- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
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|
These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9
LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of
original core rope program modules, as follows:
|
036540,000002: ## Copyright: Public domain.
036541,000003: ## Filename: P51-P53.agc
036542,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
036543,000005: ## as closely as possible with available information. Sundance
036544,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
036545,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
036546,000008: ## using the mixed-revision SundanceXXX as a starting point, and
036547,000009: ## pulling back features from Luminary 69 believed to have been
036548,000010: ## added based on memos, checklists, observed address changes,
036549,000011: ## or the Sundance GSOPs.
036550,000012: ## Assembler: yaYUL
036551,000013: ## Contact: Ron Burkey <info@sandroid.org>.
036552,000014: ## Website: www.ibiblio.org/apollo/index.html
036553,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
036554,000016:
036555,000017:
036556,000018:
036557,000019: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
036558,000020: # MOD NO- 0 LOG SECTION- P51-P53
036559,000021: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
036560,000022:
036561,000023: # FUNCTIONAL DESCRIPTION-
036562,000024:
036563,000025: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
036564,000026: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
036565,000027:
036566,000028: # (A) PREFERRED ORIENTATION
036567,000029:
036568,000030: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
036569,000031: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
036570,000032:
036571,000033: # (B) NOMINAL ORIENTATION
036572,000034:
036573,000035: # X = UNIT ( R )
036574,000036: # -SM
036575,000037:
036576,000038: # Y = UNIT (V X R)
036577,000039: # SM
036578,000040:
036579,000041: # Z = UNIT (X X Y )
036580,000042: # SM SM SM
036581,000043:
036582,000044: # WHERE_
036583,000045: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
036584,000046: # -
036585,000047:
036586,000048: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
036587,000049: # -
036588,000050:
036589,000051: # (C) REFSMMAT ORIENTATION
036590,000052:
036591,000053: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
036592,000054:
036593,000055: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
036594,000056: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
036595,000057: # SINCE THE LAST ALIGNMENT).
036596,000058:
036597,000059: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
036598,000060: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
036599,000061: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
036600,000062: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
036601,000063: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
036602,000064: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
036603,000065: # REQUESTED.
036604,000066:
036605,000067: # CALLING SEQUENCE-
036606,000068:
036607,000069: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
036608,000070:
036609,000071: # SUBROUTINES CALLED-
036610,000072:
036611,000073: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
036612,000074: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
036613,000075: # 3. GOPERF4 9. FLAGUP
036614,000076: # 4. MATMOVE 10. R56
036615,000077: # 5. GOFLASH 11. R51
036616,000078: # 6. S52.3 12. GOPERF3
036617,000079:
036618,000080: # NORMAL EXIT MODES-
036619,000081:
036620,000082: # EXITS TO ENDOFJOB
036621,000083:
036622,000084: # ALARM OR ABORT EXIT MODES-
036623,000085:
036624,000086: # NONE
036625,000087:
036626,000088: # OUTPUT-
036627,000089:
036628,000090: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
036629,000091: # 1. IMU ORIENTATION CODE
036630,000092: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
036631,000093: # 3. TIME OF NEXT IGNITION
036632,000094: # 4. GIMBAL ANGLES
036633,000095: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
036634,000096: # 6. PLEASE PERFORM P00
036635,000097: # THE MODE DISPLAY MAY BE CHANGED TO 20
036636,000098:
036637,000099: # ERASABLE INITIALIZATION REQUIRED-
036638,000100:
036639,000101: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
036640,000102: # XSMD,YSMD,ZSMD.
036641,000103: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
036642,000104:
036643,000105: # DEBRIS-
036644,000106:
036645,000107: # WORK AREA
036646,000108: 33,3741 BANK 33
036647,000109: 15,2000 SETLOC P50S
036648,000110: 15,2000 BANK
036649,000111:
036650,000112: 15,2000 E5,1755 EBANK= BESTI
036651,000113: 15,2000 COUNT* $$/P52
036652,000114: 15,2000 04655 PROG52 TC BANKCALL
036653,000115: 15,2001 11067 CADR R02BOTH # IMU STATUS CHECK
036654,000116: 15,2002 35023 CAF PFRATBIT
036655,000117: 15,2003 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
036656,000118: 15,2004 10000 CCS A
036657,000119:
036658,000120: 15,2005 02010 TC P52A # YES
036659,000121: 15,2006 35025 CAF BIT2 # NO
036660,000122: 15,2007 02011 TC P52A +1
036661,000123: 15,2010 35026 P52A CAF BIT1
036662,000124: 15,2011 55156 TS OPTION2
036663,000125: 15,2012 35026 P52B CAF BIT1
036664,000126: 15,2013 04655 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
036665,000127: 15,2014 20611 CADR GOPERF4R # FLASH V04N06
036666,000128: 15,2015 04106 TC GOTOPOOH
036667,000129: 15,2016 12023 TCF +5 # V33-PROCEED
036668,000130: 15,2017 02012 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
036669,000131: 15,2020 05423 TC PHASCHNG # DISPLAY RETURN
036670,000132: 15,2021 00014 OCT 00014
036671,000133: 15,2022 05225 TC ENDOFJOB
036672,000134:
036673,000135: 15,2023 31156 CA OPTION2
036674,000136: 15,2024 76221 MASK THREE
036675,000137: 15,2025 50000 INDEX A
036676,000138: 15,2026 02027 TC +1
036677,000139: 15,2027 02035 TC P52T
036678,000140: 15,2030 02136 TC P52J
036679,000141: 15,2031 02035 TC P52T
036680,000142: 15,2032 06014 P52E TC INTPRET
036681,000143: 15,2033 77650 GOTO
036682,000144: 15,2034 32132 P52F
036683,000145: 15,2035 00006 P52T EXTEND
036684,000146: 15,2036 35030 DCA NEG0
036685,000147: 15,2037 53047 DXCH DSPTEM1
036686,000148: 15,2040 32156 CAF V06N34*
036687,000149: 15,2041 04655 TC BANKCALL
036688,000150: 15,2042 20406 CADR GOFLASH
036689,000151: 15,2043 04106 TC GOTOPOOH
036690,000152: 15,2044 02046 TC +2
036691,000153: 15,2045 02040 TC -5
036692,000154: 15,2046 11046 CCS DSPTEM1
036693,000155: 15,2047 12055 TCF P52V
036694,000156: 15,2050 12052 TCF +2 # IF TIME ZERO OR NEG USE TIME2
036695,000157: 15,2051 12052 TCF +1
036696,000158: 15,2052 00006 EXTEND
036697,000159: 15,2053 30025 DCA TIME2
036698,000160: 15,2054 53047 DXCH DSPTEM1
036699,000161: 15,2055 31156 P52V CA OPTION2
036700,000162: 15,2056 75025 MASK BIT2
036701,000163: 15,2057 10000 CCS A
036702,000164: 15,2060 02104 TC P52W
036703,000165:
036704,000166: 15,2061 32157 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2, ALT
036705,000167: 15,2062 04655 TC BANKCALL
036706,000168: 15,2063 20406 CADR GOFLASH
036707,000169: 15,2064 04106 TC GOTOPOOH # VB34 TERMINATE
036708,000170: 15,2065 02067 TC +2 # VB33 PROCEED
036709,000171: 15,2066 02061 TC LSDISP # VB32 RECYCLE
036710,000172:
036711,000173: 15,2067 06014 TC INTPRET # OPTION 4 - GET LS ORIENTATION
036712,000174: 15,2070 43014 SET SET
036713,000175: 15,2071 00462 ERADFLAG
036714,000176: 15,2072 01463 LUNAFLAG
036715,000177: 15,2073 45145 DLOAD CALL
036716,000178: 15,2074 01047 DSPTEM1
036717,000179: 15,2075 26374 LALOTORV
036718,000180: 15,2076 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
036719,000181: 15,2077 02034 ALPHAV
036720,000182: 15,2100 37574 STCALL XSMD
036721,000183: 15,2101 33217 LSORIENT
036722,000184: 15,2102 77650 GOTO
036723,000185: 15,2103 32111 P52D
036724,000186:
036725,000187: # START ALIGNMENT
036726,000188:
036727,000189: 15,2104 06014 P52W TC INTPRET
036728,000190: 15,2105 77745 DLOAD
036729,000191: 15,2106 01047 DSPTEM1 # PICK UP ALIGN TIME
036730,000192: 15,2107 77624 CALL # COMPUTE NOMINAL IMU
036731,000193: 15,2110 31166 S52.3 # ORIENTATION
036732,000194: 15,2111 77624 P52D CALL # READ VEHICLE ATTITUDE AND
036733,000195: 15,2112 31134 S52.2 # COMPUTE GIMBAL ANGLES
036734,000196: 15,2113 77776 EXIT
036735,000197: 15,2114 32155 CAF V06N22*
036736,000198: 15,2115 04655 TC BANKCALL # DISPLAY GIMBAL ANGLES
036737,000199: 15,2116 20406 CADR GOFLASH
036738,000200: 15,2117 04106 TC GOTOPOOH
036739,000201: 15,2120 02124 TC REGCOARS # V33-PROCEED, SEE IF GYRO TORQUE COARSE
036740,000202: 15,2121 06014 TC INTPRET # RECYCLE - VEHICLE HAS BEEN MANUEVERED
036741,000203: 15,2122 77650 GOTO
036742,000204: 15,2123 32111 P52D
036743,000205: 15,2124 06014 REGCOARS TC INTPRET
036744,000206: 15,2125 77624 CALL # DO COARSE ALIGN
036745,000207: 15,2126 30572 CAL53A # ROUTINE
036746,000208: 15,2127 43014 SET CLEAR
036747,000209: 15,2130 01462 REFSMFLG
036748,000210: 15,2131 01273 PFRATFLG
036749,000211: 15,2132 77624 P52F CALL
036750,000212: 15,2133 30317 R51
036751,000213: 15,2134 77776 P52OUT EXIT
036752,000214: 15,2135 04106 TC GOTOPOOH
036753,000215: 15,2136 35023 P52J CAF PFRATBIT
036754,000216: 15,2137 70076 MASK FLAGWRD2
036755,000217: 15,2140 10000 CCS A
036756,000218: 15,2141 02152 TC P52H
036757,000219:
036758,000220: 15,2142 05651 TC ALARM
036759,000221: 15,2143 00215 OCT 215
036760,000222: 15,2144 35056 CAF VB05N09
036761,000223: 15,2145 04655 TC BANKCALL
036762,000224: 15,2146 20406 CADR GOFLASH
036763,000225: 15,2147 04106 TC GOTOPOOH
036764,000226: 15,2150 02144 TC -4
036765,000227: 15,2151 02012 TC P52B
036766,000228:
036767,000229: 15,2152 06014 P52H TC INTPRET # PREFERRED OPTION, GO COMPUTE GIMBALS
036768,000230: 15,2153 77650 GOTO
036769,000231: 15,2154 32111 P52D
036770,000232:
036771,000233: 15,2155 5056 VB05N09 = V05N09
036772,000234: 15,2155 01426 V06N22* VN 00622
036773,000235: 15,2156 01442 V06N34* VN 634
036774,000236:
036775,000237: 15,2157 01531 V06N89* VN 0689
036776,000238:
036777,000239: # NAME -S50 ALIAS LOCSAM
036778,000240: # BY
036779,000241: # VINCENT
036780,000242: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
036781,000243:
036782,000244: # DEFINE
036783,000245:
036784,000246:
036785,000247: # U = UNIT( SUN WRT EARTH)
036786,000248: # ES
036787,000249:
036788,000250: # U =UNIT( MOON WRT EARTH)
036789,000251: # EM
036790,000252:
036791,000253: # R =POSITION VECTOR OF LEM
036792,000254: # L
036793,000255:
036794,000256: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
036795,000257: # EM
036796,000258:
036797,000259: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
036798,000260: # EM
036799,000261:
036800,000262: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
036801,000263: # E
036802,000264:
036803,000265: # LOCSAM COMPUTES IN EARTH INFLUENCE
036804,000266:
036805,000267:
036806,000268: # VSUN = U
036807,000269: # ES
036808,000270:
036809,000271: # VEARTH = -UNIT( R )
036810,000272: # L
036811,000273:
036812,000274: # VMOON = UNIT(R .U - R )
036813,000275: # EM EM L
036814,000276:
036815,000277: # CSUN = COS 90
036816,000278:
036817,000279: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
036818,000280: # E L
036819,000281:
036820,000282: # CMOON = COS 5
036821,000283:
036822,000284:
036823,000285: # INPUT - TIME IN MPAC
036824,000286: # OUTPUT - LISTED ABOVE
036825,000287: # SUBROUTINES -LSPOS,LEMPREC
036826,000288: # DEBRIS - VAC AREA ,TSIGHT
036827,000289:
036828,000290: 14,2000 SETLOC P50S1
036829,000291: 14,2000 BANK
036830,000292: 14,2000 E5,1642 EBANK= XSM
036831,000293:
036832,000294: 14,2000 COUNT* $$/LOSAM
036833,000295:
036834,000296: 14,2000 14,2000 S50 = LOCSAM
036835,000297: 14,2000 77620 LOCSAM STQ
036836,000298: 14,2001 02745 QMIN
036837,000299: 14,2002 37547 STCALL TSIGHT
036838,000300: 14,2003 33236 LSPOS
036839,000301: 14,2004 77745 DLOAD
036840,000302: 14,2005 03547 TSIGHT
036841,000303: 14,2006 34041 STCALL TDEC1
036842,000304: 14,2007 27030 LEMPREC
036843,000305: 14,2010 61131 SSP TIX,2
036844,000306: 14,2011 00052 S2
036845,000307: 14,2012 00000 0
036846,000308: 14,2013 30035 MOONCNTR
036847,000309: 14,2014 74375 EARTCNTR VLOAD VXSC
036848,000310: 14,2015 02723 VMOON
036849,000311: 14,2016 30106 RSUBEM
036850,000312: 14,2017 52372 VSL1 VSU
036851,000313: 14,2020 00001 RATT
036852,000314: 14,2021 77656 UNIT
036853,000315: 14,2022 26723 STOVL VMOON
036854,000316: 14,2023 00001 RATT
036855,000317: 14,2024 57456 UNIT VCOMP
036856,000318: 14,2025 16707 STODL VEARTH
036857,000319: 14,2026 30112 RSUBE
036858,000320: 14,2027 77624 CALL
036859,000321: 14,2030 30067 OCCOS
036860,000322: 14,2031 14017 STODL CEARTH
036861,000323: 14,2032 30076 CSS5
036862,000324: 14,2033 34023 STCALL CMOON
036863,000325: 14,2034 30062 ENDSAM
036864,000326: 14,2035 74375 MOONCNTR VLOAD VXSC
036865,000327: 14,2036 02723 VMOON
036866,000328: 14,2037 30104 ROE
036867,000329: 14,2040 53445 BVSU UNIT
036868,000330: 14,2041 02715 VSUN
036869,000331: 14,2042 26715 STOVL VSUN
036870,000332: 14,2043 02723 VMOON
036871,000333: 14,2044 53361 VXSC VAD
036872,000334: 14,2045 30106 RSUBEM
036873,000335: 14,2046 00001 RATT
036874,000336: 14,2047 57456 UNIT VCOMP
036875,000337: 14,2050 26707 STOVL VEARTH
036876,000338: 14,2051 00001 RATT
036877,000339: 14,2052 57456 UNIT VCOMP
036878,000340:
036879,000341: 14,2053 16723 STODL VMOON
036880,000342: 14,2054 30110 RSUBM
036881,000343: 14,2055 77624 CALL
036882,000344: 14,2056 30067 OCCOS
036883,000345: 14,2057 14023 STODL CMOON
036884,000346: 14,2060 30076 CSS5
036885,000347: 14,2061 00017 STORE CEARTH
036886,000348: 14,2062 77745 ENDSAM DLOAD
036887,000349: 14,2063 30100 CSSUN
036888,000350: 14,2064 00021 STORE CSUN
036889,000351: 14,2065 77650 GOTO
036890,000352: 14,2066 02745 QMIN
036891,000353: 14,2067 70471 OCCOS DDV SR1
036892,000354: 14,2070 00045 36D
036893,000355: 14,2071 43336 ASIN DAD
036894,000356: 14,2072 30102 5DEGREES
036895,000357: 14,2073 70546 COS SR1
036896,000358: 14,2074 77616 RVQ
036897,000359: 14,2075 CEARTH = 14D
036898,000360: 14,2075 CSUN = 16D
036899,000361: 14,2075 CMOON = 18D
036900,000362: 14,2075 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
036901,000363: 14,2077 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
036902,000364: 14,2101 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
036903,000365:
036904,000366: 14,2103 00052 04047 ROE 2DEC .00257125
036905,000367: 14,2105 26723 00450 RSUBEM 2DEC 384402000 B-29
036906,000368: 14,2107 00065 01265 RSUBM 2DEC 1738090 B-29
036907,000369: 14,2111 00302 24533 RSUBE 2DEC 6378166 B-29
036908,000370:
036909,000371: # PROGRAM NAME - R56 DATE DEC 20 66
036910,000372: # MOD 1 LOG SECTION P51-P53
036911,000373: # ASSEMBLY SUNDISK REV40
036912,000374: # BY KEN VINCENT
036913,000375:
036914,000376: # FUNCTION
036915,000377: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
036916,000378: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
036917,000379: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
036918,000380: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
036919,000381: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
036920,000382: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
036921,000383: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
036922,000384: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
036923,000385: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
036924,000386: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
036925,000387: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
036926,000388: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
036927,000389:
036928,000390: # CALLING SEQUENCE
036929,000391: # L TC BANKCALL
036930,000392: # L+1 CADR R56
036931,000393: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
036932,000394: # L+3 NORMAL RETURN
036933,000395:
036934,000396: # OUTPUT
036935,000397: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
036936,000398: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
036937,000399:
036938,000400: # INITIALIZATION
036939,000401: # 1)A CALL TO LOCSAM MUST BE MADE
036940,000402:
036941,000403: # DEBRIS
036942,000404: # WORK AREA
036943,000405: # X,Y,ZNB
036944,000406: # SINCDU,COSCDU
036945,000407: # STARAD - STAR +5
036946,000408: 14,2113 14,2113 R56 = PICAPAR
036947,000409: 14,2113 COUNT* $$/R56
036948,000410: 14,2113 04704 PICAPAR TC MAKECADR
036949,000411: 14,2114 55745 TS QMIN
036950,000412: 14,2115 06014 TC INTPRET
036951,000413: 14,2116 77624 CALL
036952,000414: 14,2117 47335 CDUTRIG
036953,000415: 14,2120 77624 CALL
036954,000416: 14,2121 30667 CALCSMSC
036955,000417: 14,2122 77601 SETPD
036956,000418: 14,2123 00001 0
036957,000419: 14,2124 71214 SET DLOAD # VFLAG = 1
036958,000420: 14,2125 01465 VFLAG
036959,000421:
036960,000422: 14,2126 22276 DPZERO
036961,000423: 14,2127 26756 STOVL BESTI
036962,000424: 14,2130 02665 XNB
036963,000425: 14,2131 63361 VXSC PDVL
036964,000426: 14,2132 22274 HALFDP
036965,000427: 14,2133 02701 ZNB
036966,000428: 14,2134 74370 AXT,1 VXSC
036967,000429: 14,2135 00344 228D # X1 = 37 X 6 + 6
036968,000430: 14,2136 22274 HALFDP
036969,000431: 14,2137 77655 VAD
036970,000432: 14,2140 53505 VXM UNIT
036971,000433: 14,2141 01736 REFSMMAT
036972,000434: 14,2142 02731 STORE SAX # SAX = SHAFT AXIS
036973,000435: 14,2143 66331 SSP SSP # S1=S2=6
036974,000436: 14,2144 00051 S1
036975,000437: 14,2145 00006 6
036976,000438: 14,2146 00052 S2
036977,000439: 14,2147 00006 6
036978,000440: 14,2150 52100 PIC1 TIX,1 GOTO # MAJOR STAR
036979,000441: 14,2151 30153 PIC2
036980,000442: 14,2152 30270 PICEND
036981,000443: 14,2153 50373 PIC2 VLOAD* DOT
036982,000444: 14,2154 31734 CATLOG,1
036983,000445: 14,2155 02731 SAX
036984,000446: 14,2156 50025 DSU BMN
036985,000447: 14,2157 30267 CSS33
036986,000448: 14,2160 30150 PIC1
036987,000449: 14,2161 77754 LXA,2
036988,000450: 14,2162 00046 X1
036989,000451: 14,2163 52104 PIC3 TIX,2 GOTO
036990,000452: 14,2164 30166 PIC4
036991,000453: 14,2165 30150 PIC1
036992,000454: 14,2166 50373 PIC4 VLOAD* DOT
036993,000455: 14,2167 46043 CATLOG,2
036994,000456: 14,2170 02731 SAX
036995,000457: 14,2171 50025 DSU BMN
036996,000458: 14,2172 30267 CSS33
036997,000459: 14,2173 30163 PIC3
036998,000460: 14,2174 47773 VLOAD* DOT*
036999,000461: 14,2175 31734 CATLOG,1
037000,000462: 14,2176 46043 CATLOG,2
037001,000463: 14,2177 51025 DSU BPL
037002,000464: 14,2200 30265 CSS40
037003,000465: 14,2201 30163 PIC3
037004,000466: 14,2202 45173 VLOAD* CALL
037005,000467: 14,2203 31734 CATLOG,1
037006,000468: 14,2204 30242 OCCULT
037007,000469: 14,2205 77614 BON
037008,000470: 14,2206 01710 CULTFLAG
037009,000471: 14,2207 30150 PIC1
037010,000472:
037011,000473: 14,2210 45173 VLOAD* CALL
037012,000474: 14,2211 46043 CATLOG,2
037013,000475: 14,2212 30242 OCCULT
037014,000476: 14,2213 77614 BON
037015,000477: 14,2214 01710 CULTFLAG
037016,000478: 14,2215 30163 PIC3
037017,000479: 14,2216 77614 STRATGY BONCLR
037018,000480: 14,2217 01605 VFLAG
037019,000481: 14,2220 30235 NEWPAR
037020,000482: 14,2221 65120 XCHX,1 XCHX,2
037021,000483: 14,2222 02755 BESTI
037022,000484: 14,2223 02756 BESTJ
037023,000485: 14,2224 47773 STRAT VLOAD* DOT*
037024,000486: 14,2225 31734 CATLOG,1
037025,000487: 14,2226 46043 CATLOG,2
037026,000488: 14,2227 43006 PUSH BOFINV
037027,000489: 14,2230 01545 VFLAG
037028,000490: 14,2231 30221 STRAT -3
037029,000491: 14,2232 45345 DLOAD DSU
037030,000492: 14,2233 77644 BPL
037031,000493: 14,2234 30163 PIC3
037032,000494: 14,2235 67130 NEWPAR SXA,1 SXA,2
037033,000495: 14,2236 02755 BESTI
037034,000496: 14,2237 02756 BESTJ
037035,000497: 14,2240 77650 GOTO
037036,000498: 14,2241 30163 PIC3
037037,000499: 14,2242 51321 OCCULT MXV BVSU
037038,000500: 14,2243 02707 CULTRIX
037039,000501: 14,2244 00017 CSS
037040,000502: 14,2245 77654 BZE
037041,000503: 14,2246 30261 CULTED
037042,000504: 14,2247 75240 BMN SIGN
037043,000505: 14,2250 30261 CULTED
037044,000506: 14,2251 00160 MPAC +3
037045,000507: 14,2252 75240 BMN SIGN
037046,000508: 14,2253 30261 CULTED
037047,000509: 14,2254 00162 MPAC +5
037048,000510: 14,2255 43040 BMN CLRGO
037049,000511: 14,2256 30261 CULTED
037050,000512: 14,2257 01630 CULTFLAG
037051,000513: 14,2260 00052 QPRET
037052,000514: 14,2261 77614 CULTED SETGO
037053,000515: 14,2262 01430 CULTFLAG
037054,000516: 14,2263 00052 QPRET
037055,000517: 14,2264 0000016 CSS = CEARTH
037056,000518: 14,2264 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
037057,000519: 14,2266 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
037058,000520: 14,2270 77414 PICEND BOFF EXIT
037059,000521:
037060,000522: 14,2271 01745 VFLAG
037061,000523: 14,2272 30274 PICGXT
037062,000524: 14,2273 02315 TC PICBXT
037063,000525: 14,2274 73150 PICGXT LXA,1 LXA,2
037064,000526: 14,2275 02755 BESTI
037065,000527: 14,2276 02756 BESTJ
037066,000528: 14,2277 47775 VLOAD DOT*
037067,000529: 14,2300 02731 SAX
037068,000530: 14,2301 31734 CATLOG,1
037069,000531: 14,2302 47715 PDVL DOT*
037070,000532: 14,2303 02731 SAX
037071,000533: 14,2304 46043 CATLOG,2
037072,000534: 14,2305 77625 DSU
037073,000535: 14,2306 66044 BPL SXA,1
037074,000536: 14,2307 30313 PICNSWP
037075,000537: 14,2310 02756 BESTJ
037076,000538: 14,2311 77734 SXA,2
037077,000539: 14,2312 02755 BESTI
037078,000540: 14,2313 77776 PICNSWP EXIT
037079,000541: 14,2314 25745 INCR QMIN
037080,000542: 14,2315 31745 PICBXT CA QMIN
037081,000543: 14,2316 04661 TC SWCALL
037082,000544: 14,2317 VPD = 0D
037083,000545: 14,2317 V0 = 6D
037084,000546: 14,2317 V1 = 12D
037085,000547: 14,2317 V2 = 18D
037086,000548: 14,2317 V3 = 24D
037087,000549: 14,2317 DP0 = 30D
037088,000550: 14,2317 DP1 = 32D
037089,000551:
037090,000552: # NAME-R51 FINE ALIGN
037091,000553: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
037092,000554: # CALLING SEQ- CALL R51
037093,000555: # INPUT - REFSMMAT
037094,000556: # OUTPUT- GYRO TORQUE PULSES
037095,000557: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
037096,000558: 14,2317 COUNT* $$/R51
037097,000559: 14,2317 77620 R51 STQ
037098,000560: 14,2320 02746 QMAJ
037099,000561: 14,2321 77776 R51.1 EXIT
037100,000562: 14,2322 35034 R51C CAF OCT15
037101,000563: 14,2323 04655 TC BANKCALL
037102,000564: 14,2324 20532 CADR GOPERF1
037103,000565: 14,2325 04106 TC GOTOPOOH
037104,000566: 14,2326 02330 TC +2 # V33E
037105,000567: 14,2327 02353 TC R51E # ENTER
037106,000568: 14,2330 06014 TC INTPRET
037107,000569: 14,2331 43234 RTB DAD
037108,000570: 14,2332 21454 LOADTIME
037109,000571: 14,2333 30465 TSIGHT1
037110,000572: 14,2334 77624 CALL
037111,000573: 14,2335 30000 LOCSAM
037112,000574: 14,2336 77776 EXIT
037113,000575: 14,2337 04655 TC BANKCALL
037114,000576: 14,2340 30113 CADR R56
037115,000577: 14,2341 02343 TC R51I
037116,000578: 14,2342 02353 R51F TC R51E
037117,000579: 14,2343 05651 R51I TC ALARM
037118,000580: 14,2344 00405 OCT 405
037119,000581: 14,2345 35056 CAF VB05N09
037120,000582: 14,2346 04655 TC BANKCALL
037121,000583: 14,2347 20406 CADR GOFLASH
037122,000584: 14,2350 04106 TC GOTOPOOH
037123,000585: 14,2351 02353 TC R51E
037124,000586: 14,2352 02322 TC R51C
037125,000587: 14,2353 35030 R51E CAF ZERO
037126,000588: 14,2354 55757 TS STARIND
037127,000589: 14,2355 06014 R51.2 TC INTPRET
037128,000590: 14,2356 77776 R51.3 EXIT
037129,000591: 14,2357 05423 TC PHASCHNG
037130,000592: 14,2360 05024 OCT 05024
037131,000593: 14,2361 13000 OCT 13000
037132,000594: 14,2362 06014 TC INTPRET
037133,000595: 14,2363 77624 CALL
037134,000596: 14,2364 31210 R52 # AOP WILL MAKE CALLS TO SIGHTING
037135,000597: 14,2365 77776 EXIT
037136,000598: 14,2366 04655 TC BANKCALL
037137,000599: 14,2367 16000 CADR AOTMARK
037138,000600: 14,2370 04655 TC BANKCALL
037139,000601: 14,2371 17621 CADR OPTSTALL
037140,000602:
037141,000603: 14,2372 05733 TC CURTAINS
037142,000604: 14,2373 11757 CCS STARIND
037143,000605: 14,2374 12376 TCF +2
037144,000606: 14,2375 02447 TC R51.4
037145,000607: 14,2376 06014 TC INTPRET
037146,000608: 14,2377 77775 VLOAD
037147,000609: 14,2400 02715 STARAD +6
037148,000610: 14,2401 02767 STORE STARSAV2
037149,000611: 14,2402 77776 EXIT
037150,000612: 14,2403 05423 TC PHASCHNG
037151,000613: 14,2404 05024 OCT 05024
037152,000614: 14,2405 13000 OCT 13000
037153,000615: 14,2406 06014 TC INTPRET
037154,000616: 14,2407 45145 DLOAD CALL
037155,000617: 14,2410 03547 TSIGHT
037156,000618: 14,2411 32160 PLANET
037157,000619: 14,2412 53521 MXV UNIT
037158,000620: 14,2413 01736 REFSMMAT
037159,000621: 14,2414 26715 STOVL STARAD +6
037160,000622: 14,2415 03541 PLANVEC
037161,000623: 14,2416 53521 MXV UNIT
037162,000624: 14,2417 01736 REFSMMAT
037163,000625: 14,2420 26707 STOVL STARAD
037164,000626: 14,2421 02761 STARSAV1
037165,000627: 14,2422 24007 STOVL 6D
037166,000628: 14,2423 02767 STARSAV2
037167,000629: 14,2424 34015 STCALL 12D
037168,000630: 14,2425 30521 R54 # STAR DATA TEST
037169,000631: 14,2426 45014 BOFF CALL
037170,000632: 14,2427 00354 FREEFLAG
037171,000633: 14,2430 30436 R51K
037172,000634: 14,2431 47237 AXISGEN
037173,000635: 14,2432 77624 CALL
037174,000636: 14,2433 30466 R55 # GYRO TORQUE
037175,000637: 14,2434 77614 CLEAR
037176,000638: 14,2435 01273 PFRATFLG
037177,000639: 14,2436 77776 R51K EXIT
037178,000640: 14,2437 35746 R51P63 CAF OCT14
037179,000641: 14,2440 04655 TC BANKCALL
037180,000642: 14,2441 20532 CADR GOPERF1
037181,000643: 14,2442 04106 TC GOTOPOOH
037182,000644: 14,2443 02322 TC R51C
037183,000645: 14,2444 06014 TC INTPRET
037184,000646: 14,2445 77650 GOTO
037185,000647: 14,2446 02746 QMAJ
037186,000648: 14,2447 06014 R51.4 TC INTPRET
037187,000649: 14,2450 77775 VLOAD
037188,000650: 14,2451 02715 STARAD +6
037189,000651: 14,2452 02761 STORE STARSAV1
037190,000652: 14,2453 45145 DLOAD CALL
037191,000653:
037192,000654: 14,2454 03547 TSIGHT
037193,000655: 14,2455 32160 PLANET
037194,000656: 14,2456 03541 STORE PLANVEC
037195,000657: 14,2457 77731 SSP
037196,000658: 14,2460 02760 STARIND
037197,000659: 14,2461 00001 1
037198,000660: 14,2462 77650 GOTO
037199,000661: 14,2463 30356 R51.3
037200,000662: 14,2464 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
037201,000663:
037202,000664: # R55 GYRO TORQUE
037203,000665: # FUNCTION-COMPUTE AND SEND GYRO PULSES
037204,000666: # CALLING SEQ- CALL R55
037205,000667: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
037206,000668: # OUTPUT- GYRO PULSES
037207,000669: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE, IMUPULSE,GOPERF1
037208,000670: 14,2466 COUNT* $$/R55
037209,000671: 14,2466 77620 R55 STQ
037210,000672: 14,2467 02745 QMIN
037211,000673: 14,2470 77624 CALL
037212,000674: 14,2471 47043 CALCGTA
037213,000675: 14,2472 77776 PULSEM EXIT
037214,000676: 14,2473 32517 R55.1 CAF V06N93
037215,000677: 14,2474 04655 TC BANKCALL
037216,000678: 14,2475 20406 CADR GOFLASH
037217,000679: 14,2476 04106 TC GOTOPOOH
037218,000680: 14,2477 02501 TC R55.2
037219,000681: 14,2500 02514 TC R55RET
037220,000682: 14,2501 05423 R55.2 TC PHASCHNG
037221,000683: 14,2502 00214 OCT 00214
037222,000684: 14,2503 32520 CA R55CDR
037223,000685: 14,2504 04655 TC BANKCALL
037224,000686: 14,2505 17234 CADR IMUPULSE
037225,000687: 14,2506 04655 TC BANKCALL
037226,000688: 14,2507 17625 CADR IMUSTALL
037227,000689: 14,2510 05733 TC CURTAINS
037228,000690: 14,2511 05423 TC PHASCHNG
037229,000691: 14,2512 05024 OCT 05024
037230,000692: 14,2513 13000 OCT 13000
037231,000693: 14,2514 06014 R55RET TC INTPRET
037232,000694: 14,2515 77650 GOTO
037233,000695: 14,2516 02745 QMIN
037234,000696: 14,2517 01535 V06N93 VN 0693
037235,000697: 14,2520 02737 R55CDR ECADR OGC
037236,000698: 14,2521 14,2521 R54 = CHKSDATA
037237,000699: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
037238,000700: # MOD NO- 0 LOG SECTION- P51-P53
037239,000701: # MODIFICATION BY- LONSKE ASSEMBLY-
037240,000702:
037241,000703: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
037242,000704: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
037243,000705: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
037244,000706:
037245,000707: # OS1 = OBSERVED STAR 1 VECTOR
037246,000708: # OS2 = OBSERVED STAR 2 VECTOR
037247,000709: # SS1 = STORED STAR 1 VECTOR
037248,000710: # SS2 = STORED STAR 2 VECTOR
037249,000711: # A1 = ARCCOS(OS1 - OS2)
037250,000712: # A2 = ARCCOS(SS1 - SS2)
037251,000713: # A = ABS(2(A1 - A2))
037252,000714:
037253,000715: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
037254,000716: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
037255,000717: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
037256,000718: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
037257,000719: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
037258,000720:
037259,000721: # ERASABLE INITIALIZATION REQUIRED -
037260,000722: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
037261,000723: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
037262,000724: # DEBRIS -
037263,000725: 14,2521 COUNT* $$/R54
037264,000726: 14,2521 43020 CHKSDATA STQ SET
037265,000727: 14,2522 02745 QMIN
037266,000728: 14,2523 00074 FREEFLAG
037267,000729: 14,2524 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
037268,000730: 14,2525 02706 STARAD
037269,000731:
037270,000732: 14,2526 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
037271,000733: 14,2527 00001 0,1
037272,000734: 14,2530 00007 6,1
037273,000735: 14,2531 65552 SL1 ACOS
037274,000736: 14,2532 00025 STORE THETA
037275,000737: 14,2533 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
037276,000738: 14,2534 00354 FREEFLAG
037277,000739: 14,2535 30545 CHKSD
037278,000740: 14,2536 00174 FREEFLAG # CLEAR FREEFLAG
037279,000741: 14,2537 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
037280,000742: 14,2540 00006 6D
037281,000743: 14,2541 00025 THETA
037282,000744: 14,2542 00023 STORE 18D
037283,000745: 14,2543 77650 GOTO
037284,000746: 14,2544 30526 CHKSB # RETURN TO CAL. 2ND ANGLE
037285,000747: 14,2545 45345 CHKSD DLOAD DSU
037286,000748: 14,2546 00025 THETA
037287,000749: 14,2547 00023 18D
037288,000750: 14,2550 47046 ABS RTB # COMPUTE POS DIFF
037289,000751: 14,2551 21510 SGNAGREE
037290,000752: 14,2552 01047 STORE NORMTEM1
037291,000753: 14,2553 77414 SET EXIT
037292,000754: 14,2554 00074 FREEFLAG
037293,000755: 14,2555 32571 CAF VB6N5
037294,000756: 14,2556 04655 TC BANKCALL
037295,000757: 14,2557 20406 CADR GOFLASH
037296,000758: 14,2560 14106 TCF GOTOPOOH
037297,000759: 14,2561 02566 TC CHKSDA # PROCEED
037298,000760: 14,2562 06014 TC INTPRET
037299,000761: 14,2563 52014 CLEAR GOTO
037300,000762: 14,2564 00274 FREEFLAG
037301,000763: 14,2565 02745 QMIN
037302,000764: 14,2566 06014 CHKSDA TC INTPRET
037303,000765:
037304,000766: 14,2567 77650 GOTO
037305,000767: 14,2570 02745 QMIN
037306,000768: 14,2571 01405 VB6N5 VN 605
037307,000769: # NAME - CAL53A
037308,000770: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
037309,000771: # CALLING SEQUENCE - CALL CAL53A
037310,000772: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
037311,000773: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
037312,000774: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
037313,000775: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
037314,000776: 14,2572 COUNT* $$/R50
037315,000777: 14,2572 45020 CAL53A STQ CALL
037316,000778: 14,2573 00035 29D
037317,000779: 14,2574 31134 S52.2 # MAKE ONE FINAL COMP OF GIMBLE ANGLES
037318,000780: 14,2575 66234 RTB SSP
037319,000781: 14,2576 30653 RDCDUS # READ CDUS
037320,000782: 14,2577 00051 S1
037321,000783: 14,2600 00001 1
037322,000784: 14,2601 40370 AXT,1 SETPD
037323,000785: 14,2602 00003 3
037324,000786: 14,2603 00005 4
037325,000787: 14,2604 70543 CALOOP DLOAD* SR1
037326,000788: 14,2605 01212 THETAD +3D,1
037327,000789: 14,2606 70523 PDDL* SR1
037328,000790: 14,2607 00005 4,1
037329,000791: 14,2610 51425 DSU ABS
037330,000792: 14,2611 45206 PUSH DSU
037331,000793: 14,2612 30652 DEGREE1
037332,000794: 14,2613 71240 BMN DLOAD
037333,000795: 14,2614 30626 CALOOP1
037334,000796: 14,2615 51025 DSU BPL
037335,000797: 14,2616 30653 DEG359
037336,000798: 14,2617 30626 CALOOP1
037337,000799: 14,2620 77624 COARFINE CALL
037338,000800: 14,2621 31106 COARSE
037339,000801: 14,2622 77624 CALL
037340,000802: 14,2623 31123 NCOARSE
037341,000803: 14,2624 77650 GOTO
037342,000804: 14,2625 30630 FINEONLY
037343,000805: 14,2626 77700 CALOOP1 TIX,1
037344,000806: 14,2627 30604 CALOOP
037345,000807: 14,2630 75160 FINEONLY AXC,1 AXC,2
037346,000808: 14,2631 02642 XSM
037347,000809: 14,2632 01735 REFSMMAT
037348,000810: 14,2633 77624 CALL
037349,000811: 14,2634 30637 MATMOVE
037350,000812: 14,2635 77650 GOTO
037351,000813: 14,2636 00035 29D
037352,000814: 14,2637 77773 MATMOVE VLOAD* # TRANSFER MATRIX
037353,000815: 14,2640 00001 0,1
037354,000816:
037355,000817: 14,2641 10001 STORE 0,2
037356,000818: 14,2642 77773 VLOAD*
037357,000819: 14,2643 00007 6D,1
037358,000820: 14,2644 10007 STORE 6D,2
037359,000821: 14,2645 77773 VLOAD*
037360,000822: 14,2646 00015 12D,1
037361,000823: 14,2647 10015 STORE 12D,2
037362,000824: 14,2650 77616 RVQ
037363,000825: 14,2651 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
037364,000826: 14,2652 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
037365,000827: 14,2653 00004 RDCDUS INHINT # READ CDUS
037366,000828: 14,2654 30032 CA CDUX
037367,000829: 14,2655 50120 INDEX FIXLOC
037368,000830: 14,2656 54001 TS 1
037369,000831: 14,2657 30033 CA CDUY
037370,000832: 14,2660 50120 INDEX FIXLOC
037371,000833: 14,2661 54002 TS 2
037372,000834: 14,2662 30034 CA CDUZ
037373,000835: 14,2663 50120 INDEX FIXLOC
037374,000836: 14,2664 54003 TS 3
037375,000837: 14,2665 00003 RELINT
037376,000838: 14,2666 06035 TC DANZIG # +
037377,000839: 14,2667 COUNT* $$/INFLT
037378,000840: 14,2667 77760 CALCSMSC AXC,1
037379,000841: 14,2670 02664 XNB
037380,000842:
037381,000843: 14,2671 41345 XNBNDX DLOAD DMP
037382,000844: 14,2672 00737 SINCDUY
037383,000845: 14,2673 00747 COSCDUZ
037384,000846: 14,2674 77676 DCOMP
037385,000847: 14,2675 70525 PDDL SR1
037386,000848: 14,2676 00741 SINCDUZ
037387,000849: 14,2677 41325 PDDL DMP
037388,000850: 14,2700 00745 COSCDUY
037389,000851: 14,2701 00747 COSCDUZ
037390,000852: 14,2702 76466 VDEF VSL1
037391,000853: 14,2703 04001 STORE 0,1
037392,000854: 14,2704 41345 DLOAD DMP
037393,000855: 14,2705 00743 SINCDUX
037394,000856: 14,2706 00741 SINCDUZ
037395,000857: 14,2707 77752 SL1
037396,000858: 14,2710 00033 STORE 26D
037397,000859: 14,2711 77605 DMP
037398,000860: 14,2712 00737 SINCDUY
037399,000861: 14,2713 41325 PDDL DMP
037400,000862: 14,2714 00751 COSCDUX
037401,000863: 14,2715 00745 COSCDUY
037402,000864: 14,2716 77625 DSU
037403,000865: 14,2717 41325 PDDL DMP
037404,000866: 14,2720 00743 SINCDUX
037405,000867:
037406,000868: 14,2721 00747 COSCDUZ
037407,000869: 14,2722 77676 DCOMP
037408,000870: 14,2723 41325 PDDL DMP
037409,000871: 14,2724 00751 COSCDUX
037410,000872: 14,2725 00737 SINCDUY
037411,000873: 14,2726 41325 PDDL DMP
037412,000874: 14,2727 00745 COSCDUY
037413,000875: 14,2730 00033 26D
037414,000876: 14,2731 55415 DAD VDEF
037415,000877: 14,2732 77772 VSL1
037416,000878: 14,2733 04015 STORE 14,1
037417,000879: 14,2734 76433 VXV* VSL1
037418,000880: 14,2735 00001 0,1
037419,000881: 14,2736 04007 STORE 6,1
037420,000882: 14,2737 77616 RVQ
037421,000883:
037422,000884: # NAME - P51 - IMU ORIENTATION DETERMINATION
037423,000885: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
037424,000886: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
037425,000887:
037426,000888: # FUNCTIONAL DESCRIPTION
037427,000889:
037428,000890: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
037429,000891: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
037430,000892: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
037431,000893: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
037432,000894:
037433,000895: # CALLING SEQUENCE
037434,000896:
037435,000897: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
037436,000898:
037437,000899: # SUBROUTINES CALLED.
037438,000900:
037439,000901: # GOPERF3
037440,000902: # GOPERF1
037441,000903: # GODSPR
037442,000904: # IMUCOARS
037443,000905: # IMUFIN20
037444,000906: # AOTMARK(R53)
037445,000907: # CHKSDATA(R54)
037446,000908: # MKRELEAS
037447,000909: # AXISGEN
037448,000910: # MATMOVE
037449,000911:
037450,000912: # ALARMS
037451,000913:
037452,000914: # NONE.
037453,000915:
037454,000916: # ERASABLE INITIALIZATION
037455,000917:
037456,000918: # IMU ZERO FLAG SHOULD BE SET.
037457,000919:
037458,000920: # OUTPUT
037459,000921:
037460,000922: # REFSMMAT
037461,000923: # REFSMFLG
037462,000924:
037463,000925: # DEBRIS
037464,000926:
037465,000927: # WORK AREA
037466,000928: # STARAD
037467,000929: # STARIND
037468,000930: # BESTI
037469,000931: # BESTJ
037470,000932:
037471,000933: 14,2740 COUNT* $$/P51
037472,000934: 14,2740 04655 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
037473,000935: 14,2741 33205 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
037474,000936:
037475,000937: 14,2742 35034 CAF PRFMSTAQ
037476,000938: 14,2743 04655 TC BANKCALL
037477,000939: 14,2744 20532 CADR GOPERF1
037478,000940: 14,2745 04106 TC GOTOPOOH # TERM.
037479,000941: 14,2746 12774 TCF P51B # V33
037480,000942: 14,2747 05423 TC PHASCHNG
037481,000943: 14,2750 05024 OCT 05024
037482,000944: 14,2751 13000 OCT 13000
037483,000945: 14,2752 35030 CAF P51ZERO
037484,000946: 14,2753 55206 TS THETAD # ZERO THE GIMBALS
037485,000947: 14,2754 55207 TS THETAD +1
037486,000948: 14,2755 55210 TS THETAD +2
037487,000949: 14,2756 33104 CAF V6N22
037488,000950: 14,2757 04655 TC BANKCALL
037489,000951: 14,2760 20361 CADR GODSPRET
037490,000952: 14,2761 33105 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
037491,000953: 14,2762 04655 TC BANKCALL
037492,000954: 14,2763 20361 CADR GODSPRET
037493,000955: 14,2764 06014 TC INTPRET
037494,000956: 14,2765 77624 CALL
037495,000957: 14,2766 31106 COARSE
037496,000958: 14,2767 77776 EXIT
037497,000959: 14,2770 05423 TC PHASCHNG
037498,000960: 14,2771 05024 OCT 05024
037499,000961: 14,2772 13000 OCT 13000
037500,000962: 14,2773 12742 TCF P51 +2
037501,000963:
037502,000964: 14,2774 05423 P51B TC PHASCHNG
037503,000965: 14,2775 00014 OCT 00014
037504,000966: 14,2776 06014 TC INTPRET
037505,000967: 14,2777 77624 CALL
037506,000968: 14,3000 31123 NCOARSE
037507,000969: 14,3001 40331 SSP SETPD
037508,000970: 14,3002 02760 STARIND # INDEX-STAR 1 OR 2
037509,000971: 14,3003 00000 0
037510,000972: 14,3004 00001 0
037511,000973: 14,3005 77776 P51C EXIT
037512,000974: 14,3006 05423 TC PHASCHNG
037513,000975: 14,3007 05024 OCT 05024
037514,000976: 14,3010 13000 OCT 13000
037515,000977: 14,3011 04655 TC BANKCALL
037516,000978: 14,3012 16000 CADR AOTMARK # R53
037517,000979: 14,3013 04655 TC BANKCALL
037518,000980: 14,3014 17621 CADR AOTSTALL
037519,000981: 14,3015 05733 TC CURTAINS
037520,000982: 14,3016 11757 CCS STARIND
037521,000983: 14,3017 13025 TCF P51D +1
037522,000984:
037523,000985: 14,3020 06014 TC INTPRET
037524,000986: 14,3021 77775 VLOAD
037525,000987: 14,3022 02715 STARAD +6
037526,000988: 14,3023 02761 STORE STARSAV1
037527,000989: 14,3024 77776 P51D EXIT
037528,000990: 14,3025 05423 TC PHASCHNG
037529,000991: 14,3026 05024 OCT 05024
037530,000992: 14,3027 13000 OCT 13000
037531,000993: 14,3030 11757 CCS STARIND
037532,000994: 14,3031 13046 TCF P51E
037533,000995: 14,3032 05423 TC PHASCHNG
037534,000996: 14,3033 05024 OCT 05024
037535,000997: 14,3034 13000 OCT 13000
037536,000998: 14,3035 06014 TC INTPRET
037537,000999: 14,3036 45145 DLOAD CALL
037538,001000: 14,3037 03547 TSIGHT
037539,001001: 14,3040 32160 PLANET
037540,001002: 14,3041 03541 STORE PLANVEC
037541,001003: 14,3042 77776 EXIT
037542,001004: 14,3043 35026 CAF BIT1
037543,001005: 14,3044 55757 TS STARIND
037544,001006: 14,3045 13006 TCF P51C +1 # DO SECOND STAR
037545,001007: 14,3046 05423 P51E TC PHASCHNG
037546,001008: 14,3047 05024 OCT 05024
037547,001009: 14,3050 13000 OCT 13000
037548,001010: 14,3051 06014 TC INTPRET
037549,001011: 14,3052 45145 DLOAD CALL
037550,001012: 14,3053 03547 TSIGHT
037551,001013: 14,3054 32160 PLANET
037552,001014: 14,3055 24015 STOVL 12D
037553,001015: 14,3056 03541 PLANVEC
037554,001016: 14,3057 24007 STOVL 6D
037555,001017: 14,3060 02761 STARSAV1
037556,001018: 14,3061 26707 STOVL STARAD
037557,001019: 14,3062 02767 STARSAV2
037558,001020: 14,3063 36715 STCALL STARAD +6
037559,001021: 14,3064 30521 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
037560,001022: 14,3065 77414 BON EXIT
037561,001023: 14,3066 00314 FREEFLAG
037562,001024: 14,3067 31071 P51G
037563,001025: 14,3070 02742 TC P51 +2
037564,001026: 14,3071 77624 P51G CALL
037565,001027: 14,3072 47237 AXISGEN # COME BACK WITH REFSMMAT IN XDC
037566,001028: 14,3073 75160 AXC,1 AXC,2
037567,001029: 14,3074 02664 XDC
037568,001030: 14,3075 01735 REFSMMAT
037569,001031: 14,3076 77624 CALL
037570,001032: 14,3077 30637 MATMOVE
037571,001033: 14,3100 77614 SET
037572,001034: 14,3101 01462 REFSMFLG
037573,001035:
037574,001036: 14,3102 77776 EXIT
037575,001037: 14,3103 04106 TC GOTOPOOH # FINIS
037576,001038: 14,3104 5034 PRFMSTAQ = OCT15
037577,001039: 14,3104 5030 P51ZERO = ZERO
037578,001040: 14,3104 5031 P51FIVE = FIVE
037579,001041: 14,3104 01426 V6N22 VN 0622
037580,001042: 14,3105 12200 V41K VN 4100
037581,001043: 14,3106 77776 COARSE EXIT
037582,001044: 14,3107 04655 TC BANKCALL
037583,001045: 14,3110 16711 CADR IMUCOARS
037584,001046: 14,3111 04655 TC BANKCALL
037585,001047: 14,3112 17625 CADR IMUSTALL
037586,001048: 14,3113 05733 TC CURTAINS
037587,001049: 14,3114 04655 TC BANKCALL
037588,001050: 14,3115 17121 CADR IMUFINE
037589,001051: 14,3116 04655 TC BANKCALL
037590,001052: 14,3117 17625 CADR IMUSTALL
037591,001053: 14,3120 05733 TC CURTAINS
037592,001054: 14,3121 06014 TC INTPRET
037593,001055: 14,3122 77616 RVQ
037594,001056: 14,3123 77776 NCOARSE EXIT
037595,001057: 14,3124 30025 CA TIME1
037596,001058: 14,3125 55075 TS 1/PIPADT
037597,001059: 14,3126 06014 TC INTPRET
037598,001060: 14,3127 77775 VLOAD
037599,001061: 14,3130 22276 ZEROVEC
037600,001062: 14,3131 01472 STORE GCOMP
037601,001063: 14,3132 43414 SET RVQ
037602,001064: 14,3133 01060 DRIFTFLG
037603,001065:
037604,001066: # NAME-S52.2
037605,001067: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
037606,001068: # CALL- CALL S52.2
037607,001069: # INPUT- X,Y,ZSMD
037608,001070: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
037609,001071: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
037610,001072: 14,3134 COUNT* $$/S52.1
037611,001073: 14,3134 77620 S52.2 STQ
037612,001074: 14,3135 02746 QMAJ
037613,001075: 14,3136 77624 CALL
037614,001076: 14,3137 47335 CDUTRIG
037615,001077: 14,3140 77624 CALL
037616,001078: 14,3141 30667 CALCSMSC
037617,001079: 14,3142 66370 AXT,1 SSP
037618,001080: 14,3143 00022 18D
037619,001081: 14,3144 00051 S1
037620,001082: 14,3145 00006 6D
037621,001083: 14,3146 61373 S52.2A VLOAD* VXM
037622,001084: 14,3147 02707 XNB +18D,1
037623,001085: 14,3150 01736 REFSMMAT
037624,001086: 14,3151 77656 UNIT
037625,001087: 14,3152 06707 STORE XNB +18D,1
037626,001088: 14,3153 77700 TIX,1
037627,001089: 14,3154 31146 S52.2A
037628,001090: 14,3155 75160 S52.2.1 AXC,1 AXC,2
037629,001091: 14,3156 03573 XSMD
037630,001092: 14,3157 02642 XSM
037631,001093: 14,3160 77624 CALL
037632,001094: 14,3161 30637 MATMOVE
037633,001095: 14,3162 77624 CALL
037634,001096: 14,3163 47147 CALCGA
037635,001097: 14,3164 77650 GOTO
037636,001098: 14,3165 02746 QMAJ
037637,001099:
037638,001100: # NAME-S52.3
037639,001101: # FUNCTION XSMD= UNIT R
037640,001102: # YSMD= UNIT(V X R)
037641,001103: # ZSMD= UNIT(XSMD X YSMD)
037642,001104: # CALL DLOAD CALL
037643,001105: # TALIGN
037644,001106: # S52.3
037645,001107: # INPUT- TIME OF ALIGNMENT IN MPAC
037646,001108: # OUTPUT- X,Y,ZSMD
037647,001109: # SUBROUTINES- CSMCONIC
037648,001110: 14,3166 COUNT* $$/S52.3
037649,001111: 14,3166 77620 S52.3 STQ
037650,001112: 14,3167 02746 QMAJ
037651,001113: 14,3170 34041 STCALL TDEC1
037652,001114: 14,3171 27051 LEMCONIC
037653,001115: 14,3172 77601 SETPD
037654,001116: 14,3173 00001 0
037655,001117: 14,3174 53575 VLOAD UNIT
037656,001118: 14,3175 00001 RATT
037657,001119: 14,3176 27574 STOVL XSMD
037658,001120: 14,3177 00007 VATT
037659,001121: 14,3200 53435 VXV UNIT
037660,001122: 14,3201 00001 RATT
037661,001123: 14,3202 27602 STOVL YSMD
037662,001124: 14,3203 03574 XSMD
037663,001125: 14,3204 53435 VXV UNIT
037664,001126: 14,3205 03602 YSMD
037665,001127: 14,3206 37610 STCALL ZSMD
037666,001128: 14,3207 02746 QMAJ
037667,001129:
037668,001130: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
037669,001131:
037670,001132: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
037671,001133: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
037672,001134:
037673,001135: # CALLING -CALL R52
037674,001136:
037675,001137: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
037676,001138: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
037677,001139: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
037678,001140: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
037679,001141: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
037680,001142:
037681,001143: # SUBROUT -R60LEM
037682,001144:
037683,001145: 14,3210 COUNT* $$/R52
037684,001146: 14,3210 77420 R52 STQ EXIT
037685,001147: 14,3211 03652 SAVQR52
037686,001148: 14,3212 51757 INDEX STARIND
037687,001149: 14,3213 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
037688,001150: 14,3214 00006 EXTEND
037689,001151: 14,3215 73306 MP 1/6TH
037690,001152: 14,3216 65017 AD BIT8 # SET DETENT POSITION 2
037691,001153: 14,3217 54735 TS STARCODE # SCALE AND STORE IN STARCODE
037692,001154:
037693,001155: 14,3220 33307 R52A CAF V01N70
037694,001156: 14,3221 04655 TC BANKCALL
037695,001157: 14,3222 20406 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
037696,001158: 14,3223 04106 TC GOTOPOOH # V34-TERMINATE
037697,001159: 14,3224 13226 TCF R52B # V33-PROCEED TO ORIENT LEM
037698,001160: 14,3225 13220 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
037699,001161:
037700,001162: 14,3226 05600 R52B TC DOWNFLAG
037701,001163: 14,3227 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
037702,001164: 14,3230 30735 CA STARCODE # GRAB DETENT CODE
037703,001165: 14,3231 77715 MASK HIGH9
037704,001166: 14,3232 00006 EXTEND
037705,001167: 14,3233 63220 BZMF R52A # DONT ALLOW ZERO CODE-RECYCLE
037706,001168: 14,3234 75016 MASK BIT9 # SEE IF CODE 4 OR 5
037707,001169: 14,3235 10000 CCS A
037708,001170: 14,3236 13255 TCF GETAZEL # CODE 4 OR 5-GET CALIBRATION AZ EL
037709,001171: 14,3237 E7,1536 EBANK= XYMARK
037710,001172: 14,3237 35066 CA EBANK7
037711,001173: 14,3240 54003 TS EBANK
037712,001174: 14,3241 37715 CAF HIGH9 # FORWARD DETENT, INDEX DETENT AND GRAB
037713,001175: 14,3242 70735 MASK STARCODE # AZIMUTH ANGLE AND ELV = 45 DEG
037714,001176: 14,3243 00006 EXTEND
037715,001177: 14,3244 75016 MP BIT9 # SHIFT DETENT TO BITS1-2 FOR INDEX
037716,001178: 14,3245 50000 INDEX A
037717,001179: 14,3246 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
037718,001180:
037719,001181: 14,3247 54001 TS L
037720,001182: 14,3250 E5,1642 EBANK= XSM
037721,001183: 14,3250 35064 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
037722,001184: 14,3251 54003 TS EBANK
037723,001185: 14,3252 35012 CA BIT13 # SET ELV TO 45 DEG
037724,001186: 14,3253 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
037725,001187: 14,3254 13265 TCF AZEL # GO COMP OPTIC AXIS
037726,001188:
037727,001189: 14,3255 33310 GETAZEL CAF V06N87 # CODE 4 OR 5-GET AZ AND EL FROM ASTRO
037728,001190: 14,3256 04655 TC BANKCALL
037729,001191: 14,3257 20406 CADR GOFLASH
037730,001192: 14,3260 04106 TC GOTOPOOH # V34-TERMINATE
037731,001193: 14,3261 13263 TCF +2 # PROCEED-CALC OPTIC AXIS
037732,001194: 14,3262 13255 TCF GETAZEL # ENTER-RECYCLE
037733,001195:
037734,001196: 14,3263 00006 EXTEND
037735,001197: 14,3264 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
037736,001198: 14,3265 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
037737,001199: 14,3266 52011 DXCH 8D
037738,001200: 14,3267 06014 TC INTPRET
037739,001201: 14,3270 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
037740,001202: 14,3271 16170 OANB # SCAXIS IN NB COORDS
037741,001203: 14,3272 45034 RTB CALL
037742,001204: 14,3273 21454 LOADTIME
037743,001205: 14,3274 32160 PLANET
037744,001206: 14,3275 53521 MXV UNIT
037745,001207: 14,3276 01736 REFSMMAT
037746,001208: 14,3277 01256 STORE POINTVSM # STORE FOR VECPOINT
037747,001209:
037748,001210: 14,3300 77776 EXIT
037749,001211: 14,3301 04655 TC BANKCALL
037750,001212: 14,3302 54103 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
037751,001213:
037752,001214: 14,3303 06014 TC INTPRET # RETURN FROM KALCMANU
037753,001215: 14,3304 77650 GOTO
037754,001216: 14,3305 03652 SAVQR52 # RETURN TO CALLER
037755,001217:
037756,001218: 14,3306 05253 1/6TH DEC .1666667
037757,001219: 14,3307 00306 V01N70 VN 0170
037758,001220: 14,3310 01527 V06N87 VN 687
037759,001221:
037760,001222: # NAME - PLANET
037761,001223: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
037762,001224: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
037763,001225: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
037764,001226: # BY DSDY INPUT
037765,001227: # CALL - CALL
037766,001228: # PLANET
037767,001229: # INPUT - TIME IN MPAC
037768,001230: # OUTPUT - VECTOR IN MPAC
037769,001231: # SUBROUTINES - LOCSAM
037770,001232: # DEBRIS - VAC ,STARAD - STARAD +17
037771,001233:
037772,001234: 15,2000 SETLOC P50S
037773,001235: 15,2000 BANK
037774,001236: 15,2160 COUNT* $$/P51
037775,001237:
037776,001238: 15,2160 03547 PLANET STORE TSIGHT
037777,001239: 15,2161 77420 STQ EXIT
037778,001240: 15,2162 02736 GCTR
037779,001241: 15,2163 47715 CS HIGH9
037780,001242: 15,2164 70735 MASK AOTCODE
037781,001243: 15,2165 00006 EXTEND
037782,001244: 15,2166 76216 MP REVCNT
037783,001245: 15,2167 56001 XCH L
037784,001246: 15,2170 51757 INDEX STARIND
037785,001247: 15,2171 55755 TS BESTI
037786,001248: 15,2172 10000 CCS A
037787,001249: 15,2173 12207 TCF NOTPLAN
037788,001250: 15,2174 32246 CAF VNPLANV
037789,001251: 15,2175 04655 TC BANKCALL
037790,001252: 15,2176 20406 CADR GOFLASH
037791,001253: 15,2177 02174 TC -3
037792,001254: 15,2200 02202 TC +2
037793,001255: 15,2201 02174 TC -5
037794,001256: 15,2202 06014 TC INTPRET
037795,001257: 15,2203 53575 VLOAD UNIT
037796,001258: 15,2204 02707 STARAD
037797,001259: 15,2205 77650 GOTO
037798,001260: 15,2206 02736 GCTR
037799,001261: 15,2207 40000 NOTPLAN CS A
037800,001262: 15,2210 62245 AD DEC227
037801,001263: 15,2211 00006 EXTEND
037802,001264: 15,2212 62223 BZMF CALSAM1
037803,001265: 15,2213 51757 INDEX STARIND
037804,001266: 15,2214 31755 CA BESTI
037805,001267: 15,2215 50120 INDEX FIXLOC
037806,001268: 15,2216 54046 TS X1
037807,001269: 15,2217 06014 TC INTPRET
037808,001270: 15,2220 52173 VLOAD* GOTO
037809,001271: 15,2221 31734 CATLOG,1
037810,001272:
037811,001273: 15,2222 02736 GCTR
037812,001274: 15,2223 06014 CALSAM1 TC INTPRET
037813,001275: 15,2224 45145 CALSAM DLOAD CALL
037814,001276: 15,2225 03547 TSIGHT
037815,001277: 15,2226 30000 LOCSAM
037816,001278: 15,2227 77340 LXC,1 VLOAD
037817,001279: 15,2230 02757 STARIND
037818,001280: 15,2231 02707 VEARTH
037819,001281: 15,2232 24001 STOVL 0D
037820,001282: 15,2233 02715 VSUN
037821,001283: 15,2234 26707 STOVL VEARTH
037822,001284: 15,2235 00001 0D
037823,001285: 15,2236 02715 STORE VSUN
037824,001286: 15,2237 70143 DLOAD* LXC,1
037825,001287: 15,2240 02756 BESTI,1
037826,001288: 15,2241 00154 MPAC
037827,001289: 15,2242 52173 VLOAD* GOTO
037828,001290: 15,2243 02343 STARAD -228D,1
037829,001291: 15,2244 02736 GCTR
037830,001292: 15,2245 00343 DEC227 DEC 227 B-14
037831,001293: 15,2246 01530 VNPLANV VN 0688
037832,001294: 15,2247 33,2433 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
037833,001295:
037834,001296: # GRAVITY VECTOR DETERMINATION ROUTINE
037835,001297: # BY KEN VINCENT
037836,001298: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
037837,001299: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
037838,001300: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
037839,001301: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
037840,001302: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
037841,001303: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
037842,001304: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
037843,001305: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
037844,001306: # READINGS.
037845,001307:
037846,001308: # CALL-
037847,001309: # TC BANKCALL
037848,001310: # CADR GVDETER
037849,001311: # INPUTS-
037850,001312: # PIPAS,CDUS
037851,001313: # OUTPUTS-
037852,001314: # STARSAV1 = UNIT GRAVITY
037853,001315: # GSAV = DITTO
037854,001316: # GRAVBIT = 1
037855,001317: # SUBROUTINES-
037856,001318: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
037857,001319: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
037858,001320: # DEBRIS-
037859,001321: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
037860,001322: 15,2247 45024 GVDETER CS BIT3 # JAM 45 DEG IN DESIRED GIMBAL ANGLES
037861,001323: 15,2250 55207 TS THETAD +1
037862,001324: 15,2251 40000 COM
037863,001325: 15,2252 55210 TS THETAD +2
037864,001326: 15,2253 55206 TS THETAD
037865,001327: 15,2254 06014 TC INTPRET
037866,001328: 15,2255 45014 CLEAR CALL
037867,001329: 15,2256 01662 REFSMFLG
037868,001330: 15,2257 32345 LUNG
037869,001331: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
037870,001332:
037871,001333: # DEFINE G COOR SYS
037872,001334: # -
037873,001335: # X UNIT G
037874,001336: # * - -
037875,001337: # M= Y = UNITEZSM * X )
037876,001338: # - - -
037877,001339: # Z UNIT(X * Y )
037878,001340: # THEN ROTATED SM WRT PRESENT IS
037879,001341:
037880,001342:
037881,001343: # 1, 0 , 0
037882,001344: # * *T * * *
037883,001345: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
037884,001346:
037885,001347: # I J
037886,001348: # 0, 0 ,-1
037887,001349:
037888,001350: # ALSO NB WRT PRES SM IS
037889,001351:
037890,001352: # * * *
037891,001353: # XNB = NBSM I
037892,001354: # * *
037893,001355: # GIMBAL ANGLES = CALCGA( XSM , XNB )
037894,001356:
037895,001357: 15,2000 SETLOC P50S
037896,001358: 15,2000 BANK
037897,001359: 15,2260 COUNT* $$/P57
037898,001360: 15,2260 66370 AXT,1 SSP # X1=18
037899,001361: 15,2261 00022 18D # S1= 6
037900,001362: 15,2262 00051 S1 # X2, -2
037901,001363: 15,2263 00006 6D
037902,001364: 15,2264 77744 LXC,2
037903,001365: 15,2265 00050 S1
037904,001366: 15,2266 45173 GRAVEL VLOAD* CALL
037905,001367: 15,2267 55511 XUNIT -6,2
037906,001368: 15,2270 47501 *NBSM* # SIN AND COS COMPUTED IN LUNG
037907,001369: 15,2271 06707 STORE XNB +18D,1
037908,001370: 15,2272 77775 VLOAD
037909,001371: 15,2273 02731 STAR
037910,001372: 15,2274 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
037911,001373: 15,2275 00047 X2
037912,001374: 15,2276 75040 STAR +6,2 # OUTER PRODUCT
037913,001375: 15,2277 71152 VSL2 LXC,2
037914,001376: 15,2300 00047 X2
037915,001377: 15,2301 63047 VSU* INCR,2
037916,001378: 15,2302 55511 XUNIT -6,2
037917,001379: 15,2303 00002 2D
037918,001380: 15,2304 06665 STORE XSM +18D,1
037919,001381: 15,2305 45100 TIX,1 CALL
037920,001382: 15,2306 32266 GRAVEL
037921,001383: 15,2307 47147 CALCGA
037922,001384: 15,2310 74575 VLOAD VSR1
037923,001385: 15,2311 02715 GOUT
037924,001386: 15,2312 36723 STCALL STARAD +12D
037925,001387: 15,2313 32345 LUNG
037926,001388: 15,2314 74575 VLOAD VSR1
037927,001389: 15,2315 02715 GOUT
037928,001390: 15,2316 53455 VAD UNIT
037929,001391: 15,2317 02723 STARAD +12D
037930,001392: 15,2320 02761 STORE STARSAV1
037931,001393: 15,2321 77641 DOT
037932,001394: 15,2322 02237 GSAV
037933,001395: 15,2323 65552 SL1 ACOS
037934,001396: 15,2324 01047 STORE DSPTEM1
037935,001397:
037936,001398: 15,2325 77776 EXIT
037937,001399:
037938,001400: 15,2326 32444 CA DISGRVER
037939,001401: 15,2327 04655 TC BANKCALL
037940,001402: 15,2330 20406 CADR GOFLASH
037941,001403: 15,2331 04106 TC GOTOPOOH
037942,001404: 15,2332 02334 TC PROGRAV # VB33-PROCEED
037943,001405: 15,2333 02326 TC -5 # VB32-RECYCLE
037944,001406:
037945,001407: 15,2334 05423 PROGRAV TC PHASCHNG
037946,001408: 15,2335 05024 OCT 05024
037947,001409: 15,2336 13000 OCT 13000
037948,001410: 15,2337 06014 TC INTPRET
037949,001411: 15,2340 77775 VLOAD
037950,001412: 15,2341 02761 STARSAV1
037951,001413: 15,2342 02237 STORE GSAV
037952,001414: 15,2343 77776 EXIT
037953,001415: 15,2344 03170 TC P57OPT3
037954,001416:
037955,001417: 15,2345 77220 LUNG STQ VLOAD
037956,001418: 15,2346 02745 QMIN
037957,001419: 15,2347 22276 ZEROVEC
037958,001420: 15,2350 02707 STORE GACC
037959,001421: 15,2351 77776 EXIT
037960,001422: 15,2352 05423 TC PHASCHNG
037961,001423: 15,2353 05024 OCT 05024
037962,001424: 15,2354 13000 OCT 13000
037963,001425: 15,2355 04655 TC BANKCALL
037964,001426: 15,2356 16711 CADR IMUCOARS
037965,001427: 15,2357 04655 TC BANKCALL
037966,001428: 15,2360 17625 CADR IMUSTALL
037967,001429: 15,2361 05733 TC CURTAINS
037968,001430: 15,2362 04655 TC BANKCALL
037969,001431: 15,2363 17121 CADR IMUFINE
037970,001432: 15,2364 04655 TC BANKCALL
037971,001433: 15,2365 17625 CADR IMUSTALL
037972,001434: 15,2366 05733 TC CURTAINS
037973,001435: 15,2367 32443 CA T/2SEC
037974,001436: 15,2370 55736 TS GCTR
037975,001437: 15,2371 37670 CA PRIO31
037976,001438: 15,2372 55075 TS 1/PIPADT
037977,001439: 15,2373 04655 TC BANKCALL
037978,001440: 15,2374 15674 CADR GCOMPZER # INITIALIZE COMPENSATION
037979,001441:
037980,001442: 15,2375 05423 TC PHASCHNG
037981,001443: 15,2376 05024 OCT 05024
037982,001444: 15,2377 13000 OCT 13000
037983,001445: 15,2400 04655 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
037984,001446: 15,2401 66433 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
037985,001447:
037986,001448: 15,2402 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
037987,001449: 15,2403 35050 CAF 2SECS
037988,001450: 15,2404 04655 TC BANKCALL # SET UP 2 SEC TASK TO READ PIPAS
037989,001451: 15,2405 01732 CADR DELAYJOB
037990,001452:
037991,001453: 15,2406 25736 INCR GCTR
037992,001454: 15,2407 00004 INHINT
037993,001455: 15,2410 04655 TC BANKCALL
037994,001456: 15,2411 66433 CADR PIPSRINE
037995,001457: 15,2412 00003 RELINT
037996,001458: 15,2413 04655 TC BANKCALL
037997,001459: 15,2414 15277 CADR 1/PIPA
037998,001460: 15,2415 06014 TC INTPRET
037999,001461: 15,2416 53375 VLOAD VAD
038000,001462: 15,2417 01212 DELV
038001,001463: 15,2420 02707 GACC
038002,001464: 15,2421 02707 STORE GACC # ACCUMULATE G VECTOR
038003,001465: 15,2422 50135 SLOAD BMN
038004,001466: 15,2423 02737 GCTR
038005,001467: 15,2424 32402 GREED
038006,001468: 15,2425 53575 VLOAD UNIT
038007,001469: 15,2426 02707 GACC
038008,001470: 15,2427 36731 STCALL STAR
038009,001471: 15,2430 47335 CDUTRIG # TRANSFORM IN NB COOR AND STORE
038010,001472: 15,2431 77624 CALL # IN OUTPUT
038011,001473: 15,2432 47477 *SMNB*
038012,001474: 15,2433 02715 STORE GOUT
038013,001475: 15,2434 77776 EXIT
038014,001476: 15,2435 05423 TC PHASCHNG
038015,001477: 15,2436 05024 OCT 05024
038016,001478: 15,2437 13000 OCT 13000
038017,001479: 15,2440 06014 TC INTPRET
038018,001480: 15,2441 77650 GOTO
038019,001481: 15,2442 02745 QMIN
038020,001482: 15,2443 77751 T/2SEC DEC -22 B-14
038021,001483: 15,2444 01405 DISGRVER VN 0605
038022,001484:
038023,001485: # NAME GYROTRIM
038024,001486:
038025,001487: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
038026,001488: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
038027,001489: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
038028,001490:
038029,001491: # CALL CALL
038030,001492: # GYROTRIM
038031,001493:
038032,001494: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
038033,001495: # CDUX,CDUY,CDUZ
038034,001496:
038035,001497: # OUTPUT - GYRO TORQUE PULSES
038036,001498:
038037,001499: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
038038,001500: # IMPULSE,IMUSTALL
038039,001501: # - - - * * -
038040,001502: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
038041,001503: 15,2445 COUNT* $$/P57
038042,001504: 15,2445 71220 GYROTRIM STQ DLOAD
038043,001505: 15,2446 02745 QMIN
038044,001506: 15,2447 01207 THETAD
038045,001507: 15,2450 65325 PDDL PDDL
038046,001508: 15,2451 01211 THETAD +2
038047,001509: 15,2452 01210 THETAD +1
038048,001510: 15,2453 77666 VDEF
038049,001511: 15,2454 24767 STOVL CDUSPOT
038050,001512: 15,2455 22274 XUNIT
038051,001513: 15,2456 77624 CALL
038052,001514: 15,2457 47472 TRG*NBSM
038053,001515: 15,2460 26707 STOVL STARAD
038054,001516: 15,2461 22272 YUNIT
038055,001517: 15,2462 77624 CALL
038056,001518: 15,2463 47501 *NBSM*
038057,001519: 15,2464 36715 STCALL STARAD +6
038058,001520: 15,2465 47335 CDUTRIG
038059,001521: 15,2466 77624 CALL
038060,001522: 15,2467 30667 CALCSMSC
038061,001523: 15,2470 77775 VLOAD
038062,001524: 15,2471 02665 XNB
038063,001525: 15,2472 24007 STOVL 6D
038064,001526: 15,2473 02673 YNB
038065,001527: 15,2474 34015 STCALL 12D
038066,001528: 15,2475 47237 AXISGEN
038067,001529: 15,2476 77624 CALL
038068,001530: 15,2477 47043 CALCGTA
038069,001531: 15,2500 77776 EXIT
038070,001532: 15,2501 04655 JUSTTRIM TC BANKCALL
038071,001533: 15,2502 17121 CADR IMUFINE
038072,001534: 15,2503 04655 TC BANKCALL
038073,001535:
038074,001536: 15,2504 17625 CADR IMUSTALL
038075,001537: 15,2505 05733 TC CURTAINS
038076,001538: 15,2506 32517 CA GYRCDR
038077,001539: 15,2507 04655 TC BANKCALL
038078,001540: 15,2510 17234 CADR IMUPULSE
038079,001541: 15,2511 04655 TC BANKCALL
038080,001542: 15,2512 17625 CADR IMUSTALL
038081,001543: 15,2513 05733 TC CURTAINS
038082,001544: 15,2514 06014 TC INTPRET
038083,001545: 15,2515 77650 GOTO
038084,001546: 15,2516 02745 QMIN
038085,001547: 15,2517 02737 GYRCDR ECADR OGC
038086,001548:
038087,001549: 15,2520 04024 V16N20 VN 1620
038088,001550: 15,2521 01405 V06N05* VN 0605
038089,001551: 15,2522 01427 V06N23 VN 0623
038090,001552: 15,2523 01424 V06N20 VN 0620
038091,001553:
038092,001554: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
038093,001555:
038094,001556: 15,2524 35026 2STARS CAF BIT1 # INITALIZE STARIND
038095,001557: 15,2525 02527 TC +2 # ONE FOR 1ST STAR, ZERO FOR 2ND STAR
038096,001558: 15,2526 35030 1STAR CAF ZERO
038097,001559: 15,2527 55757 TS STARIND
038098,001560:
038099,001561: 15,2530 04655 TC BANKCALL # GO TO AOTMARK FOR SIGHTING
038100,001562: 15,2531 16000 CADR AOTMARK
038101,001563: 15,2532 04655 TC BANKCALL
038102,001564: 15,2533 17621 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
038103,001565: 15,2534 05733 TC CURTAINS # BADEND RETURN FROM AOTMARK
038104,001566:
038105,001567: 15,2535 47715 CS HIGH9 # GRAB STARCODE FOR INDEX
038106,001568: 15,2536 70735 MASK AOTCODE
038107,001569: 15,2537 00006 EXTEND
038108,001570: 15,2540 76216 MP REVCNT # JUST 6
038109,001571: 15,2541 50120 INDEX FIXLOC
038110,001572: 15,2542 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
038111,001573: 15,2543 51757 INDEX STARIND
038112,001574: 15,2544 55755 TS BESTI
038113,001575:
038114,001576: 15,2545 11757 CCS STARIND
038115,001577: 15,2546 02557 TC ASTAR
038116,001578: 15,2547 06014 TC INTPRET
038117,001579: 15,2550 77773 VLOAD*
038118,001580: 15,2551 31734 CATLOG,1
038119,001581: 15,2552 26731 STOVL VEC2 # STORE 2ND CATALOG VEC (REF)
038120,001582: 15,2553 02715 STARAD +6
038121,001583: 15,2554 02767 STORE STARSAV2 # 2ND STAR IN SM
038122,001584: 15,2555 77776 EXIT
038123,001585:
038124,001586: 15,2556 02567 TC SURFLINE
038125,001587:
038126,001588: 15,2557 06014 ASTAR TC INTPRET
038127,001589: 15,2560 77773 VLOAD*
038128,001590: 15,2561 31734 CATLOG,1
038129,001591: 15,2562 26723 STOVL VEC1
038130,001592: 15,2563 02715 STARAD +6
038131,001593: 15,2564 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
038132,001594: 15,2565 77776 EXIT
038133,001595: 15,2566 02526 TC 1STAR # GO GET 2ND STAR SIGHTING
038134,001596:
038135,001597: # DO FINE OR COARSE ALIGNMENT OF IMU
038136,001598:
038137,001599: 15,2567 35030 SURFLINE CAF ZERO
038138,001600: 15,2570 55757 TS STARIND
038139,001601: 15,2571 06014 TC INTPRET
038140,001602: 15,2572 77131 SSP AXT,2
038141,001603: 15,2573 00052 S2
038142,001604: 15,2574 00006 6
038143,001605: 15,2575 00014 12D
038144,001606: 15,2576 47173 WRTDESIR VLOAD* RTB
038145,001607: 15,2577 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
038146,001608: 15,2600 32745 UPDATFRF
038147,001609: 15,2601 77614 BON
038148,001610: 15,2602 00314 FREEFLAG
038149,001611: 15,2603 32774 MFREF
038150,001612: 15,2604 53521 WRTDSBAK MXV UNIT
038151,001613: 15,2605 03574 XSMD
038152,001614: 15,2606 12723 STORE STARAD +12D,2 # VEC IN SM
038153,001615: 15,2607 77704 TIX,2
038154,001616: 15,2610 32576 WRTDESIR
038155,001617: 15,2611 77774 AXT,2
038156,001618: 15,2612 00014 12D
038157,001619: 15,2613 47173 WRTDESR2 VLOAD* RTB
038158,001620: 15,2614 75002 STARSAV1 +12D,2
038159,001621: 15,2615 32745 UPDATFRF
038160,001622: 15,2616 77614 BON
038161,001623: 15,2617 00314 FREEFLAG
038162,001624: 15,2620 33004 CALCANG
038163,001625: 15,2621 10023 DOALIGN STORE 18D,2
038164,001626: 15,2622 45104 TIX,2 CALL
038165,001627: 15,2623 32613 WRTDESR2
038166,001628: 15,2624 30521 R54 # DO CHKSDATA
038167,001629: 15,2625 77624 CALL
038168,001630: 15,2626 47237 AXISGEN
038169,001631: 15,2627 77624 CALL
038170,001632: 15,2630 47043 CALCGTA
038171,001633: 15,2631 40175 5DEGTEST VLOAD BOV # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
038172,001634: 15,2632 02740 OGC
038173,001635: 15,2633 32634 SURFSUP
038174,001636: 15,2634 02750 SURFSUP STORE OGCT
038175,001637: 15,2635 40141 V/SC BOV
038176,001638: 15,2636 30102 5DEGREES
038177,001639: 15,2637 32724 COATRIM
038178,001640: 15,2640 52131 SSP GOTO
038179,001641: 15,2641 02746 QMIN
038180,001642: 15,2642 32644 SURFDISP
038181,001643: 15,2643 32501 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
038182,001644:
038183,001645: 15,2644 77776 SURFDISP EXIT
038184,001646: 15,2645 05423 TC PHASCHNG
038185,001647: 15,2646 05024 OCT 05024 # STORE REFSMMAT ,SET REFSMFLG AND
038186,001648: 15,2647 13000 OCT 13000 # DISPLAY ORIGINAL TORQ ANGLES
038187,001649: 15,2650 06014 TC INTPRET
038188,001650: 15,2651 75160 AXC,1 AXC,2
038189,001651: 15,2652 03573 XSMD
038190,001652: 15,2653 01735 REFSMMAT
038191,001653: 15,2654 45014 SET CALL
038192,001654: 15,2655 01462 REFSMFLG
038193,001655: 15,2656 30637 MATMOVE
038194,001656: 15,2657 45001 SETPD CALL
038195,001657: 15,2660 00001 0D
038196,001658: 15,2661 47335 CDUTRIG
038197,001659: 15,2662 45174 AXT,2 CALL
038198,001660: 15,2663 00014 12D
038199,001661: 15,2664 30667 CALCSMSC
038200,001662: 15,2665 61373 REFMF VLOAD* VXM
038201,001663: 15,2666 75070 STARAD,2
038202,001664: 15,2667 01736 REFSMMAT
038203,001665: 15,2670 77656 UNIT
038204,001666: 15,2671 47006 PUSH RTB
038205,001667: 15,2672 21454 LOADTIME
038206,001668: 15,2673 45006 PUSH CALL
038207,001669: 15,2674 51247 R-TO-RP
038208,001670: 15,2675 77731 SSP
038209,001671: 15,2676 00052 S2
038210,001672: 15,2677 00006 6
038211,001673: 15,2700 12261 STORE STARVSAV,2
038212,001674: 15,2701 77304 TIX,2 VLOAD
038213,001675: 15,2702 32665 REFMF
038214,001676: 15,2703 02750 OGCT
038215,001677: 15,2704 02740 STORE OGC
038216,001678: 15,2705 77776 EXIT
038217,001679:
038218,001680: 15,2706 33012 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
038219,001681: 15,2707 04655 TC BANKCALL
038220,001682: 15,2710 20406 CADR GOFLASH
038221,001683: 15,2711 04106 TC GOTOPOOH # V34-TERMINATE
038222,001684: 15,2712 04106 TC GOTOPOOH # VB33-PROCEED TO COARSE OR FINE
038223,001685: 15,2713 41155 CS OPTION1 # VB32-RECYCLE, MAYBE RE-ALIGN
038224,001686: 15,2714 75025 MASK BIT2
038225,001687: 15,2715 10000 CCS A
038226,001688: 15,2716 04106 TC GOTOPOOH # IF OPTION ZERO DO FINISHH
038227,001689: 15,2717 31155 CA OPTION1
038228,001690: 15,2720 75026 MASK BIT1
038229,001691: 15,2721 10000 CCS A
038230,001692: 15,2722 02526 TC 1STAR
038231,001693: 15,2723 02524 TC 2STARS
038232,001694:
038233,001695: # COARSE AND FINE ALIGN IMU
038234,001696: 15,2724 75160 COATRIM AXC,1 AXC,2
038235,001697: 15,2725 02664 XDC
038236,001698: 15,2726 02642 XSM
038237,001699: 15,2727 77624 CALL
038238,001700: 15,2730 30637 MATMOVE
038239,001701: 15,2731 77624 CALL
038240,001702: 15,2732 47335 CDUTRIG
038241,001703: 15,2733 77624 CALL
038242,001704: 15,2734 30667 CALCSMSC
038243,001705: 15,2735 77624 CALL
038244,001706: 15,2736 47147 CALCGA
038245,001707: 15,2737 77624 CALL
038246,001708: 15,2740 31106 COARSE
038247,001709: 15,2741 77624 CALL
038248,001710: 15,2742 32445 GYROTRIM
038249,001711: 15,2743 77650 GOTO
038250,001712: 15,2744 32644 SURFDISP
038251,001713:
038252,001714: 15,2745 45024 UPDATFRF CS FREEFBIT
038253,001715: 15,2746 70074 MASK FLAGWRD0
038254,001716: 15,2747 54074 TS FLAGWRD0
038255,001717:
038256,001718: 15,2750 35012 CAF REFSMBIT
038257,001719: 15,2751 70077 MASK FLAGWRD3
038258,001720: 15,2752 10000 CCS A
038259,001721: 15,2753 35024 CAF BIT3
038260,001722: 15,2754 61155 AD OPTION1
038261,001723: 15,2755 50000 INDEX A
038262,001724: 15,2756 35017 CAF BIT8
038263,001725: 15,2757 51757 INDEX STARIND
038264,001726: 15,2760 72770 MASK FREEFTAB
038265,001727: 15,2761 10000 CCS A
038266,001728: 15,2762 02766 TC +4
038267,001729: 15,2763 35024 CAF FREEFBIT
038268,001730: 15,2764 60074 AD FLAGWRD0
038269,001731: 15,2765 54074 TS FLAGWRD0
038270,001732:
038271,001733: 15,2766 25757 INCR STARIND
038272,001734: 15,2767 16035 TCF DANZIG
038273,001735:
038274,001736: 15,2770 00052 FREEFTAB OCT 00052
038275,001737: 15,2771 00077 OCT 00077
038276,001738: 15,2772 00042 OCT 00042
038277,001739: 15,2773 00063 OCT 00063
038278,001740:
038279,001741: 15,2774 41401 MFREF SETPD PUSH
038280,001742: 15,2775 00001 0
038281,001743: 15,2776 41434 RTB PUSH
038282,001744: 15,2777 21454 LOADTIME
038283,001745: 15,3000 77624 CALL
038284,001746: 15,3001 51222 RP-TO-R
038285,001747: 15,3002 77650 GOTO
038286,001748: 15,3003 32604 WRTDSBAK
038287,001749:
038288,001750: 15,3004 77624 CALCANG CALL
038289,001751: 15,3005 47335 CDUTRIG
038290,001752: 15,3006 77624 CALL
038291,001753: 15,3007 47501 *NBSM*
038292,001754: 15,3010 77650 GOTO
038293,001755: 15,3011 32621 DOALIGN
038294,001756:
038295,001757: 15,3012 01535 DISPGYRO VN 0693
038296,001758:
038297,001759: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
038298,001760:
038299,001761: 15,3013 04655 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
038300,001762: 15,3014 33205 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
038301,001763:
038302,001764: 15,3015 06014 TC INTPRET
038303,001765: 15,3016 43145 DLOAD BOFF
038304,001766: 15,3017 22276 ZEROVEC # LOAD ZERO FOR DISPLAY IF ASCNTFLG IS
038305,001767: 15,3020 03355 ASCNTFLG # NOT SET
038306,001768: 15,3021 33024 P57A
038307,001769: 15,3022 77745 DLOAD
038308,001770: 15,3023 03425 TIG # LOAD ASCENT TIME FOR DISPLAY
038309,001771: 15,3024 01047 P57A STORE DSPTEM1
038310,001772: 15,3025 77776 EXIT
038311,001773: 15,3026 33204 P57AA CAF V06N34 # DISPLAY TALIGN, TALIGN : DSPTEM1
038312,001774: 15,3027 04655 TC BANKCALL
038313,001775: 15,3030 20406 CADR GOFLASH
038314,001776: 15,3031 03026 TC P57AA # V34-TERMINATE
038315,001777: 15,3032 03034 TC +2 # V33-PROCEED
038316,001778: 15,3033 03026 TC P57AA # VB32-RECYCLE
038317,001779:
038318,001780: 15,3034 06014 TC INTPRET
038319,001781: 15,3035 46145 DLOAD BHIZ
038320,001782: 15,3036 01047 DSPTEM1
038321,001783: 15,3037 33042 P57B
038322,001784: 15,3040 77650 GOTO
038323,001785: 15,3041 33045 P57D
038324,001786: 15,3042 77634 P57B RTB
038325,001787: 15,3043 21454 LOADTIME # LOAD CURRENT TIME
038326,001788: 15,3044 01047 STORE DSPTEM1
038327,001789: 15,3045 34041 P57D STCALL TDEC1
038328,001790: 15,3046 27030 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
038329,001791: 15,3047 53575 VLOAD UNIT # IN X,Y,ZSMD
038330,001792: 15,3050 00001 RATT
038331,001793: 15,3051 37574 STCALL XSMD
038332,001794: 15,3052 33217 LSORIENT
038333,001795: 15,3053 43170 PACKOPTN AXT,1 BOFF # PACK FLAG BITS FOR OPTION DISPLAY
038334,001796: 15,3054 00000 0
038335,001797: 15,3055 01742 REFSMFLG # REFSMFLG
038336,001798: 15,3056 33061 +3 # CLEAR-JUST ZERO
038337,001799: 15,3057 77710 INCR,1 # SET
038338,001800: 15,3060 00100 100
038339,001801: 15,3061 62014 BOFF INCR,1
038340,001802: 15,3062 03356 ATTFLAG # ATTFLG
038341,001803: 15,3063 33065 +2 # CLEAR-JUST ZERO
038342,001804: 15,3064 00010 10 # SET
038343,001805: 15,3065 62014 BOFF INCR,1
038344,001806: 15,3066 03355 ASCNTFLG # ASCNTFLG
038345,001807: 15,3067 33071 +2 # CLEAR-JUST ZERO
038346,001808: 15,3070 00001 1 # SET
038347,001809: 15,3071 77530 SXA,1 EXIT
038348,001810: 15,3072 01156 OPTION1 +1
038349,001811:
038350,001812: 15,3073 35030 CAF ZERO
038351,001813: 15,3074 55155 TS OPTION1 # JAM 00000 IN OPTION1 FOR CHECK LIST
038352,001814:
038353,001815: 15,3075 33203 DSPOPTN CAF VB04N06 # DISPLAY OPTION CODE AND FLAG BITS
038354,001816: 15,3076 04655 TC BANKCALL
038355,001817: 15,3077 20406 CADR GOFLASH
038356,001818: 15,3100 03075 TC DSPOPTN # VB34-TERMINATE
038357,001819: 15,3101 03103 TC +2 # V33-PROCEED
038358,001820: 15,3102 03075 TC DSPOPTN # V32-RECYCLE
038359,001821:
038360,001822: 15,3103 05423 TC PHASCHNG
038361,001823: 15,3104 05024 OCT 05024
038362,001824: 15,3105 13000 OCT 13000
038363,001825: 15,3106 31155 CA OPTION1 # SEE IF OPTION 2 OR 3
038364,001826: 15,3107 75025 MASK BIT2
038365,001827: 15,3110 10000 CCS A
038366,001828: 15,3111 03163 TC BYLMATT
038367,001829:
038368,001830: 15,3112 06014 TC INTPRET
038369,001831: 15,3113 43014 BON BON
038370,001832: 15,3114 01702 REFSMFLG
038371,001833: 15,3115 33130 GETLMATT # SET, GO COMPUTE LM ATTITUDE
038372,001834: 15,3116 03316 ATTFLAG # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
038373,001835: 15,3117 33145 P57OPT0 # ALLFLG SET
038374,001836: 15,3120 77776 EXIT
038375,001837: 15,3121 33202 BADOPTN CAF BADOPT
038376,001838: 15,3122 04655 TC BANKCALL
038377,001839: 15,3123 21443 CADR PRIOLARM
038378,001840: 15,3124 03121 TC BADOPTN
038379,001841: 15,3125 03121 TC BADOPTN
038380,001842: 15,3126 03075 TC DSPOPTN
038381,001843: 15,3127 05225 TC ENDOFJOB
038382,001844:
038383,001845: # BRANCH TO ALIGNMENT OPTION
038384,001846:
038385,001847: 15,3130 77624 GETLMATT CALL
038386,001848: 15,3131 47335 CDUTRIG # GET SIN AND COS OF CDUS
038387,001849: 15,3132 77624 CALL
038388,001850: 15,3133 30667 CALCSMSC # GET YNB IN SM
038389,001851: 15,3134 61375 VLOAD VXM
038390,001852: 15,3135 02673 YNB
038391,001853: 15,3136 01736 REFSMMAT # YNB TO REF
038392,001854: 15,3137 77656 UNIT
038393,001855: 15,3140 26245 STOVL YNBSAV
038394,001856: 15,3141 02701 ZNB
038395,001857: 15,3142 53505 VXM UNIT
038396,001858: 15,3143 01736 REFSMMAT # ZNB TO REF
038397,001859: 15,3144 02253 STORE ZNBSAV
038398,001860:
038399,001861: 15,3145 77775 P57OPT0 VLOAD
038400,001862: 15,3146 02245 YNBSAV # Y ATTITUDE VEC
038401,001863: 15,3147 26723 STOVL VEC1
038402,001864: 15,3150 02253 ZNBSAV # Z ATTITUDE VEC
038403,001865: 15,3151 26731 STOVL VEC2
038404,001866: 15,3152 22272 YUNIT
038405,001867: 15,3153 26761 STOVL STARSAV1
038406,001868: 15,3154 22270 ZUNIT
038407,001869: 15,3155 02767 STORE STARSAV2
038408,001870: 15,3156 77776 EXIT
038409,001871: 15,3157 41155 CS OPTION1
038410,001872: 15,3160 75026 MASK BIT1 # SEE IF OPTION 1 OR 3
038411,001873: 15,3161 10000 CCS A
038412,001874: 15,3162 02567 TC SURFLINE
038413,001875:
038414,001876: 15,3163 41155 BYLMATT CS OPTION1 # SEE IF OPTION 1 OR 3
038415,001877: 15,3164 75026 MASK BIT1
038416,001878: 15,3165 10000 CCS A
038417,001879: 15,3166 02524 TC 2STARS
038418,001880: 15,3167 02247 TC GVDETER
038419,001881:
038420,001882: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
038421,001883:
038422,001884: 15,3170 06014 P57OPT3 TC INTPRET
038423,001885: 15,3171 57575 VLOAD VCOMP
038424,001886: 15,3172 02025 RLS # LANDING SITE VEC
038425,001887: 15,3173 77656 UNIT
038426,001888: 15,3174 02723 STORE VEC1
038427,001889: 15,3175 77776 EXIT
038428,001890: 15,3176 31155 CA OPTION1
038429,001891: 15,3177 75025 MASK BIT2
038430,001892: 15,3200 02526 TC 1STAR
038431,001893: 15,3201 02567 TC SURFLINE
038432,001894:
038433,001895: 15,3202 00701 BADOPT OCT 00701 # **** TEMP ****
038434,001896: 15,3203 01006 VB04N06 VN 406
038435,001897: 15,3204 01442 V06N34 VN 634
038436,001898:
038437,001899: # CHECK IMODES30 TO VARIFY IMU IS ON
038438,001900:
038439,001901: 15,3205 41304 IMUCHK CS IMODES30
038440,001902: 15,3206 75016 MASK BIT9
038441,001903: 15,3207 10000 CCS A # IS IMU ON
038442,001904: 15,3210 13214 TCF +4 # YES
038443,001905:
038444,001906: 15,3211 05651 TC ALARM # NO, SEND ALARM AND EXIT
038445,001907: 15,3212 00210 OCT 210
038446,001908: 15,3213 04106 TC GOTOPOOH
038447,001909:
038448,001910: 15,3214 05566 TC UPFLAG
038449,001911: 15,3215 00007 ADRES IMUSE # SET IMUSE FLAG
038450,001912:
038451,001913: 15,3216 04670 TC SWRETURN
038452,001914:
038453,001915: 15,3217 71220 LSORIENT STQ DLOAD
038454,001916: 15,3220 02746 QMAJ
038455,001917: 15,3221 01047 DSPTEM1
038456,001918: 15,3222 34041 STCALL TDEC1
038457,001919: 15,3223 27014 CSMPREC
038458,001920: 15,3224 47375 VLOAD VXV
038459,001921: 15,3225 00001 0D
038460,001922: 15,3226 00007 6D
038461,001923: 15,3227 53435 VXV UNIT
038462,001924: 15,3230 03574 XSMD
038463,001925: 15,3231 03610 STORE ZSMD
038464,001926: 15,3232 53435 VXV UNIT
038465,001927: 15,3233 03574 XSMD
038466,001928: 15,3234 37602 STCALL YSMD
038467,001929: 15,3235 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc