Source Code
|
These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing. |
036390,000002: ## Copyright: Public domain.
036391,000003: ## Filename: P51-P53.agc
036392,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
036393,000005: ## It is part of the reconstructed source code for the Lunar
036394,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
036395,000007: ## No original listings of this program are available;
036396,000008: ## instead, this file was created via disassembly of dumps
036397,000009: ## of various revisions of Sundance core rope modules.
036398,000010: ## Assembler: yaYUL
036399,000011: ## Contact: Ron Burkey <info@sandroid.org>.
036400,000012: ## Website: www.ibiblio.org/apollo/index.html
036401,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
036402,000014:
036403,000015: ## Sundance 302
036404,000016:
036405,000017: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
036406,000018: # MOD NO- 0 LOG SECTION- P51-P53
036407,000019: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
036408,000020:
036409,000021: # FUNCTIONAL DESCRIPTION-
036410,000022:
036411,000023: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
036412,000024: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
036413,000025:
036414,000026: # (A) PREFERRED ORIENTATION
036415,000027:
036416,000028: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
036417,000029: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
036418,000030:
036419,000031: # (B) NOMINAL ORIENTATION
036420,000032:
036421,000033: # X = UNIT ( R )
036422,000034: # -SM
036423,000035:
036424,000036: # Y = UNIT (V X R)
036425,000037: # SM
036426,000038:
036427,000039: # Z = UNIT (X X Y )
036428,000040: # SM SM SM
036429,000041:
036430,000042: # WHERE_
036431,000043: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
036432,000044: # -
036433,000045:
036434,000046: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
036435,000047: # -
036436,000048:
036437,000049: # (C) REFSMMAT ORIENTATION
036438,000050:
036439,000051: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
036440,000052:
036441,000053: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
036442,000054: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
036443,000055: # SINCE THE LAST ALIGNMENT).
036444,000056:
036445,000057: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
036446,000058: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
036447,000059: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
036448,000060: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
036449,000061: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
036450,000062: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
036451,000063: # REQUESTED.
036452,000064:
036453,000065: # CALLING SEQUENCE-
036454,000066:
036455,000067: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
036456,000068:
036457,000069: # SUBROUTINES CALLED-
036458,000070:
036459,000071: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
036460,000072: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
036461,000073: # 3. GOPERF4 9. FLAGUP
036462,000074: # 4. MATMOVE 10. R56
036463,000075: # 5. GOFLASH 11. R51
036464,000076: # 6. S52.3 12. GOPERF3
036465,000077:
036466,000078: # NORMAL EXIT MODES-
036467,000079:
036468,000080: # EXITS TO ENDOFJOB
036469,000081:
036470,000082: # ALARM OR ABORT EXIT MODES-
036471,000083:
036472,000084: # NONE
036473,000085:
036474,000086: # OUTPUT-
036475,000087:
036476,000088: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
036477,000089: # 1. IMU ORIENTATION CODE
036478,000090: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
036479,000091: # 3. TIME OF NEXT IGNITION
036480,000092: # 4. GIMBAL ANGLES
036481,000093: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
036482,000094: # 6. PLEASE PERFORM P00
036483,000095: # THE MODE DISPLAY MAY BE CHANGED TO 20
036484,000096:
036485,000097: # ERASABLE INITIALIZATION REQUIRED-
036486,000098:
036487,000099: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
036488,000100: # XSMD,YSMD,ZSMD.
036489,000101: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
036490,000102:
036491,000103: # DEBRIS-
036492,000104:
036493,000105: # WORK AREA
036494,000106: 33,3736 BANK 33
036495,000107: 15,2000 SETLOC P50S
036496,000108: 15,2000 BANK
036497,000109:
036498,000110: 15,2000 E5,1755 EBANK= BESTI
036499,000111: 15,2000 COUNT* $$/P52
036500,000112: 15,2000 04655 PROG52 TC BANKCALL
036501,000113: 15,2001 11064 CADR R02BOTH # IMU STATUS CHECK
036502,000114: 15,2002 35023 CAF PFRATBIT
036503,000115: 15,2003 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
036504,000116: 15,2004 10000 CCS A
036505,000117:
036506,000118: 15,2005 02010 TC P52A # YES
036507,000119: 15,2006 35025 CAF BIT2 # NO
036508,000120: 15,2007 02011 TC P52A +1
036509,000121: 15,2010 35026 P52A CAF BIT1
036510,000122: 15,2011 55156 TS OPTION2
036511,000123: 15,2012 35026 P52B CAF BIT1
036512,000124: 15,2013 04655 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
036513,000125: 15,2014 20611 CADR GOPERF4R # FLASH V04N06
036514,000126: 15,2015 04106 TC GOTOPOOH
036515,000127: 15,2016 12023 TCF +5 # V33-PROCEED
036516,000128: 15,2017 02012 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
036517,000129: 15,2020 05413 TC PHASCHNG # DISPLAY RETURN
036518,000130: 15,2021 00014 OCT 00014
036519,000131: 15,2022 05225 TC ENDOFJOB
036520,000132:
036521,000133: 15,2023 31156 CA OPTION2
036522,000134: 15,2024 76221 MASK THREE
036523,000135: 15,2025 50000 INDEX A
036524,000136: 15,2026 02027 TC +1
036525,000137: 15,2027 02035 TC P52T
036526,000138: 15,2030 02136 TC P52J
036527,000139: 15,2031 02035 TC P52T
036528,000140: 15,2032 06014 P52E TC INTPRET
036529,000141: 15,2033 77650 GOTO
036530,000142: 15,2034 32132 P52F
036531,000143: 15,2035 00006 P52T EXTEND
036532,000144: 15,2036 35030 DCA NEG0
036533,000145: 15,2037 53047 DXCH DSPTEM1
036534,000146: 15,2040 32156 CAF V06N34*
036535,000147: 15,2041 04655 TC BANKCALL
036536,000148: 15,2042 20406 CADR GOFLASH
036537,000149: 15,2043 04106 TC GOTOPOOH
036538,000150: 15,2044 02046 TC +2
036539,000151: 15,2045 02040 TC -5
036540,000152: 15,2046 11046 CCS DSPTEM1
036541,000153: 15,2047 12055 TCF P52V
036542,000154: 15,2050 12052 TCF +2 # IF TIME ZERO OR NEG USE TIME2
036543,000155: 15,2051 12052 TCF +1
036544,000156: 15,2052 00006 EXTEND
036545,000157: 15,2053 30025 DCA TIME2
036546,000158: 15,2054 53047 DXCH DSPTEM1
036547,000159: 15,2055 31156 P52V CA OPTION2
036548,000160: 15,2056 75025 MASK BIT2
036549,000161: 15,2057 10000 CCS A
036550,000162: 15,2060 02104 TC P52W
036551,000163:
036552,000164: 15,2061 32157 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2, ALT
036553,000165: 15,2062 04655 TC BANKCALL
036554,000166: 15,2063 20406 CADR GOFLASH
036555,000167: 15,2064 04106 TC GOTOPOOH # VB34 TERMINATE
036556,000168: 15,2065 02067 TC +2 # VB33 PROCEED
036557,000169: 15,2066 02061 TC LSDISP # VB32 RECYCLE
036558,000170:
036559,000171: 15,2067 06014 TC INTPRET # OPTION 4 - GET LS ORIENTATION
036560,000172: 15,2070 43014 SET SET
036561,000173: 15,2071 00462 ERADFLAG
036562,000174: 15,2072 01463 LUNAFLAG
036563,000175: 15,2073 45145 DLOAD CALL
036564,000176: 15,2074 01047 DSPTEM1
036565,000177: 15,2075 26374 LALOTORV
036566,000178: 15,2076 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
036567,000179: 15,2077 02034 ALPHAV
036568,000180: 15,2100 37574 STCALL XSMD
036569,000181: 15,2101 33217 LSORIENT
036570,000182: 15,2102 77650 GOTO
036571,000183: 15,2103 32111 P52D
036572,000184:
036573,000185: # START ALIGNMENT
036574,000186:
036575,000187: 15,2104 06014 P52W TC INTPRET
036576,000188: 15,2105 77745 DLOAD
036577,000189: 15,2106 01047 DSPTEM1 # PICK UP ALIGN TIME
036578,000190: 15,2107 77624 CALL # COMPUTE NOMINAL IMU
036579,000191: 15,2110 31166 S52.3 # ORIENTATION
036580,000192: 15,2111 77624 P52D CALL # READ VEHICLE ATTITUDE AND
036581,000193: 15,2112 31134 S52.2 # COMPUTE GIMBAL ANGLES
036582,000194: 15,2113 77776 EXIT
036583,000195: 15,2114 32155 CAF V06N22*
036584,000196: 15,2115 04655 TC BANKCALL # DISPLAY GIMBAL ANGLES
036585,000197: 15,2116 20406 CADR GOFLASH
036586,000198: 15,2117 04106 TC GOTOPOOH
036587,000199: 15,2120 02124 TC REGCOARS # V33-PROCEED, SEE IF GYRO TORQUE COARSE
036588,000200: 15,2121 06014 TC INTPRET # RECYCLE - VEHICLE HAS BEEN MANUEVERED
036589,000201: 15,2122 77650 GOTO
036590,000202: 15,2123 32111 P52D
036591,000203: 15,2124 06014 REGCOARS TC INTPRET
036592,000204: 15,2125 77624 CALL # DO COARSE ALIGN
036593,000205: 15,2126 30572 CAL53A # ROUTINE
036594,000206: 15,2127 43014 SET CLEAR
036595,000207: 15,2130 01462 REFSMFLG
036596,000208: 15,2131 01273 PFRATFLG
036597,000209: 15,2132 77624 P52F CALL
036598,000210: 15,2133 30317 R51
036599,000211: 15,2134 77776 P52OUT EXIT
036600,000212: 15,2135 04106 TC GOTOPOOH
036601,000213: 15,2136 35023 P52J CAF PFRATBIT
036602,000214: 15,2137 70076 MASK FLAGWRD2
036603,000215: 15,2140 10000 CCS A
036604,000216: 15,2141 02152 TC P52H
036605,000217:
036606,000218: 15,2142 05646 TC ALARM
036607,000219: 15,2143 00215 OCT 215
036608,000220: 15,2144 35056 CAF VB05N09
036609,000221: 15,2145 04655 TC BANKCALL
036610,000222: 15,2146 20406 CADR GOFLASH
036611,000223: 15,2147 04106 TC GOTOPOOH
036612,000224: 15,2150 02144 TC -4
036613,000225: 15,2151 02012 TC P52B
036614,000226:
036615,000227: 15,2152 06014 P52H TC INTPRET # PREFERRED OPTION, GO COMPUTE GIMBALS
036616,000228: 15,2153 77650 GOTO
036617,000229: 15,2154 32111 P52D
036618,000230:
036619,000231: 15,2155 5056 VB05N09 = V05N09
036620,000232: 15,2155 01426 V06N22* VN 00622
036621,000233: 15,2156 01442 V06N34* VN 634
036622,000234:
036623,000235: 15,2157 01531 V06N89* VN 0689
036624,000236:
036625,000237: # NAME -S50 ALIAS LOCSAM
036626,000238: # BY
036627,000239: # VINCENT
036628,000240: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
036629,000241:
036630,000242: # DEFINE
036631,000243:
036632,000244:
036633,000245: # U = UNIT( SUN WRT EARTH)
036634,000246: # ES
036635,000247:
036636,000248: # U =UNIT( MOON WRT EARTH)
036637,000249: # EM
036638,000250:
036639,000251: # R =POSITION VECTOR OF LEM
036640,000252: # L
036641,000253:
036642,000254: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
036643,000255: # EM
036644,000256:
036645,000257: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
036646,000258: # EM
036647,000259:
036648,000260: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
036649,000261: # E
036650,000262:
036651,000263: # LOCSAM COMPUTES IN EARTH INFLUENCE
036652,000264:
036653,000265:
036654,000266: # VSUN = U
036655,000267: # ES
036656,000268:
036657,000269: # VEARTH = -UNIT( R )
036658,000270: # L
036659,000271:
036660,000272: # VMOON = UNIT(R .U - R )
036661,000273: # EM EM L
036662,000274:
036663,000275: # CSUN = COS 90
036664,000276:
036665,000277: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
036666,000278: # E L
036667,000279:
036668,000280: # CMOON = COS 5
036669,000281:
036670,000282:
036671,000283: # INPUT - TIME IN MPAC
036672,000284: # OUTPUT - LISTED ABOVE
036673,000285: # SUBROUTINES -LSPOS,LEMPREC
036674,000286: # DEBRIS - VAC AREA ,TSIGHT
036675,000287:
036676,000288: 14,2000 SETLOC P50S1
036677,000289: 14,2000 BANK
036678,000290: 14,2000 E5,1642 EBANK= XSM
036679,000291:
036680,000292: 14,2000 COUNT* $$/LOSAM
036681,000293:
036682,000294: 14,2000 14,2000 S50 = LOCSAM
036683,000295: 14,2000 77620 LOCSAM STQ
036684,000296: 14,2001 02745 QMIN
036685,000297: 14,2002 37547 STCALL TSIGHT
036686,000298: 14,2003 33236 LSPOS
036687,000299: 14,2004 77745 DLOAD
036688,000300: 14,2005 03547 TSIGHT
036689,000301: 14,2006 34041 STCALL TDEC1
036690,000302: 14,2007 27030 LEMPREC
036691,000303: 14,2010 61131 SSP TIX,2
036692,000304: 14,2011 00052 S2
036693,000305: 14,2012 00000 0
036694,000306: 14,2013 30035 MOONCNTR
036695,000307: 14,2014 74375 EARTCNTR VLOAD VXSC
036696,000308: 14,2015 02723 VMOON
036697,000309: 14,2016 30106 RSUBEM
036698,000310: 14,2017 52372 VSL1 VSU
036699,000311: 14,2020 00001 RATT
036700,000312: 14,2021 77656 UNIT
036701,000313: 14,2022 26723 STOVL VMOON
036702,000314: 14,2023 00001 RATT
036703,000315: 14,2024 57456 UNIT VCOMP
036704,000316: 14,2025 16707 STODL VEARTH
036705,000317: 14,2026 30112 RSUBE
036706,000318: 14,2027 77624 CALL
036707,000319: 14,2030 30067 OCCOS
036708,000320: 14,2031 14017 STODL CEARTH
036709,000321: 14,2032 30076 CSS5
036710,000322: 14,2033 34023 STCALL CMOON
036711,000323: 14,2034 30062 ENDSAM
036712,000324: 14,2035 74375 MOONCNTR VLOAD VXSC
036713,000325: 14,2036 02723 VMOON
036714,000326: 14,2037 30104 ROE
036715,000327: 14,2040 53445 BVSU UNIT
036716,000328: 14,2041 02715 VSUN
036717,000329: 14,2042 26715 STOVL VSUN
036718,000330: 14,2043 02723 VMOON
036719,000331: 14,2044 53361 VXSC VAD
036720,000332: 14,2045 30106 RSUBEM
036721,000333: 14,2046 00001 RATT
036722,000334: 14,2047 57456 UNIT VCOMP
036723,000335: 14,2050 26707 STOVL VEARTH
036724,000336: 14,2051 00001 RATT
036725,000337: 14,2052 57456 UNIT VCOMP
036726,000338:
036727,000339: 14,2053 16723 STODL VMOON
036728,000340: 14,2054 30110 RSUBM
036729,000341: 14,2055 77624 CALL
036730,000342: 14,2056 30067 OCCOS
036731,000343: 14,2057 14023 STODL CMOON
036732,000344: 14,2060 30076 CSS5
036733,000345: 14,2061 00017 STORE CEARTH
036734,000346: 14,2062 77745 ENDSAM DLOAD
036735,000347: 14,2063 30100 CSSUN
036736,000348: 14,2064 00021 STORE CSUN
036737,000349: 14,2065 77650 GOTO
036738,000350: 14,2066 02745 QMIN
036739,000351: 14,2067 70471 OCCOS DDV SR1
036740,000352: 14,2070 00045 36D
036741,000353: 14,2071 43336 ASIN DAD
036742,000354: 14,2072 30102 5DEGREES
036743,000355: 14,2073 70546 COS SR1
036744,000356: 14,2074 77616 RVQ
036745,000357: 14,2075 CEARTH = 14D
036746,000358: 14,2075 CSUN = 16D
036747,000359: 14,2075 CMOON = 18D
036748,000360: 14,2075 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
036749,000361: 14,2077 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
036750,000362: 14,2101 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
036751,000363:
036752,000364: 14,2103 00052 04047 ROE 2DEC .00257125
036753,000365: 14,2105 26723 00450 RSUBEM 2DEC 384402000 B-29
036754,000366: 14,2107 00065 01265 RSUBM 2DEC 1738090 B-29
036755,000367: 14,2111 00302 24533 RSUBE 2DEC 6378166 B-29
036756,000368:
036757,000369: # PROGRAM NAME - R56 DATE DEC 20 66
036758,000370: # MOD 1 LOG SECTION P51-P53
036759,000371: # ASSEMBLY SUNDISK REV40
036760,000372: # BY KEN VINCENT
036761,000373:
036762,000374: # FUNCTION
036763,000375: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
036764,000376: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
036765,000377: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
036766,000378: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
036767,000379: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
036768,000380: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
036769,000381: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
036770,000382: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
036771,000383: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
036772,000384: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
036773,000385: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
036774,000386: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
036775,000387:
036776,000388: # CALLING SEQUENCE
036777,000389: # L TC BANKCALL
036778,000390: # L+1 CADR R56
036779,000391: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
036780,000392: # L+3 NORMAL RETURN
036781,000393:
036782,000394: # OUTPUT
036783,000395: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
036784,000396: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
036785,000397:
036786,000398: # INITIALIZATION
036787,000399: # 1)A CALL TO LOCSAM MUST BE MADE
036788,000400:
036789,000401: # DEBRIS
036790,000402: # WORK AREA
036791,000403: # X,Y,ZNB
036792,000404: # SINCDU,COSCDU
036793,000405: # STARAD - STAR +5
036794,000406: 14,2113 14,2113 R56 = PICAPAR
036795,000407: 14,2113 COUNT* $$/R56
036796,000408: 14,2113 04704 PICAPAR TC MAKECADR
036797,000409: 14,2114 55745 TS QMIN
036798,000410: 14,2115 06014 TC INTPRET
036799,000411: 14,2116 77624 CALL
036800,000412: 14,2117 47251 CDUTRIG
036801,000413: 14,2120 77624 CALL
036802,000414: 14,2121 30667 CALCSMSC
036803,000415: 14,2122 77601 SETPD
036804,000416: 14,2123 00001 0
036805,000417: 14,2124 71214 SET DLOAD # VFLAG = 1
036806,000418: 14,2125 01465 VFLAG
036807,000419:
036808,000420: 14,2126 22276 DPZERO
036809,000421: 14,2127 26756 STOVL BESTI
036810,000422: 14,2130 02665 XNB
036811,000423: 14,2131 63361 VXSC PDVL
036812,000424: 14,2132 22274 HALFDP
036813,000425: 14,2133 02701 ZNB
036814,000426: 14,2134 74370 AXT,1 VXSC
036815,000427: 14,2135 00344 228D # X1 = 37 X 6 + 6
036816,000428: 14,2136 22274 HALFDP
036817,000429: 14,2137 77655 VAD
036818,000430: 14,2140 53505 VXM UNIT
036819,000431: 14,2141 01736 REFSMMAT
036820,000432: 14,2142 02731 STORE SAX # SAX = SHAFT AXIS
036821,000433: 14,2143 66331 SSP SSP # S1=S2=6
036822,000434: 14,2144 00051 S1
036823,000435: 14,2145 00006 6
036824,000436: 14,2146 00052 S2
036825,000437: 14,2147 00006 6
036826,000438: 14,2150 52100 PIC1 TIX,1 GOTO # MAJOR STAR
036827,000439: 14,2151 30153 PIC2
036828,000440: 14,2152 30270 PICEND
036829,000441: 14,2153 50373 PIC2 VLOAD* DOT
036830,000442: 14,2154 31734 CATLOG,1
036831,000443: 14,2155 02731 SAX
036832,000444: 14,2156 50025 DSU BMN
036833,000445: 14,2157 30267 CSS33
036834,000446: 14,2160 30150 PIC1
036835,000447: 14,2161 77754 LXA,2
036836,000448: 14,2162 00046 X1
036837,000449: 14,2163 52104 PIC3 TIX,2 GOTO
036838,000450: 14,2164 30166 PIC4
036839,000451: 14,2165 30150 PIC1
036840,000452: 14,2166 50373 PIC4 VLOAD* DOT
036841,000453: 14,2167 46043 CATLOG,2
036842,000454: 14,2170 02731 SAX
036843,000455: 14,2171 50025 DSU BMN
036844,000456: 14,2172 30267 CSS33
036845,000457: 14,2173 30163 PIC3
036846,000458: 14,2174 47773 VLOAD* DOT*
036847,000459: 14,2175 31734 CATLOG,1
036848,000460: 14,2176 46043 CATLOG,2
036849,000461: 14,2177 51025 DSU BPL
036850,000462: 14,2200 30265 CSS40
036851,000463: 14,2201 30163 PIC3
036852,000464: 14,2202 45173 VLOAD* CALL
036853,000465: 14,2203 31734 CATLOG,1
036854,000466: 14,2204 30242 OCCULT
036855,000467: 14,2205 77614 BON
036856,000468: 14,2206 01710 CULTFLAG
036857,000469: 14,2207 30150 PIC1
036858,000470:
036859,000471: 14,2210 45173 VLOAD* CALL
036860,000472: 14,2211 46043 CATLOG,2
036861,000473: 14,2212 30242 OCCULT
036862,000474: 14,2213 77614 BON
036863,000475: 14,2214 01710 CULTFLAG
036864,000476: 14,2215 30163 PIC3
036865,000477: 14,2216 77614 STRATGY BONCLR
036866,000478: 14,2217 01605 VFLAG
036867,000479: 14,2220 30235 NEWPAR
036868,000480: 14,2221 65120 XCHX,1 XCHX,2
036869,000481: 14,2222 02755 BESTI
036870,000482: 14,2223 02756 BESTJ
036871,000483: 14,2224 47773 STRAT VLOAD* DOT*
036872,000484: 14,2225 31734 CATLOG,1
036873,000485: 14,2226 46043 CATLOG,2
036874,000486: 14,2227 43006 PUSH BOFINV
036875,000487: 14,2230 01545 VFLAG
036876,000488: 14,2231 30221 STRAT -3
036877,000489: 14,2232 45345 DLOAD DSU
036878,000490: 14,2233 77644 BPL
036879,000491: 14,2234 30163 PIC3
036880,000492: 14,2235 67130 NEWPAR SXA,1 SXA,2
036881,000493: 14,2236 02755 BESTI
036882,000494: 14,2237 02756 BESTJ
036883,000495: 14,2240 77650 GOTO
036884,000496: 14,2241 30163 PIC3
036885,000497: 14,2242 51321 OCCULT MXV BVSU
036886,000498: 14,2243 02707 CULTRIX
036887,000499: 14,2244 00017 CSS
036888,000500: 14,2245 77654 BZE
036889,000501: 14,2246 30261 CULTED
036890,000502: 14,2247 75240 BMN SIGN
036891,000503: 14,2250 30261 CULTED
036892,000504: 14,2251 00160 MPAC +3
036893,000505: 14,2252 75240 BMN SIGN
036894,000506: 14,2253 30261 CULTED
036895,000507: 14,2254 00162 MPAC +5
036896,000508: 14,2255 43040 BMN CLRGO
036897,000509: 14,2256 30261 CULTED
036898,000510: 14,2257 01630 CULTFLAG
036899,000511: 14,2260 00052 QPRET
036900,000512: 14,2261 77614 CULTED SETGO
036901,000513: 14,2262 01430 CULTFLAG
036902,000514: 14,2263 00052 QPRET
036903,000515: 14,2264 0000016 CSS = CEARTH
036904,000516: 14,2264 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
036905,000517: 14,2266 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
036906,000518: 14,2270 77414 PICEND BOFF EXIT
036907,000519:
036908,000520: 14,2271 01745 VFLAG
036909,000521: 14,2272 30274 PICGXT
036910,000522: 14,2273 02315 TC PICBXT
036911,000523: 14,2274 73150 PICGXT LXA,1 LXA,2
036912,000524: 14,2275 02755 BESTI
036913,000525: 14,2276 02756 BESTJ
036914,000526: 14,2277 47775 VLOAD DOT*
036915,000527: 14,2300 02731 SAX
036916,000528: 14,2301 31734 CATLOG,1
036917,000529: 14,2302 47715 PDVL DOT*
036918,000530: 14,2303 02731 SAX
036919,000531: 14,2304 46043 CATLOG,2
036920,000532: 14,2305 77625 DSU
036921,000533: 14,2306 66044 BPL SXA,1
036922,000534: 14,2307 30313 PICNSWP
036923,000535: 14,2310 02756 BESTJ
036924,000536: 14,2311 77734 SXA,2
036925,000537: 14,2312 02755 BESTI
036926,000538: 14,2313 77776 PICNSWP EXIT
036927,000539: 14,2314 25745 INCR QMIN
036928,000540: 14,2315 31745 PICBXT CA QMIN
036929,000541: 14,2316 04661 TC SWCALL
036930,000542: 14,2317 VPD = 0D
036931,000543: 14,2317 V0 = 6D
036932,000544: 14,2317 V1 = 12D
036933,000545: 14,2317 V2 = 18D
036934,000546: 14,2317 V3 = 24D
036935,000547: 14,2317 DP0 = 30D
036936,000548: 14,2317 DP1 = 32D
036937,000549:
036938,000550: # NAME-R51 FINE ALIGN
036939,000551: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
036940,000552: # CALLING SEQ- CALL R51
036941,000553: # INPUT - REFSMMAT
036942,000554: # OUTPUT- GYRO TORQUE PULSES
036943,000555: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
036944,000556: 14,2317 COUNT* $$/R51
036945,000557: 14,2317 77620 R51 STQ
036946,000558: 14,2320 02746 QMAJ
036947,000559: 14,2321 77776 R51.1 EXIT
036948,000560: 14,2322 35034 R51C CAF OCT15
036949,000561: 14,2323 04655 TC BANKCALL
036950,000562: 14,2324 20532 CADR GOPERF1
036951,000563: 14,2325 04106 TC GOTOPOOH
036952,000564: 14,2326 02330 TC +2 # V33E
036953,000565: 14,2327 02353 TC R51E # ENTER
036954,000566: 14,2330 06014 TC INTPRET
036955,000567: 14,2331 43234 RTB DAD
036956,000568: 14,2332 21454 LOADTIME
036957,000569: 14,2333 30465 TSIGHT1
036958,000570: 14,2334 77624 CALL
036959,000571: 14,2335 30000 LOCSAM
036960,000572: 14,2336 77776 EXIT
036961,000573: 14,2337 04655 TC BANKCALL
036962,000574: 14,2340 30113 CADR R56
036963,000575: 14,2341 02343 TC R51I
036964,000576: 14,2342 02353 R51F TC R51E
036965,000577: 14,2343 05646 R51I TC ALARM
036966,000578: 14,2344 00405 OCT 405
036967,000579: 14,2345 35056 CAF VB05N09
036968,000580: 14,2346 04655 TC BANKCALL
036969,000581: 14,2347 20406 CADR GOFLASH
036970,000582: 14,2350 04106 TC GOTOPOOH
036971,000583: 14,2351 02353 TC R51E
036972,000584: 14,2352 02322 TC R51C
036973,000585: 14,2353 35030 R51E CAF ZERO
036974,000586: 14,2354 55757 TS STARIND
036975,000587: 14,2355 06014 R51.2 TC INTPRET
036976,000588: 14,2356 77776 R51.3 EXIT
036977,000589: 14,2357 05413 TC PHASCHNG
036978,000590: 14,2360 05024 OCT 05024
036979,000591: 14,2361 13000 OCT 13000
036980,000592: 14,2362 06014 TC INTPRET
036981,000593: 14,2363 77624 CALL
036982,000594: 14,2364 31210 R52 # AOP WILL MAKE CALLS TO SIGHTING
036983,000595: 14,2365 77776 EXIT
036984,000596: 14,2366 04655 TC BANKCALL
036985,000597: 14,2367 16000 CADR AOTMARK
036986,000598: 14,2370 04655 TC BANKCALL
036987,000599: 14,2371 17621 CADR OPTSTALL
036988,000600:
036989,000601: 14,2372 05730 TC CURTAINS
036990,000602: 14,2373 11757 CCS STARIND
036991,000603: 14,2374 12376 TCF +2
036992,000604: 14,2375 02447 TC R51.4
036993,000605: 14,2376 06014 TC INTPRET
036994,000606: 14,2377 77775 VLOAD
036995,000607: 14,2400 02715 STARAD +6
036996,000608: 14,2401 02767 STORE STARSAV2
036997,000609: 14,2402 77776 EXIT
036998,000610: 14,2403 05413 TC PHASCHNG
036999,000611: 14,2404 05024 OCT 05024
037000,000612: 14,2405 13000 OCT 13000
037001,000613: 14,2406 06014 TC INTPRET
037002,000614: 14,2407 45145 DLOAD CALL
037003,000615: 14,2410 03547 TSIGHT
037004,000616: 14,2411 32160 PLANET
037005,000617: 14,2412 53521 MXV UNIT
037006,000618: 14,2413 01736 REFSMMAT
037007,000619: 14,2414 26715 STOVL STARAD +6
037008,000620: 14,2415 03541 PLANVEC
037009,000621: 14,2416 53521 MXV UNIT
037010,000622: 14,2417 01736 REFSMMAT
037011,000623: 14,2420 26707 STOVL STARAD
037012,000624: 14,2421 02761 STARSAV1
037013,000625: 14,2422 24007 STOVL 6D
037014,000626: 14,2423 02767 STARSAV2
037015,000627: 14,2424 34015 STCALL 12D
037016,000628: 14,2425 30521 R54 # STAR DATA TEST
037017,000629: 14,2426 45014 BOFF CALL
037018,000630: 14,2427 00354 FREEFLAG
037019,000631: 14,2430 30436 R51K
037020,000632: 14,2431 47153 AXISGEN
037021,000633: 14,2432 77624 CALL
037022,000634: 14,2433 30466 R55 # GYRO TORQUE
037023,000635: 14,2434 77614 CLEAR
037024,000636: 14,2435 01273 PFRATFLG
037025,000637: 14,2436 77776 R51K EXIT
037026,000638: 14,2437 35743 R51P63 CAF OCT14
037027,000639: 14,2440 04655 TC BANKCALL
037028,000640: 14,2441 20532 CADR GOPERF1
037029,000641: 14,2442 04106 TC GOTOPOOH
037030,000642: 14,2443 02322 TC R51C
037031,000643: 14,2444 06014 TC INTPRET
037032,000644: 14,2445 77650 GOTO
037033,000645: 14,2446 02746 QMAJ
037034,000646: 14,2447 06014 R51.4 TC INTPRET
037035,000647: 14,2450 77775 VLOAD
037036,000648: 14,2451 02715 STARAD +6
037037,000649: 14,2452 02761 STORE STARSAV1
037038,000650: 14,2453 45145 DLOAD CALL
037039,000651:
037040,000652: 14,2454 03547 TSIGHT
037041,000653: 14,2455 32160 PLANET
037042,000654: 14,2456 03541 STORE PLANVEC
037043,000655: 14,2457 77731 SSP
037044,000656: 14,2460 02760 STARIND
037045,000657: 14,2461 00001 1
037046,000658: 14,2462 77650 GOTO
037047,000659: 14,2463 30356 R51.3
037048,000660: 14,2464 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
037049,000661:
037050,000662: # R55 GYRO TORQUE
037051,000663: # FUNCTION-COMPUTE AND SEND GYRO PULSES
037052,000664: # CALLING SEQ- CALL R55
037053,000665: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
037054,000666: # OUTPUT- GYRO PULSES
037055,000667: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE, IMUPULSE,GOPERF1
037056,000668: 14,2466 COUNT* $$/R55
037057,000669: 14,2466 77620 R55 STQ
037058,000670: 14,2467 02745 QMIN
037059,000671: 14,2470 77624 CALL
037060,000672: 14,2471 46757 CALCGTA
037061,000673: 14,2472 77776 PULSEM EXIT
037062,000674: 14,2473 32517 R55.1 CAF V06N93
037063,000675: 14,2474 04655 TC BANKCALL
037064,000676: 14,2475 20406 CADR GOFLASH
037065,000677: 14,2476 04106 TC GOTOPOOH
037066,000678: 14,2477 02501 TC R55.2
037067,000679: 14,2500 02514 TC R55RET
037068,000680: 14,2501 05413 R55.2 TC PHASCHNG
037069,000681: 14,2502 00214 OCT 00214
037070,000682: 14,2503 32520 CA R55CDR
037071,000683: 14,2504 04655 TC BANKCALL
037072,000684: 14,2505 17234 CADR IMUPULSE
037073,000685: 14,2506 04655 TC BANKCALL
037074,000686: 14,2507 17625 CADR IMUSTALL
037075,000687: 14,2510 05730 TC CURTAINS
037076,000688: 14,2511 05413 TC PHASCHNG
037077,000689: 14,2512 05024 OCT 05024
037078,000690: 14,2513 13000 OCT 13000
037079,000691: 14,2514 06014 R55RET TC INTPRET
037080,000692: 14,2515 77650 GOTO
037081,000693: 14,2516 02745 QMIN
037082,000694: 14,2517 01535 V06N93 VN 0693
037083,000695: 14,2520 02737 R55CDR ECADR OGC
037084,000696: 14,2521 14,2521 R54 = CHKSDATA
037085,000697: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
037086,000698: # MOD NO- 0 LOG SECTION- P51-P53
037087,000699: # MODIFICATION BY- LONSKE ASSEMBLY-
037088,000700:
037089,000701: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
037090,000702: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
037091,000703: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
037092,000704:
037093,000705: # OS1 = OBSERVED STAR 1 VECTOR
037094,000706: # OS2 = OBSERVED STAR 2 VECTOR
037095,000707: # SS1 = STORED STAR 1 VECTOR
037096,000708: # SS2 = STORED STAR 2 VECTOR
037097,000709: # A1 = ARCCOS(OS1 - OS2)
037098,000710: # A2 = ARCCOS(SS1 - SS2)
037099,000711: # A = ABS(2(A1 - A2))
037100,000712:
037101,000713: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
037102,000714: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
037103,000715: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
037104,000716: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
037105,000717: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
037106,000718:
037107,000719: # ERASABLE INITIALIZATION REQUIRED -
037108,000720: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
037109,000721: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
037110,000722: # DEBRIS -
037111,000723: 14,2521 COUNT* $$/R54
037112,000724: 14,2521 43020 CHKSDATA STQ SET
037113,000725: 14,2522 02745 QMIN
037114,000726: 14,2523 00074 FREEFLAG
037115,000727: 14,2524 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
037116,000728: 14,2525 02706 STARAD
037117,000729:
037118,000730: 14,2526 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
037119,000731: 14,2527 00001 0,1
037120,000732: 14,2530 00007 6,1
037121,000733: 14,2531 65552 SL1 ACOS
037122,000734: 14,2532 00025 STORE THETA
037123,000735: 14,2533 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
037124,000736: 14,2534 00354 FREEFLAG
037125,000737: 14,2535 30545 CHKSD
037126,000738: 14,2536 00174 FREEFLAG # CLEAR FREEFLAG
037127,000739: 14,2537 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
037128,000740: 14,2540 00006 6D
037129,000741: 14,2541 00025 THETA
037130,000742: 14,2542 00023 STORE 18D
037131,000743: 14,2543 77650 GOTO
037132,000744: 14,2544 30526 CHKSB # RETURN TO CAL. 2ND ANGLE
037133,000745: 14,2545 45345 CHKSD DLOAD DSU
037134,000746: 14,2546 00025 THETA
037135,000747: 14,2547 00023 18D
037136,000748: 14,2550 47046 ABS RTB # COMPUTE POS DIFF
037137,000749: 14,2551 21510 SGNAGREE
037138,000750: 14,2552 01047 STORE NORMTEM1
037139,000751: 14,2553 77414 SET EXIT
037140,000752: 14,2554 00074 FREEFLAG
037141,000753: 14,2555 32571 CAF VB6N5
037142,000754: 14,2556 04655 TC BANKCALL
037143,000755: 14,2557 20406 CADR GOFLASH
037144,000756: 14,2560 14106 TCF GOTOPOOH
037145,000757: 14,2561 02566 TC CHKSDA # PROCEED
037146,000758: 14,2562 06014 TC INTPRET
037147,000759: 14,2563 52014 CLEAR GOTO
037148,000760: 14,2564 00274 FREEFLAG
037149,000761: 14,2565 02745 QMIN
037150,000762: 14,2566 06014 CHKSDA TC INTPRET
037151,000763:
037152,000764: 14,2567 77650 GOTO
037153,000765: 14,2570 02745 QMIN
037154,000766: 14,2571 01405 VB6N5 VN 605
037155,000767: # NAME - CAL53A
037156,000768: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
037157,000769: # CALLING SEQUENCE - CALL CAL53A
037158,000770: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
037159,000771: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
037160,000772: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
037161,000773: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
037162,000774: 14,2572 COUNT* $$/R50
037163,000775: 14,2572 45020 CAL53A STQ CALL
037164,000776: 14,2573 00035 29D
037165,000777: 14,2574 31134 S52.2 # MAKE ONE FINAL COMP OF GIMBLE ANGLES
037166,000778: 14,2575 66234 RTB SSP
037167,000779: 14,2576 30653 RDCDUS # READ CDUS
037168,000780: 14,2577 00051 S1
037169,000781: 14,2600 00001 1
037170,000782: 14,2601 40370 AXT,1 SETPD
037171,000783: 14,2602 00003 3
037172,000784: 14,2603 00005 4
037173,000785: 14,2604 70543 CALOOP DLOAD* SR1
037174,000786: 14,2605 01212 THETAD +3D,1
037175,000787: 14,2606 70523 PDDL* SR1
037176,000788: 14,2607 00005 4,1
037177,000789: 14,2610 51425 DSU ABS
037178,000790: 14,2611 45206 PUSH DSU
037179,000791: 14,2612 30652 DEGREE1
037180,000792: 14,2613 71240 BMN DLOAD
037181,000793: 14,2614 30626 CALOOP1
037182,000794: 14,2615 51025 DSU BPL
037183,000795: 14,2616 30653 DEG359
037184,000796: 14,2617 30626 CALOOP1
037185,000797: 14,2620 77624 COARFINE CALL
037186,000798: 14,2621 31106 COARSE
037187,000799: 14,2622 77624 CALL
037188,000800: 14,2623 31123 NCOARSE
037189,000801: 14,2624 77650 GOTO
037190,000802: 14,2625 30630 FINEONLY
037191,000803: 14,2626 77700 CALOOP1 TIX,1
037192,000804: 14,2627 30604 CALOOP
037193,000805: 14,2630 75160 FINEONLY AXC,1 AXC,2
037194,000806: 14,2631 02642 XSM
037195,000807: 14,2632 01735 REFSMMAT
037196,000808: 14,2633 77624 CALL
037197,000809: 14,2634 30637 MATMOVE
037198,000810: 14,2635 77650 GOTO
037199,000811: 14,2636 00035 29D
037200,000812: 14,2637 77773 MATMOVE VLOAD* # TRANSFER MATRIX
037201,000813: 14,2640 00001 0,1
037202,000814:
037203,000815: 14,2641 10001 STORE 0,2
037204,000816: 14,2642 77773 VLOAD*
037205,000817: 14,2643 00007 6D,1
037206,000818: 14,2644 10007 STORE 6D,2
037207,000819: 14,2645 77773 VLOAD*
037208,000820: 14,2646 00015 12D,1
037209,000821: 14,2647 10015 STORE 12D,2
037210,000822: 14,2650 77616 RVQ
037211,000823: 14,2651 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
037212,000824: 14,2652 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
037213,000825: 14,2653 00004 RDCDUS INHINT # READ CDUS
037214,000826: 14,2654 30032 CA CDUX
037215,000827: 14,2655 50120 INDEX FIXLOC
037216,000828: 14,2656 54001 TS 1
037217,000829: 14,2657 30033 CA CDUY
037218,000830: 14,2660 50120 INDEX FIXLOC
037219,000831: 14,2661 54002 TS 2
037220,000832: 14,2662 30034 CA CDUZ
037221,000833: 14,2663 50120 INDEX FIXLOC
037222,000834: 14,2664 54003 TS 3
037223,000835: 14,2665 00003 RELINT
037224,000836: 14,2666 06035 TC DANZIG # +
037225,000837: 14,2667 COUNT* $$/INFLT
037226,000838: 14,2667 77760 CALCSMSC AXC,1
037227,000839: 14,2670 02664 XNB
037228,000840:
037229,000841: 14,2671 41345 XNBNDX DLOAD DMP
037230,000842: 14,2672 00737 SINCDUY
037231,000843: 14,2673 00747 COSCDUZ
037232,000844: 14,2674 77676 DCOMP
037233,000845: 14,2675 70525 PDDL SR1
037234,000846: 14,2676 00741 SINCDUZ
037235,000847: 14,2677 41325 PDDL DMP
037236,000848: 14,2700 00745 COSCDUY
037237,000849: 14,2701 00747 COSCDUZ
037238,000850: 14,2702 76466 VDEF VSL1
037239,000851: 14,2703 04001 STORE 0,1
037240,000852: 14,2704 41345 DLOAD DMP
037241,000853: 14,2705 00743 SINCDUX
037242,000854: 14,2706 00741 SINCDUZ
037243,000855: 14,2707 77752 SL1
037244,000856: 14,2710 00033 STORE 26D
037245,000857: 14,2711 77605 DMP
037246,000858: 14,2712 00737 SINCDUY
037247,000859: 14,2713 41325 PDDL DMP
037248,000860: 14,2714 00751 COSCDUX
037249,000861: 14,2715 00745 COSCDUY
037250,000862: 14,2716 77625 DSU
037251,000863: 14,2717 41325 PDDL DMP
037252,000864: 14,2720 00743 SINCDUX
037253,000865:
037254,000866: 14,2721 00747 COSCDUZ
037255,000867: 14,2722 77676 DCOMP
037256,000868: 14,2723 41325 PDDL DMP
037257,000869: 14,2724 00751 COSCDUX
037258,000870: 14,2725 00737 SINCDUY
037259,000871: 14,2726 41325 PDDL DMP
037260,000872: 14,2727 00745 COSCDUY
037261,000873: 14,2730 00033 26D
037262,000874: 14,2731 55415 DAD VDEF
037263,000875: 14,2732 77772 VSL1
037264,000876: 14,2733 04015 STORE 14,1
037265,000877: 14,2734 76433 VXV* VSL1
037266,000878: 14,2735 00001 0,1
037267,000879: 14,2736 04007 STORE 6,1
037268,000880: 14,2737 77616 RVQ
037269,000881:
037270,000882: # NAME - P51 - IMU ORIENTATION DETERMINATION
037271,000883: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
037272,000884: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
037273,000885:
037274,000886: # FUNCTIONAL DESCRIPTION
037275,000887:
037276,000888: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
037277,000889: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
037278,000890: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
037279,000891: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
037280,000892:
037281,000893: # CALLING SEQUENCE
037282,000894:
037283,000895: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
037284,000896:
037285,000897: # SUBROUTINES CALLED.
037286,000898:
037287,000899: # GOPERF3
037288,000900: # GOPERF1
037289,000901: # GODSPR
037290,000902: # IMUCOARS
037291,000903: # IMUFIN20
037292,000904: # AOTMARK(R53)
037293,000905: # CHKSDATA(R54)
037294,000906: # MKRELEAS
037295,000907: # AXISGEN
037296,000908: # MATMOVE
037297,000909:
037298,000910: # ALARMS
037299,000911:
037300,000912: # NONE.
037301,000913:
037302,000914: # ERASABLE INITIALIZATION
037303,000915:
037304,000916: # IMU ZERO FLAG SHOULD BE SET.
037305,000917:
037306,000918: # OUTPUT
037307,000919:
037308,000920: # REFSMMAT
037309,000921: # REFSMFLG
037310,000922:
037311,000923: # DEBRIS
037312,000924:
037313,000925: # WORK AREA
037314,000926: # STARAD
037315,000927: # STARIND
037316,000928: # BESTI
037317,000929: # BESTJ
037318,000930:
037319,000931: 14,2740 COUNT* $$/P51
037320,000932: 14,2740 04655 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
037321,000933: 14,2741 33205 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
037322,000934:
037323,000935: 14,2742 35034 CAF PRFMSTAQ
037324,000936: 14,2743 04655 TC BANKCALL
037325,000937: 14,2744 20532 CADR GOPERF1
037326,000938: 14,2745 04106 TC GOTOPOOH # TERM.
037327,000939: 14,2746 12774 TCF P51B # V33
037328,000940: 14,2747 05413 TC PHASCHNG
037329,000941: 14,2750 05024 OCT 05024
037330,000942: 14,2751 13000 OCT 13000
037331,000943: 14,2752 35030 CAF P51ZERO
037332,000944: 14,2753 55206 TS THETAD # ZERO THE GIMBALS
037333,000945: 14,2754 55207 TS THETAD +1
037334,000946: 14,2755 55210 TS THETAD +2
037335,000947: 14,2756 33104 CAF V6N22
037336,000948: 14,2757 04655 TC BANKCALL
037337,000949: 14,2760 20361 CADR GODSPRET
037338,000950: 14,2761 33105 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
037339,000951: 14,2762 04655 TC BANKCALL
037340,000952: 14,2763 20361 CADR GODSPRET
037341,000953: 14,2764 06014 TC INTPRET
037342,000954: 14,2765 77624 CALL
037343,000955: 14,2766 31106 COARSE
037344,000956: 14,2767 77776 EXIT
037345,000957: 14,2770 05413 TC PHASCHNG
037346,000958: 14,2771 05024 OCT 05024
037347,000959: 14,2772 13000 OCT 13000
037348,000960: 14,2773 12742 TCF P51 +2
037349,000961:
037350,000962: 14,2774 05413 P51B TC PHASCHNG
037351,000963: 14,2775 00014 OCT 00014
037352,000964: 14,2776 06014 TC INTPRET
037353,000965: 14,2777 77624 CALL
037354,000966: 14,3000 31123 NCOARSE
037355,000967: 14,3001 40331 SSP SETPD
037356,000968: 14,3002 02760 STARIND # INDEX-STAR 1 OR 2
037357,000969: 14,3003 00000 0
037358,000970: 14,3004 00001 0
037359,000971: 14,3005 77776 P51C EXIT
037360,000972: 14,3006 05413 TC PHASCHNG
037361,000973: 14,3007 05024 OCT 05024
037362,000974: 14,3010 13000 OCT 13000
037363,000975: 14,3011 04655 TC BANKCALL
037364,000976: 14,3012 16000 CADR AOTMARK # R53
037365,000977: 14,3013 04655 TC BANKCALL
037366,000978: 14,3014 17621 CADR AOTSTALL
037367,000979: 14,3015 05730 TC CURTAINS
037368,000980: 14,3016 11757 CCS STARIND
037369,000981: 14,3017 13025 TCF P51D +1
037370,000982:
037371,000983: 14,3020 06014 TC INTPRET
037372,000984: 14,3021 77775 VLOAD
037373,000985: 14,3022 02715 STARAD +6
037374,000986: 14,3023 02761 STORE STARSAV1
037375,000987: 14,3024 77776 P51D EXIT
037376,000988: 14,3025 05413 TC PHASCHNG
037377,000989: 14,3026 05024 OCT 05024
037378,000990: 14,3027 13000 OCT 13000
037379,000991: 14,3030 11757 CCS STARIND
037380,000992: 14,3031 13046 TCF P51E
037381,000993: 14,3032 05413 TC PHASCHNG
037382,000994: 14,3033 05024 OCT 05024
037383,000995: 14,3034 13000 OCT 13000
037384,000996: 14,3035 06014 TC INTPRET
037385,000997: 14,3036 45145 DLOAD CALL
037386,000998: 14,3037 03547 TSIGHT
037387,000999: 14,3040 32160 PLANET
037388,001000: 14,3041 03541 STORE PLANVEC
037389,001001: 14,3042 77776 EXIT
037390,001002: 14,3043 35026 CAF BIT1
037391,001003: 14,3044 55757 TS STARIND
037392,001004: 14,3045 13006 TCF P51C +1 # DO SECOND STAR
037393,001005: 14,3046 05413 P51E TC PHASCHNG
037394,001006: 14,3047 05024 OCT 05024
037395,001007: 14,3050 13000 OCT 13000
037396,001008: 14,3051 06014 TC INTPRET
037397,001009: 14,3052 45145 DLOAD CALL
037398,001010: 14,3053 03547 TSIGHT
037399,001011: 14,3054 32160 PLANET
037400,001012: 14,3055 24015 STOVL 12D
037401,001013: 14,3056 03541 PLANVEC
037402,001014: 14,3057 24007 STOVL 6D
037403,001015: 14,3060 02761 STARSAV1
037404,001016: 14,3061 26707 STOVL STARAD
037405,001017: 14,3062 02767 STARSAV2
037406,001018: 14,3063 36715 STCALL STARAD +6
037407,001019: 14,3064 30521 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
037408,001020: 14,3065 77414 BON EXIT
037409,001021: 14,3066 00314 FREEFLAG
037410,001022: 14,3067 31071 P51G
037411,001023: 14,3070 02742 TC P51 +2
037412,001024: 14,3071 77624 P51G CALL
037413,001025: 14,3072 47153 AXISGEN # COME BACK WITH REFSMMAT IN XDC
037414,001026: 14,3073 75160 AXC,1 AXC,2
037415,001027: 14,3074 02664 XDC
037416,001028: 14,3075 01735 REFSMMAT
037417,001029: 14,3076 77624 CALL
037418,001030: 14,3077 30637 MATMOVE
037419,001031: 14,3100 77614 SET
037420,001032: 14,3101 01462 REFSMFLG
037421,001033:
037422,001034: 14,3102 77776 EXIT
037423,001035: 14,3103 04106 TC GOTOPOOH # FINIS
037424,001036: 14,3104 5034 PRFMSTAQ = OCT15
037425,001037: 14,3104 5030 P51ZERO = ZERO
037426,001038: 14,3104 5031 P51FIVE = FIVE
037427,001039: 14,3104 01426 V6N22 VN 0622
037428,001040: 14,3105 12200 V41K VN 4100
037429,001041: 14,3106 77776 COARSE EXIT
037430,001042: 14,3107 04655 TC BANKCALL
037431,001043: 14,3110 16711 CADR IMUCOARS
037432,001044: 14,3111 04655 TC BANKCALL
037433,001045: 14,3112 17625 CADR IMUSTALL
037434,001046: 14,3113 05730 TC CURTAINS
037435,001047: 14,3114 04655 TC BANKCALL
037436,001048: 14,3115 17121 CADR IMUFINE
037437,001049: 14,3116 04655 TC BANKCALL
037438,001050: 14,3117 17625 CADR IMUSTALL
037439,001051: 14,3120 05730 TC CURTAINS
037440,001052: 14,3121 06014 TC INTPRET
037441,001053: 14,3122 77616 RVQ
037442,001054: 14,3123 77776 NCOARSE EXIT
037443,001055: 14,3124 30025 CA TIME1
037444,001056: 14,3125 55075 TS 1/PIPADT
037445,001057: 14,3126 06014 TC INTPRET
037446,001058: 14,3127 77775 VLOAD
037447,001059: 14,3130 22276 ZEROVEC
037448,001060: 14,3131 01472 STORE GCOMP
037449,001061: 14,3132 43414 SET RVQ
037450,001062: 14,3133 01060 DRIFTFLG
037451,001063:
037452,001064: # NAME-S52.2
037453,001065: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
037454,001066: # CALL- CALL S52.2
037455,001067: # INPUT- X,Y,ZSMD
037456,001068: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
037457,001069: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
037458,001070: 14,3134 COUNT* $$/S52.1
037459,001071: 14,3134 77620 S52.2 STQ
037460,001072: 14,3135 02746 QMAJ
037461,001073: 14,3136 77624 CALL
037462,001074: 14,3137 47251 CDUTRIG
037463,001075: 14,3140 77624 CALL
037464,001076: 14,3141 30667 CALCSMSC
037465,001077: 14,3142 66370 AXT,1 SSP
037466,001078: 14,3143 00022 18D
037467,001079: 14,3144 00051 S1
037468,001080: 14,3145 00006 6D
037469,001081: 14,3146 61373 S52.2A VLOAD* VXM
037470,001082: 14,3147 02707 XNB +18D,1
037471,001083: 14,3150 01736 REFSMMAT
037472,001084: 14,3151 77656 UNIT
037473,001085: 14,3152 06707 STORE XNB +18D,1
037474,001086: 14,3153 77700 TIX,1
037475,001087: 14,3154 31146 S52.2A
037476,001088: 14,3155 75160 S52.2.1 AXC,1 AXC,2
037477,001089: 14,3156 03573 XSMD
037478,001090: 14,3157 02642 XSM
037479,001091: 14,3160 77624 CALL
037480,001092: 14,3161 30637 MATMOVE
037481,001093: 14,3162 77624 CALL
037482,001094: 14,3163 47063 CALCGA
037483,001095: 14,3164 77650 GOTO
037484,001096: 14,3165 02746 QMAJ
037485,001097:
037486,001098: # NAME-S52.3
037487,001099: # FUNCTION XSMD= UNIT R
037488,001100: # YSMD= UNIT(V X R)
037489,001101: # ZSMD= UNIT(XSMD X YSMD)
037490,001102: # CALL DLOAD CALL
037491,001103: # TALIGN
037492,001104: # S52.3
037493,001105: # INPUT- TIME OF ALIGNMENT IN MPAC
037494,001106: # OUTPUT- X,Y,ZSMD
037495,001107: # SUBROUTINES- CSMCONIC
037496,001108: 14,3166 COUNT* $$/S52.3
037497,001109: 14,3166 77620 S52.3 STQ
037498,001110: 14,3167 02746 QMAJ
037499,001111: 14,3170 34041 STCALL TDEC1
037500,001112: 14,3171 27051 LEMCONIC
037501,001113: 14,3172 77601 SETPD
037502,001114: 14,3173 00001 0
037503,001115: 14,3174 53575 VLOAD UNIT
037504,001116: 14,3175 00001 RATT
037505,001117: 14,3176 27574 STOVL XSMD
037506,001118: 14,3177 00007 VATT
037507,001119: 14,3200 53435 VXV UNIT
037508,001120: 14,3201 00001 RATT
037509,001121: 14,3202 27602 STOVL YSMD
037510,001122: 14,3203 03574 XSMD
037511,001123: 14,3204 53435 VXV UNIT
037512,001124: 14,3205 03602 YSMD
037513,001125: 14,3206 37610 STCALL ZSMD
037514,001126: 14,3207 02746 QMAJ
037515,001127:
037516,001128: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
037517,001129:
037518,001130: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
037519,001131: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
037520,001132:
037521,001133: # CALLING -CALL R52
037522,001134:
037523,001135: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
037524,001136: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
037525,001137: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
037526,001138: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
037527,001139: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
037528,001140:
037529,001141: # SUBROUT -R60LEM
037530,001142:
037531,001143: 14,3210 COUNT* $$/R52
037532,001144: 14,3210 77420 R52 STQ EXIT
037533,001145: 14,3211 03652 SAVQR52
037534,001146: 14,3212 51757 INDEX STARIND
037535,001147: 14,3213 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
037536,001148: 14,3214 00006 EXTEND
037537,001149: 14,3215 73306 MP 1/6TH
037538,001150: 14,3216 65017 AD BIT8 # SET DETENT POSITION 2
037539,001151: 14,3217 54735 TS STARCODE # SCALE AND STORE IN STARCODE
037540,001152:
037541,001153: 14,3220 33307 R52A CAF V01N70
037542,001154: 14,3221 04655 TC BANKCALL
037543,001155: 14,3222 20406 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
037544,001156: 14,3223 04106 TC GOTOPOOH # V34-TERMINATE
037545,001157: 14,3224 13226 TCF R52B # V33-PROCEED TO ORIENT LEM
037546,001158: 14,3225 13220 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
037547,001159:
037548,001160: 14,3226 05575 R52B TC DOWNFLAG
037549,001161: 14,3227 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
037550,001162: 14,3230 30735 CA STARCODE # GRAB DETENT CODE
037551,001163: 14,3231 77715 MASK HIGH9
037552,001164: 14,3232 00006 EXTEND
037553,001165: 14,3233 63220 BZMF R52A # DONT ALLOW ZERO CODE-RECYCLE
037554,001166: 14,3234 75016 MASK BIT9 # SEE IF CODE 4 OR 5
037555,001167: 14,3235 10000 CCS A
037556,001168: 14,3236 13255 TCF GETAZEL # CODE 4 OR 5-GET CALIBRATION AZ EL
037557,001169: 14,3237 E7,1536 EBANK= XYMARK
037558,001170: 14,3237 35066 CA EBANK7
037559,001171: 14,3240 54003 TS EBANK
037560,001172: 14,3241 37715 CAF HIGH9 # FORWARD DETENT, INDEX DETENT AND GRAB
037561,001173: 14,3242 70735 MASK STARCODE # AZIMUTH ANGLE AND ELV = 45 DEG
037562,001174: 14,3243 00006 EXTEND
037563,001175: 14,3244 75016 MP BIT9 # SHIFT DETENT TO BITS1-2 FOR INDEX
037564,001176: 14,3245 50000 INDEX A
037565,001177: 14,3246 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
037566,001178:
037567,001179: 14,3247 54001 TS L
037568,001180: 14,3250 E5,1642 EBANK= XSM
037569,001181: 14,3250 35064 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
037570,001182: 14,3251 54003 TS EBANK
037571,001183: 14,3252 35012 CA BIT13 # SET ELV TO 45 DEG
037572,001184: 14,3253 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
037573,001185: 14,3254 13265 TCF AZEL # GO COMP OPTIC AXIS
037574,001186:
037575,001187: 14,3255 33310 GETAZEL CAF V06N87 # CODE 4 OR 5-GET AZ AND EL FROM ASTRO
037576,001188: 14,3256 04655 TC BANKCALL
037577,001189: 14,3257 20406 CADR GOFLASH
037578,001190: 14,3260 04106 TC GOTOPOOH # V34-TERMINATE
037579,001191: 14,3261 13263 TCF +2 # PROCEED-CALC OPTIC AXIS
037580,001192: 14,3262 13255 TCF GETAZEL # ENTER-RECYCLE
037581,001193:
037582,001194: 14,3263 00006 EXTEND
037583,001195: 14,3264 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
037584,001196: 14,3265 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
037585,001197: 14,3266 52011 DXCH 8D
037586,001198: 14,3267 06014 TC INTPRET
037587,001199: 14,3270 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
037588,001200: 14,3271 16170 OANB # SCAXIS IN NB COORDS
037589,001201: 14,3272 45034 RTB CALL
037590,001202: 14,3273 21454 LOADTIME
037591,001203: 14,3274 32160 PLANET
037592,001204: 14,3275 53521 MXV UNIT
037593,001205: 14,3276 01736 REFSMMAT
037594,001206: 14,3277 01256 STORE POINTVSM # STORE FOR VECPOINT
037595,001207:
037596,001208: 14,3300 77776 EXIT
037597,001209: 14,3301 04655 TC BANKCALL
037598,001210: 14,3302 54103 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
037599,001211:
037600,001212: 14,3303 06014 TC INTPRET # RETURN FROM KALCMANU
037601,001213: 14,3304 77650 GOTO
037602,001214: 14,3305 03652 SAVQR52 # RETURN TO CALLER
037603,001215:
037604,001216: 14,3306 05253 1/6TH DEC .1666667
037605,001217: 14,3307 00306 V01N70 VN 0170
037606,001218: 14,3310 01527 V06N87 VN 687
037607,001219:
037608,001220: # NAME - PLANET
037609,001221: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
037610,001222: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
037611,001223: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
037612,001224: # BY DSDY INPUT
037613,001225: # CALL - CALL
037614,001226: # PLANET
037615,001227: # INPUT - TIME IN MPAC
037616,001228: # OUTPUT - VECTOR IN MPAC
037617,001229: # SUBROUTINES - LOCSAM
037618,001230: # DEBRIS - VAC ,STARAD - STARAD +17
037619,001231:
037620,001232: 15,2000 SETLOC P50S
037621,001233: 15,2000 BANK
037622,001234: 15,2160 COUNT* $$/P51
037623,001235:
037624,001236: 15,2160 03547 PLANET STORE TSIGHT
037625,001237: 15,2161 77420 STQ EXIT
037626,001238: 15,2162 02736 GCTR
037627,001239: 15,2163 47715 CS HIGH9
037628,001240: 15,2164 70735 MASK AOTCODE
037629,001241: 15,2165 00006 EXTEND
037630,001242: 15,2166 76216 MP REVCNT
037631,001243: 15,2167 56001 XCH L
037632,001244: 15,2170 51757 INDEX STARIND
037633,001245: 15,2171 55755 TS BESTI
037634,001246: 15,2172 10000 CCS A
037635,001247: 15,2173 12207 TCF NOTPLAN
037636,001248: 15,2174 32246 CAF VNPLANV
037637,001249: 15,2175 04655 TC BANKCALL
037638,001250: 15,2176 20406 CADR GOFLASH
037639,001251: 15,2177 02174 TC -3
037640,001252: 15,2200 02202 TC +2
037641,001253: 15,2201 02174 TC -5
037642,001254: 15,2202 06014 TC INTPRET
037643,001255: 15,2203 53575 VLOAD UNIT
037644,001256: 15,2204 02707 STARAD
037645,001257: 15,2205 77650 GOTO
037646,001258: 15,2206 02736 GCTR
037647,001259: 15,2207 40000 NOTPLAN CS A
037648,001260: 15,2210 62245 AD DEC227
037649,001261: 15,2211 00006 EXTEND
037650,001262: 15,2212 62223 BZMF CALSAM1
037651,001263: 15,2213 51757 INDEX STARIND
037652,001264: 15,2214 31755 CA BESTI
037653,001265: 15,2215 50120 INDEX FIXLOC
037654,001266: 15,2216 54046 TS X1
037655,001267: 15,2217 06014 TC INTPRET
037656,001268: 15,2220 52173 VLOAD* GOTO
037657,001269: 15,2221 31734 CATLOG,1
037658,001270:
037659,001271: 15,2222 02736 GCTR
037660,001272: 15,2223 06014 CALSAM1 TC INTPRET
037661,001273: 15,2224 45145 CALSAM DLOAD CALL
037662,001274: 15,2225 03547 TSIGHT
037663,001275: 15,2226 30000 LOCSAM
037664,001276: 15,2227 77340 LXC,1 VLOAD
037665,001277: 15,2230 02757 STARIND
037666,001278: 15,2231 02707 VEARTH
037667,001279: 15,2232 24001 STOVL 0D
037668,001280: 15,2233 02715 VSUN
037669,001281: 15,2234 26707 STOVL VEARTH
037670,001282: 15,2235 00001 0D
037671,001283: 15,2236 02715 STORE VSUN
037672,001284: 15,2237 70143 DLOAD* LXC,1
037673,001285: 15,2240 02756 BESTI,1
037674,001286: 15,2241 00154 MPAC
037675,001287: 15,2242 52173 VLOAD* GOTO
037676,001288: 15,2243 02343 STARAD -228D,1
037677,001289: 15,2244 02736 GCTR
037678,001290: 15,2245 00343 DEC227 DEC 227 B-14
037679,001291: 15,2246 01530 VNPLANV VN 0688
037680,001292: 15,2247 33,2430 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
037681,001293:
037682,001294: # GRAVITY VECTOR DETERMINATION ROUTINE
037683,001295: # BY KEN VINCENT
037684,001296: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
037685,001297: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
037686,001298: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
037687,001299: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
037688,001300: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
037689,001301: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
037690,001302: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
037691,001303: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
037692,001304: # READINGS.
037693,001305:
037694,001306: # CALL-
037695,001307: # TC BANKCALL
037696,001308: # CADR GVDETER
037697,001309: # INPUTS-
037698,001310: # PIPAS,CDUS
037699,001311: # OUTPUTS-
037700,001312: # STARSAV1 = UNIT GRAVITY
037701,001313: # GSAV = DITTO
037702,001314: # GRAVBIT = 1
037703,001315: # SUBROUTINES-
037704,001316: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
037705,001317: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
037706,001318: # DEBRIS-
037707,001319: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
037708,001320: 15,2247 45024 GVDETER CS BIT3 # JAM 45 DEG IN DESIRED GIMBAL ANGLES
037709,001321: 15,2250 55207 TS THETAD +1
037710,001322: 15,2251 40000 COM
037711,001323: 15,2252 55210 TS THETAD +2
037712,001324: 15,2253 55206 TS THETAD
037713,001325: 15,2254 06014 TC INTPRET
037714,001326: 15,2255 45014 CLEAR CALL
037715,001327: 15,2256 01662 REFSMFLG
037716,001328: 15,2257 32345 LUNG
037717,001329: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
037718,001330:
037719,001331: # DEFINE G COOR SYS
037720,001332: # -
037721,001333: # X UNIT G
037722,001334: # * - -
037723,001335: # M= Y = UNITEZSM * X )
037724,001336: # - - -
037725,001337: # Z UNIT(X * Y )
037726,001338: # THEN ROTATED SM WRT PRESENT IS
037727,001339:
037728,001340:
037729,001341: # 1, 0 , 0
037730,001342: # * *T * * *
037731,001343: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
037732,001344:
037733,001345: # I J
037734,001346: # 0, 0 ,-1
037735,001347:
037736,001348: # ALSO NB WRT PRES SM IS
037737,001349:
037738,001350: # * * *
037739,001351: # XNB = NBSM I
037740,001352: # * *
037741,001353: # GIMBAL ANGLES = CALCGA( XSM , XNB )
037742,001354:
037743,001355: 15,2000 SETLOC P50S
037744,001356: 15,2000 BANK
037745,001357: 15,2260 COUNT* $$/P57
037746,001358: 15,2260 66370 AXT,1 SSP # X1=18
037747,001359: 15,2261 00022 18D # S1= 6
037748,001360: 15,2262 00051 S1 # X2, -2
037749,001361: 15,2263 00006 6D
037750,001362: 15,2264 77744 LXC,2
037751,001363: 15,2265 00050 S1
037752,001364: 15,2266 45173 GRAVEL VLOAD* CALL
037753,001365: 15,2267 55511 XUNIT -6,2
037754,001366: 15,2270 47415 *NBSM* # SIN AND COS COMPUTED IN LUNG
037755,001367: 15,2271 06707 STORE XNB +18D,1
037756,001368: 15,2272 77775 VLOAD
037757,001369: 15,2273 02731 STAR
037758,001370: 15,2274 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
037759,001371: 15,2275 00047 X2
037760,001372: 15,2276 75040 STAR +6,2 # OUTER PRODUCT
037761,001373: 15,2277 71152 VSL2 LXC,2
037762,001374: 15,2300 00047 X2
037763,001375: 15,2301 63047 VSU* INCR,2
037764,001376: 15,2302 55511 XUNIT -6,2
037765,001377: 15,2303 00002 2D
037766,001378: 15,2304 06665 STORE XSM +18D,1
037767,001379: 15,2305 45100 TIX,1 CALL
037768,001380: 15,2306 32266 GRAVEL
037769,001381: 15,2307 47063 CALCGA
037770,001382: 15,2310 74575 VLOAD VSR1
037771,001383: 15,2311 02715 GOUT
037772,001384: 15,2312 36723 STCALL STARAD +12D
037773,001385: 15,2313 32345 LUNG
037774,001386: 15,2314 74575 VLOAD VSR1
037775,001387: 15,2315 02715 GOUT
037776,001388: 15,2316 53455 VAD UNIT
037777,001389: 15,2317 02723 STARAD +12D
037778,001390: 15,2320 02761 STORE STARSAV1
037779,001391: 15,2321 77641 DOT
037780,001392: 15,2322 02237 GSAV
037781,001393: 15,2323 65552 SL1 ACOS
037782,001394: 15,2324 01047 STORE DSPTEM1
037783,001395:
037784,001396: 15,2325 77776 EXIT
037785,001397:
037786,001398: 15,2326 32444 CA DISGRVER
037787,001399: 15,2327 04655 TC BANKCALL
037788,001400: 15,2330 20406 CADR GOFLASH
037789,001401: 15,2331 04106 TC GOTOPOOH
037790,001402: 15,2332 02334 TC PROGRAV # VB33-PROCEED
037791,001403: 15,2333 02326 TC -5 # VB32-RECYCLE
037792,001404:
037793,001405: 15,2334 05413 PROGRAV TC PHASCHNG
037794,001406: 15,2335 05024 OCT 05024
037795,001407: 15,2336 13000 OCT 13000
037796,001408: 15,2337 06014 TC INTPRET
037797,001409: 15,2340 77775 VLOAD
037798,001410: 15,2341 02761 STARSAV1
037799,001411: 15,2342 02237 STORE GSAV
037800,001412: 15,2343 77776 EXIT
037801,001413: 15,2344 03170 TC P57OPT3
037802,001414:
037803,001415: 15,2345 77220 LUNG STQ VLOAD
037804,001416: 15,2346 02745 QMIN
037805,001417: 15,2347 22276 ZEROVEC
037806,001418: 15,2350 02707 STORE GACC
037807,001419: 15,2351 77776 EXIT
037808,001420: 15,2352 05413 TC PHASCHNG
037809,001421: 15,2353 05024 OCT 05024
037810,001422: 15,2354 13000 OCT 13000
037811,001423: 15,2355 04655 TC BANKCALL
037812,001424: 15,2356 16711 CADR IMUCOARS
037813,001425: 15,2357 04655 TC BANKCALL
037814,001426: 15,2360 17625 CADR IMUSTALL
037815,001427: 15,2361 05730 TC CURTAINS
037816,001428: 15,2362 04655 TC BANKCALL
037817,001429: 15,2363 17121 CADR IMUFINE
037818,001430: 15,2364 04655 TC BANKCALL
037819,001431: 15,2365 17625 CADR IMUSTALL
037820,001432: 15,2366 05730 TC CURTAINS
037821,001433: 15,2367 32443 CA T/2SEC
037822,001434: 15,2370 55736 TS GCTR
037823,001435: 15,2371 37670 CA PRIO31
037824,001436: 15,2372 55075 TS 1/PIPADT
037825,001437: 15,2373 04655 TC BANKCALL
037826,001438: 15,2374 15674 CADR GCOMPZER # INITIALIZE COMPENSATION
037827,001439:
037828,001440: 15,2375 05413 TC PHASCHNG
037829,001441: 15,2376 05024 OCT 05024
037830,001442: 15,2377 13000 OCT 13000
037831,001443: 15,2400 04655 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
037832,001444: 15,2401 66430 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
037833,001445:
037834,001446: 15,2402 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
037835,001447: 15,2403 35050 CAF 2SECS
037836,001448: 15,2404 04655 TC BANKCALL # SET UP 2 SEC TASK TO READ PIPAS
037837,001449: 15,2405 01730 CADR DELAYJOB
037838,001450:
037839,001451: 15,2406 25736 INCR GCTR
037840,001452: 15,2407 00004 INHINT
037841,001453: 15,2410 04655 TC BANKCALL
037842,001454: 15,2411 66430 CADR PIPSRINE
037843,001455: 15,2412 00003 RELINT
037844,001456: 15,2413 04655 TC BANKCALL
037845,001457: 15,2414 15277 CADR 1/PIPA
037846,001458: 15,2415 06014 TC INTPRET
037847,001459: 15,2416 53375 VLOAD VAD
037848,001460: 15,2417 01212 DELV
037849,001461: 15,2420 02707 GACC
037850,001462: 15,2421 02707 STORE GACC # ACCUMULATE G VECTOR
037851,001463: 15,2422 50135 SLOAD BMN
037852,001464: 15,2423 02737 GCTR
037853,001465: 15,2424 32402 GREED
037854,001466: 15,2425 53575 VLOAD UNIT
037855,001467: 15,2426 02707 GACC
037856,001468: 15,2427 36731 STCALL STAR
037857,001469: 15,2430 47251 CDUTRIG # TRANSFORM IN NB COOR AND STORE
037858,001470: 15,2431 77624 CALL # IN OUTPUT
037859,001471: 15,2432 47413 *SMNB*
037860,001472: 15,2433 02715 STORE GOUT
037861,001473: 15,2434 77776 EXIT
037862,001474: 15,2435 05413 TC PHASCHNG
037863,001475: 15,2436 05024 OCT 05024
037864,001476: 15,2437 13000 OCT 13000
037865,001477: 15,2440 06014 TC INTPRET
037866,001478: 15,2441 77650 GOTO
037867,001479: 15,2442 02745 QMIN
037868,001480: 15,2443 77751 T/2SEC DEC -22 B-14
037869,001481: 15,2444 01405 DISGRVER VN 0605
037870,001482:
037871,001483: # NAME GYROTRIM
037872,001484:
037873,001485: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
037874,001486: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
037875,001487: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
037876,001488:
037877,001489: # CALL CALL
037878,001490: # GYROTRIM
037879,001491:
037880,001492: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
037881,001493: # CDUX,CDUY,CDUZ
037882,001494:
037883,001495: # OUTPUT - GYRO TORQUE PULSES
037884,001496:
037885,001497: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
037886,001498: # IMPULSE,IMUSTALL
037887,001499: # - - - * * -
037888,001500: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
037889,001501: 15,2445 COUNT* $$/P57
037890,001502: 15,2445 71220 GYROTRIM STQ DLOAD
037891,001503: 15,2446 02745 QMIN
037892,001504: 15,2447 01207 THETAD
037893,001505: 15,2450 65325 PDDL PDDL
037894,001506: 15,2451 01211 THETAD +2
037895,001507: 15,2452 01210 THETAD +1
037896,001508: 15,2453 77666 VDEF
037897,001509: 15,2454 24767 STOVL CDUSPOT
037898,001510: 15,2455 22274 XUNIT
037899,001511: 15,2456 77624 CALL
037900,001512: 15,2457 47406 TRG*NBSM
037901,001513: 15,2460 26707 STOVL STARAD
037902,001514: 15,2461 22272 YUNIT
037903,001515: 15,2462 77624 CALL
037904,001516: 15,2463 47415 *NBSM*
037905,001517: 15,2464 36715 STCALL STARAD +6
037906,001518: 15,2465 47251 CDUTRIG
037907,001519: 15,2466 77624 CALL
037908,001520: 15,2467 30667 CALCSMSC
037909,001521: 15,2470 77775 VLOAD
037910,001522: 15,2471 02665 XNB
037911,001523: 15,2472 24007 STOVL 6D
037912,001524: 15,2473 02673 YNB
037913,001525: 15,2474 34015 STCALL 12D
037914,001526: 15,2475 47153 AXISGEN
037915,001527: 15,2476 77624 CALL
037916,001528: 15,2477 46757 CALCGTA
037917,001529: 15,2500 77776 EXIT
037918,001530: 15,2501 04655 JUSTTRIM TC BANKCALL
037919,001531: 15,2502 17121 CADR IMUFINE
037920,001532: 15,2503 04655 TC BANKCALL
037921,001533:
037922,001534: 15,2504 17625 CADR IMUSTALL
037923,001535: 15,2505 05730 TC CURTAINS
037924,001536: 15,2506 32517 CA GYRCDR
037925,001537: 15,2507 04655 TC BANKCALL
037926,001538: 15,2510 17234 CADR IMUPULSE
037927,001539: 15,2511 04655 TC BANKCALL
037928,001540: 15,2512 17625 CADR IMUSTALL
037929,001541: 15,2513 05730 TC CURTAINS
037930,001542: 15,2514 06014 TC INTPRET
037931,001543: 15,2515 77650 GOTO
037932,001544: 15,2516 02745 QMIN
037933,001545: 15,2517 02737 GYRCDR ECADR OGC
037934,001546:
037935,001547: 15,2520 04024 V16N20 VN 1620
037936,001548: 15,2521 01405 V06N05* VN 0605
037937,001549: 15,2522 01427 V06N23 VN 0623
037938,001550: 15,2523 01424 V06N20 VN 0620
037939,001551:
037940,001552: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
037941,001553:
037942,001554: 15,2524 35026 2STARS CAF BIT1 # INITALIZE STARIND
037943,001555: 15,2525 02527 TC +2 # ONE FOR 1ST STAR, ZERO FOR 2ND STAR
037944,001556: 15,2526 35030 1STAR CAF ZERO
037945,001557: 15,2527 55757 TS STARIND
037946,001558:
037947,001559: 15,2530 04655 TC BANKCALL # GO TO AOTMARK FOR SIGHTING
037948,001560: 15,2531 16000 CADR AOTMARK
037949,001561: 15,2532 04655 TC BANKCALL
037950,001562: 15,2533 17621 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
037951,001563: 15,2534 05730 TC CURTAINS # BADEND RETURN FROM AOTMARK
037952,001564:
037953,001565: 15,2535 47715 CS HIGH9 # GRAB STARCODE FOR INDEX
037954,001566: 15,2536 70735 MASK AOTCODE
037955,001567: 15,2537 00006 EXTEND
037956,001568: 15,2540 76216 MP REVCNT # JUST 6
037957,001569: 15,2541 50120 INDEX FIXLOC
037958,001570: 15,2542 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
037959,001571: 15,2543 51757 INDEX STARIND
037960,001572: 15,2544 55755 TS BESTI
037961,001573:
037962,001574: 15,2545 11757 CCS STARIND
037963,001575: 15,2546 02557 TC ASTAR
037964,001576: 15,2547 06014 TC INTPRET
037965,001577: 15,2550 77773 VLOAD*
037966,001578: 15,2551 31734 CATLOG,1
037967,001579: 15,2552 26731 STOVL VEC2 # STORE 2ND CATALOG VEC (REF)
037968,001580: 15,2553 02715 STARAD +6
037969,001581: 15,2554 02767 STORE STARSAV2 # 2ND STAR IN SM
037970,001582: 15,2555 77776 EXIT
037971,001583:
037972,001584: 15,2556 02567 TC SURFLINE
037973,001585:
037974,001586: 15,2557 06014 ASTAR TC INTPRET
037975,001587: 15,2560 77773 VLOAD*
037976,001588: 15,2561 31734 CATLOG,1
037977,001589: 15,2562 26723 STOVL VEC1
037978,001590: 15,2563 02715 STARAD +6
037979,001591: 15,2564 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
037980,001592: 15,2565 77776 EXIT
037981,001593: 15,2566 02526 TC 1STAR # GO GET 2ND STAR SIGHTING
037982,001594:
037983,001595: # DO FINE OR COARSE ALIGNMENT OF IMU
037984,001596:
037985,001597: 15,2567 35030 SURFLINE CAF ZERO
037986,001598: 15,2570 55757 TS STARIND
037987,001599: 15,2571 06014 TC INTPRET
037988,001600: 15,2572 77131 SSP AXT,2
037989,001601: 15,2573 00052 S2
037990,001602: 15,2574 00006 6
037991,001603: 15,2575 00014 12D
037992,001604: 15,2576 47173 WRTDESIR VLOAD* RTB
037993,001605: 15,2577 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
037994,001606: 15,2600 32745 UPDATFRF
037995,001607: 15,2601 77614 BON
037996,001608: 15,2602 00314 FREEFLAG
037997,001609: 15,2603 32774 MFREF
037998,001610: 15,2604 53521 WRTDSBAK MXV UNIT
037999,001611: 15,2605 03574 XSMD
038000,001612: 15,2606 12723 STORE STARAD +12D,2 # VEC IN SM
038001,001613: 15,2607 77704 TIX,2
038002,001614: 15,2610 32576 WRTDESIR
038003,001615: 15,2611 77774 AXT,2
038004,001616: 15,2612 00014 12D
038005,001617: 15,2613 47173 WRTDESR2 VLOAD* RTB
038006,001618: 15,2614 75002 STARSAV1 +12D,2
038007,001619: 15,2615 32745 UPDATFRF
038008,001620: 15,2616 77614 BON
038009,001621: 15,2617 00314 FREEFLAG
038010,001622: 15,2620 33004 CALCANG
038011,001623: 15,2621 10023 DOALIGN STORE 18D,2
038012,001624: 15,2622 45104 TIX,2 CALL
038013,001625: 15,2623 32613 WRTDESR2
038014,001626: 15,2624 30521 R54 # DO CHKSDATA
038015,001627: 15,2625 77624 CALL
038016,001628: 15,2626 47153 AXISGEN
038017,001629: 15,2627 77624 CALL
038018,001630: 15,2630 46757 CALCGTA
038019,001631: 15,2631 40175 5DEGTEST VLOAD BOV # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
038020,001632: 15,2632 02740 OGC
038021,001633: 15,2633 32634 SURFSUP
038022,001634: 15,2634 02750 SURFSUP STORE OGCT
038023,001635: 15,2635 40141 V/SC BOV
038024,001636: 15,2636 30102 5DEGREES
038025,001637: 15,2637 32724 COATRIM
038026,001638: 15,2640 52131 SSP GOTO
038027,001639: 15,2641 02746 QMIN
038028,001640: 15,2642 32644 SURFDISP
038029,001641: 15,2643 32501 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
038030,001642:
038031,001643: 15,2644 77776 SURFDISP EXIT
038032,001644: 15,2645 05413 TC PHASCHNG
038033,001645: 15,2646 05024 OCT 05024 # STORE REFSMMAT ,SET REFSMFLG AND
038034,001646: 15,2647 13000 OCT 13000 # DISPLAY ORIGINAL TORQ ANGLES
038035,001647: 15,2650 06014 TC INTPRET
038036,001648: 15,2651 75160 AXC,1 AXC,2
038037,001649: 15,2652 03573 XSMD
038038,001650: 15,2653 01735 REFSMMAT
038039,001651: 15,2654 45014 SET CALL
038040,001652: 15,2655 01462 REFSMFLG
038041,001653: 15,2656 30637 MATMOVE
038042,001654: 15,2657 45001 SETPD CALL
038043,001655: 15,2660 00001 0D
038044,001656: 15,2661 47251 CDUTRIG
038045,001657: 15,2662 45174 AXT,2 CALL
038046,001658: 15,2663 00014 12D
038047,001659: 15,2664 30667 CALCSMSC
038048,001660: 15,2665 61373 REFMF VLOAD* VXM
038049,001661: 15,2666 75070 STARAD,2
038050,001662: 15,2667 01736 REFSMMAT
038051,001663: 15,2670 77656 UNIT
038052,001664: 15,2671 47006 PUSH RTB
038053,001665: 15,2672 21454 LOADTIME
038054,001666: 15,2673 45006 PUSH CALL
038055,001667: 15,2674 51245 R-TO-RP
038056,001668: 15,2675 77731 SSP
038057,001669: 15,2676 00052 S2
038058,001670: 15,2677 00006 6
038059,001671: 15,2700 12261 STORE STARVSAV,2
038060,001672: 15,2701 77304 TIX,2 VLOAD
038061,001673: 15,2702 32665 REFMF
038062,001674: 15,2703 02750 OGCT
038063,001675: 15,2704 02740 STORE OGC
038064,001676: 15,2705 77776 EXIT
038065,001677:
038066,001678: 15,2706 33012 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
038067,001679: 15,2707 04655 TC BANKCALL
038068,001680: 15,2710 20406 CADR GOFLASH
038069,001681: 15,2711 04106 TC GOTOPOOH # V34-TERMINATE
038070,001682: 15,2712 04106 TC GOTOPOOH # VB33-PROCEED TO COARSE OR FINE
038071,001683: 15,2713 41155 CS OPTION1 # VB32-RECYCLE, MAYBE RE-ALIGN
038072,001684: 15,2714 75025 MASK BIT2
038073,001685: 15,2715 10000 CCS A
038074,001686: 15,2716 04106 TC GOTOPOOH # IF OPTION ZERO DO FINISHH
038075,001687: 15,2717 31155 CA OPTION1
038076,001688: 15,2720 75026 MASK BIT1
038077,001689: 15,2721 10000 CCS A
038078,001690: 15,2722 02526 TC 1STAR
038079,001691: 15,2723 02524 TC 2STARS
038080,001692:
038081,001693: # COARSE AND FINE ALIGN IMU
038082,001694: 15,2724 75160 COATRIM AXC,1 AXC,2
038083,001695: 15,2725 02664 XDC
038084,001696: 15,2726 02642 XSM
038085,001697: 15,2727 77624 CALL
038086,001698: 15,2730 30637 MATMOVE
038087,001699: 15,2731 77624 CALL
038088,001700: 15,2732 47251 CDUTRIG
038089,001701: 15,2733 77624 CALL
038090,001702: 15,2734 30667 CALCSMSC
038091,001703: 15,2735 77624 CALL
038092,001704: 15,2736 47063 CALCGA
038093,001705: 15,2737 77624 CALL
038094,001706: 15,2740 31106 COARSE
038095,001707: 15,2741 77624 CALL
038096,001708: 15,2742 32445 GYROTRIM
038097,001709: 15,2743 77650 GOTO
038098,001710: 15,2744 32644 SURFDISP
038099,001711:
038100,001712: 15,2745 45024 UPDATFRF CS FREEFBIT
038101,001713: 15,2746 70074 MASK FLAGWRD0
038102,001714: 15,2747 54074 TS FLAGWRD0
038103,001715:
038104,001716: 15,2750 35012 CAF REFSMBIT
038105,001717: 15,2751 70077 MASK FLAGWRD3
038106,001718: 15,2752 10000 CCS A
038107,001719: 15,2753 35024 CAF BIT3
038108,001720: 15,2754 61155 AD OPTION1
038109,001721: 15,2755 50000 INDEX A
038110,001722: 15,2756 35017 CAF BIT8
038111,001723: 15,2757 51757 INDEX STARIND
038112,001724: 15,2760 72770 MASK FREEFTAB
038113,001725: 15,2761 10000 CCS A
038114,001726: 15,2762 02766 TC +4
038115,001727: 15,2763 35024 CAF FREEFBIT
038116,001728: 15,2764 60074 AD FLAGWRD0
038117,001729: 15,2765 54074 TS FLAGWRD0
038118,001730:
038119,001731: 15,2766 25757 INCR STARIND
038120,001732: 15,2767 16035 TCF DANZIG
038121,001733:
038122,001734: 15,2770 00052 FREEFTAB OCT 00052
038123,001735: 15,2771 00077 OCT 00077
038124,001736: 15,2772 00042 OCT 00042
038125,001737: 15,2773 00063 OCT 00063
038126,001738:
038127,001739: 15,2774 41401 MFREF SETPD PUSH
038128,001740: 15,2775 00001 0
038129,001741: 15,2776 41434 RTB PUSH
038130,001742: 15,2777 21454 LOADTIME
038131,001743: 15,3000 77624 CALL
038132,001744: 15,3001 51220 RP-TO-R
038133,001745: 15,3002 77650 GOTO
038134,001746: 15,3003 32604 WRTDSBAK
038135,001747:
038136,001748: 15,3004 77624 CALCANG CALL
038137,001749: 15,3005 47251 CDUTRIG
038138,001750: 15,3006 77624 CALL
038139,001751: 15,3007 47415 *NBSM*
038140,001752: 15,3010 77650 GOTO
038141,001753: 15,3011 32621 DOALIGN
038142,001754:
038143,001755: 15,3012 01535 DISPGYRO VN 0693
038144,001756:
038145,001757: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
038146,001758:
038147,001759: 15,3013 04655 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
038148,001760: 15,3014 33205 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
038149,001761:
038150,001762: 15,3015 06014 TC INTPRET
038151,001763: 15,3016 43145 DLOAD BOFF
038152,001764: 15,3017 22276 ZEROVEC # LOAD ZERO FOR DISPLAY IF ASCNTFLG IS
038153,001765: 15,3020 03355 ASCNTFLG # NOT SET
038154,001766: 15,3021 33024 P57A
038155,001767: 15,3022 77745 DLOAD
038156,001768: 15,3023 03425 TIG # LOAD ASCENT TIME FOR DISPLAY
038157,001769: 15,3024 01047 P57A STORE DSPTEM1
038158,001770: 15,3025 77776 EXIT
038159,001771: 15,3026 33204 P57AA CAF V06N34 # DISPLAY TALIGN, TALIGN : DSPTEM1
038160,001772: 15,3027 04655 TC BANKCALL
038161,001773: 15,3030 20406 CADR GOFLASH
038162,001774: 15,3031 03026 TC P57AA # V34-TERMINATE
038163,001775: 15,3032 03034 TC +2 # V33-PROCEED
038164,001776: 15,3033 03026 TC P57AA # VB32-RECYCLE
038165,001777:
038166,001778: 15,3034 06014 TC INTPRET
038167,001779: 15,3035 46145 DLOAD BHIZ
038168,001780: 15,3036 01047 DSPTEM1
038169,001781: 15,3037 33042 P57B
038170,001782: 15,3040 77650 GOTO
038171,001783: 15,3041 33045 P57D
038172,001784: 15,3042 77634 P57B RTB
038173,001785: 15,3043 21454 LOADTIME # LOAD CURRENT TIME
038174,001786: 15,3044 01047 STORE DSPTEM1
038175,001787: 15,3045 34041 P57D STCALL TDEC1
038176,001788: 15,3046 27030 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
038177,001789: 15,3047 53575 VLOAD UNIT # IN X,Y,ZSMD
038178,001790: 15,3050 00001 RATT
038179,001791: 15,3051 37574 STCALL XSMD
038180,001792: 15,3052 33217 LSORIENT
038181,001793: 15,3053 43170 PACKOPTN AXT,1 BOFF # PACK FLAG BITS FOR OPTION DISPLAY
038182,001794: 15,3054 00000 0
038183,001795: 15,3055 01742 REFSMFLG # REFSMFLG
038184,001796: 15,3056 33061 +3 # CLEAR-JUST ZERO
038185,001797: 15,3057 77710 INCR,1 # SET
038186,001798: 15,3060 00100 100
038187,001799: 15,3061 62014 BOFF INCR,1
038188,001800: 15,3062 03356 ATTFLAG # ATTFLG
038189,001801: 15,3063 33065 +2 # CLEAR-JUST ZERO
038190,001802: 15,3064 00010 10 # SET
038191,001803: 15,3065 62014 BOFF INCR,1
038192,001804: 15,3066 03355 ASCNTFLG # ASCNTFLG
038193,001805: 15,3067 33071 +2 # CLEAR-JUST ZERO
038194,001806: 15,3070 00001 1 # SET
038195,001807: 15,3071 77530 SXA,1 EXIT
038196,001808: 15,3072 01156 OPTION1 +1
038197,001809:
038198,001810: 15,3073 35030 CAF ZERO
038199,001811: 15,3074 55155 TS OPTION1 # JAM 00000 IN OPTION1 FOR CHECK LIST
038200,001812:
038201,001813: 15,3075 33203 DSPOPTN CAF VB04N06 # DISPLAY OPTION CODE AND FLAG BITS
038202,001814: 15,3076 04655 TC BANKCALL
038203,001815: 15,3077 20406 CADR GOFLASH
038204,001816: 15,3100 03075 TC DSPOPTN # VB34-TERMINATE
038205,001817: 15,3101 03103 TC +2 # V33-PROCEED
038206,001818: 15,3102 03075 TC DSPOPTN # V32-RECYCLE
038207,001819:
038208,001820: 15,3103 05413 TC PHASCHNG
038209,001821: 15,3104 05024 OCT 05024
038210,001822: 15,3105 13000 OCT 13000
038211,001823: 15,3106 31155 CA OPTION1 # SEE IF OPTION 2 OR 3
038212,001824: 15,3107 75025 MASK BIT2
038213,001825: 15,3110 10000 CCS A
038214,001826: 15,3111 03163 TC BYLMATT
038215,001827:
038216,001828: 15,3112 06014 TC INTPRET
038217,001829: 15,3113 43014 BON BON
038218,001830: 15,3114 01702 REFSMFLG
038219,001831: 15,3115 33130 GETLMATT # SET, GO COMPUTE LM ATTITUDE
038220,001832: 15,3116 03316 ATTFLAG # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
038221,001833: 15,3117 33145 P57OPT0 # ALLFLG SET
038222,001834: 15,3120 77776 EXIT
038223,001835: 15,3121 33202 BADOPTN CAF BADOPT
038224,001836: 15,3122 04655 TC BANKCALL
038225,001837: 15,3123 21443 CADR PRIOLARM
038226,001838: 15,3124 03121 TC BADOPTN
038227,001839: 15,3125 03121 TC BADOPTN
038228,001840: 15,3126 03075 TC DSPOPTN
038229,001841: 15,3127 05225 TC ENDOFJOB
038230,001842:
038231,001843: # BRANCH TO ALIGNMENT OPTION
038232,001844:
038233,001845: 15,3130 77624 GETLMATT CALL
038234,001846: 15,3131 47251 CDUTRIG # GET SIN AND COS OF CDUS
038235,001847: 15,3132 77624 CALL
038236,001848: 15,3133 30667 CALCSMSC # GET YNB IN SM
038237,001849: 15,3134 61375 VLOAD VXM
038238,001850: 15,3135 02673 YNB
038239,001851: 15,3136 01736 REFSMMAT # YNB TO REF
038240,001852: 15,3137 77656 UNIT
038241,001853: 15,3140 26245 STOVL YNBSAV
038242,001854: 15,3141 02701 ZNB
038243,001855: 15,3142 53505 VXM UNIT
038244,001856: 15,3143 01736 REFSMMAT # ZNB TO REF
038245,001857: 15,3144 02253 STORE ZNBSAV
038246,001858:
038247,001859: 15,3145 77775 P57OPT0 VLOAD
038248,001860: 15,3146 02245 YNBSAV # Y ATTITUDE VEC
038249,001861: 15,3147 26723 STOVL VEC1
038250,001862: 15,3150 02253 ZNBSAV # Z ATTITUDE VEC
038251,001863: 15,3151 26731 STOVL VEC2
038252,001864: 15,3152 22272 YUNIT
038253,001865: 15,3153 26761 STOVL STARSAV1
038254,001866: 15,3154 22270 ZUNIT
038255,001867: 15,3155 02767 STORE STARSAV2
038256,001868: 15,3156 77776 EXIT
038257,001869: 15,3157 41155 CS OPTION1
038258,001870: 15,3160 75026 MASK BIT1 # SEE IF OPTION 1 OR 3
038259,001871: 15,3161 10000 CCS A
038260,001872: 15,3162 02567 TC SURFLINE
038261,001873:
038262,001874: 15,3163 41155 BYLMATT CS OPTION1 # SEE IF OPTION 1 OR 3
038263,001875: 15,3164 75026 MASK BIT1
038264,001876: 15,3165 10000 CCS A
038265,001877: 15,3166 02524 TC 2STARS
038266,001878: 15,3167 02247 TC GVDETER
038267,001879:
038268,001880: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
038269,001881:
038270,001882: 15,3170 06014 P57OPT3 TC INTPRET
038271,001883: 15,3171 57575 VLOAD VCOMP
038272,001884: 15,3172 02025 RLS # LANDING SITE VEC
038273,001885: 15,3173 77656 UNIT
038274,001886: 15,3174 02723 STORE VEC1
038275,001887: 15,3175 77776 EXIT
038276,001888: 15,3176 31155 CA OPTION1
038277,001889: 15,3177 75025 MASK BIT2
038278,001890: 15,3200 02526 TC 1STAR
038279,001891: 15,3201 02567 TC SURFLINE
038280,001892:
038281,001893: 15,3202 00701 BADOPT OCT 00701 # **** TEMP ****
038282,001894: 15,3203 01006 VB04N06 VN 406
038283,001895: 15,3204 01442 V06N34 VN 634
038284,001896:
038285,001897: # CHECK IMODES30 TO VARIFY IMU IS ON
038286,001898:
038287,001899: 15,3205 41304 IMUCHK CS IMODES30
038288,001900: 15,3206 75016 MASK BIT9
038289,001901: 15,3207 10000 CCS A # IS IMU ON
038290,001902: 15,3210 13214 TCF +4 # YES
038291,001903:
038292,001904: 15,3211 05646 TC ALARM # NO, SEND ALARM AND EXIT
038293,001905: 15,3212 00210 OCT 210
038294,001906: 15,3213 04106 TC GOTOPOOH
038295,001907:
038296,001908: 15,3214 05563 TC UPFLAG
038297,001909: 15,3215 00007 ADRES IMUSE # SET IMUSE FLAG
038298,001910:
038299,001911: 15,3216 04670 TC SWRETURN
038300,001912:
038301,001913: 15,3217 71220 LSORIENT STQ DLOAD
038302,001914: 15,3220 02746 QMAJ
038303,001915: 15,3221 01047 DSPTEM1
038304,001916: 15,3222 34041 STCALL TDEC1
038305,001917: 15,3223 27014 CSMPREC
038306,001918: 15,3224 47375 VLOAD VXV
038307,001919: 15,3225 00001 0D
038308,001920: 15,3226 00007 6D
038309,001921: 15,3227 53435 VXV UNIT
038310,001922: 15,3230 03574 XSMD
038311,001923: 15,3231 03610 STORE ZSMD
038312,001924: 15,3232 53435 VXV UNIT
038313,001925: 15,3233 03574 XSMD
038314,001926: 15,3234 37602 STCALL YSMD
038315,001927: 15,3235 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc