Source Code
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These source-code files are part of a reconstructed copy of Skylark 048, the
Block II Command Module (CM) Apollo Guidance Computer (AGC) software for the
Skylab-2, Skylab-3, Skylab-4, and Apollo-Soyuz Test Project missions.
They have been created via disassembly of binary dumps of the original core rope
memory modules actually flown on Skylab-2, part numbers 2010802-541, 2010802-551,
2010802-561, 2010802-571, 2010802-581, and 2010802-591. Access to these modules
was provided by the New Mexico Museum of Space History, who we are much indebted to.
The source code for the Apollo 15, 16, and 17 software, Artemis 072, was used as
a starting point. Heavy use was made of TRW 4900.5-244, Programmed Guidance Equations
for Skylark Command Module Earth Orbital Program, dated 14 February 1972. This document
contains pseudocode of essentially all of Skylark, using original program labels which
have been copied for this source reconstruction.
Since only binary dumps (rather than listings) of Skylark are available as source material,
all comments and labels are approximate.
They have been taken from the Programmed Guidance Equations or other AGC programs where
possible, or, in some places, written from scratch to match what we believe would have
been in the original listing.
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031430,000002: ## Copyright: Public domain.
031431,000003: ## Filename: P51-P53.agc
031432,000004: ## Purpose: A section of Skylark revision 048.
031433,000005: ## It is part of the source code for the Apollo Guidance Computer (AGC)
031434,000006: ## for Skylab-2, Skylab-3, Skylab-4, and ASTP. No original listings of
031435,000007: ## this software are available; instead, this file was created via
031436,000008: ## disassembly of dumps of the core rope modules actually flown on
031437,000009: ## Skylab-2. Access to these modules was provided by the New Mexico
031438,000010: ## Museum of Space History.
031439,000011: ## Assembler: yaYUL
031440,000012: ## Contact: Ron Burkey <info@sandroid.org>.
031441,000013: ## Website: www.ibiblio.org/apollo/index.html
031442,000014: ## Mod history: 2023-09-04 MAS Created from Artemis 072.
031443,000015: ## 2024-03-05 MAS Updated for Skylark 48.
031444,000016:
031445,000017:
031446,000018: # PROGRAM NAME - PROG52 DATE - AUGUST 1,1969
031447,000019: # MODIFICATION BY ALBERT,BARNERT,HASLAM LOG SECTION - P51-P5
031448,000020:
031449,000021: # FUNCTION -
031450,000022:
031451,000023: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
031452,000024: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
031453,000025:
031454,000026: # (A) PREFERRED ORIENTATION
031455,000027:
031456,000028: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
031457,000029: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
031458,000030:
031459,000031: # (B) NOMINAL (LOCAL VERTICAL) ORIENTATION
031460,000032:
031461,000033: # X = UNIT ( Y X Z )
031462,000034: # -SM -SM -SM
031463,000035:
031464,000036: # Y = UNIT (V X R)
031465,000037: # -SM - -
031466,000038:
031467,000039: # Z = UNIT ( -R )
031468,000040: # -SM -
031469,000041:
031470,000042: # WHERE_
031471,000043:
031472,000044: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
031473,000045: # -
031474,000046:
031475,000047: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
031476,000048: # -
031477,000049:
031478,000050: # (C) REFSMMAT ORIENTATION
031479,000051:
031480,000052: # THIS ORIENTATION IS SELECTED AUTOMATICALLY UNLESS THE ASTRONAUT KEYS IN A DIFFERENT OPTION CODE
031481,000053:
031482,000054: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
031483,000055: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
031484,000056: # SINCE THE LAST ALIGNMENT).
031485,000057:
031486,000058: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
031487,000059: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
031488,000060: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
031489,000061: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
031490,000062: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
031491,000063: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
031492,000064: # REQUESTED.
031493,000065:
031494,000066: # CALLING SEQUENCE -
031495,000067:
031496,000068: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
031497,000069:
031498,000070: # SUBROUTINES CALLED -
031499,000071:
031500,000072: # 1. FLAGDOWN 6. S52.2 11. GOPERF3
031501,000073: # 2. R02BOTH 7. CAL53A 12. NEWMODEX
031502,000074: # 3. GOPERF4 8. FLAGUP 13. PRIOLARM
031503,000075: # 4. MATMOVE 9. R56
031504,000076: # 5. GOFLASH 10. R51
031505,000077:
031506,000078: # NORMAL EXIT MODES -
031507,000079:
031508,000080: # EXITS TO ENDOFJOB
031509,000081:
031510,000082: # ALARM OR ABORT EXIT MODES -
031511,000083:
031512,000084: # NONE
031513,000085:
031514,000086: # OUTPUT -
031515,000087:
031516,000088: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
031517,000089: # 1. IMU ORIENTATION CODE
031518,000090: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
031519,000091: # 3. TIME OF NEXT IGNITION
031520,000092: # 4. GIMBAL ANGLES
031521,000093: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
031522,000094: # 6. PLEASE PERFORM P00
031523,000095: # THE MODE DISPLAY MAY BE CHANGED TO 20
031524,000096:
031525,000097: # ERASABLE INITIALIZATION REQUIRED -
031526,000098:
031527,000099: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
031528,000100: # XSMD, YSMD, ZSMD.
031529,000101: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
031530,000102:
031531,000103: # DEBRIS -
031532,000104:
031533,000105: # WORK AREA
031534,000106:
031535,000107: 07,2560 14,2002 P54 = PROG52
031536,000108: 14,2000 SETLOC P50S
031537,000109: 14,2000 BANK
031538,000110:
031539,000111: 14,2002 30,2000 SBANK= LOWSUPER
031540,000112: 14,2002 E5,1773 EBANK= SAC
031541,000113: 14,2002 COUNT* $$/P52
031542,000114: 14,2002 07722 PROG52 TC DOWNFLAG
031543,000115: 14,2003 00027 ADRES UPDATFLG # BIT 7 FLAG 1
031544,000116: 14,2004 07722 TC DOWNFLAG
031545,000117: 14,2005 00031 ADRES TRACKFLG # BIT 5 FLAG 1
031546,000118: 14,2006 04647 TC BANKCALL
031547,000119: 14,2007 03737 CADR R02BOTH # IMU STATUS CHECK
031548,000120: 14,2010 06006 TC INTPRET
031549,000121: 14,2011 77414 BON EXIT # MINKEY SEQUENCE?
031550,000122: 14,2012 05310 AUTOSEQ
031551,000123: 14,2013 30217 P52AUTO # YES
031552,000124:
031553,000125: 14,2014 30104 CA FLAGWRD8
031554,000126: 14,2015 74771 MASK UTBIT
031555,000127: 14,2016 00006 EXTEND
031556,000128: 14,2017 12025 BZF +6
031557,000129:
031558,000130: 14,2020 11343 CCS OPTNTYPE
031559,000131: 14,2021 12023 TCF +2
031560,000132: 14,2022 12025 TCF +3
031561,000133: 14,2023 07710 TC UPFLAG
031562,000134: 14,2024 00031 ADRES TRACKFLG
031563,000135:
031564,000136: 14,2025 34776 CAF PFRATBIT
031565,000137: 14,2026 70076 MASK FLAGWRD2 # PREFERRED ORIENTATION
031566,000138: 14,2027 10000 CCS A
031567,000139: 14,2030 02033 TC P52A
031568,000140: 14,2031 36214 CAF THREE # ION
031569,000141: 14,2032 02034 TC P52A +1
031570,000142: 14,2033 35001 P52A CAF BIT1 # YES - SET OPTION 2 = 1
031571,000143: 14,2034 54771 +1 TS OPTION2
031572,000144: 14,2035 35001 P52B CAF BIT1
031573,000145: 14,2036 04647 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
031574,000146: 14,2037 20754 CADR GOPERF4
031575,000147: 14,2040 04103 TC GOTOPOOH
031576,000148: 14,2041 02043 TC +2
031577,000149: 14,2042 02035 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
031578,000150: 14,2043 40771 CS OPTION2
031579,000151: 14,2044 76214 MASK THREE
031580,000152: 14,2045 00006 EXTEND
031581,000153: 14,2046 12417 BZF P52C # REFERENCE
031582,000154: 14,2047 75001 MASK BIT1
031583,000155: 14,2050 00006 EXTEND
031584,000156: 14,2051 12110 BZF P52J # PREFERRED
031585,000157: 14,2052 00006 EXTEND # NOMINAL (LOCAL VERTICAL), LANDING SIGHT
031586,000158: 14,2053 35003 DCA NEG0
031587,000159: 14,2054 53241 DXCH DSPTEM1
031588,000160: 14,2055 35042 CAF V06N34 # PREFERRED
031589,000161: 14,2056 05550 TC VNFLASH
031590,000162: 14,2057 31240 CA DSPTEM1
031591,000163: 14,2060 00006 EXTEND
031592,000164: 14,2061 12063 BZF +2
031593,000165: 14,2062 12066 TCF +4
031594,000166:
031595,000167: 14,2063 00006 EXTEND
031596,000168: 14,2064 30025 DCA TIME2
031597,000169: 14,2065 53241 DXCH DSPTEM1
031598,000170:
031599,000171: # NAME - S52.3
031600,000172: # FUNCTION - TO COMPUTE AMD DISPLAY THE
031601,000173: # GIMBAL ANGLES, ALLOW ASTRONAUT TO CHOOSE
031602,000174: # BETWEEN FAST AND ACCURATE IMU REALIGNMENT.
031603,000175: # NOMINAL (LOCAL VERTICAL) ORIENTATION IS:
031604,000176: # XSMD= UNIT(YSMD X ZSMD)
031605,000177: # YSMD= UNIT(V X R)
031606,000178: # ZSMD= UNIT(-R)
031607,000179:
031608,000180: # INPUT - TIME OF ALIGNMENT IN MPAC
031609,000181:
031610,000182: # OUTPUT - X,Y,ZSMD
031611,000183:
031612,000184: # SUBROUTINES - CSMCONIC
031613,000185:
031614,000186: 14,2066 06006 S52.3 TC INTPRET
031615,000187: 14,2067 77745 DLOAD
031616,000188: 14,2070 01241 DSPTEM1
031617,000189: 14,2071 34041 STCALL TDEC1
031618,000190: 14,2072 11400 CSMPREC
031619,000191: 14,2073 77201 SETPD VLOAD
031620,000192: 14,2074 00001 0
031621,000193: 14,2075 00001 RATT
031622,000194: 14,2076 53476 VCOMP UNIT
031623,000195: 14,2077 24323 STOVL ZSMD
031624,000196: 14,2100 00007 VATT
031625,000197: 14,2101 53435 VXV UNIT
031626,000198: 14,2102 00001 RATT
031627,000199: 14,2103 00315 STORE YSMD
031628,000200: 14,2104 53435 VXV UNIT
031629,000201: 14,2105 00323 ZSMD
031630,000202: 14,2106 00307 STORE XSMD
031631,000203: 14,2107 77776 EXIT
031632,000204: 14,2110 06006 P52J TC INTPRET
031633,000205: 14,2111 77624 P52D CALL # READ VEHICLE ATTITUDE AND
031634,000206: 14,2112 22430 S52.2 # COMPUTE GIMBAL ANGLES
031635,000207: 14,2113 77776 EXIT
031636,000208: 14,2114 35040 CAF V06N22
031637,000209: 14,2115 04647 TC BANKCALL # DISPLAY GIMBAL ANGLES
031638,000210: 14,2116 20623 CADR GOFLASH
031639,000211: 14,2117 04103 TC GOTOPOOH
031640,000212: 14,2120 02122 TC COARSTYP
031641,000213: 14,2121 02110 TC P52J # RECYCLE - VEHICLE HAS BEEN MANEUVERED
031642,000214: 14,2122 40106 COARSTYP CS FLGWRD10
031643,000215: 14,2123 74773 MASK AUTSQBIT
031644,000216: 14,2124 00006 EXTEND
031645,000217: 14,2125 12261 BZF PERF20 # IF MINKEY
031646,000218: 14,2126 35006 CAF OCT13 # PLEASE PERFORM NORMAL/GYRO TORQUE
031647,000219: 14,2127 04647 TC BANKCALL
031648,000220: 14,2130 20747 CADR GOPERF1
031649,000221: 14,2131 14103 TCF GOTOPOOH # V34
031650,000222: 14,2132 12275 TCF P52K # NORMAL COARSE
031651,000223: 14,2133 06006 GYCRS TC INTPRET
031652,000224: 14,2134 64375 VLOAD MXV
031653,000225: 14,2135 00307 XSMD
031654,000226: 14,2136 01720 REFSMMAT
031655,000227: 14,2137 77656 UNIT
031656,000228: 14,2140 26703 STOVL XDC
031657,000229: 14,2141 00315 YSMD
031658,000230: 14,2142 53521 MXV UNIT
031659,000231: 14,2143 01720 REFSMMAT
031660,000232: 14,2144 26711 STOVL YDC
031661,000233: 14,2145 00323 ZSMD
031662,000234: 14,2146 53521 MXV UNIT
031663,000235: 14,2147 01720 REFSMMAT
031664,000236: 14,2150 36717 STCALL ZDC
031665,000237: 14,2151 47177 CALCGTA
031666,000238: 14,2152 43014 CLEAR CLEAR
031667,000239: 14,2153 01260 DRIFTFLG
031668,000240: 14,2154 01662 REFSMFLG
031669,000241: 14,2155 77776 EXIT
031670,000242: 14,2156 32216 CAF V16N20
031671,000243: 14,2157 04647 TC BANKCALL
031672,000244: 14,2160 20570 CADR GODSPR
031673,000245: 14,2161 33006 CAF R55CDR
031674,000246: 14,2162 04647 TC BANKCALL
031675,000247: 14,2163 17175 CADR IMUPULSE
031676,000248: 14,2164 04647 TC BANKCALL
031677,000249: 14,2165 17575 CADR IMUSTALL
031678,000250: 14,2166 03653 TC 217ALARM # BAD END
031679,000251: 14,2167 05415 TC PHASCHNG
031680,000252: 14,2170 04024 OCT 04024
031681,000253: 14,2171 06006 TC INTPRET
031682,000254: 14,2172 75160 AXC,1 AXC,2
031683,000255: 14,2173 00306 XSMD
031684,000256: 14,2174 01717 REFSMMAT
031685,000257: 14,2175 77624 CALL
031686,000258: 14,2176 34721 MATMOVE
031687,000259: 14,2177 43014 CLEAR SET
031688,000260: 14,2200 01273 PFRATFLG
031689,000261: 14,2201 01462 REFSMFLG
031690,000262: 14,2202 77234 RTB VLOAD
031691,000263: 14,2203 31430 SET1/PDT
031692,000264: 14,2204 15726 ZEROVEC
031693,000265: 14,2205 01472 STORE GCOMP
031694,000266: 14,2206 43014 SET BOF
031695,000267: 14,2207 01060 DRIFTFLG
031696,000268: 14,2210 05350 AUTOSEQ
031697,000269: 14,2211 31004 R51K # CONTINUE FINE ALIGN IF NOT MINKEY
031698,000270: 14,2212 77614 CLEAR
031699,000271: 14,2213 05276 PCFLAG
031700,000272: 14,2214 77776 P50SEXIT EXIT
031701,000273: 14,2215 14105 TCF MNKGOPOO
031702,000274: 14,2216 04024 V16N20 VN 1620
031703,000275: 14,2217 5007 ALRM15 EQUALS OCT15
031704,000276: 14,2217 47014 P52AUTO BOFF RTB
031705,000277: 14,2220 05356 PCFLAG
031706,000278: 14,2221 30234 P52AUTO1
031707,000279: 14,2222 34735 RDCDUS
031708,000280: 14,2223 70535 SLOAD SR1
031709,000281: 14,2224 00003 2
031710,000282: 14,2225 77746 COS
031711,000283: 14,2226 43165 SIGN CLEAR
031712,000284: 14,2227 03407 DELVLVC +2
031713,000285: 14,2230 05271 TCOMPFLG
031714,000286: 14,2231 43044 BPL SET
031715,000287: 14,2232 30234 P52AUTO1
031716,000288: 14,2233 05071 TCOMPFLG
031717,000289: 14,2234 74575 P52AUTO1 VLOAD VSR1 # XDES = UNIT(XREF COS45 + YERF SIN45) (1)
031718,000290: 14,2235 01720 REFSMMAT # - (2)
031719,000291: 14,2236 74515 PDVL VSR1
031720,000292: 14,2237 01726 REFSMMAT +6 # (1) FOR 1ST, +45-DEGREE MANEUVER
031721,000293: 14,2240 57414 BON VCOMP # (2) 2ND -
031722,000294: 14,2241 05316 PCFLAG # IN EITHER CASE, COS45 = SIN45, AND
031723,000295: 14,2242 30243 +1 # 'UNIT' OBVIATES NEED FOR THEN.
031724,000296: 14,2243 57414 BOFF VCOMP
031725,000297: 14,2244 05351 TCOMPFLG
031726,000298: 14,2245 30246 P52AUTOX
031727,000299:
031728,000300: 14,2246 53455 P52AUTOX VAD UNIT
031729,000301: 14,2247 77626 STADR
031730,000302: 14,2250 53470 STOVL XSMD
031731,000303: 14,2251 01734 REFSMMAT +12D
031732,000304: 14,2252 00323 STORE ZSMD # ZDES = ZREF
031733,000305: 14,2253 53435 VXV UNIT
031734,000306: 14,2254 00307 XSMD
031735,000307: 14,2255 00315 STORE YSMD # YDES = UNIT(ZDES * ZDES)
031736,000308: 14,2256 52014 SET GOTO
031737,000309: 14,2257 01073 PFRATFLG
031738,000310: 14,2260 30111 P52D
031739,000311:
031740,000312: 14,2261 34775 PERF20 CAF BIT5 # =OCT 20, PLEASE PERF MINKEY PC TORQUE
031741,000313: 14,2262 04647 TC BANKCALL
031742,000314: 14,2263 20747 CADR GOPERF1
031743,000315: 14,2264 04103 TC GOTOPOOH # V 34
031744,000316: 14,2265 02133 TC GYCRS # PRO - DO IT
031745,000317: 14,2266 06006 TC INTPRET # ENTR
031746,000318: 14,2267 77414 BON EXIT
031747,000319: 14,2270 05316 PCFLAG
031748,000320: 14,2271 30214 P50SEXIT # OK TO FLUSH IT 1ST TIME ONLY
031749,000321: 14,2272 05644 TC ALARM # BUT MAKE HIM DO 2ND
031750,000322: 14,2273 00402 OCT 00402
031751,000323: 14,2274 02261 TC PERF20
031752,000324: # NAME - CAL53A
031753,000325: # FUNCTION - COARSE ALIGN THE IMU, IF NECESSARY,
031754,000326: # INPUT - PRESENT GIMBAL ANGLES - CDUX, CDUY, CDUZ
031755,000327: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
031756,000328: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
031757,000329: # SUBROUTINES USED - 1.IMUCOARS 2.IMUSTALL 3.CURTAINS
031758,000330:
031759,000331: 14,2275 COUNT* $$/R50
031760,000332: 14,2275 06006 P52K TC INTPRET
031761,000333: 14,2276 77624 CAL53A CALL
031762,000334: 14,2277 22430 S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES
031763,000335: 14,2300 66234 RTB SSP
031764,000336: 14,2301 34735 RDCDUS # READ CDUS
031765,000337: 14,2302 00051 S1
031766,000338: 14,2303 00001 1
031767,000339: 14,2304 40370 AXT,1 SETPD
031768,000340: 14,2305 00003 3
031769,000341: 14,2306 00005 4
031770,000342:
031771,000343: 14,2307 70543 CALOOP DLOAD* SR1
031772,000344: 14,2310 01303 THETAD +3D,1
031773,000345: 14,2311 70523 PDDL* SR1
031774,000346: 14,2312 00005 4,1
031775,000347: 14,2313 51425 DSU ABS
031776,000348: 14,2314 45206 PUSH DSU
031777,000349: 14,2315 34734 DEGREE1
031778,000350: 14,2316 71240 BMN DLOAD
031779,000351: 14,2317 30332 CALOOP1
031780,000352: 14,2320 51025 DSU BPL
031781,000353: 14,2321 34735 DEG359
031782,000354: 14,2322 30332 CALOOP1
031783,000355: 14,2323 77776 COARFINE EXIT
031784,000356: 14,2324 05415 TC PHASCHNG
031785,000357: 14,2325 04024 OCT 04024
031786,000358: 14,2326 03627 TC COARSUB # PERFORM ALIGNMENT
031787,000359: 14,2327 06006 TC INTPRET
031788,000360: 14,2330 77650 GOTO
031789,000361: 14,2331 30334 FINEONLY
031790,000362: 14,2332 77700 CALOOP1 TIX,1
031791,000363: 14,2333 30307 CALOOP
031792,000364: 14,2334 77735 FINEONLY SLOAD
031793,000365: 14,2335 01300 THETAD
031794,000366: 14,2336 15166 STODL CDUSPOT +4
031795,000367: 14,2337 01301 THETAD +1
031796,000368: 14,2340 15162 STODL CDUSPOT
031797,000369: 14,2341 01302 THETAD +2
031798,000370: 14,2342 25164 STOVL CDUSPOT +2
031799,000371: 14,2343 15724 XUNIT
031800,000372: 14,2344 77624 CALL
031801,000373: 14,2345 47616 TRG*NBSM
031802,000374: 14,2346 26725 STOVL STARAD
031803,000375: 14,2347 15722 YUNIT
031804,000376: 14,2350 77624 CALL
031805,000377: 14,2351 47625 *NBSM*
031806,000378: 14,2352 36733 STCALL STARAD +6
031807,000379: 14,2353 47471 CDUTRIG
031808,000380: 14,2354 77624 CALL
031809,000381: 14,2355 34747 CALCSMSC
031810,000382: 14,2356 77775 VLOAD
031811,000383: 14,2357 02703 XDC
031812,000384: 14,2360 24007 STOVL 6D
031813,000385: 14,2361 02711 YDC
031814,000386: 14,2362 34015 STCALL 12D
031815,000387: 14,2363 47373 AXISGEN
031816,000388: 14,2364 77624 CALL
031817,000389: 14,2365 47177 CALCGTA
031818,000390: 14,2366 43014 CLEAR CLEAR
031819,000391: 14,2367 01662 REFSMFLG
031820,000392: 14,2370 01260 DRIFTFLG
031821,000393: 14,2371 77776 EXIT
031822,000394: 14,2372 33006 CA R55CDR
031823,000395: 14,2373 04647 TC BANKCALL
031824,000396: 14,2374 17175 CADR IMUPULSE
031825,000397: 14,2375 04647 TC BANKCALL
031826,000398: 14,2376 17575 CADR IMUSTALL
031827,000399: 14,2377 03653 TC 217ALARM # BAD END
031828,000400: 14,2400 05415 TC PHASCHNG
031829,000401: 14,2401 04024 OCT 04024
031830,000402: 14,2402 06006 TC INTPRET
031831,000403: 14,2403 77234 RTB VLOAD
031832,000404: 14,2404 31430 SET1/PDT
031833,000405: 14,2405 15726 ZEROVEC
031834,000406: 14,2406 01472 STORE GCOMP
031835,000407: 14,2407 74014 SET AXC,1
031836,000408: 14,2410 01060 DRIFTFLG
031837,000409: 14,2411 00306 XSMD
031838,000410: 14,2412 45164 AXC,2 CALL
031839,000411: 14,2413 01717 REFSMMAT
031840,000412: 14,2414 34721 MATMOVE
031841,000413: 14,2415 77414 CAL53RET SET EXIT
031842,000414: 14,2416 01462 REFSMFLG
031843,000415: 14,2417 COUNT* $$/P52
031844,000416: 14,2417 05415 P52C TC PHASCHNG
031845,000417: 14,2420 04024 OCT 04024
031846,000418: 14,2421 04606 TC E7SETTER
031847,000419: 14,2422 35007 CAF ALRM15
031848,000420: 14,2423 04647 TC BANKCALL
031849,000421: 14,2424 20747 CADR GOPERF1
031850,000422: 14,2425 04103 TC GOTOPOOH
031851,000423: 14,2426 02430 TC +2 # V33
031852,000424: 14,2427 02627 TC R51 # FINE ALIGN
031853,000425: 14,2430 06006 TC INTPRET
031854,000426: 14,2431 43234 RTB DAD
031855,000427: 14,2432 45563 LOADTIME
031856,000428: 14,2433 34641 TSIGHT1
031857,000429: 14,2434 77624 CALL
031858,000430: 14,2435 24040 LOCSAM
031859,000431: 14,2436 COUNT* $$/PICAP
031860,000432:
031861,000433: # NAME - PICAPAR NOW IN-LINE
031862,000434:
031863,000435: # FUNCTION -
031864,000436: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
031865,000437: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
031866,000438: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
031867,000439: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
031868,000440: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
031869,000441: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
031870,000442: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
031871,000443: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 76 DEGREES
031872,000444: # AND MORE THAN 30 DEGREES. THOSE PAIRS OF STARS WITH GOOD SEPARATION
031873,000445: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
031874,000446: # 38 DEGREES OF SAX). THE PAIR WITH MAXIMUM SEPARATION IS CHOSEN FROM
031875,000447: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
031876,000448:
031877,000449: # OUTPUT
031878,000450: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
031879,000451: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
031880,000452:
031881,000453: # INITIALIZATION
031882,000454: # 1) A CALL TO LOCSAM MUST BE MADE
031883,000455: # 2) VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TOO APPROXIMATE TIME OF
031884,000456: # SIGHTINGS.
031885,000457:
031886,000458: # DEBRIS
031887,000459: # WORK AREA
031888,000460: # X,Y,ZNB
031889,000461: # SINCDU, COSCDU
031890,000462: # STARAD - STAR +5
031891,000463:
031892,000464: 14,2436 77624 CALL
031893,000465: 14,2437 47471 CDUTRIG
031894,000466: 14,2440 45001 SETPD CALL
031895,000467: 14,2441 00001 0
031896,000468: 14,2442 34747 CALCSMSC
031897,000469: 14,2443 71214 SET DLOAD # VFLAG = 1
031898,000470: 14,2444 01465 VFLAG
031899,000471: 14,2445 15726 DPZERO
031900,000472: 14,2446 24303 STOVL BESTI
031901,000473: 14,2447 02703 XNB
031902,000474: 14,2450 63361 VXSC PDVL
031903,000475: 14,2451 30601 SIN33
031904,000476: 14,2452 02717 ZNB
031905,000477: 14,2453 74370 AXT,1 VXSC
031906,000478: 14,2454 00344 228D # X1 = 37 X 6 + 6
031907,000479: 14,2455 30603 COS33
031908,000480: 14,2456 77655 VAD
031909,000481: 14,2457 53505 VXM UNIT
031910,000482: 14,2460 01720 REFSMMAT
031911,000483: 14,2461 02741 STORE SAX # SAX = SHAFT AXIS
031912,000484: 14,2462 66331 SSP SSP # S1 = S2 = 6
031913,000485: 14,2463 00051 S1
031914,000486: 14,2464 00006 6
031915,000487: 14,2465 00052 S2
031916,000488: 14,2466 00006 6
031917,000489: 14,2467 52100 PIC1 TIX,1 GOTO # MAJOR STAR
031918,000490: 14,2470 30472 PIC2
031919,000491: 14,2471 30612 PICEND
031920,000492: 14,2472 45173 PIC2 VLOAD* CALL
031921,000493: 14,2473 33776 CATLOG,1
031922,000494: 14,2474 30563 OCCULT
031923,000495: 14,2475 73014 BON LXA,2
031924,000496: 14,2476 01710 CULTFLAG
031925,000497: 14,2477 30467 PIC1
031926,000498: 14,2500 00046 X1
031927,000499: 14,2501 52104 PIC3 TIX,2 GOTO
031928,000500: 14,2502 30504 PIC4
031929,000501: 14,2503 30467 PIC1
031930,000502: 14,2504 45173 PIC4 VLOAD* CALL
031931,000503: 14,2505 44001 CATLOG,2
031932,000504: 14,2506 30563 OCCULT
031933,000505: 14,2507 76614 BON VLOAD*
031934,000506: 14,2510 01710 CULTFLAG
031935,000507: 14,2511 30501 PIC3
031936,000508: 14,2512 33776 CATLOG,1
031937,000509: 14,2513 45237 DOT* DSU
031938,000510: 14,2514 44001 CATLOG,2
031939,000511: 14,2515 30605 CSS66 # SEPARATION LESS THAN 76 DEG.
031940,000512: 14,2516 43240 BMN DAD
031941,000513: 14,2517 30501 PIC3
031942,000514: 14,2520 30607 CSS6640 # SEPARATION MORE THAN 30 DEG.
031943,000515: 14,2521 77644 BPL
031944,000516: 14,2522 30501 PIC3
031945,000517: 14,2523 50373 VLOAD* DOT
031946,000518: 14,2524 33776 CATLOG,1
031947,000519: 14,2525 02741 SAX
031948,000520: 14,2526 50025 DSU BMN # MAJOR STAR IN CONE
031949,000521: 14,2527 30611 CSS33
031950,000522: 14,2530 30467 PIC1
031951,000523: 14,2531 50373 VLOAD* DOT
031952,000524: 14,2532 44001 CATLOG,2
031953,000525: 14,2533 02741 SAX
031954,000526: 14,2534 50025 DSU BMN
031955,000527: 14,2535 30611 CSS33
031956,000528: 14,2536 30501 PIC3
031957,000529: 14,2537 77614 STRATGY BONCLR
031958,000530: 14,2540 01605 VFLAG
031959,000531: 14,2541 30556 NEWPAR
031960,000532: 14,2542 65120 -3 XCHX,1 XCHX,2
031961,000533: 14,2543 00302 BESTI
031962,000534: 14,2544 00303 BESTJ
031963,000535: 14,2545 47773 STRAT VLOAD* DOT*
031964,000536: 14,2546 33776 CATLOG,1
031965,000537: 14,2547 44001 CATLOG,2
031966,000538: 14,2550 43006 PUSH BOFINV
031967,000539: 14,2551 01545 VFLAG
031968,000540: 14,2552 30542 STRAT -3
031969,000541: 14,2553 45345 DLOAD DSU
031970,000542: 14,2554 77644 BPL
031971,000543: 14,2555 30501 PIC3
031972,000544: 14,2556 67130 NEWPAR SXA,1 SXA,2
031973,000545: 14,2557 00302 BESTI
031974,000546: 14,2560 00303 BESTJ
031975,000547: 14,2561 77650 GOTO
031976,000548: 14,2562 30501 PIC3
031977,000549: 14,2563 51321 OCCULT MXV BVSU
031978,000550: 14,2564 02725 CULTRIX
031979,000551: 14,2565 00017 CSS
031980,000552: 14,2566 71240 BMN DLOAD
031981,000553: 14,2567 30575 CULTED
031982,000554: 14,2570 00160 MPAC +3
031983,000555: 14,2571 43040 BMN CLRGO
031984,000556: 14,2572 30575 CULTED
031985,000557: 14,2573 01630 CULTFLAG
031986,000558: 14,2574 00052 QPRET
031987,000559: 14,2575 77614 CULTED SETGO
031988,000560: 14,2576 01430 CULTFLAG
031989,000561: 14,2577 00052 QPRET
031990,000562: 14,2600 0000016 CSS = CSUN
031991,000563: 14,2600 21150 25157 SIN33 2DEC .5376381241
031992,000564:
031993,000565: 14,2602 32766 22713 COS33 2DEC .8431756920
031994,000566:
031995,000567: 14,2604 01736 35137 CSS66 2DEC .060480472 # (COS76)/4
031996,000568:
031997,000569: 14,2606 73003 65403 CSS6640 2DEC -.15602587 # (COS76 - COS30)/4
031998,000570:
031999,000571: 14,2610 06233 26112 CSS33 2DEC .197002688 # COS(1/2(76))/4
032000,000572:
032001,000573: # V1 = 12D
032002,000574: 14,2612 77414 PICEND BOF EXIT
032003,000575: 14,2613 01745 VFLAG
032004,000576: 14,2614 30625 P52F
032005,000577: 14,2615 05644 P52I TC ALARM
032006,000578: 14,2616 00405 OCT 405
032007,000579: 14,2617 35036 CAF V05N09
032008,000580: 14,2620 04647 TC BANKCALL
032009,000581: 14,2621 20623 CADR GOFLASH
032010,000582: 14,2622 04103 TC GOTOPOOH
032011,000583: 14,2623 02627 TC R51 # PROCEED - DO R51 FINE ALIGN
032012,000584: 14,2624 02417 TC P52C # RECYCLE - VEHICLE HAS BEEN MANUEVERED
032013,000585: 14,2625 77776 P52F EXIT
032014,000586: 14,2626 12627 TCF R51
032015,000587:
032016,000588:
032017,000589: # NAME - R51 FINE ALIGN
032018,000590: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
032019,000591: # INPUT - BESTI, BESTJ (PAIR OF STAR NO )
032020,000592: # OUTPUT - GYRO TORQUE PULSES
032021,000593: # SUBROUTINES - R52, R54, R55 (SXTNB, NBSM, AXISGEN
032022,000594:
032023,000595: 14,2627 COUNT* $$/R51
032024,000596: 14,2627 35001 R51 CAF BIT1
032025,000597: 14,2630 54304 R51.3 TS STARIND
032026,000598:
032027,000599: 14,2631 05415 TC PHASCHNG
032028,000600: 14,2632 05024 OCT 05024 # RESTART GR 4 FOR R52-R53
032029,000601: 14,2633 13000 OCT 13000
032030,000602: 14,2634 50304 INDEX STARIND
032031,000603: 14,2635 30302 CA BESTI
032032,000604: 14,2636 00006 EXTEND
032033,000605: 14,2637 73007 MP 1/6TH
032034,000606: 14,2640 55130 TS STARCODE
032035,000607:
032036,000608: 14,2641 35031 R51DSP CAF V01N70
032037,000609: 14,2642 05553 TC VNFLASHR
032038,000610: 14,2643 02647 TC +4
032039,000611: 14,2644 36211 CAF SIX
032040,000612: 14,2645 05531 TC BLANKET
032041,000613: 14,2646 15220 TCF ENDOFJOB
032042,000614: 14,2647 03520 TC CHKSCODE
032043,000615: 14,2650 04362 TC FALTON
032044,000616: 14,2651 02641 TC R51DSP
032045,000617: 14,2652 06006 TC INTPRET
032046,000618: 14,2653 45034 RTB CALL
032047,000619: 14,2654 45563 LOADTIME
032048,000620: 14,2655 31545 PLANET
032049,000621: 14,2656 72131 SSP LXA,1
032050,000622: 14,2657 00051 S1
032051,000623: 14,2660 00000 0
032052,000624: 14,2661 00304 STARIND
032053,000625: 14,2662 77700 TIX,1
032054,000626: 14,2663 30666 R51ST
032055,000627: 14,2664 36617 STCALL STARSAV2 # 2ND STAR
032056,000628: 14,2665 30667 R51ST +1
032057,000629: 14,2666 02611 R51ST STORE STARSAV1 # 1ST STAR
032058,000630: 14,2667 54335 +1 SLOAD SL # IS THIS P54
032059,000631: 14,2670 01205 MODREG
032060,000632: 14,2671 20215 12D
032061,000633: 14,2672 45030 BHIZ CALL
032062,000634: 14,2673 30770 R51A1 # NO
032063,000635: 14,2674 36146 R56
032064,000636: 14,2675 77624 R51B CALL
032065,000637: 14,2676 36065 SXTSM
032066,000638: 14,2677 02617 STORE STARSAV2
032067,000639: 14,2700 45145 DLOAD CALL
032068,000640: 14,2701 02607 TSIGHT
032069,000641: 14,2702 31545 PLANET
032070,000642: 14,2703 53521 MXV UNIT
032071,000643: 14,2704 01720 REFSMMAT
032072,000644: 14,2705 77776 EXIT
032073,000645: 14,2706 10304 CCS STARIND
032074,000646: 14,2707 02761 TC R51.4
032075,000647: 14,2710 06006 TC INTPRET
032076,000648: 14,2711 26725 STOVL STARAD
032077,000649: 14,2712 02617 STARSAV2
032078,000650: 14,2713 24007 STOVL 6D
032079,000651: 14,2714 02611 STARSAV1
032080,000652: 14,2715 24015 STOVL 12D
032081,000653: 14,2716 02601 PLANVEC
032082,000654: 14,2717 36733 STCALL STARAD +6
032083,000655: 14,2720 34644 R54 # STAR DATA TEST
032084,000656: 14,2721 45014 BOFF CALL
032085,000657: 14,2722 00354 FREEFLAG
032086,000658: 14,2723 31004 R51K
032087,000659: 14,2724 47373 AXISGEN
032088,000660:
032089,000661: # NAME - R55 - GYRO TORQUE
032090,000662: # FUNCTION - COMPUTE AND SEND GYRO PULSES
032091,000663: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
032092,000664: # OUTPUT - GYRO PULSES
032093,000665: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
032094,000666:
032095,000667: 14,2725 COUNT* $$/R55
032096,000668: 14,2725 77624 R55 CALL # COMPUTE AND SEND GYRO PULSES
032097,000669: 14,2726 47177 CALCGTA
032098,000670: 14,2727 77776 PULSEM EXIT
032099,000671: 14,2730 35052 R55.1 CAF V06N93
032100,000672: 14,2731 04647 TC BANKCALL
032101,000673: 14,2732 20623 CADR GOFLASH
032102,000674: 14,2733 04103 TC GOTOPOOH
032103,000675: 14,2734 02736 TC R55.2
032104,000676: 14,2735 02751 TC R55RET
032105,000677: 14,2736 05415 R55.2 TC PHASCHNG
032106,000678: 14,2737 00314 OCT 00314
032107,000679: 14,2740 01,2173 4P31SPT1 = 4.31SPOT
032108,000680: 14,2740 33006 CA R55CDR
032109,000681: 14,2741 04647 TC BANKCALL
032110,000682: 14,2742 17175 CADR IMUPULSE
032111,000683: 14,2743 04647 TC BANKCALL
032112,000684: 14,2744 17575 CADR IMUSTALL
032113,000685: 14,2745 03653 TC 217ALARM # BAD END
032114,000686: 14,2746 05415 TC PHASCHNG
032115,000687: 14,2747 05024 OCT 05024
032116,000688: 14,2750 13000 OCT 13000
032117,000689: 14,2751 07722 R55RET TC DOWNFLAG
032118,000690: 14,2752 00051 ADRES PFRATFLG
032119,000691: 14,2753 COUNT* $$/R51
032120,000692: 14,2753 35750 R51KA CAF OCT14
032121,000693: 14,2754 04647 TC BANKCALL
032122,000694: 14,2755 20747 CADR GOPERF1
032123,000695: 14,2756 04103 TC GOTOPOOH
032124,000696: 14,2757 02417 TC P52C # V33
032125,000697: 14,2760 04103 TC GOTOPOOH
032126,000698: 14,2761 06006 R51.4 TC INTPRET
032127,000699: 14,2762 26601 STOVL PLANVEC
032128,000700: 14,2763 02617 STARSAV2
032129,000701: 14,2764 02611 STORE STARSAV1
032130,000702: 14,2765 77776 EXIT
032131,000703: 14,2766 35003 CAF ZERO
032132,000704: 14,2767 12630 TCF R51.3 # CLEAR STARIND
032133,000705: 14,2770 54335 R51A1 SLOAD SR
032134,000706: 14,2771 01131 STARCODE
032135,000707: 14,2772 20607 6
032136,000708: 14,2773 45030 BHIZ CALL
032137,000709: 14,2774 31000 R51A
032138,000710: 14,2775 31433 R53
032139,000711: 14,2776 77650 GOTO
032140,000712: 14,2777 30675 R51B
032141,000713: 14,3000 77624 R51A CALL
032142,000714: 14,3001 31010 R52
032143,000715: 14,3002 77650 GOTO
032144,000716: 14,3003 30675 R51B
032145,000717: 14,3004 77776 R51K EXIT
032146,000718: 14,3005 02753 TC R51KA
032147,000719: 14,3006 02757 R55CDR ECADR OGC
032148,000720: 14,3007 05253 1/6TH DEC .1666667
032149,000721:
032150,000722: # NAME - R52 - AUTOMATIC OPTICS POSITIONING ROUTINE
032151,000723:
032152,000724: # FUNCTION- (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
032153,000725: # (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
032154,000726:
032155,000727: # CALLING SEQUENCE- CALL R52
032156,000728:
032157,000729: # INPUT- 1. TARG1FLG AND TARG2FLG - PRESET BY CALLER
032158,000730: # 2. RNDVZFLG AND TRACKFLG - PRESET BY CALLER
032159,000731: # 3. STAR CODE - PRESET BY CALLER. ALSO INPUT THROUGH DSKY
032160,000732: # 4. LAT, LONG AND ALT OF LANDMARK - INPUT THROUGH DSKY
032161,000733: # 5. NO. OF MARKS (MARKINDX) - PRESET BY CALLER
032162,000734:
032163,000735: # OUTPUT- DRIVE SHAFT AND TRUNNION CDUS
032164,000736:
032165,000737: # SUBROUTINES- 1. FIXDELAY 7. CLEANDSP
032166,000738: # 2. GOPERF1 8. GODSPR
032167,000739: # 3. GOFLASH 9. REFLASHR
032168,000740: # 4. R53 10. R52.2
032169,000741: # 5. ALARM 11. R52.3
032170,000742: # 6. SR52.1
032171,000743:
032172,000744: 14,3010 COUNT* $$/R52
032173,000745: 14,3010 77420 R52 STQ EXIT
032174,000746: 14,3011 02576 SAVQR52
032175,000747: 14,3012 35055 CAF EBANK5 # CALLER NOT ALWAYS IN E5.
032176,000748: 14,3013 56003 XCH EBANK
032177,000749: 14,3014 55577 TS R52BNKSV
032178,000750: 14,3015 00006 EXTEND
032179,000751: 14,3016 30036 DCA CDUT
032180,000752: 14,3017 53303 DXCH DESOPTT
032181,000753: 14,3020 06006 TC INTPRET
032182,000754: 14,3021 43131 SSP CLEAR
032183,000755: 14,3022 01314 OPTIND
032184,000756: 14,3023 00000 0
032185,000757: 14,3024 00271 R53FLAG
032186,000758: 14,3025 43014 BON CLEAR
032187,000759: 14,3026 00705 TARG1FLG
032188,000760: 14,3027 31161 R52H
032189,000761: 14,3030 03660 TERMIFLG
032190,000762: 14,3031 77776 EXIT
032191,000763: 14,3032 31346 R52C CA SWSAMPLE # IS OPTICS MODE IN AGC
032192,000764: 14,3033 00006 EXTEND
032193,000765: 14,3034 63204 BZMF R52M # MANUAL
032194,000766: 14,3035 06006 R52D TC INTPRET # THIS IS SR52.1 - NOW IN-LINE
032195,000767: # NAME - SR52.1
032196,000768:
032197,000769: # FUNCTION
032198,000770: # TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
032199,000771: # LEM, STAR OR LANDMARK. IN CASE OF LEM OR LMK, THE PRESENT TIME PLUS
032200,000772: # 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD, +1). IF THE LEM IS
032201,000773: # THE TARGET THEN CONIC UPDATES OF THE CSM AND LEM ARE MADE TO
032202,000774: # THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
032203,000775: # POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE
032204,000776: # COMMON PART OF THIS PROGRAM.
032205,000777:
032206,000778: # IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
032207,000779: # VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
032208,000780: # FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
032209,000781: # THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
032210,000782: # VECTOR FOR THE COMMON PART OF THIS ROUTINE.
032211,000783:
032212,000784: # IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
032213,000785: # AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
032214,000786:
032215,000787: # THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING
032216,000788: # VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
032217,000789: # THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
032218,000790: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
032219,000791:
032220,000792: # OUTPUT
032221,000793: # SAC - SINGLE PREC, 2S COMP, SCALED AT HALF REVS - SHAFT ANGLE DESIRED
032222,000794: # PAC - SINGLE PREC, 2S COMP SCALED AT EIGTH REVS - TRUNNION ANGLE DESIRED
032223,000795:
032224,000796: # INITIALIZATION
032225,000797: # IF TARG1FLG =1 THEN TARGET IS LEM - NO OTHER INPUT REQUIRED
032226,000798: # IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
032227,000799: # 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
032228,000800: # ARE 6 TIMES STAR NUMBER.
032229,000801: # IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SEE ROUTINE
032230,000802: # LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
032231,000803: # RADIUS
032232,000804:
032233,000805: # DEBRIS
032234,000806: # WORK AREA
032235,000807: # STARAD - STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
032236,000808:
032237,000809: 14,3036 66214 +1 BON SSP
032238,000810: 14,3037 00705 TARG1FLG
032239,000811: 14,3040 31051 LEM52
032240,000812: 14,3041 00051 S1
032241,000813: 14,3042 00000 0
032242,000814: 14,3043 60150 LXA,1 TIX,1
032243,000815: 14,3044 00304 STARIND
032244,000816: 14,3045 31071 ST52ST
032245,000817: 14,3046 52175 VLOAD GOTO
032246,000818: 14,3047 02617 STARSAV2
032247,000819: 14,3050 31073 COM52
032248,000820: 14,3051 43234 LEM52 RTB DAD
032249,000821: 14,3052 45563 LOADTIME
032250,000822: 14,3053 31230 2.4SECDP
032251,000823: 14,3054 34041 STCALL TDEC1
032252,000824: 14,3055 11435 LEMCONIC
032253,000825: 14,3056 77775 VLOAD
032254,000826: 14,3057 00001 RATT
032255,000827: 14,3060 16766 LMKLMCOM STODL STAR
032256,000828: 14,3061 00015 TAT
032257,000829: 14,3062 34041 STCALL TDEC1
032258,000830: 14,3063 11423 CSMCONIC
032259,000831: 14,3064 52375 VLOAD VSU
032260,000832: 14,3065 02766 STAR
032261,000833: 14,3066 00001 RATT
032262,000834: 14,3067 52056 UNIT GOTO
032263,000835: 14,3070 31073 COM52
032264,000836: 14,3071 77775 ST52ST VLOAD
032265,000837: 14,3072 02611 STARSAV1
032266,000838: 14,3073 53521 COM52 MXV UNIT
032267,000839: 14,3074 01720 REFSMMAT
032268,000840: 14,3075 02766 STORE STAR
032269,000841: 14,3076 45001 SETPD CALL
032270,000842: 14,3077 00001 0
032271,000843: 14,3100 47471 CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA
032272,000844: 14,3101 77624 CALL # NOW EXPECT TO SEE THE CDU ANGLES
032273,000845: 14,3102 46034 CALCSXA
032274,000846: 14,3103 71214 BON DLOAD
032275,000847: 14,3104 01710 CULTFLAG
032276,000848: 14,3105 31235 R52L # GR 90 DEGREES
032277,000849: 14,3106 02776 PAC
032278,000850: 14,3107 51025 DSU BPL
032279,000851: 14,3110 31226 38TRDEG
032280,000852: 14,3111 31200 R52J # GR 50 DEGREES
032281,000853: 14,3112 45345 DLOAD DSU
032282,000854: 14,3113 02776 PAC
032283,000855: 14,3114 31234 20DEGSMN
032284,000856: 14,3115 77440 BMN EXIT
032285,000857: 14,3116 31200 R52J
032286,000858: 14,3117 31775 CA PAC
032287,000859: 14,3120 54330 TS PACTEMP
032288,000860: 14,3121 06006 R52JA TC INTPRET
032289,000861: 14,3122 77614 BON
032290,000862: 14,3123 00705 TARG1FLG
032291,000863: 14,3124 31134 R52E
032292,000864: 14,3125 77414 R53CHK BON EXIT
032293,000865: 14,3126 00311 R53FLAG
032294,000866: 14,3127 31134 R52E
032295,000867: 14,3130 33224 CAF V06N92 # NO
032296,000868: 14,3131 04647 TC BANKCALL
032297,000869: 14,3132 20570 CADR GODSPR
032298,000870: 14,3133 06006 TC INTPRET
032299,000871: 14,3134 77776 R52E EXIT
032300,000872: 14,3135 30330 CA PACTEMP
032301,000873: 14,3136 55302 TS DESOPTT
032302,000874: 14,3137 31773 CA SAC
032303,000875: 14,3140 55303 TS DESOPTS
032304,000876: 14,3141 35023 R52F CAF .5SEC # WAIT .5 SEC
032305,000877: 14,3142 04647 +1 TC BANKCALL
032306,000878: 14,3143 01731 CADR DELAYJOB
032307,000879: 14,3144 34770 CAF TARG1BIT
032308,000880: 14,3145 70075 MASK FLAGWRD1
032309,000881: 14,3146 10000 CCS A
032310,000882: 14,3147 03162 TC R52HA
032311,000883:
032312,000884: 14,3150 34763 CAF TERMIBIT
032313,000885: 14,3151 70103 MASK FLAGWRD7
032314,000886: 14,3152 00006 EXTEND
032315,000887: 14,3153 13032 BZF R52C
032316,000888:
032317,000889: 14,3154 31577 R52Q CA R52BNKSV
032318,000890: 14,3155 54003 TS EBANK
032319,000891:
032320,000892: 14,3156 06006 TC INTPRET
032321,000893: 14,3157 77650 GOTO
032322,000894: 14,3160 02576 SAVQR52
032323,000895:
032324,000896: 14,3161 77776 R52H EXIT # LEM
032325,000897: 14,3162 04647 R52HA TC BANKCALL
032326,000898: 14,3163 76222 CADR R61CSM
032327,000899: 14,3164 34775 CAF TRACKBIT
032328,000900: 14,3165 70075 MASK FLAGWRD1
032329,000901: 14,3166 00006 EXTEND
032330,000902: 14,3167 13154 BZF R52Q
032331,000903: 14,3170 06006 TC INTPRET
032332,000904: 14,3171 52014 BOF GOTO
032333,000905: 14,3172 00750 UPDATFLG
032334,000906: 14,3173 31175 R52SYNC
032335,000907: 14,3174 31036 R52D +1
032336,000908: 14,3175 77776 R52SYNC EXIT
032337,000909: 14,3176 33250 CAF 1.8SEC
032338,000910: 14,3177 13142 TCF R52F +1
032339,000911: 14,3200 77776 R52J EXIT
032340,000912: 14,3201 33225 CA 38TRDEG
032341,000913: 14,3202 54330 TS PACTEMP
032342,000914: 14,3203 03121 TC R52JA
032343,000915: 14,3204 34774 R52M CAF R53FLBIT # IS R53FLAG SET
032344,000916: 14,3205 70074 MASK FLAGWRD0
032345,000917: 14,3206 10000 CCS A
032346,000918: 14,3207 03141 TC R52F # YES
032347,000919: 14,3210 00004 INHINT # NO
032348,000920: 14,3211 37645 CAF PRIO24
032349,000921: 14,3212 05150 TC FINDVAC
032350,000922: 14,3213 E7,1702 EBANK= MRKBUF1
032351,000923: 14,3213 03217 30067 2CADR R53JOB
032352,000924:
032353,000925: 14,3215 00003 RELINT
032354,000926: 14,3216 03141 TC R52F
032355,000927: 14,3217 06006 R53JOB TC INTPRET
032356,000928: 14,3220 77624 CALL
032357,000929: 14,3221 31433 R53
032358,000930: 14,3222 77776 ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB (R22 USES)
032359,000931: 14,3223 05220 TC ENDOFJOB
032360,000932: 14,3224 01534 V06N92 VN 00692
032361,000933: 14,3225 25252 25254 38TRDEG 2DEC .66666667 # CORRESPONDS TO 50 DEGS IN TRUNNION
032362,000934:
032363,000935: 14,3227 00000 00360 2.4SECDP 2DEC 240 B-28
032364,000936:
032365,000937: 14,3231 00000 00062 .5SECDP 2DEC 50 B-28
032366,000938:
032367,000939: 14,3233 61740 20DEGSMN DEC -07199 B-14
032368,000940: 14,3234 77777 DEC -0 B-14
032369,000941: 14,3235 77414 R52L BON EXIT
032370,000942: 14,3236 00705 TARG1FLG
032371,000943: 14,3237 31200 R52J
032372,000944: 14,3240 33247 CAF OCT404
032373,000945: 14,3241 04647 TC BANKCALL
032374,000946: 14,3242 21646 CADR PRIOLARM
032375,000947: 14,3243 13251 TCF TERM52 # TERMINATE
032376,000948: 14,3244 13141 TCF R52F # PROCEED
032377,000949: 14,3245 13141 TCF R52F # NO PROVISION FOR NEW DATA
032378,000950: 14,3246 15220 TCF ENDOFJOB
032379,000951:
032380,000952: 14,3247 00404 OCT404 OCT 404
032381,000953:
032382,000954: 14,3250 00264 1.8SEC DEC 180 B-14
032383,000955:
032384,000956: 14,3251 04647 TERM52 TC BANKCALL
032385,000957: 14,3252 20455 CADR KLEENEX
032386,000958:
032387,000959: 14,3253 04666 TC POSTJUMP
032388,000960: 14,3254 16015 CADR TERMSXT
032389,000961:
032390,000962: # NAME - LOCSAM ALIAS S50
032391,000963:
032392,000964: # FUNCTION - TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
032393,000965: # IMU ALIGNMENT PROGRAMS
032394,000966:
032395,000967: # DEFINE:
032396,000968: # RATT = POSITION VECTOR OF CM WRT PRIMARY BODY
032397,000969: # VATT = VELOCITY VECTOR OF CM WRT PRIMARY BODY
032398,000970: # RE = RADIUS OF EARTH
032399,000971: # RM = RADIUS OF MOON
032400,000972: # ECLIPOL = POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
032401,000973: # WRT TO SUN OVER THE VELOCITY OF LIGHT
032402,000974: # REM = POSITION OF MOON WRT EARTH
032403,000975: # RES = POSITION OF SUN WRT EARTH
032404,000976: # C = VELOCITY OF LIGHT
032405,000977:
032406,000978:
032407,000979: # EARTH IS PRIMARY MOON IS PRIMARY
032408,000980: # - -
032409,000981: # VEARTH=-1(RATT) VEARTH=-1(REM+RATT)
032410,000982: # - -
032411,000983: # VMOON = 1(REM-RATT) VMOON =-1(RATT)
032412,000984: # - -
032413,000985: # VSUN = 1(RES) VSUN = 1(RES-REM)
032414,000986: # -1
032415,000987: # CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5
032416,000988: # -1
032417,000989: # CMOON =COS 5 CMOON =COS(SIN CRM/RATT)+5)
032418,000990:
032419,000991: # CSUN =COS 15 CSUN =COS 15
032420,000992:
032421,000993: # VEL/C = VSUN X ECLIPOL + VATT/C
032422,000994:
032423,000995:
032424,000996: # CALL - DLOAD CALL
032425,000997: # DESIRED TIME
032426,000998: # LOCSAM
032427,000999:
032428,001000: # INPUTS - MPAC = TIME
032429,001001:
032430,001002: # OUTPUTS- VEARTH,VMOON,VSUN,CEARTH,CMOON,CSUN,VEL/C
032431,001003:
032432,001004: # SUBROUTINES- LSPOS,CSMCONIC
032433,001005:
032434,001006: # DEBRIS - VAC AREA, SEE SUBROUTINES
032435,001007:
032436,001008: 12,2000 SETLOC SR52/1
032437,001009: 12,2000 BANK
032438,001010:
032439,001011: 12,2040 COUNT* $$/S50
032440,001012:
032441,001013: 12,2040 12,2040 LOCSAM = S50
032442,001014: 12,2040 77620 S50 STQ
032443,001015: 12,2041 00300 QMAJ
032444,001016: 12,2042 36607 STCALL TSIGHT
032445,001017: 12,2043 54034 LSPOS
032446,001018: 12,2044 77775 VLOAD
032447,001019: 12,2045 00003 2D
032448,001020: 12,2046 16725 STODL VSUN
032449,001021: 12,2047 02607 TSIGHT
032450,001022: 12,2050 34041 STCALL TDEC1
032451,001023: 12,2051 11423 CSMCONIC
032452,001024: 12,2052 77775 EARTCNTR VLOAD
032453,001025: 12,2053 00001 RATT
032454,001026: 12,2054 57456 UNIT VCOMP
032455,001027: 12,2055 16733 STODL VEARTH
032456,001028: 12,2056 34625 RSUBE
032457,001029: 12,2057 70471 OCCOS DDV SR1
032458,001030: 12,2060 00045 36D
032459,001031: 12,2061 43336 ASIN DAD
032460,001032: 12,2062 34627 5DEGREES
032461,001033: 12,2063 70546 COS SR1
032462,001034: 12,2064 24021 STOVL CEARTH
032463,001035: 12,2065 02725 VSUN
032464,001036: 12,2066 77635 ENDSAM VXV
032465,001037: 12,2067 34633 ECLIPOL
032466,001038: 12,2070 27452 STOVL VEL/C
032467,001039: 12,2071 00007 VATT
032468,001040: 12,2072 53361 VXSC VAD
032469,001041: 12,2073 34631 1/C
032470,001042: 12,2074 03452 VEL/C
032471,001043: 12,2075 17452 STODL VEL/C
032472,001044: 12,2076 34643 CSSUN
032473,001045: 12,2077 34017 STCALL CSUN
032474,001046: 12,2100 00300 QMAJ
032475,001047: 16,2000 SETLOC P50S2
032476,001048: 16,2000 BANK
032477,001049: 16,2624 COUNT* $$/S50
032478,001050: 16,2624 00302 24533 RSUBE 2DEC 6378166 B-29
032479,001051:
032480,001052: 16,2626 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
032481,001053:
032482,001054: 16,2630 00000 13143 1/C 2DEC .000042696 B-1 # 1/(9835712 FT/CS) SCALED CSEC/M B+7
032483,001055:
032484,001056: 16,2632 00000 00000 ECLIPOL 2DEC 0 B-28 # POLE OF ECLIPTIC FOR B0=.409157363336 RAD
032485,001057:
032486,001058: 16,2634 77777 53213 2DEC -.0000395319722 # AND CONST.AB = 20.496 ARC-SEC
032487,001059:
032488,001060: 16,2636 00001 17630 2DEC +.0000911652662 # ECLIPOL = CONST.AB.(0, -SIN B0, COS B0)
032489,001061:
032490,001062: 16,2640 00001 16700 TSIGHT1 2DEC 24000 B-28
032491,001063:
032492,001064: 16,2642 CSUN = 14D
032493,001065: 16,2642 CEARTH = 16D
032494,001066:
032495,001067: 16,2642 07564 15042 CSSUN 2DEC .24148 # COS 15 /4
032496,001068:
032497,001069: 16,2644 16,2644 R54 = CHKSDATA
032498,001070:
032499,001071: # NAME - CHKSDATA
032500,001072:
032501,001073: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
032502,001074: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
032503,001075: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
032504,001076:
032505,001077: # OS1 = OBSERVED STAR 1 VECTOR
032506,001078: # OS2 = OBSERVED STAR 2 VECTOR
032507,001079: # SS1 = STORED STAR 1 VECTOR
032508,001080: # SS2 = STORED STAR 2 VECTOR
032509,001081: # A1 = ARCCOS(OS1 - OS2)
032510,001082: # A2 = ARCCOS(SS1 - SS2)
032511,001083: # A = ABS(2(A1 - A2))
032512,001084:
032513,001085: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
032514,001086: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
032515,001087: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
032516,001088: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
032517,001089: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
032518,001090:
032519,001091: # ERASABLE INITIALIZATION REQUIRED -
032520,001092: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
032521,001093: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
032522,001094:
032523,001095: # DEBRIS -
032524,001096:
032525,001097: 16,2644 0003777 EBANK= WHOCARES
032526,001098: 16,2644 COUNT* $$/R54
032527,001099: 16,2644 43020 CHKSDATA STQ SET
032528,001100: 16,2645 02777 QMIN
032529,001101: 16,2646 00074 FREEFLAG
032530,001102: 16,2647 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
032531,001103: 16,2650 02724 STARAD
032532,001104:
032533,001105: 16,2651 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
032534,001106: 16,2652 00001 0,1
032535,001107: 16,2653 00007 6,1
032536,001108: 16,2654 65552 SL1 ACOS
032537,001109: 16,2655 00025 STORE THETA
032538,001110: 16,2656 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
032539,001111: 16,2657 00354 FREEFLAG
032540,001112: 16,2660 34667 CHKSD
032541,001113: 16,2661 00174 FREEFLAG # CLEAR FREEFLAG
032542,001114: 16,2662 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
032543,001115: 16,2663 00006 6D
032544,001116: 16,2664 00025 THETA
032545,001117: 16,2665 34023 STCALL 18D
032546,001118: 16,2666 34651 CHKSB
032547,001119: 16,2667 45345 CHKSD DLOAD DSU
032548,001120: 16,2670 00025 THETA
032549,001121: 16,2671 00023 18D # COMPUTE POS DIFF
032550,001122: 16,2672 47046 ABS RTB
032551,001123: 16,2673 45617 SGNAGREE
032552,001124: 16,2674 77752 SL1
032553,001125: 16,2675 15241 STODL NORMTEM1
032554,001126: 16,2676 00023 18D
032555,001127: 16,2677 77752 SL1
032556,001128: 16,2700 01242 STORE DSPTEM1 +1
032557,001129: 16,2701 77414 SET EXIT
032558,001130: 16,2702 00074 FREEFLAG
032559,001131: 16,2703 35003 CAF ZERO
032560,001132: 16,2704 04647 TC BANKCALL
032561,001133: 16,2705 20575 CADR CLEANDSP
032562,001134:
032563,001135: 16,2706 32720 CAF VB6N5
032564,001136: 16,2707 04647 TC BANKCALL
032565,001137: 16,2710 20623 CADR GOFLASH
032566,001138: 16,2711 14103 TCF GOTOPOOH
032567,001139: 16,2712 02715 TC CHKSDA # PROCEED
032568,001140: 16,2713 07722 TC DOWNFLAG
032569,001141: 16,2714 00014 ADRES FREEFLAG
032570,001142: 16,2715 06006 CHKSDA TC INTPRET
032571,001143: 16,2716 77650 GOTO
032572,001144: 16,2717 02777 QMIN
032573,001145: 16,2720 01405 VB6N5 VN 605
032574,001146:
032575,001147: 16,2721 COUNT* $$/R50
032576,001148: 16,2721 77773 MATMOVE VLOAD* # TRANSFER MATRIX
032577,001149: 16,2722 00001 0,1
032578,001150: 16,2723 10001 STORE 0,2
032579,001151: 16,2724 77773 VLOAD*
032580,001152: 16,2725 00007 6D,1
032581,001153: 16,2726 10007 STORE 6D,2
032582,001154: 16,2727 77773 VLOAD*
032583,001155: 16,2730 00015 12D,1
032584,001156: 16,2731 10015 STORE 12D,2
032585,001157: 16,2732 77616 RVQ
032586,001158: 16,2733 00056 DEGREE1 DEC 46 B-14
032587,001159: 16,2734 37722 DEG359 DEC 16338 B-14
032588,001160: 16,2735 00004 RDCDUS INHINT # READ CDUS
032589,001161: 16,2736 00006 EXTEND
032590,001162: 16,2737 30033 DCA CDUX
032591,001163: 16,2740 50120 INDEX FIXLOC
032592,001164: 16,2741 52002 DXCH 1
032593,001165: 16,2742 30034 CA CDUZ
032594,001166: 16,2743 50120 INDEX FIXLOC
032595,001167: 16,2744 54003 TS 3
032596,001168: 16,2745 00003 RELINT
032597,001169: 16,2746 06030 TC DANZIG
032598,001170:
032599,001171: # NAME - CALCSMSC
032600,001172:
032601,001173: # FUNCTION - DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT.
032602,001174:
032603,001175: # CALLING SEQUENCE - CALL CALCSMSC
032604,001176:
032605,001177: # INPUT - DESIRED IMU INERTIAL ORIENTATION VECTORS - XSMD, YSMD, ZSMD
032606,001178:
032607,001179: # OUTPUT - GIMBAL ANGLES LEFT IN THETAD, +1, +2 +
032608,001180:
032609,001181: # SUBROUTINES USED - 1.CDUTRIG 2.CALCSMSC 3.CALCGA
032610,001182:
032611,001183: 16,2000 SETLOC P50S2
032612,001184: 16,2000 BANK
032613,001185: 16,2747 COUNT* $$/R51
032614,001186: 16,2747 41345 CALCSMSC DLOAD DMP
032615,001187: 16,2750 01132 SINCDUY
032616,001188: 16,2751 01142 COSCDUZ
032617,001189: 16,2752 77676 DCOMP
032618,001190: 16,2753 70525 PDDL SR1
032619,001191: 16,2754 01134 SINCDUZ
032620,001192: 16,2755 41325 PDDL DMP
032621,001193: 16,2756 01140 COSCDUY
032622,001194: 16,2757 01142 COSCDUZ
032623,001195: 16,2760 76466 VDEF VSL1
032624,001196: 16,2761 16703 STODL XNB
032625,001197: 16,2762 01136 SINCDUX
032626,001198: 16,2763 72405 DMP SL1
032627,001199: 16,2764 01134 SINCDUZ
032628,001200: 16,2765 00033 STORE 26D
032629,001201: 16,2766 65205 DMP PDDL
032630,001202: 16,2767 01132 SINCDUY
032631,001203: 16,2770 01144 COSCDUX
032632,001204: 16,2771 45205 DMP DSU
032633,001205: 16,2772 01140 COSCDUY
032634,001206: 16,2773 41325 PDDL DMP
032635,001207: 16,2774 01136 SINCDUX
032636,001208: 16,2775 01142 COSCDUZ
032637,001209: 16,2776 65276 DCOMP PDDL
032638,001210: 16,2777 01144 COSCDUX
032639,001211: 16,3000 65205 DMP PDDL
032640,001212: 16,3001 01132 SINCDUY
032641,001213: 16,3002 01140 COSCDUY
032642,001214: 16,3003 43205 DMP DAD
032643,001215: 16,3004 00033 26D
032644,001216: 16,3005 76466 VDEF VSL1
032645,001217: 16,3006 02717 STORE ZNB
032646,001218: 16,3007 76435 VXV VSL1
032647,001219: 16,3010 02703 XNB
032648,001220: 16,3011 02711 STORE YNB
032649,001221: 16,3012 77616 RVQ
032650,001222:
032651,001223: # PROGRAM NAME - P51 - IMU ORIENTATION DETERMINATION DATE - AUGUST 1,1969
032652,001224: # MODIFICATION BY ALBERT,BARNERT,HASLAM LOG SECTION - P51-P5
032653,001225:
032654,001226: # FUNCTION -
032655,001227:
032656,001228: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
032657,001229: # ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
032658,001230: # THEN PROCESSED AS FOLLOWS.
032659,001231:
032660,001232: # 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
032661,001233: # TRUNNION ANGLES, RESPECTIVELY. THEN,
032662,001234: # -
032663,001235: # V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR)
032664,001236: # NB
032665,001237: # THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
032666,001238:
032667,001239: # 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
032668,001240:
032669,001241: # - T T T -
032670,001242: # V = Q *Q *Q *V , WHERE
032671,001243: # 1 2 3 NB
032672,001244:
032673,001245: # ( COS(IG) 0 -SIN(IG) )
032674,001246: # ( ) THE GIMBAL ANGLES ARE COMPUTED FROM
032675,001247: # Q = ( 0 1 0 ), IG= INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS-
032676,001248: # 1 ( ) ROT AND CDULOGIC)
032677,001249: # ( SIN(IG) 0 COS(IG) )
032678,001250:
032679,001251:
032680,001252: # ( COS(MG) SIN(MG) 0 )
032681,001253: # ( )
032682,001254: # Q = (-SIN(MG) COS(MG) 0 ), MG= MIDDLE GIMBAL ANGLE
032683,001255: # 2 ( )
032684,001256: # ( 0 0 1 )
032685,001257:
032686,001258:
032687,001259: # ( 1 0 0 )
032688,001260: # ( )
032689,001261: # Q = ( 0 COS(OG) SIN(OG) ), OG= OUTER GIMBAL ANGLE
032690,001262: # 3 ( )
032691,001263: # ( 0 -SIN(OG) COS(OG) )
032692,001264:
032693,001265: # 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
032694,001266:
032695,001267: # 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
032696,001268:
032697,001269: # 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
032698,001270: # - -
032699,001271: # LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS, A AND B (BASIC AND STABLE MEMBER).
032700,001272: # 1 2
032701,001273:
032702,001274: # DEFINE, - -
032703,001275: # U = S
032704,001276: # A A1
032705,001277:
032706,001278: # - - -
032707,001279: # V = UNIT(S X S )
032708,001280: # A A1 A2
032709,001281:
032710,001282: # - - -
032711,001283: # W = U X V
032712,001284: # A A A
032713,001285:
032714,001286: # AND
032715,001287: # - -
032716,001288: # U = S
032717,001289: # B B1
032718,001290:
032719,001291: # - - -
032720,001292: # V = UNIT(S X S )
032721,001293: # B B1 B2
032722,001294:
032723,001295: # - - -
032724,001296: # W = U X V
032725,001297: # B B B
032726,001298:
032727,001299: # THEN - - - -
032728,001300: # X = U *U + V *V + W *W
032729,001301: # B1 A B1 A B1 A
032730,001302:
032731,001303: # - - - - (REFSMMAT)
032732,001304: # Y = U *U + V *V + W *W
032733,001305: # B2 A B2 A B2 A
032734,001306:
032735,001307: # - - - -
032736,001308: # Z = U *U + V *V + W *W
032737,001309: # B3 A B3 A B3 A
032738,001310:
032739,001311: # THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
032740,001312: # -
032741,001313: # S IN 6-11 OF THE VAC AREA
032742,001314: # A1
032743,001315:
032744,001316: # -
032745,001317: # S IN 12-17 OF THE VAC AREA
032746,001318: # A2
032747,001319:
032748,001320: # -
032749,001321: # S IN STARAD
032750,001322: # B1
032751,001323:
032752,001324: # -
032753,001325: # S IN STARAD +6
032754,001326: # B2
032755,001327:
032756,001328: # CALLING SEQUENCE
032757,001329:
032758,001330: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
032759,001331:
032760,001332: # SUBROUTINES CALLED.
032761,001333:
032762,001334: # GOPERF3
032763,001335: # GOPERF1R
032764,001336: # GODSPR
032765,001337: # IMUCOARS
032766,001338: # IMUFIN20
032767,001339: # R53
032768,001340: # SXTNB
032769,001341: # NBSM
032770,001342: # MKRELEAS
032771,001343: # CHKSDATA
032772,001344: # MATMOVE
032773,001345:
032774,001346: # ALARMS
032775,001347:
032776,001348: # NONE.
032777,001349:
032778,001350: # ERASABLE INITIALIZATION
032779,001351:
032780,001352: # IMU ZERO FLAG SHOULD BE SET.
032781,001353:
032782,001354: # OUTPUT
032783,001355:
032784,001356: # REFSMMAT
032785,001357: # REFSMFLG
032786,001358:
032787,001359: # DEBRIS
032788,001360:
032789,001361: # WORK AREA
032790,001362: # STARAD
032791,001363: # STARIND
032792,001364: # BESTI
032793,001365: # BESTJ
032794,001366:
032795,001367: 14,2000 SETLOC P50S1
032796,001368: 14,2000 BANK
032797,001369: 14,3255 COUNT* $$/P5153
032798,001370: 14,3255 14,3255 P53 EQUALS P51
032799,001371: 14,3255 41323 P51 CS IMODES30
032800,001372: 14,3256 74771 MASK IMUOPBIT
032801,001373: 14,3257 10000 CCS A
032802,001374: 14,3260 03264 TC P51A
032803,001375: 14,3261 05644 TC ALARM
032804,001376: 14,3262 00210 OCT 210
032805,001377: 14,3263 04103 TC GOTOPOOH
032806,001378: 14,3264 04647 P51A TC BANKCALL
032807,001379: 14,3265 03753 CADR R02ZERO
032808,001380:
032809,001381: 14,3266 35007 P51AA CAF PRFMSTAQ
032810,001382: 14,3267 04647 TC BANKCALL
032811,001383: 14,3270 20747 CADR GOPERF1
032812,001384: 14,3271 04103 TC GOTOPOOH # TERM.
032813,001385: 14,3272 03315 TC P51B # V 33
032814,001386: 14,3273 05415 TC PHASCHNG
032815,001387: 14,3274 05024 OCT 05024
032816,001388: 14,3275 13000 OCT 13000
032817,001389: 14,3276 35003 CAF P51ZERO
032818,001390: 14,3277 55277 TS THETAD # ZERO THE GIMBALS
032819,001391: 14,3300 55300 TS THETAD +1
032820,001392: 14,3301 55301 TS THETAD +2
032821,001393: 14,3302 35040 CAF V06N22
032822,001394: 14,3303 04647 TC BANKCALL
032823,001395: 14,3304 20565 CADR GODSPRET
032824,001396: 14,3305 33427 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
032825,001397: 14,3306 04647 TC BANKCALL
032826,001398: 14,3307 20565 CADR GODSPRET
032827,001399: 14,3310 03627 TC COARSUB # PERFORM ALIGNMENT
032828,001400: 14,3311 05415 TC PHASCHNG
032829,001401: 14,3312 05024 OCT 05024
032830,001402: 14,3313 13000 OCT 13000
032831,001403: 14,3314 13266 TCF P51AA # COARSE ALIGN DONE - RECYCLE FOR FINE
032832,001404:
032833,001405:
032834,001406: # DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
032835,001407:
032836,001408: 14,3315 04606 P51B TC E7SETTER
032837,001409: 14,3316 06006 TC INTPRET
032838,001410: 14,3317 40331 SSP SETPD
032839,001411: 14,3320 00305 STARIND # INDEX - STAR 1 OR 2
032840,001412: 14,3321 00000 0
032841,001413: 14,3322 00001 0
032842,001414: 14,3323 77234 RTB VLOAD
032843,001415: 14,3324 31430 SET1/PDT
032844,001416: 14,3325 15726 ZEROVEC
032845,001417: 14,3326 01472 STORE GCOMP
032846,001418: 14,3327 77414 SET EXIT
032847,001419: 14,3330 01060 DRIFTFLG # ENABLE T4 COMPENSATION
032848,001420: 14,3331 05415 P51C TC PHASCHNG
032849,001421: 14,3332 05024 OCT 05024
032850,001422: 14,3333 13000 OCT 13000
032851,001423: 14,3334 05367 TC CHECKMM
032852,001424: 14,3335 00065 MM 53 B-14 # BACKUP PROGRAM
032853,001425: 14,3336 13344 TCF P51C.1 # NOT P53
032854,001426: 14,3337 06006 TC INTPRET
032855,001427: 14,3340 77624 CALL
032856,001428: 14,3341 36146 R56
032857,001429: 14,3342 77650 GOTO
032858,001430: 14,3343 31347 P51C.2
032859,001431: 14,3344 06006 P51C.1 TC INTPRET
032860,001432: 14,3345 77624 CALL
032861,001433: 14,3346 31433 R53 # SIGHTING ROUTINE
032862,001434: 14,3347 77624 P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA
032863,001435: 14,3350 36065 SXTSM
032864,001436: 14,3351 77606 PUSH
032865,001437: 14,3352 53135 SLOAD BZE
032866,001438: 14,3353 00305 STARIND
032867,001439: 14,3354 31360 P51D
032868,001440: 14,3355 45575 VLOAD STADR
032869,001441: 14,3356 41160 STCALL STARSAV2 # DOWNLINK
032870,001442: 14,3357 31366 P51E
032871,001443: 14,3360 45575 P51D VLOAD STADR
032872,001444: 14,3361 61166 STODL STARSAV1
032873,001445: 14,3362 02607 TSIGHT
032874,001446: 14,3363 77624 CALL
032875,001447: 14,3364 31545 PLANET
032876,001448: 14,3365 02601 STORE PLANVEC
032877,001449: 14,3366 77776 P51E EXIT
032878,001450: 14,3367 05415 TC PHASCHNG
032879,001451: 14,3370 05024 OCT 05024
032880,001452: 14,3371 13000 OCT 13000
032881,001453: 14,3372 10304 CCS STARIND
032882,001454: 14,3373 13402 TCF P51F # STAR 2
032883,001455: 14,3374 05415 TC PHASCHNG
032884,001456: 14,3375 05024 OCT 05024
032885,001457: 14,3376 13000 OCT 13000
032886,001458: 14,3377 35001 CAF BIT1
032887,001459: 14,3400 54304 TS STARIND
032888,001460: 14,3401 13331 TCF P51C # GO DO SECOND STAR
032889,001461: 14,3402 05415 P51F TC PHASCHNG
032890,001462: 14,3403 05024 OCT 05024
032891,001463: 14,3404 13000 OCT 13000
032892,001464: 14,3405 06006 TC INTPRET
032893,001465: 14,3406 45145 DLOAD CALL
032894,001466: 14,3407 02607 TSIGHT
032895,001467: 14,3410 31545 PLANET
032896,001468: 14,3411 24015 STOVL 12D
032897,001469: 14,3412 02601 PLANVEC
032898,001470: 14,3413 24007 STOVL 6D
032899,001471: 14,3414 02611 STARSAV1
032900,001472: 14,3415 26725 STOVL STARAD
032901,001473: 14,3416 02617 STARSAV2
032902,001474: 14,3417 36733 STCALL STARAD +6
032903,001475: 14,3420 34644 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
032904,001476: 14,3421 77414 BON EXIT
032905,001477: 14,3422 00314 FREEFLAG
032906,001478: 14,3423 11173 P51G
032907,001479: 14,3424 35055 CAF EBANK5
032908,001480: 14,3425 54003 TS EBANK
032909,001481: 14,3426 03266 TC P51AA
032910,001482: 04,2000 SETLOC P50S4
032911,001483: 04,2000 BANK
032912,001484:
032913,001485: 04,3173 COUNT* $$/P5153
032914,001486: 04,3173 77624 P51G CALL
032915,001487: 04,3174 47373 AXISGEN # COME BACK WITH REFSMMAT IN XDC
032916,001488: 04,3175 75160 AXC,1 AXC,2
032917,001489: 04,3176 02702 XDC
032918,001490: 04,3177 01717 REFSMMAT
032919,001491: 04,3200 45014 CLEAR CALL
032920,001492: 04,3201 01662 REFSMFLG
032921,001493: 04,3202 34721 MATMOVE
032922,001494: 04,3203 77414 SET EXIT
032923,001495: 04,3204 01462 REFSMFLG
032924,001496: 04,3205 04103 TC GOTOPOOH
032925,001497: 14,2000 SETLOC P50S1
032926,001498: 14,2000 BANK
032927,001499:
032928,001500: 14,3427 COUNT* $$/P5153
032929,001501: 14,3427 5007 PRFMSTAQ = OCT15
032930,001502: 14,3427 5003 P51ZERO = ZERO
032931,001503: 14,3427 5004 P51FIVE = FIVE
032932,001504: 14,3427 12200 V41K VN 4100
032933,001505: 14,3430 30025 SET1/PDT CA TIME1
032934,001506: 14,3431 55267 TS 1/PIPADT
032935,001507: 14,3432 16030 TCF DANZIG
032936,001508:
032937,001509: # SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
032938,001510:
032939,001511: 17,2000 SETLOC P50S3
032940,001512: 17,2000 BANK
032941,001513: 17,2065 COUNT* $$/R51
032942,001514: 17,2065 71214 SXTSM SET DLOAD
032943,001515: 17,2066 00064 ATMFLAG
032944,001516: 17,2067 03703 MRKBUF1
032945,001517: 17,2070 02607 STORE TSIGHT
032946,001518: 17,2071 77760 AXC,1
032947,001519: 17,2072 03702 MRKBUF1 # ADDRESS OF MARK DATA FOR P50'S
032948,001520: 17,2073 77620 SXTSM1 STQ # CALLED HERE FROM GETUM (P20 AND P22)
032949,001521: 17,2074 00300 QMAJ
032950,001522: 17,2075 66744 LXC,2 SLOAD*
032951,001523: 17,2076 00304 STARIND
032952,001524: 17,2077 41632 MKDNCDR,2
032953,001525: 17,2100 76744 LXC,2 VLOAD*
032954,001526: 17,2101 00154 MPAC
032955,001527: 17,2102 00001 0,1
032956,001528: 17,2103 10001 STORE 0,2
032957,001529: 17,2104 77743 DLOAD*
032958,001530: 17,2105 00006 5,1
032959,001531: 17,2106 10006 STORE 5,2
032960,001532: 17,2107 77773 SXTSM2 VLOAD*
032961,001533: 17,2110 00003 2,1
032962,001534: 17,2111 01162 STORE CDUSPOT
032963,001535: 17,2112 77614 BOFCLR
032964,001536: 17,2113 00244 ATMFLAG
032965,001537: 17,2114 36136 STARSM
032966,001538: 17,2115 54335 SLOAD SR
032967,001539: 17,2116 01131 STARCODE
032968,001540: 17,2117 20607 6
032969,001541: 17,2120 70430 BHIZ SR1
032970,001542: 17,2121 36136 STARSM
032971,001543: 17,2122 45030 BHIZ CALL
032972,001544: 17,2123 36133 ATMSS
032973,001545: 17,2124 22421 CALCNBOA
032974,001546: 17,2125 77624 ATMST CALL
032975,001547: 17,2126 22375 OASTAR
032976,001548: 17,2127 53505 VXM UNIT
032977,001549: 17,2130 02250 NBOA
032978,001550: 17,2131 77650 GOTO
032979,001551: 17,2132 36140 ATMSM
032980,001552: 17,2133 52175 ATMSS VLOAD GOTO
032981,001553: 17,2134 02264 NBOA +12D
032982,001554: 17,2135 36140 ATMSM
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The names of the following two labels are guesses.
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032984,001556: 17,2136 77624 STARSM CALL
032985,001557: 17,2137 46000 SXTNB
032986,001558: 17,2140 77624 ATMSM CALL
032987,001559: 17,2141 47616 TRG*NBSM # TRANSFER LOS TO SM
032988,001560: 17,2142 34041 STCALL 32D
032989,001561: 17,2143 00300 QMAJ
032990,001562: 17,2144 03654 MKDNCDR ECADR MARKDOWN
032991,001563: 17,2145 03460 ECADR MARK2DWN
032992,001564:
032993,001565: # NAME - R53 - SIGHTING MARK ROUTINE
032994,001566:
032995,001567: # FUNCTION -
032996,001568: # TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
032997,001569: # CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
032998,001570: # OCDUS) AND THE TIME OF THE MARK.
032999,001571:
033000,001572: # CALLING SEQUENCE
033001,001573: # R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
033002,001574: # THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
033003,001575:
033004,001576: # SUBROUTINES CALLED
033005,001577: # SXTMARK
033006,001578: # OPTSTALL
033007,001579: # GOFLASH
033008,001580:
033009,001581: # ERASABLE INITIALIZATION
033010,001582: # TARGET FLAG - STAR OR LANDMARK
033011,001583: # MARKINDX - NUMBER OF MARKS WANTED
033012,001584: # STARIND - INDEX TO BESTI OR BESTJ (STAR NUMBER)
033013,001585:
033014,001586: # OUTPUT
033015,001587: # MARKSTAT CONTAINS INDEX TO VACANT AREA WHERE MARK DATA IS STORED
033016,001588: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED
033017,001589:
033018,001590: # DEBRIS
033019,001591: # MARKINDX CONTAINS NUMBER OF MARKS DESIRED
033020,001592:
033021,001593: 14,2000 SETLOC RT53
033022,001594: 14,2000 BANK
033023,001595:
033024,001596: 14,3433 COUNT* $$/R53
033025,001597: 14,3433 43020 R53 STQ SET # SET SIGHTING MARK FLAG
033026,001598: 14,3434 03457 R53EXIT
033027,001599: 14,3435 00071 R53FLAG
033028,001600: 14,3436 77776 EXIT
033029,001601: 14,3437 04647 R53A TC BANKCALL
033030,001602: 14,3440 16000 CADR SXTMARK
033031,001603: 14,3441 10301 CCS MARKINDX
033032,001604: 14,3442 13437 TCF R53A # NO MARKS TAKEN. DO AGAIN.
033033,001605: 14,3443 04647 R53A1 TC BANKCALL
033034,001606: 14,3444 16057 CADR MKRELEAS
033035,001607: 14,3445 35003 R53C1 CAF ZERO
033036,001608: 14,3446 04647 TC BANKCALL
033037,001609: 14,3447 20575 CADR CLEANDSP
033038,001610: 14,3450 44774 R53B CS BIT6 # CUT BETWEEN P20S AND P50S
033039,001611: 14,3451 61204 AD MODREG # P22,P23 CALL
033040,001612: 14,3452 00006 EXTEND
033041,001613: 14,3453 63512 BZMF R53D # YES
033042,001614: 14,3454 40074 CS FLAGWRD0
033043,001615: 14,3455 74766 MASK P50.1BIT
033044,001616: 14,3456 00006 EXTEND
033045,001617: 14,3457 13512 BZF R53D
033046,001618: 14,3460 33516 R53C CAF V01N71
033047,001619: 14,3461 05550 TC VNFLASH
033048,001620: 14,3462 03520 R53Z TC CHKSCODE
033049,001621: # ROUTINE TO ALLOW ONLY +0 <= STARCODE <= +50, OTHERWISE 'OPERATOR ERROR'
033050,001622: 14,3463 04362 TC FALTON
033051,001623: 14,3464 03460 TC R53C
033052,001624: 14,3465 03617 TC STORIJ # SET BESTI(BESTJ) = 1ST(2ND) STARCODE
033053,001625: 14,3466 05367 TC CHECKMM
033054,001626: 14,3467 00062 MM 50 B-14
033055,001627: 14,3470 13472 TCF +2
033056,001628: 14,3471 13476 TCF R53DISP
033057,001629: 14,3472 34772 CAF BIT8
033058,001630: 14,3473 71130 MASK STARCODE
033059,001631: 14,3474 00006 EXTEND
033060,001632: 14,3475 13512 BZF R53D
033061,001633: 14,3476 33517 R53DISP CAF V06N14
033062,001634: 14,3477 05550 TC VNFLASH
033063,001635: 14,3500 31515 CA TRKAZ
033064,001636: 14,3501 60000 DOUBLE
033065,001637: 14,3502 55705 TS MRKBUF1 +3
033066,001638: 14,3503 13505 TCF +2
033067,001639: 14,3504 04614 TC R53FALT
033068,001640: 14,3505 31516 CA TRKEL
033069,001641: 14,3506 60000 DOUBLE
033070,001642: 14,3507 55707 TS MRKBUF1 +5
033071,001643: 14,3510 13512 TCF R53D
033072,001644: 14,3511 04614 TC R53FALT
033073,001645: 14,3512 06006 R53D TC INTPRET
033074,001646: 14,3513 77614 R53OUT SETGO
033075,001647: 14,3514 03420 TERMIFLG # SET TERMINATE FOR R52
033076,001648: 14,3515 03457 R53EXIT
033077,001649: 14,3516 6211 SIGHTSIX = SIX
033078,001650: 14,3516 00307 V01N71 VN 0171
033079,001651: 14,3517 01416 V06N14 VN 0614
033080,001652:
033081,001653: 4000 SETLOC FFTAG5
033082,001654: 4000 BANK
033083,001655:
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|
The name of the following function is a guess.
|
033085,001657: 4614 04362 R53FALT TC FALTON
033086,001658: 4615 03476 TC R53DISP
033087,001659:
033088,001660: 14,2000 SETLOC RT53
033089,001661: 14,2000 BANK
033090,001662:
033091,001663: # ****** KEEP IN SAME BANK AS R51 AND R53 *********
033092,001664: 14,3520 41130 CHKSCODE CS STARCODE
033093,001665: 14,3521 74763 MASK BIT15
033094,001666: 14,3522 00006 EXTEND # NEGATIVE STARCODE OF ANY
033095,001667: 14,3523 16711 BZF TCQ # MAGNITUDE IS IMPROPER
033096,001668: 14,3524 47677 CS HIGH9
033097,001669: 14,3525 71130 MASK STARCODE
033098,001670: 14,3526 63543 AD NEG47
033099,001671: 14,3527 00006 EXTEND
033100,001672: 14,3530 63532 BZMF +2 # <= 50, OK
033101,001673: 14,3531 00002 TC Q # > 50, IMPROPER
033102,001674: 14,3532 34773 CAF BIT7
033103,001675: 14,3533 71130 MASK STARCODE
033104,001676: 14,3534 00006 EXTEND
033105,001677: 14,3535 16710 BZF Q+2
033106,001678: 14,3536 31130 CA STARCODE
033107,001679: 14,3537 63544 AD NEG146
033108,001680: 14,3540 00006 EXTEND
033109,001681: 14,3541 16710 BZF Q+2
033110,001682: 14,3542 00002 TC Q
033111,001683: 14,3543 77730 NEG47 OCT 77730
033112,001684: 14,3544 77631 NEG146 OCT 77631
033113,001685:
033114,001686: # NAME - S52.2
033115,001687: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
033116,001688: # CALL - CALL S52.2
033117,001689: # INPUT - X,Y,ZSMD
033118,001690: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
033119,001691: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
033120,001692:
033121,001693: 11,2000 SETLOC S52/2
033122,001694: 11,2000 BANK
033123,001695:
033124,001696: 11,2430 COUNT* $$/S52.2
033125,001697: 11,2430 45020 S52.2 STQ CALL
033126,001698: 11,2431 00300 QMAJ
033127,001699: 11,2432 47471 CDUTRIG
033128,001700: 11,2433 77624 CALL
033129,001701: 11,2434 34747 CALCSMSC
033130,001702: 11,2435 66370 AXT,1 SSP
033131,001703: 11,2436 00022 18D
033132,001704: 11,2437 00051 S1
033133,001705: 11,2440 00006 6D
033134,001706: 11,2441 61373 S52.2A VLOAD* VXM
033135,001707: 11,2442 02725 XNB +18D,1
033136,001708: 11,2443 01720 REFSMMAT
033137,001709: 11,2444 77656 UNIT
033138,001710: 11,2445 06725 STORE XNB +18D,1
033139,001711: 11,2446 77700 TIX,1
033140,001712: 11,2447 22441 S52.2A
033141,001713: 11,2450 75160 S52.2.1 AXC,1 AXC,2
033142,001714: 11,2451 00306 XSMD
033143,001715: 11,2452 02660 XSM
033144,001716: 11,2453 77624 CALL
033145,001717: 11,2454 34721 MATMOVE
033146,001718: 11,2455 77624 CALL
033147,001719: 11,2456 47303 CALCGA
033148,001720: 11,2457 77650 GOTO
033149,001721: 11,2460 00300 QMAJ
033150,001722:
033151,001723:
033152,001724: # NAME - R56 - ALTERNATE LOS SIGHTING MARK ROUTINE
033153,001725:
033154,001726: # FUNCTIONAL DESCRIPTION
033155,001727: # TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOWS THE
033156,001728: # COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE ASTRONAUT KEYS IN
033157,001729: # ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
033158,001730: # IN N92.
033159,001731:
033160,001732: # CALLING SEQUENCE
033161,001733: # CALL
033162,001734: # R56
033163,001735:
033164,001736: # SUBROUTINES CALLED
033165,001737: # A PORTION OF SXTMARK (VAC.AREA SEARCH)
033166,001738: # GOFLASH
033167,001739: # GOPERF1
033168,001740:
033169,001741: # ERASABLE INITIALIZATION
033170,001742: # STARIND - INDEX TO STAR NUMBER
033171,001743:
033172,001744: # OUTPUT
033173,001745: # MARKSTAT - INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
033174,001746: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
033175,001747: # ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS-
033176,001748: # VAC +2 CDUY
033177,001749: # VAC +3 CDUS
033178,001750: # VAC +4 CDUZ
033179,001751: # VAC +5 CDUT
033180,001752: # VAC +6 CDUX
033181,001753:
033182,001754: 17,2000 SETLOC P50S3
033183,001755: 17,2000 BANK
033184,001756: 17,2146 COUNT* $$/R56
033185,001757: 17,2146 77420 R56 STQ EXIT
033186,001758: 17,2147 03457 R53EXIT
033187,001759: 17,2150 32220 CAF V06N94B
033188,001760: 17,2151 05550 TC VNFLASH
033189,001761: 17,2152 04647 R56A TC BANKCALL
033190,001762: 17,2153 16046 CADR TESTMARK
033191,001763:
033192,001764: 17,2154 35003 CAF ZERO
033193,001765: 17,2155 04647 TC BANKCALL
033194,001766: 17,2156 20575 CADR CLEANDSP
033195,001767:
033196,001768: 17,2157 32217 R56A1 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK
033197,001769: 17,2160 04647 TC BANKCALL
033198,001770: 17,2161 20461 CADR GOMARK2
033199,001771: 17,2162 14103 TCF GOTOPOOH # V34-TERMINATE
033200,001772: 17,2163 12157 TCF R56A1 # V33-DONT PROCEED-JUST ENTER TO MARK
033201,001773: 17,2164 06006 TC INTPRET
033202,001774: 17,2165 77745 DLOAD
033203,001775: 17,2166 03706 MRKBUF1 +3
033204,001776: 17,2167 16774 STODL SAC
033205,001777: 17,2170 03710 MRKBUF1 +5
033206,001778: 17,2171 02776 STORE PAC
033207,001779: 17,2172 77776 EXIT
033208,001780: 17,2173 00004 INHINT
033209,001781: 17,2174 00006 EXTEND
033210,001782: 17,2175 30025 DCA TIME2
033211,001783: 17,2176 53703 DXCH MRKBUF1
033212,001784: 17,2177 30033 CA CDUY # ENTER-THIS IS A BACKUP SYSTEM MARK
033213,001785: 17,2200 55704 TS MRKBUF1 +2
033214,001786: 17,2201 30034 CA CDUZ
033215,001787: 17,2202 55706 TS MRKBUF1 +4
033216,001788: 17,2203 30032 CA CDUX
033217,001789: 17,2204 55710 TS MRKBUF1 +6
033218,001790: 17,2205 00003 RELINT
033219,001791: 17,2206 05542 TC CLEARMRK # ENABLE EXTENDED VERBS
033220,001792: 17,2207 34321 CAF OCT16
033221,001793: 17,2210 04647 TC BANKCALL
033222,001794: 17,2211 20747 CADR GOPERF1
033223,001795: 17,2212 04103 TC GOTOPOOH # TERM.
033224,001796: 17,2213 12215 TCF R56B # PROCEED-MARK COMPLETED
033225,001797: 17,2214 12152 TCF R56A # RECYCLE - DO ANOTHER MARK - LIKE REJECT
033226,001798: 17,2215 04647 R56B TC BANKCALL
033227,001799: 17,2216 31445 CADR R53C1
033228,001800: 17,2217 15200 VB53 VN 05300 # ALTERNATE MARK VERB
033229,001801: 17,2220 01536 V06N94B VN 00694
033230,001802: 14,2000 SETLOC P50S1
033231,001803: 14,2000 BANK
033232,001804:
033233,001805: 14,3545 COUNT* $$/PLNET
033234,001806: 14,3545 02607 PLANET STORE TSIGHT
033235,001807: 14,3546 45020 STQ CALL
033236,001808: 14,3547 02777 QMIN
033237,001809: 14,3550 24040 LOCSAM
033238,001810: 14,3551 77776 NOSAM EXIT
033239,001811: 14,3552 03617 TC STORIJ # SET BESTI(BESTJ) = 1ST(2ND) STARCODE
033240,001812: 14,3553 10000 CCS A
033241,001813: 14,3554 13565 TCF NOTPLAN
033242,001814: 14,3555 35050 CAF VNPLANV
033243,001815: 14,3556 05550 TC VNFLASH
033244,001816: 14,3557 06006 TC INTPRET
033245,001817: 14,3560 74375 VLOAD VXSC
033246,001818: 14,3561 03665 STARSAV3
033247,001819: 14,3562 31616 1/SQR3
033248,001820: 14,3563 52056 UNIT GOTO
033249,001821: 14,3564 31610 CORPLAN
033250,001822: 14,3565 40000 NOTPLAN CS A
033251,001823: 14,3566 63614 AD DEC227
033252,001824: 14,3567 00006 EXTEND
033253,001825: 14,3570 63601 BZMF CALSAM1
033254,001826: 14,3571 50304 INDEX STARIND
033255,001827: 14,3572 30302 CA BESTI
033256,001828: 14,3573 50120 INDEX FIXLOC
033257,001829: 14,3574 54046 TS X1
033258,001830: 14,3575 06006 TC INTPRET
033259,001831: 14,3576 52173 VLOAD* GOTO
033260,001832: 14,3577 33776 CATLOG,1
033261,001833: 14,3600 31610 CORPLAN
033262,001834: 14,3601 06006 CALSAM1 TC INTPRET
033263,001835: 14,3602 70740 LXC,1 DLOAD*
033264,001836: 14,3603 00304 STARIND
033265,001837: 14,3604 00303 BESTI,1
033266,001838: 14,3605 76740 LXC,1 VLOAD*
033267,001839: 14,3606 00154 MPAC
033268,001840: 14,3607 02361 STARAD -228D,1
033269,001841: 14,3610 53455 CORPLAN VAD UNIT
033270,001842: 14,3611 03452 VEL/C
033271,001843: 14,3612 77650 GOTO
033272,001844: 14,3613 02777 QMIN
033273,001845: 14,3614 00343 DEC227 DEC 227 B-14
033274,001846: 14,3615 5050 VNPLANV = V06N88
033275,001847: 14,3615 22363 11623 1/SQR3 2DEC .57735021
033276,001848:
033277,001849: 14,3617 47677 STORIJ CS HIGH9 # CALLED AT R53Z, NOSAM(PLANET)
033278,001850: 14,3620 71130 MASK STARCODE
033279,001851: 14,3621 00006 EXTEND
033280,001852: 14,3622 76211 MP SIGHTSIX
033281,001853: 14,3623 56001 XCH L
033282,001854: 14,3624 50304 INDEX STARIND
033283,001855: 14,3625 54302 TS BESTI
033284,001856: 14,3626 00002 TC Q # RETURN TO CALLER
033285,001857: 14,3627 COUNT* $$/R50
033286,001858: 14,3627 30002 COARSUB CA Q
033287,001859: 14,3630 55777 TS QMIN
033288,001860: 14,3631 31325 STALLOOP CA MODECADR # IS IMU IN USE?
033289,001861: 14,3632 00006 EXTEND
033290,001862: 14,3633 13640 BZF CORSCALL # NO, GO AHEAD WITH COARSE ALIGN
033291,001863: 14,3634 35030 CAF 1SEC # YES, SO WAIT A SEC
033292,001864: 14,3635 04647 TC BANKCALL
033293,001865: 14,3636 01731 CADR DELAYJOB
033294,001866: 14,3637 03631 TC STALLOOP # AND TRY AGAIN
033295,001867: 14,3640 04647 CORSCALL TC BANKCALL
033296,001868: 14,3641 16655 CADR IMUCOARS # PERFORM COARSE ALIGN
033297,001869: 14,3642 04647 TC BANKCALL
033298,001870: 14,3643 17575 CADR IMUSTALL
033299,001871: 14,3644 03653 TC 217ALARM # BAD END
033300,001872: 14,3645 04647 TC BANKCALL
033301,001873: 14,3646 17064 CADR IMUFIN20 # PERFORM FINE ALIGN
033302,001874: 14,3647 04647 TC BANKCALL
033303,001875: 14,3650 17575 CADR IMUSTALL
033304,001876: 14,3651 03653 TC 217ALARM # BAD END
033305,001877: 14,3652 01777 TC QMIN
033306,001878: 14,3653 00004 217ALARM INHINT # JUST LIKE 'CURTAINS', NOW DEPARTED
033307,001879: 14,3654 30002 CA Q
033308,001880: 14,3655 05646 TC ALARM2
033309,001881: 14,3656 00217 OCT 00217
033310,001882: 14,3657 01363 TC ALMCADR # RETURN TO USER
End of include-file P51-P53.agc. Parent file is MAIN.agc