414 SET RVQ
041970,001126: 14,3602 01060 DRIFTFLG
041971,001127:
|
|
Page 950 |
041973,001129: # NAME-S52.2
041974,001130: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041975,001131: # CALL- CALL S52.2
041976,001132: # INPUT- X,Y,ZSMD
041977,001133: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
041978,001134: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
041979,001135: 21,2000 SETLOC P50S3
041980,001136: 21,2000 BANK
041981,001137:
041982,001138: 21,2707 COUNT* $$/S52.1
041983,001139: 21,2707 45020 S52.2 STQ CALL
041984,001140: 21,2710 02746 QMAJ
041985,001141: 21,2711 47522 CDUTRIG
041986,001142: 21,2712 77624 CALL
041987,001143: 21,2713 20030 CALCSMSC
041988,001144: 21,2714 66370 AXT,1 SSP
041989,001145: 21,2715 00022 18D
041990,001146: 21,2716 00051 S1
041991,001147: 21,2717 00006 6D
041992,001148: 21,2720 61373 S52.2A VLOAD* VXM
041993,001149: 21,2721 02707 XNB +18D,1
041994,001150: 21,2722 01732 REFSMMAT
041995,001151: 21,2723 77656 UNIT
041996,001152: 21,2724 06707 STORE XNB +18D,1
041997,001153: 21,2725 77700 TIX,1
041998,001154: 21,2726 42720 S52.2A
041999,001155: 21,2727 75160 S52.2.1 AXC,1 AXC,2
042000,001156: 21,2730 03606 XSMD
042001,001157: 21,2731 02642 XSM
042002,001158: 21,2732 77624 CALL
042003,001159: 21,2733 26374 MATMOVE
042004,001160: 21,2734 77624 CALL
042005,001161: 21,2735 47336 CALCGA
042006,001162: 21,2736 77650 GOTO
042007,001163: 21,2737 02746 QMAJ
042008,001164:
|
|
Page 951 |
042010,001166: # NAME-S52.3
042011,001167: # FUNCTION XSMD= UNIT R
042012,001168: # YSMD= UNIT(V X R)
042013,001169: # ZSMD= UNIT(XSMD X YSMD)
042014,001170: # CALL DLOAD CALL
042015,001171: # TALIGN
042016,001172: # S52.3
042017,001173: # INPUT- TIME OF ALIGNMENT IN MPAC
042018,001174: # OUTPUT- X,Y,ZSMD
042019,001175: # SUBROUTINES- CSMCONIC
042020,001176: 21,2740 COUNT* $$/S52.3
042021,001177: 21,2740 77620 S52.3 STQ
042022,001178: 21,2741 02746 QMAJ
042023,001179: 21,2742 34041 STCALL TDEC1
042024,001180: 21,2743 27136 LEMCONIC
042025,001181: 21,2744 53575 VLOAD UNIT
042026,001182: 21,2745 00001 RATT
042027,001183: 21,2746 27607 STOVL XSMD
042028,001184: 21,2747 00007 VATT
042029,001185: 21,2750 53435 VXV UNIT
042030,001186: 21,2751 00001 RATT
042031,001187: 21,2752 27615 STOVL YSMD
042032,001188: 21,2753 03607 XSMD
042033,001189: 21,2754 53435 VXV UNIT
042034,001190: 21,2755 03615 YSMD
042035,001191: 21,2756 37623 STCALL ZSMD
042036,001192: 21,2757 02746 QMAJ
042037,001193:
|
|
Page 952 |
042039,001195: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042040,001196:
042041,001197: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042042,001198: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042043,001199:
042044,001200: # CALLING -CALL R52
042045,001201:
042046,001202: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
042047,001203: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
042048,001204: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
042049,001205: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042050,001206: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042051,001207:
042052,001208: # SUBROUT -R60LEM
042053,001209:
042054,001210: 14,2000 SETLOC P50S1
042055,001211: 14,2000 BANK
042056,001212:
042057,001213: 14,3603 COUNT* $$/R52
042058,001214: 14,3603 77420 R52 STQ EXIT
042059,001215: 14,3604 03665 SAVQR52
042060,001216: 14,3605 34741 CAF BIT4
042061,001217: 14,3606 70105 MASK FLAGWRD9
042062,001218: 14,3607 00006 EXTEND
042063,001219: 14,3610 13613 BZF DOR52
042064,001220: 14,3611 04607 TC BANKCALL
042065,001221: 14,3612 32402 CADR R59
042066,001222:
042067,001223: 14,3613 51757 DOR52 INDEX STARIND
042068,001224: 14,3614 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
042069,001225: 14,3615 00006 EXTEND
042070,001226: 14,3616 73712 MP 1/6TH
042071,001227: 14,3617 64735 AD BIT8 # SET DETENT POSITION 2
042072,001228: 14,3620 55235 TS STARCODE # SCALE AND STORE IN STARCODE
042073,001229:
042074,001230: 14,3621 33713 R52A CAF V01N70
042075,001231: 14,3622 04607 TC BANKCALL
042076,001232: 14,3623 20471 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
042077,001233: 14,3624 06001 TC GOTOPOOH # V34-TERMINATE
042078,001234: 14,3625 13627 TCF R52B # V33-PROCEED TO ORIENT LEM
042079,001235: 14,3626 13621 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
042080,001236:
042081,001237: 14,3627 05520 R52B TC DOWNFLAG
042082,001238: 14,3630 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042083,001239: 14,3631 31235 CA STARCODE # GRAB DETENT CODE
042084,001240: 14,3632 77765 MASK HIGH9
042085,001241: 14,3633 00006 EXTEND
042086,001242: 14,3634 74734 MP BIT9
042087,001243: 14,3635 54001 TS L # TEMP STORE DETENT
042088,001244:
|
|
Page 953 |
042090,001246: 14,3636 00006 EXTEND
042091,001247: 14,3637 63655 BZMF GETAZEL # CODE 0, COAS CALIBRATION
042092,001248:
042093,001249: 14,3640 65652 AD NEG7
042094,001250: 14,3641 00006 EXTEND
042095,001251: 14,3642 13655 BZF GETAZEL # CODE 7, COAS SIGHTING
042096,001252:
042097,001253: 14,3643 E7,1551 EBANK= XYMARK
042098,001254: 14,3643 35007 CA EBANK7
042099,001255: 14,3644 54003 TS EBANK
042100,001256:
042101,001257: 14,3645 50001 INDEX L
042102,001258: 14,3646 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
042103,001259: 14,3647 54001 TS L
042104,001260: 14,3650 E5,1642 EBANK= XSM
042105,001261: 14,3650 35005 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
042106,001262: 14,3651 54003 TS EBANK
042107,001263: 14,3652 34730 CA BIT13 # SET ELV TO 45 DEG
042108,001264: 14,3653 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042109,001265: 14,3654 13665 TCF AZEL # GO COMP OPTIC AXIS
042110,001266:
042111,001267: 14,3655 33714 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
042112,001268: 14,3656 04607 TC BANKCALL
042113,001269: 14,3657 20471 CADR GOFLASH
042114,001270: 14,3660 06001 TC GOTOPOOH # V34-TERMINATE
042115,001271: 14,3661 13663 TCF +2 # PROCEED-CALC OPTIC AXIS
042116,001272: 14,3662 13655 TCF GETAZEL # ENTER-RECYCLE
042117,001273:
042118,001274: 14,3663 00006 EXTEND
042119,001275: 14,3664 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
042120,001276: 14,3665 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
042121,001277: 14,3666 52011 DXCH 8D
042122,001278: 14,3667 06060 TC INTPRET
042123,001279: 14,3670 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
042124,001280: 14,3671 10557 OANB # SCAXIS IN NB COORDS
042125,001281: 14,3672 45034 RTB CALL
042126,001282: 14,3673 21603 LOADTIME
042127,001283: 14,3674 16607 PLANET
042128,001284: 14,3675 53521 MXV UNIT
042129,001285: 14,3676 01732 REFSMMAT
042130,001286: 14,3677 03773 STORE POINTVSM # STORE FOR VECPOINT
042131,001287:
042132,001288: 14,3700 77776 EXIT
042133,001289: 14,3701 04607 TC BANKCALL
042134,001290: 14,3702 54125 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
042135,001291:
042136,001292: 14,3703 37765 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
042137,001293: 14,3704 71235 MASK STARCODE
042138,001294: 14,3705 00006 EXTEND
042139,001295: 14,3706 13621 BZF R52A
042140,001296:
|
|
Page 954 |
042142,001298: 14,3707 06060 TC INTPRET # RETURN FROM KALCMANU
042143,001299: 14,3710 77650 GOTO
042144,001300: 14,3711 03665 SAVQR52 # RETURN TO CALLER
042145,001301:
042146,001302: 14,3712 05253 1/6TH DEC .1666667
042147,001303: 14,3713 00306 V01N70 VN 0170
042148,001304: 14,3714 01527 V06N87 VN 687
042149,001305:
|
|
Page 955 |
042151,001307: # LUNAR SURFACE STAR AQUISITION
042152,001308:
042153,001309: 15,2000 SETLOC P50S
042154,001310: 15,2000 BANK
042155,001311: 15,2402 COUNT* $$/R59
042156,001312:
042157,001313: 15,2402 40077 R59 CS FLAGWRD3
042158,001314: 15,2403 74730 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042159,001315: 15,2404 10000 CCS A
042160,001316: 15,2405 12574 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042161,001317:
042162,001318: 15,2406 32606 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042163,001319: 15,2407 04607 TC BANKCALL
042164,001320: 15,2410 20471 CADR GOFLASH
042165,001321: 15,2411 06001 TC GOTOPOOH # V34-TERMINATE
042166,001322: 15,2412 12414 TCF R59A # V33-PROCEED
042167,001323: 15,2413 12402 TCF R59 # V32-RECYCLE
042168,001324:
042169,001325: 15,2414 06060 R59A TC INTPRET
042170,001326: 15,2415 45034 RTB CALL
042171,001327: 15,2416 21603 LOADTIME
042172,001328: 15,2417 16607 PLANET # GO GET CELESTRIAL BODY IN REF COORDS.
042173,001329: 15,2420 53521 MXV UNIT
042174,001330: 15,2421 01732 REFSMMAT # TRANSFORM TO NB COORDS.
042175,001331: 15,2422 77624 CALL
042176,001332: 15,2423 47640 CDU*SMNB
042177,001333: 15,2424 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042178,001334: 15,2425 77776 EXIT
042179,001335:
042180,001336: 15,2426 34744 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
042181,001337: 15,2427 54734 TS POSCODE
042182,001338:
042183,001339: 15,2430 E7,1551 EBANK= XYMARK
042184,001340: 15,2430 35007 INCAZ CA EBANK7
042185,001341: 15,2431 54003 TS EBANK
042186,001342:
042187,001343: 15,2432 50734 INDEX POSCODE
042188,001344: 15,2433 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
042189,001345: 15,2434 54001 TS L
042190,001346:
042191,001347: 15,2435 E5,1642 EBANK= XSM
042192,001348: 15,2435 35005 CA EBANK5
042193,001349: 15,2436 54003 TS EBANK
042194,001350:
042195,001351: 15,2437 34730 CA BIT13 # SET ELV TO 45 DEG
042196,001352: 15,2440 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042197,001353: 15,2441 55745 TS QMIN # STORE QMIN=AZ FOR LATER
042198,001354: 15,2442 50120 INDEX FIXLOC
042199,001355: 15,2443 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042200,001356:
|
|
Page 956 |
042202,001358: 15,2444 06060 TC INTPRET
042203,001359: 15,2445 77624 CALL
042204,001360: 15,2446 10557 OANB # GO CALC OPTIC AXIS WRT NB
042205,001361: 15,2447 50375 VLOAD DOT
042206,001362: 15,2450 02731 STAR # DOT STAR WITH OA
042207,001363: 15,2451 03765 SCAXIS
042208,001364: 15,2452 65552 SL1 ARCCOS
042209,001365: 15,2453 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042210,001366:
042211,001367: 15,2454 51025 DSU BPL
042212,001368: 15,2455 32611 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042213,001369: 15,2456 32533 NXAX # NOT IN FIELD - TRY NEXT POSITION
042214,001370: 15,2457 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042215,001371: 15,2460 00031 24D
042216,001372: 15,2461 32613 DEG.5
042217,001373: 15,2462 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042218,001374: 15,2463 32552 ZSPCR # GO ZERO CURSOR AND SPIRAL
042219,001375: 15,2464 00031 24D # GET SPIRAL
042220,001376: 15,2465 42405 DMP SL4
042221,001377: 15,2466 23773 3/4 # 12 SCALED AT 16
042222,001378: 15,2467 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042223,001379:
042224,001380: 15,2470 03765 SCAXIS # OA
042225,001381: 15,2471 53435 VXV UNIT
042226,001382: 15,2472 24005 XUNIT
042227,001383: 15,2473 47206 PUSH VXV # OA X UNITX PD 0-5
042228,001384: 15,2474 03765 SCAXIS
042229,001385: 15,2475 77676 VCOMP
042230,001386: 15,2476 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
042231,001387: 15,2477 03765 SCAXIS
042232,001388: 15,2500 53435 VXV UNIT
042233,001389: 15,2501 02731 STAR
042234,001390: 15,2502 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042235,001391: 15,2503 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042236,001392: 15,2504 65552 SL1 ARCCOS
042237,001393: 15,2505 24033 STOVL 26D # STORE THET SCALED IN REVS
042238,001394:
042239,001395: 15,2506 77641 DOT # UP 12-17, UP 6-11 FOR C2
042240,001396: 15,2507 71244 BPL DLOAD # IF THET NEG-GET 360-THET
042241,001397: 15,2510 32515 R59D
042242,001398: 15,2511 32157 ABOUTONE
042243,001399: 15,2512 77625 DSU
042244,001400: 15,2513 00033 26D
042245,001401: 15,2514 00033 STORE 26D # 360-THET SCALED IN REVS
042246,001402:
042247,001403: 15,2515 70535 R59D SLOAD SR1
042248,001404: 15,2516 02746 QMIN # RESCALE AZ(N) TO REVS
042249,001405: 15,2517 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042250,001406: 15,2520 00033 26D
042251,001407: 15,2521 77634 RTB
|
|
Page 957 |
042253,001409: 15,2522 21624 1STO2S
042254,001410: 15,2523 15241 STODL CURSOR # YROT IN 1/2 REVS
042255,001411: 15,2524 00031 24D # LOAD SROT IN REVS
042256,001412: 15,2525 77615 DAD # 12(SEP) + YROT
042257,001413: 15,2526 77634 RTB
042258,001414: 15,2527 21624 1STO2S
042259,001415: 15,2530 01242 STORE SPIRAL # SROT IN 1/2 REVS
042260,001416: 15,2531 77776 EXIT
042261,001417: 15,2532 12556 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042262,001418:
042263,001419: 15,2533 77776 NXAX EXIT
042264,001420: 15,2534 24734 INCR POSCODE
042265,001421: 15,2535 40734 CS POSCODE
042266,001422: 15,2536 64750 AD SEVEN
042267,001423: 15,2537 00006 EXTEND
042268,001424: 15,2540 62542 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042269,001425: 15,2541 12430 TCF INCAZ
042270,001426:
042271,001427: 15,2542 05571 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042272,001428: 15,2543 00404 OCT 404
042273,001429: 15,2544 34777 CAF VB05N09 # DISPLAY ALARM
042274,001430: 15,2545 04607 TC BANKCALL
042275,001431: 15,2546 20471 CADR GOFLASH
042276,001432: 15,2547 16001 TCF GOTOPOOH # VB34-TERMINATE
042277,001433: 15,2550 12574 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
042278,001434: 15,2551 12402 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
042279,001435:
042280,001436: 15,2552 77776 ZSPCR EXIT
042281,001437: 15,2553 34746 CAF ZERO
042282,001438: 15,2554 55240 TS CURSOR
042283,001439: 15,2555 55241 TS SPIRAL
042284,001440:
042285,001441: 15,2556 32607 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042286,001442: 15,2557 04607 TC BANKCALL
042287,001443: 15,2560 20471 CADR GOFLASH
042288,001444: 15,2561 16001 TCF GOTOPOOH # V34-TERMINATE
042289,001445: 15,2562 12564 TCF R59E # V33-PROCEED TO MARK ROUTINE
042290,001446: 15,2563 12402 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
042291,001447:
042292,001448: 15,2564 34750 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
042293,001449: 15,2565 70734 MASK POSCODE
042294,001450: 15,2566 00006 EXTEND
042295,001451: 15,2567 74736 MP BIT7 # DETENT CODE NOW IN L
042296,001452: 15,2570 47765 CS HIGH9
042297,001453: 15,2571 71235 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
042298,001454: 15,2572 60001 AD L
042299,001455: 15,2573 55235 TS AOTCODE # STORE DETENT 7-9
042300,001456:
042301,001457: 15,2574 06060 R59OUT TC INTPRET
042302,001458: 15,2575 77414 BON EXIT
|
|
Page 958 |
042304,001460: 15,2576 04713 FLT59FLG # IF FLT59FLG SET GO BACK TO R51 TO
042305,001461: 15,2577 03665 SAVQR52 # DO AOTMARK
042306,001462: 15,2600 04607 TC BANKCALL
042307,001463: 15,2601 16000 CADR AOTMARK
042308,001464: 15,2602 04607 TC BANKCALL
042309,001465: 15,2603 17731 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042310,001466: 15,2604 05705 TC CURTAINS # BADEND RETURN FROM AOTMARK
042311,001467: 15,2605 13073 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042312,001468:
042313,001469: 15,2606 00306 V01N70* VN 170
042314,001470: 15,2607 01517 V06N79 VN 679
042315,001471: 15,2610 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042316,001472:
042317,001473: 15,2612 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042318,001474:
042319,001475: 15,2614 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042320,001476:
|
|
Page 959 |
042322,001478: # NAME - PLANET
042323,001479: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042324,001480: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042325,001481: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042326,001482: # BY DSDY INPUT
042327,001483: # CALL - CALL
042328,001484: # PLANET
042329,001485: # INPUT - TIME IN MPAC
042330,001486: # OUTPUT - VECTOR IN MPAC
042331,001487: # SUBROUTINES - LOCSAM
042332,001488: # DEBRIS - VAC ,STARAD - STARAD +17
042333,001489:
042334,001490: 07,2000 SETLOC AOTMARK1
042335,001491: 07,2000 BANK
042336,001492: 07,2607 COUNT* $$/R58
042337,001493:
042338,001494: 07,2607 03562 PLANET STORE TSIGHT
042339,001495: 07,2610 77420 STQ EXIT
042340,001496: 07,2611 02736 GCTR
042341,001497: 07,2612 47765 CS HIGH9
042342,001498: 07,2613 71235 MASK AOTCODE
042343,001499: 07,2614 00006 EXTEND
042344,001500: 07,2615 76263 MP REVCNT
042345,001501: 07,2616 56001 XCH L
042346,001502: 07,2617 51757 INDEX STARIND
042347,001503: 07,2620 55755 TS BESTI
042348,001504: 07,2621 10000 CCS A
042349,001505: 07,2622 12637 TCF NOTPLAN
042350,001506: 07,2623 32676 CAF VNPLANV
042351,001507: 07,2624 04607 TC BANKCALL
042352,001508: 07,2625 20471 CADR GOFLASH
042353,001509: 07,2626 02623 TC -3
042354,001510: 07,2627 02631 TC +2
042355,001511: 07,2630 02623 TC -5
042356,001512: 07,2631 06060 TC INTPRET
042357,001513: 07,2632 74375 VLOAD VXSC
042358,001514: 07,2633 02707 STARAD
042359,001515: 07,2634 16700 1/SQR3
042360,001516: 07,2635 52056 UNIT GOTO
042361,001517: 07,2636 02736 GCTR
042362,001518:
042363,001519: 07,2637 40000 NOTPLAN CS A
042364,001520: 07,2640 62675 AD DEC227
042365,001521: 07,2641 00006 EXTEND
042366,001522: 07,2642 62653 BZMF CALSAM1
042367,001523: 07,2643 51757 INDEX STARIND
042368,001524: 07,2644 31755 CA BESTI
042369,001525: 07,2645 50120 INDEX FIXLOC
042370,001526: 07,2646 54046 TS X1
042371,001527: 07,2647 06060 TC INTPRET
|
|
Page 960 |
042373,001529: 07,2650 52173 VLOAD* GOTO
042374,001530: 07,2651 30347 CATLOG,1
042375,001531: 07,2652 02736 GCTR
042376,001532: 07,2653 06060 CALSAM1 TC INTPRET
042377,001533: 07,2654 45145 CALSAM DLOAD CALL
042378,001534: 07,2655 03562 TSIGHT
042379,001535: 07,2656 30515 LOCSAM
042380,001536: 07,2657 77340 LXC,1 VLOAD
042381,001537: 07,2660 02757 STARIND
042382,001538: 07,2661 02707 VEARTH
042383,001539: 07,2662 24001 STOVL 0D
042384,001540: 07,2663 02715 VSUN
042385,001541: 07,2664 26707 STOVL VEARTH
042386,001542: 07,2665 00001 0D
042387,001543: 07,2666 02715 STORE VSUN
042388,001544: 07,2667 70143 DLOAD* LXC,1
042389,001545: 07,2670 02756 BESTI,1
042390,001546: 07,2671 00154 MPAC
042391,001547: 07,2672 52173 VLOAD* GOTO
042392,001548: 07,2673 02343 STARAD -228D,1
042393,001549: 07,2674 02736 GCTR
042394,001550: 07,2675 00343 DEC227 DEC 227 B-14
042395,001551: 07,2676 01530 VNPLANV VN 0688
042396,001552: 07,2677 37,3543 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042397,001553: 07,2677 22363 11623 1/SQR3 2DEC .57735021
042398,001554:
|
|
Page 961 |
042400,001556: # GRAVITY VECTOR DETERMINATION ROUTINE
042401,001557: # BY KEN VINCENT
042402,001558: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042403,001559: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042404,001560: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042405,001561: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042406,001562: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042407,001563: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042408,001564: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042409,001565: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042410,001566: # READINGS.
042411,001567:
042412,001568: # CALL-
042413,001569: # TC BANKCALL
042414,001570: # CADR GVDETER
042415,001571: # INPUTS-
042416,001572: # PIPAS,CDUS
042417,001573: # OUTPUTS-
042418,001574: # STARSAV1 = UNIT GRAVITY
042419,001575: # GSAV = DITTO
042420,001576: # GRAVBIT = 1
042421,001577: # SUBROUTINES-
042422,001578: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042423,001579: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
042424,001580: # DEBRIS-
042425,001581: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042426,001582: 15,2000 SETLOC P50S
042427,001583: 15,2000 BANK
042428,001584: 15,2615 COUNT* $$/P57
042429,001585:
042430,001586: 15,2615 33016 GVDETER CAF 42DEG
042431,001587: 15,2616 54321 TS THETAD
042432,001588: 15,2617 40000 COM
042433,001589: 15,2620 54322 TS THETAD +1
042434,001590: 15,2621 33017 CAF 35DEG
042435,001591: 15,2622 54323 TS THETAD +2
042436,001592: 15,2623 06060 TC INTPRET
042437,001593: 15,2624 45014 CLEAR CALL
042438,001594: 15,2625 01662 REFSMFLG
042439,001595: 15,2626 32722 LUNG
042440,001596: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
042441,001597:
042442,001598: # DEFINE G COOR SYS
042443,001599: # -
042444,001600: # X UNIT G
042445,001601: # * - -
042446,001602: # M= Y = UNITEZSM * X )
042447,001603: # - - -
042448,001604: # Z UNIT(X * Y )
042449,001605: # THEN ROTATED SM WRT PRESENT IS
|
|
Page 962 |
042451,001607: # 1, 0 , 0
042452,001608: # * *T * * *
042453,001609: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
042454,001610: # I J
042455,001611: # 0, 0 ,-1
042456,001612:
042457,001613: # ALSO NB WRT PRES SM IS
042458,001614:
042459,001615: # * * *
042460,001616: # XNB = NBSM I
042461,001617: # * *
042462,001618: # GIMBAL ANGLES = CALCGA( XSM , XNB )
042463,001619:
042464,001620: 15,2000 SETLOC P50S
042465,001621: 15,2000 BANK
042466,001622: 15,2627 COUNT* $$/P57
042467,001623: 15,2627 66370 AXT,1 SSP # X1=18
042468,001624: 15,2630 00022 18D # S1= 6
042469,001625: 15,2631 00051 S1 # X2, -2
042470,001626: 15,2632 00006 6D
042471,001627: 15,2633 77744 LXC,2
042472,001628: 15,2634 00050 S1
042473,001629: 15,2635 45173 GRAVEL VLOAD* CALL
042474,001630: 15,2636 54000 XUNIT -6,2
042475,001631: 15,2637 47665 *NBSM* # SIN AND COS COMPUTED IN LUNG
042476,001632: 15,2640 06707 STORE XNB +18D,1
042477,001633: 15,2641 77775 VLOAD
042478,001634: 15,2642 02731 STAR
042479,001635: 15,2643 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
042480,001636: 15,2644 00047 X2
042481,001637: 15,2645 75040 STAR +6,2 # OUTER PRODUCT
042482,001638: 15,2646 71152 VSL2 LXC,2
042483,001639: 15,2647 00047 X2
042484,001640: 15,2650 63047 VSU* INCR,2
042485,001641: 15,2651 54000 XUNIT -6,2
042486,001642: 15,2652 00002 2D
042487,001643: 15,2653 06665 STORE XSM +18D,1
042488,001644: 15,2654 45100 TIX,1 CALL
042489,001645: 15,2655 32635 GRAVEL
042490,001646: 15,2656 47336 CALCGA
042491,001647: 15,2657 74575 VLOAD VSR1
042492,001648: 15,2660 02715 GOUT
042493,001649: 15,2661 36723 STCALL STARAD +12D
042494,001650: 15,2662 32722 LUNG
042495,001651: 15,2663 74575 VLOAD VSR1
042496,001652: 15,2664 02715 GOUT
042497,001653: 15,2665 53455 VAD UNIT
042498,001654: 15,2666 02723 STARAD +12D
|
|
Page 963 |
042500,001656: 15,2667 02761 STORE STARSAV1
042501,001657: 15,2670 77641 DOT
042502,001658: 15,2671 02222 GSAV
042503,001659: 15,2672 65552 SL1 ACOS
042504,001660: 15,2673 01045 STORE DSPTEM1
042505,001661: 15,2674 77776 EXIT
042506,001662: 15,2675 05520 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042507,001663: 15,2676 00014 ADRES FREEFLAG
042508,001664:
042509,001665: 15,2677 33015 CA DISGRVER
042510,001666: 15,2700 04607 TC BANKCALL
042511,001667: 15,2701 20471 CADR GOFLASH
042512,001668: 15,2702 06001 TC GOTOPOOH
042513,001669: 15,2703 12706 TCF PROGRAV # VB33-PROCEED
042514,001670: 15,2704 05506 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042515,001671: 15,2705 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042516,001672:
042517,001673: 15,2706 05355 PROGRAV TC PHASCHNG
042518,001674: 15,2707 04024 OCT 04024
042519,001675:
042520,001676: 15,2710 06060 TC INTPRET
042521,001677: 15,2711 77775 VLOAD
042522,001678: 15,2712 02761 STARSAV1
042523,001679: 15,2713 02222 STORE GSAV
042524,001680: 15,2714 77776 EXIT
042525,001681: 15,2715 34742 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042526,001682: 15,2716 70074 MASK FLAGWRD0
042527,001683: 15,2717 10000 CCS A
042528,001684: 15,2720 12615 TCF GVDETER # SET
042529,001685: 15,2721 13535 TCF ATTCHK # EXIT FROM GVDETER
042530,001686:
042531,001687: 15,2722 77220 LUNG STQ VLOAD
042532,001688: 15,2723 02745 QMIN
042533,001689: 15,2724 24007 ZEROVEC
042534,001690: 15,2725 02707 STORE GACC
042535,001691: 15,2726 77776 EXIT
042536,001692: 15,2727 05355 TC PHASCHNG
042537,001693: 15,2730 04024 OCT 04024
042538,001694:
042539,001695: 15,2731 06060 TC INTPRET
042540,001696: 15,2732 77624 CALL
042541,001697: 15,2733 31542 COARSE
042542,001698: 15,2734 77776 EXIT
042543,001699: 15,2735 33014 CA T/2SEC
042544,001700: 15,2736 55736 TS GCTR
042545,001701: 15,2737 37737 CA PRIO31
042546,001702: 15,2740 55074 TS 1/PIPADT
042547,001703: 15,2741 04607 TC BANKCALL
042548,001704: 15,2742 15751 CADR GCOMPZER # INITIALIZE COMPENSATION
042549,001705: 15,2743 05355 TC PHASCHNG
|
|
Page 964 |
042551,001707: 15,2744 04024 OCT 04024
042552,001708:
042553,001709: 15,2745 04607 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042554,001710: 15,2746 77543 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042555,001711: 15,2747 06060 TC INTPRET
042556,001712: 15,2750 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042557,001713: 15,2751 34771 CAF 2SECS
042558,001714: 15,2752 05175 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042559,001715: 15,2753 02755 ADRES GRABGRAV
042560,001716:
042561,001717: 15,2754 05146 TC ENDOFJOB
042562,001718:
042563,001719: 15,2755 04665 GRABGRAV TC IBNKCALL
042564,001720: 15,2756 77543 CADR PIPSRINE
042565,001721: 15,2757 35014 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042566,001722: 15,2760 05076 TC FINDVAC
042567,001723: 15,2761 E5,1706 EBANK= STARAD
042568,001724: 15,2761 02764 32065 2CADR ADDGRAV
042569,001725:
042570,001726:
042571,001727: 15,2763 05263 TC TASKOVER
042572,001728:
042573,001729: 15,2764 04607 ADDGRAV TC BANKCALL
042574,001730: 15,2765 15333 CADR 1/PIPA
042575,001731: 15,2766 25736 INCR GCTR
042576,001732: 15,2767 06060 TC INTPRET
042577,001733: 15,2770 53375 VLOAD VAD
042578,001734: 15,2771 00325 DELV
042579,001735: 15,2772 02707 GACC
042580,001736: 15,2773 02707 STORE GACC # ACCUMULATE G VECTOR
042581,001737: 15,2774 50135 SLOAD BMN
042582,001738: 15,2775 02737 GCTR
042583,001739: 15,2776 32750 GREED
042584,001740: 15,2777 53575 VLOAD UNIT
042585,001741: 15,3000 02707 GACC
042586,001742: 15,3001 36731 STCALL STAR
042587,001743: 15,3002 47522 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042588,001744: 15,3003 77624 CALL # IN OUTPUT
042589,001745: 15,3004 47663 *SMNB*
042590,001746: 15,3005 02715 STORE GOUT
042591,001747: 15,3006 77776 EXIT
042592,001748: 15,3007 05355 TC PHASCHNG
042593,001749: 15,3010 04024 OCT 04024
042594,001750:
042595,001751: 15,3011 06060 QMINEXIT TC INTPRET
042596,001752: 15,3012 77650 GOTO
042597,001753: 15,3013 02745 QMIN
042598,001754: 15,3014 77753 T/2SEC DEC -20 B-14
042599,001755: 15,3015 01404 DISGRVER VN 0604
042600,001756: 15,3016 07357 42DEG OCT 07357
|
|
Page 965 |
042602,001758: 15,3017 06211 35DEG OCT 06211
042603,001759:
|
|
Page 966 |
042605,001761: # NAME GYROTRIM
042606,001762:
042607,001763: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042608,001764: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042609,001765: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042610,001766:
042611,001767: # CALL CALL
042612,001768: # GYROTRIM
042613,001769:
042614,001770: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042615,001771: # CDUX,CDUY,CDUZ
042616,001772:
042617,001773: # OUTPUT - GYRO TORQUE PULSES
042618,001774:
042619,001775: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
042620,001776: # IMPULSE,IMUSTALL
042621,001777: # - - - * * -
042622,001778: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
042623,001779: 15,3020 COUNT* $$/P57
042624,001780: 15,3020 71220 GYROTRIM STQ DLOAD
042625,001781: 15,3021 02745 QMIN
042626,001782: 15,3022 00322 THETAD
042627,001783: 15,3023 65325 PDDL PDDL
042628,001784: 15,3024 00324 THETAD +2
042629,001785: 15,3025 00323 THETAD +1
042630,001786: 15,3026 77666 VDEF
042631,001787: 15,3027 24766 STOVL CDUSPOT
042632,001788: 15,3030 24005 XUNIT
042633,001789: 15,3031 77624 CALL
042634,001790: 15,3032 47656 TRG*NBSM
042635,001791: 15,3033 26707 STOVL STARAD
042636,001792: 15,3034 24003 YUNIT
042637,001793: 15,3035 77624 CALL
042638,001794: 15,3036 47665 *NBSM*
042639,001795: 15,3037 36715 STCALL STARAD +6
042640,001796: 15,3040 47522 CDUTRIG
042641,001797: 15,3041 77624 CALL
042642,001798: 15,3042 20030 CALCSMSC
042643,001799: 15,3043 77775 VLOAD
042644,001800: 15,3044 02665 XNB
042645,001801: 15,3045 24007 STOVL 6D
042646,001802: 15,3046 02673 YNB
042647,001803: 15,3047 34015 STCALL 12D
042648,001804: 15,3050 47424 AXISGEN
042649,001805: 15,3051 77624 CALL
042650,001806: 15,3052 47232 CALCGTA
042651,001807: 15,3053 77776 JUSTTRIM EXIT
042652,001808: 15,3054 33063 CA GYRCDR
042653,001809: 15,3055 04607 TC BANKCALL
042654,001810: 15,3056 17310 CADR IMUPULSE
|
|
Page 967 |
042656,001812: 15,3057 04607 TC BANKCALL
042657,001813: 15,3060 17735 CADR IMUSTALL
042658,001814: 15,3061 05705 TC CURTAINS
042659,001815: 15,3062 13011 TCF QMINEXIT
042660,001816:
042661,001817: 15,3063 02737 GYRCDR ECADR OGC
042662,001818:
|
|
Page 968 |
042664,001820: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042665,001821:
042666,001822: 15,3064 34746 2STARS CAF ZERO # INITALIZE STARIND
042667,001823: 15,3065 13067 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042668,001824: 15,3066 34744 1STAR CAF BIT1
042669,001825: 15,3067 55757 TS STARIND
042670,001826:
042671,001827: 15,3070 05355 TC PHASCHNG
042672,001828: 15,3071 04024 OCT 04024
042673,001829:
042674,001830: 15,3072 12402 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042675,001831:
042676,001832: 15,3073 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042677,001833: 15,3074 00006 EXTEND
042678,001834: 15,3075 13106 BZF ASTAR # 1ST STAR MARKED
042679,001835:
042680,001836: 15,3076 05355 TC PHASCHNG
042681,001837: 15,3077 04024 OCT 04024
042682,001838:
042683,001839: 15,3100 06060 TC INTPRET
042684,001840: 15,3101 45145 DLOAD CALL
042685,001841: 15,3102 03562 TSIGHT # TIME OF 2ND MARK
042686,001842: 15,3103 16607 PLANET
042687,001843: 15,3104 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042688,001844: 15,3105 33120 SURFLINE
042689,001845:
042690,001846: 15,3106 06060 ASTAR TC INTPRET
042691,001847: 15,3107 77775 VLOAD
042692,001848: 15,3110 02767 STARSAV2
042693,001849: 15,3111 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042694,001850: 15,3112 45145 DLOAD CALL
042695,001851: 15,3113 03562 TSIGHT # TIME OF 1ST MARK
042696,001852: 15,3114 16607 PLANET
042697,001853: 15,3115 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042698,001854: 15,3116 77776 EXIT
042699,001855: 15,3117 13066 TCF 1STAR # GO GET 2ND STAR SIGHTING
042700,001856:
|
|
Page 969 |
042702,001858: # DO FINE OR COARSE ALIGNMENT OF IMU
042703,001859:
042704,001860: 15,3120 77131 SURFLINE SSP AXT,2
042705,001861: 15,3121 00052 S2
042706,001862: 15,3122 00006 6
042707,001863: 15,3123 00014 12D
042708,001864: 15,3124 64373 WRTDESIR VLOAD* MXV
042709,001865: 15,3125 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042710,001866: 15,3126 03607 XSMD
042711,001867: 15,3127 77656 UNIT
042712,001868: 15,3130 12723 STORE STARAD +12D,2 # VEC IN SM
042713,001869: 15,3131 77773 VLOAD*
042714,001870: 15,3132 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042715,001871: 15,3133 10023 STORE 18D,2
042716,001872: 15,3134 43104 TIX,2 BON
042717,001873: 15,3135 33124 WRTDESIR
042718,001874: 15,3136 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042719,001875: 15,3137 33145 INITBY
042720,001876: 15,3140 77624 DOALIGN CALL
042721,001877: 15,3141 31265 R54 # DO CHKSDATA
042722,001878: 15,3142 77614 BOFF
042723,001879: 15,3143 00354 FREEFLAG
042724,001880: 15,3144 33225 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042725,001881: 15,3145 77624 INITBY CALL
042726,001882: 15,3146 47424 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
042727,001883: 15,3147 77624 CALL
042728,001884: 15,3150 47232 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042729,001885: 15,3151 77776 EXIT
042730,001886: 15,3152 34743 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042731,001887: 15,3153 70104 MASK FLAGWRD8
042732,001888: 15,3154 10000 CCS A
042733,001889: 15,3155 13164 TCF 5DEGTEST
042734,001890: 15,3156 33273 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042735,001891: 15,3157 04607 TC BANKCALL
042736,001892: 15,3160 20471 CADR GOFLASH
042737,001893: 15,3161 06001 TC GOTOPOOH # V34-TERMINATE
042738,001894: 15,3162 13164 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
042739,001895: 15,3163 13226 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
042740,001896:
042741,001897: 15,3164 06060 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042742,001898: 15,3165 40175 VLOAD BOV
042743,001899: 15,3166 02740 OGC
042744,001900: 15,3167 33170 SURFSUP
042745,001901: 15,3170 02750 SURFSUP STORE OGCT
042746,001902: 15,3171 40141 V/SC BOV
042747,001903: 15,3172 30617 5DEGREES
042748,001904: 15,3173 31715 COATRIM
042749,001905: 15,3174 52131 SSP GOTO
042750,001906: 15,3175 02746 QMIN
042751,001907: 15,3176 33200 SURFDISP
|
|
Page 970 |
042753,001909: 15,3177 33053 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
042754,001910:
042755,001911: 15,3200 77776 SURFDISP EXIT
042756,001912: 15,3201 05355 TC PHASCHNG
042757,001913: 15,3202 04024 OCT 04024
042758,001914:
042759,001915: 15,3203 06060 TC INTPRET
042760,001916: 15,3204 75160 AXC,1 AXC,2
042761,001917: 15,3205 03606 XSMD
042762,001918: 15,3206 01731 REFSMMAT
042763,001919: 15,3207 45014 SET CALL
042764,001920: 15,3210 01462 REFSMFLG
042765,001921: 15,3211 26374 MATMOVE
042766,001922: 15,3212 77776 EXIT
042767,001923: 15,3213 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
042768,001924: 15,3214 13216 TCF B2F8
042769,001925: 15,3215 13226 TCF P57POST +1
042770,001926:
042771,001927: 15,3216 34743 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042772,001928: 15,3217 70104 MASK FLAGWRD8
042773,001929: 15,3220 10000 CCS A
042774,001930: 15,3221 13543 TCF P57JUMP # ITS SET
042775,001931: 15,3222 06060 TC INTPRET
042776,001932: 15,3223 77624 CALL
042777,001933: 15,3224 33470 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042778,001934: 15,3225 77776 P57POST EXIT
042779,001935: 15,3226 35745 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042780,001936: 15,3227 04607 TC BANKCALL
042781,001937: 15,3230 20635 CADR GOPERF1
042782,001938: 15,3231 16001 TCF GOTOPOOH # VB34-TERMINATE
042783,001939: 15,3232 13543 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
042784,001940: 15,3233 44743 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
042785,001941: 15,3234 61144 AD OPTION2
042786,001942: 15,3235 00006 EXTEND
042787,001943: 15,3236 13240 BZF +2 # YES-GO CALCULATE LANDING SITE
042788,001944: 15,3237 16001 TCF GOTOPOOH # NO-EXIT P57
042789,001945: 15,3240 05355 TC PHASCHNG # RESTART PLACE
042790,001946: 15,3241 04024 OCT 04024
042791,001947: 15,3242 06060 TC INTPRET
042792,001948: 15,3243 45175 VLOAD CALL # USE GNB
042793,001949: 15,3244 02222 GSAV
042794,001950: 15,3245 47653 CDU*NBSM # GO TO SM COORDS
042795,001951: 15,3246 43105 VXM SET # ON MOON SO SET LUNAFLAG
042796,001952: 15,3247 01732 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
042797,001953: 15,3250 01463 LUNAFLAG
042798,001954: 15,3251 51515 PDVL ABVAL
042799,001955: 15,3252 02021 RLS
042800,001956: 15,3253 45561 VXSC STADR
042801,001957: 15,3254 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
042802,001958: 15,3255 47014 CLEAR RTB
|
|
Page 971 |
042804,001960: 15,3256 00662 ERADFLAG
042805,001961: 15,3257 21603 LOADTIME
042806,001962: 15,3260 77624 CALL
042807,001963: 15,3261 30455 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
042808,001964: 15,3262 01220 STORE RN # RN=RLS B-29 = LM POSITION
042809,001965: 15,3263 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
042810,001966: 15,3264 01242 SITIME # TIME STORED IN N89DISP
042811,001967: 15,3265 77606 PUSH # TIME AT 6-7 IN PDLIST
042812,001968: 15,3266 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
042813,001969: 15,3267 51644 R-TO-RP
042814,001970: 15,3270 02021 STORE RLS # RLS IN MOON-FIXED COORDS
042815,001971: 15,3271 77776 EXIT
042816,001972: 15,3272 16001 TCF GOTOPOOH # EXIT P57
042817,001973:
|
|
Page 972 |
042819,001975: # COARSE AND FINE ALIGN IMU
042820,001976: 14,2000 SETLOC P50S1
042821,001977: 14,2000 BANK
042822,001978:
042823,001979: 14,3715 COUNT* $$/P57
042824,001980:
042825,001981: 14,3715 75160 COATRIM AXC,1 AXC,2
042826,001982: 14,3716 02664 XDC
042827,001983: 14,3717 02642 XSM
042828,001984: 14,3720 77624 CALL
042829,001985: 14,3721 26374 MATMOVE
042830,001986: 14,3722 77624 CALL
042831,001987: 14,3723 47522 CDUTRIG
042832,001988: 14,3724 77624 CALL
042833,001989: 14,3725 20030 CALCSMSC
042834,001990: 14,3726 77624 CALL
042835,001991: 14,3727 47336 CALCGA
042836,001992: 14,3730 77414 BOFF EXIT
042837,001993: 14,3731 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
042838,001994: 14,3732 31744 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
042839,001995: 14,3733 35001 CAF V06N22 # THAN 5 DEGREES
042840,001996: 14,3734 04607 TC BANKCALL
042841,001997: 14,3735 20471 CADR GOFLASH
042842,001998: 14,3736 06001 TC GOTOPOOH
042843,001999: 14,3737 13741 TCF +2
042844,002000: 14,3740 13733 TCF -5
042845,002001: 14,3741 05355 TC PHASCHNG
042846,002002: 14,3742 04024 OCT 04024
042847,002003:
042848,002004: 14,3743 06060 TC INTPRET
042849,002005: 14,3744 77624 CORSIT CALL
042850,002006: 14,3745 31542 COARSE
042851,002007: 14,3746 77624 CALL
042852,002008: 14,3747 31566 NCOARSE
042853,002009: 14,3750 77624 CALL
042854,002010: 14,3751 33020 GYROTRIM
042855,002011: 14,3752 77650 GOTO
042856,002012: 14,3753 33200 SURFDISP
042857,002013: 15,2000 SETLOC P50S
042858,002014: 15,2000 BANK
042859,002015: 15,3273 COUNT* $$/P57
042860,002016:
042861,002017: 15,3273 01535 DISPGYRO VN 0693
042862,002018:
|
|
Page 973 |
042864,002020: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042865,002021:
042866,002022: 15,3274 04607 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042867,002023: 15,3275 33634 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
042868,002024:
042869,002025: 15,3276 05520 TC DOWNFLAG
042870,002026: 15,3277 00222 ADRES FLT59FLG
042871,002027:
042872,002028: 15,3300 36266 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042873,002029: 15,3301 55144 TS OPTION2
042874,002030: 15,3302 34744 P57OPT CAF BIT1
042875,002031: 15,3303 04607 TC BANKCALL
042876,002032: 15,3304 20725 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
042877,002033: 15,3305 06001 TC GOTOPOOH # V34 TERMINATE
042878,002034: 15,3306 13313 TCF ALIGNOPT # V33 PROCEED
042879,002035: 15,3307 13302 TCF P57OPT # V32 RECYCLE
042880,002036:
042881,002037: 15,3310 05355 TC PHASCHNG
042882,002038: 15,3311 00014 OCT 00014
042883,002039: 15,3312 05146 TC ENDOFJOB
042884,002040:
042885,002041: 15,3313 31144 ALIGNOPT CA OPTION2
042886,002042: 15,3314 76266 MASK THREE
042887,002043: 15,3315 50000 INDEX A
042888,002044: 15,3316 13317 TCF +1
042889,002045: 15,3317 13332 TCF TDISP # OPTION 4 LS ORIENTATION
042890,002046: 15,3320 13373 TCF PACKOPTN # OPTION 1 PREFERRED
042891,002047: 15,3321 13302 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
042892,002048: 15,3322 06060 TC INTPRET # OPTION 3 REFSMMAT
042893,002049: 15,3323 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
042894,002050: 15,3324 01731 REFSMMAT
042895,002051: 15,3325 03606 XSMD
042896,002052: 15,3326 77624 CALL
042897,002053: 15,3327 26374 MATMOVE
042898,002054: 15,3330 77650 GOTO
042899,002055: 15,3331 33372 PACKOPTN -1
042900,002056:
042901,002057: 15,3332 06060 TDISP TC INTPRET
042902,002058: 15,3333 77745 DLOAD
042903,002059: 15,3334 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042904,002060: 15,3335 01045 P57A STORE DSPTEM1
042905,002061: 15,3336 77776 EXIT
042906,002062: 15,3337 32325 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042907,002063: 15,3340 04607 TC BANKCALL
042908,002064: 15,3341 20471 CADR GOFLASH
042909,002065: 15,3342 16001 TCF GOTOPOOH # V34-TERMINATE
042910,002066: 15,3343 13345 TCF +2
042911,002067: 15,3344 13337 TCF P57AA # VB32-RECYCLE
042912,002068:
042913,002069: 15,3345 06060 TC INTPRET
|
|
Page 974 |
042915,002071: 15,3346 65234 RTB PDDL
042916,002072: 15,3347 21603 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042917,002073: 15,3350 01045 DSPTEM1
042918,002074: 15,3351 65254 BZE PDDL
042919,002075: 15,3352 33362 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
042920,002076: 15,3353 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042921,002077: 15,3354 01045 DSPTEM1
042922,002078: 15,3355 33362 P57C
042923,002079: 15,3356 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042924,002080: 15,3357 74335 STORE TIG # STORE IT IN TIG
042925,002081: 15,3360 36775 STCALL TALIGN
042926,002082: 15,3361 33364 P57D
042927,002083: 15,3362 45545 P57C DLOAD STADR
042928,002084: 15,3363 75002 STORE TALIGN
042929,002085: 15,3364 34041 P57D STCALL TDEC1
042930,002086: 15,3365 27115 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042931,002087: 15,3366 53575 VLOAD UNIT # IN X,Y,ZSMD
042932,002088: 15,3367 00001 RATT
042933,002089: 15,3370 37607 STCALL XSMD
042934,002090: 15,3371 11014 LSORIENT
042935,002091: 15,3372 77776 EXIT
042936,002092: 15,3373 34746 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042937,002093: 15,3374 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042938,002094: 15,3375 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042939,002095: 15,3376 34730 CAF REFSMBIT
042940,002096: 15,3377 70077 MASK FLAGWRD3 # REFSMFLG
042941,002097: 15,3400 10000 CCS A
042942,002098: 15,3401 34736 CAF BIT7 # SET
042943,002099: 15,3402 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
042944,002100: 15,3403 34744 CAF ATTFLBIT
042945,002101: 15,3404 70102 MASK FLAGWRD6 # ATTFLG
042946,002102: 15,3405 10000 CCS A
042947,002103: 15,3406 34741 CAF BIT4 # SET
042948,002104: 15,3407 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
042949,002105: 15,3410 34741 CAF BIT4
042950,002106: 15,3411 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042951,002107:
042952,002108: 15,3412 33633 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042953,002109: 15,3413 04607 TC BANKCALL
042954,002110: 15,3414 20471 CADR GOFLASH
042955,002111: 15,3415 16001 TCF GOTOPOOH # VB34-TERMINATE
042956,002112: 15,3416 13420 TCF +2 # V33-PROCEED
042957,002113: 15,3417 13412 TCF DSPOPTN # V32-RECYCLE
042958,002114:
042959,002115: 15,3420 34730 CAF REFSMBIT
042960,002116: 15,3421 70077 MASK FLAGWRD3
042961,002117: 15,3422 10000 CCS A
042962,002118: 15,3423 13523 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042963,002119: 15,3424 34744 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
042964,002120: 15,3425 70102 MASK FLAGWRD6
|
|
Page 975 |
042966,002122: 15,3426 10000 CCS A
042967,002123: 15,3427 13527 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042968,002124: 15,3430 34743 CAF BIT2 # SEE IF OPTION 2 OR 3
042969,002125: 15,3431 71144 MASK OPTION2
042970,002126: 15,3432 10000 CCS A
042971,002127: 15,3433 13527 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042972,002128: 15,3434 05571 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
042973,002129: 15,3435 00701 OCT 701
042974,002130: 15,3436 34777 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042975,002131: 15,3437 04607 TC BANKCALL
042976,002132: 15,3440 20471 CADR GOFLASH
042977,002133: 15,3441 16001 TCF GOTOPOOH # VB34-TERMINATE
042978,002134: 15,3442 13412 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
042979,002135: 15,3443 13412 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
042980,002136:
|
|
Page 976 |
042982,002138: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042983,002139:
042984,002140: 15,3444 40220 MFREF STQ SETPD
042985,002141: 15,3445 02746 QMAJ
042986,002142: 15,3446 00001 0
042987,002143: 15,3447 77634 RTB
042988,002144: 15,3450 21603 LOADTIME
042989,002145: 15,3451 27562 STOVL TSIGHT
042990,002146: 15,3452 03246 VEC1
042991,002147: 15,3453 41525 PDDL PUSH
042992,002148: 15,3454 03562 TSIGHT
042993,002149: 15,3455 77624 CALL
042994,002150: 15,3456 55716 RP-TO-R
042995,002151: 15,3457 27246 STOVL VEC1
042996,002152: 15,3460 03254 VEC2
042997,002153: 15,3461 65201 SETPD PDDL
042998,002154: 15,3462 00001 0
042999,002155: 15,3463 03562 TSIGHT
043000,002156: 15,3464 45006 PUSH CALL
043001,002157: 15,3465 55716 RP-TO-R
043002,002158: 15,3466 37254 STCALL VEC2
043003,002159: 15,3467 02746 QMAJ
043004,002160:
|
|
Page 977 |
043006,002162: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043007,002163: # STORE IN YNBSAV AND ZNBSAV
043008,002164:
043009,002165: 15,3470 45020 REFMF STQ CALL
043010,002166: 15,3471 02746 QMAJ
043011,002167: 15,3472 47522 CDUTRIG # GET SIN AND COS OF CDUS
043012,002168: 15,3473 40234 RTB SETPD
043013,002169: 15,3474 21603 LOADTIME
043014,002170: 15,3475 00001 0
043015,002171: 15,3476 37562 STCALL TSIGHT
043016,002172: 15,3477 20030 CALCSMSC # GET YNB IN SM
043017,002173: 15,3500 61375 VLOAD VXM
043018,002174: 15,3501 02673 YNB
043019,002175: 15,3502 01732 REFSMMAT # YNB TO REF
043020,002176: 15,3503 65256 UNIT PDDL
043021,002177: 15,3504 03562 TSIGHT
043022,002178: 15,3505 45006 PUSH CALL
043023,002179: 15,3506 51644 R-TO-RP
043024,002180: 15,3507 26230 STOVL YNBSAV # YNB TO MF
043025,002181: 15,3510 02701 ZNB
043026,002182: 15,3511 53505 VXM UNIT
043027,002183: 15,3512 01732 REFSMMAT # ZNB TO REF
043028,002184: 15,3513 41525 PDDL PUSH
043029,002185: 15,3514 03562 TSIGHT
043030,002186: 15,3515 77624 CALL
043031,002187: 15,3516 51644 R-TO-RP # ZNB TO MF
043032,002188: 15,3517 02236 STORE ZNBSAV
043033,002189: 15,3520 77614 SETGO
043034,002190: 15,3521 03036 ATTFLAG
043035,002191: 15,3522 02746 QMAJ
043036,002192:
|
|
Page 978 |
043038,002194: # BRANCH TO ALIGNMENT OPTION
043039,002195:
043040,002196: 15,3523 06060 GETLMATT TC INTPRET
043041,002197: 15,3524 77624 CALL
043042,002198: 15,3525 33470 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
043043,002199: 15,3526 77776 EXIT
043044,002200:
043045,002201: 15,3527 05506 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
043046,002202: 15,3530 00205 ADRES INITALGN
043047,002203: 15,3531 34744 CAF BIT1
043048,002204: 15,3532 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
043049,002205: 15,3533 10000 CCS A
043050,002206: 15,3534 12615 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
043051,002207:
043052,002208: 15,3535 05355 ATTCHK TC PHASCHNG
043053,002209: 15,3536 04024 OCT 04024
043054,002210:
043055,002211: 15,3537 34744 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
043056,002212: 15,3540 70102 MASK FLAGWRD6
043057,002213: 15,3541 10000 CCS A
043058,002214: 15,3542 13557 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
043059,002215: 15,3543 05355 P57JUMP TC PHASCHNG
043060,002216: 15,3544 04024 OCT 04024
043061,002217:
043062,002218: 15,3545 05520 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
043063,002219: 15,3546 00205 ADRES INITALGN
043064,002220: 15,3547 36266 CAF THREE
043065,002221: 15,3550 71144 MASK OPTION2 # BRANCH ON OPTION CODE
043066,002222: 15,3551 50000 INDEX A
043067,002223: 15,3552 13553 TCF +1
043068,002224: 15,3553 13557 TCF P57OPT0 # OPTION IS 0
043069,002225: 15,3554 13600 TCF P57OPT1 # OPTION IS 1
043070,002226: 15,3555 13616 TCF P57OPT2 # OPTION IS 2
043071,002227: 15,3556 13617 TCF P57OPT3 # OPTION IS 3
043072,002228:
|
|
Page 979 |
043074,002230: # OPTION 0, GET TWO ATTITUDE VECS
043075,002231:
043076,002232: 15,3557 06060 P57OPT0 TC INTPRET
043077,002233: 15,3560 77775 VLOAD
043078,002234: 15,3561 02230 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
043079,002235: 15,3562 27246 STOVL VEC1
043080,002236: 15,3563 02236 ZNBSAV
043081,002237: 15,3564 37254 STCALL VEC2
043082,002238: 15,3565 47522 CDUTRIG
043083,002239: 15,3566 77624 CALL
043084,002240: 15,3567 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
043085,002241: 15,3570 77775 VLOAD
043086,002242: 15,3571 02673 YNB
043087,002243: 15,3572 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
043088,002244: 15,3573 02701 ZNB
043089,002245: 15,3574 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
043090,002246: 15,3575 33444 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
043091,002247: 15,3576 77650 GOTO
043092,002248: 15,3577 33120 SURFLINE
043093,002249:
043094,002250: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043095,002251:
043096,002252: 15,3600 06060 P57OPT1 TC INTPRET
043097,002253: 15,3601 53575 VLOAD UNIT
043098,002254: 15,3602 02021 RLS # LANDING SITE VEC
043099,002255: 15,3603 27246 STOVL VEC1
043100,002256: 15,3604 02236 ZNBSAV # Z ATTITUDE VEC
043101,002257: 15,3605 37254 STCALL VEC2
043102,002258: 15,3606 47522 CDUTRIG
043103,002259: 15,3607 77624 CALL
043104,002260: 15,3610 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
043105,002261: 15,3611 45175 VLOAD CALL
043106,002262: 15,3612 02222 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
043107,002263: 15,3613 47653 CDU*NBSM
043108,002264: 15,3614 77650 GOTO
043109,002265: 15,3615 33572 SAMETYP # NOW DO SAME AS OPTION 0
043110,002266:
|
|
Page 980 |
043112,002268: # OPTION 2, GET TWO STAR SIGHTINGS
043113,002269:
043114,002270: 15,3616 13064 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
043115,002271:
043116,002272: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043117,002273:
043118,002274: 15,3617 06060 P57OPT3 TC INTPRET
043119,002275: 15,3620 53575 VLOAD UNIT
043120,002276: 15,3621 02021 RLS # LANDING SITE VEC
043121,002277: 15,3622 03246 STORE VEC1
043122,002278: 15,3623 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
043123,002279: 15,3624 02222 GSAV # GRAVITY VEC NB
043124,002280: 15,3625 77624 CALL
043125,002281: 15,3626 47653 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
043126,002282: 15,3627 36761 STCALL STARSAV1
043127,002283: 15,3630 33444 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
043128,002284: 15,3631 77776 EXIT
043129,002285: 15,3632 13066 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043130,002286:
043131,002287: 15,3633 01206 VB05N06 VN 506
043132,002288:
|
|
Page 981 |
043134,002290: # CHECK IMODES30 TO VARIFY IMU IS ON
043135,002291:
043136,002292: 15,3634 41277 IMUCHK CS IMODES30
043137,002293: 15,3635 74734 MASK BIT9
043138,002294: 15,3636 10000 CCS A # IS IMU ON
043139,002295: 15,3637 13643 TCF +4 # YES
043140,002296:
043141,002297: 15,3640 05571 TC ALARM # NO, SEND ALARM AND EXIT
043142,002298: 15,3641 00210 OCT 210
043143,002299: 15,3642 06001 TC GOTOPOOH
043144,002300:
043145,002301: 15,3643 05506 TC UPFLAG
043146,002302: 15,3644 00007 ADRES IMUSE # SET IMUSE FLAG
043147,002303:
043148,002304: 15,3645 04622 TC SWRETURN
043149,002305:
043150,002306: 04,2000 SETLOC AOTMARK2
043151,002307: 04,2000 BANK
043152,002308: 04,3014 COUNT* $$/P57
043153,002309:
043154,002310: 04,3014 77220 LSORIENT STQ VLOAD
043155,002311: 04,3015 02746 QMAJ
043156,002312: 04,3016 01555 RRECTCSM
043157,002313: 04,3017 47235 VXV VXV
043158,002314: 04,3020 01563 VRECTCSM
043159,002315: 04,3021 03607 XSMD
043160,002316: 04,3022 77656 UNIT
043161,002317: 04,3023 03623 STORE ZSMD
043162,002318: 04,3024 53435 VXV UNIT
043163,002319: 04,3025 03607 XSMD
043164,002320: 04,3026 37615 STCALL YSMD
043165,002321: 04,3027 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc