Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision.
Source Code
|
|
These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
041270,000002: ## Copyright: Public domain.
041271,000003: ## Filename: P51-P53.agc
041272,000004: ## Purpose: A log section of Zerlina 56, the final revision of
041273,000005: ## Don Eyles's offline development program for the variable
041274,000006: ## guidance period servicer. It also includes a new P66 with LPD
041275,000007: ## (Landing Point Designator) capability, based on an idea of John
041276,000008: ## Young's. Neither of these advanced features were actually flown,
041277,000009: ## but Zerlina was also the birthplace of other big improvements to
041278,000010: ## Luminary including the terrain model and new (Luminary 1E)
041279,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
041280,000012: ## and revision 56 includes all changes up to and including Luminary
041281,000013: ## 183. It is therefore quite close to the Apollo 14 program,
041282,000014: ## Luminary 178, where not modified with new features.
041283,000015: ## Reference: pp. 918-974
041284,000016: ## Assembler: yaYUL
041285,000017: ## Contact: Ron Burkey <info@sandroid.org>.
041286,000018: ## Website: www.ibiblio.org/apollo/index.html
041287,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
041288,000020: ## 2017-08-22 MAS Updated for Zerlina 56.
041289,000021:
|
|
Page 918 |
041291,000023: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
041292,000024: # MOD NO- 0 LOG SECTION- P51-P53
041293,000025: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
041294,000026:
041295,000027: # FUNCTIONAL DESCRIPTION-
041296,000028:
041297,000029: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041298,000030: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041299,000031:
041300,000032: # (A) PREFERRED ORIENTATION
041301,000033:
041302,000034: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041303,000035: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
041304,000036:
041305,000037: # (B) NOMINAL ORIENTATION
041306,000038:
041307,000039: # X = UNIT ( R )
041308,000040: # -SM
041309,000041:
041310,000042: # Y = UNIT (V X R)
041311,000043: # SM
041312,000044:
041313,000045: # Z = UNIT (X X Y )
041314,000046: # SM SM SM
041315,000047:
041316,000048: # WHERE_
041317,000049: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041318,000050: # -
041319,000051:
041320,000052: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041321,000053: # -
041322,000054:
041323,000055: # (C) REFSMMAT ORIENTATION
041324,000056:
041325,000057: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041326,000058:
041327,000059: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041328,000060: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041329,000061: # SINCE THE LAST ALIGNMENT).
041330,000062:
041331,000063: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041332,000064: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041333,000065: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041334,000066: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041335,000067: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041336,000068: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041337,000069: # REQUESTED.
041338,000070:
041339,000071: # CALLING SEQUENCE-
|
|
Page 919 |
041341,000073: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041342,000074:
041343,000075: # SUBROUTINES CALLED-
041344,000076:
041345,000077: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
041346,000078: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
041347,000079: # 3. GOPERF4 9. FLAGUP
041348,000080: # 4. MATMOVE 10. R56
041349,000081: # 5. GOFLASH 11. R51
041350,000082: # 6. S52.3 12. GOPERF3
041351,000083:
041352,000084: # NORMAL EXIT MODES-
041353,000085:
041354,000086: # EXITS TO ENDOFJOB
041355,000087:
041356,000088: # ALARM OR ABORT EXIT MODES-
041357,000089:
041358,000090: # NONE
041359,000091:
041360,000092: # OUTPUT-
041361,000093:
041362,000094: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
041363,000095: # 1. IMU ORIENTATION CODE
041364,000096: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
041365,000097: # 3. TIME OF NEXT IGNITION
041366,000098: # 4. GIMBAL ANGLES
041367,000099: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
041368,000100: # 6. PLEASE PERFORM P00
041369,000101: # THE MODE DISPLAY MAY BE CHANGED TO 20
041370,000102:
041371,000103: # ERASABLE INITIALIZATION REQUIRED-
041372,000104:
041373,000105: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
041374,000106: # XSMD,YSMD,ZSMD.
041375,000107: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041376,000108:
041377,000109: # DEBRIS-
041378,000110:
041379,000111: # WORK AREA
041380,000112: 33,3766 BANK 33
041381,000113: 15,2000 SETLOC P50S
041382,000114: 15,2000 BANK
041383,000115:
041384,000116: 15,2067 E5,1755 EBANK= BESTI
041385,000117: 15,2067 COUNT* $$/P52
041386,000118: 15,2067 04616 PROG52 TC BANKCALL
041387,000119: 15,2070 11241 CADR R02BOTH # IMU STATUS CHECK
041388,000120: 15,2071 34750 CAF PFRATBIT
041389,000121: 15,2072 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
041390,000122: 15,2073 10000 CCS A
|
|
Page 920 |
041392,000124: 15,2074 02077 TC P52A # YES
041393,000125: 15,2075 36257 CAF THREE # DISPLAY REFSMMAT OPTION 3
041394,000126: 15,2076 02100 TC P52A +1
041395,000127: 15,2077 34753 P52A CAF BIT1
041396,000128: 15,2100 55144 TS OPTION2
041397,000129: 15,2101 34753 P52B CAF BIT1
041398,000130: 15,2102 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
041399,000131: 15,2103 20714 CADR GOPERF4R # FLASH V04N06
041400,000132: 15,2104 06001 TC GOTOPOOH
041401,000133: 15,2105 12112 TCF +5 # V33-PROCEED
041402,000134: 15,2106 02101 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
041403,000135: 15,2107 05364 TC PHASCHNG # DISPLAY RETURN
041404,000136: 15,2110 00014 OCT 00014
041405,000137: 15,2111 05155 TC ENDOFJOB
041406,000138:
041407,000139: 15,2112 31144 CA OPTION2
041408,000140: 15,2113 76257 MASK THREE
041409,000141: 15,2114 50000 INDEX A
041410,000142: 15,2115 02116 TC +1
041411,000143: 15,2116 12124 TCF OPT4 # OPTION 4 LANDING SITE
041412,000144: 15,2117 12176 TCF P52H # OPTION 1 PREFERRED
041413,000145: 15,2120 12131 TCF P52T # OPTION 2 NOMINAL
041414,000146: 15,2121 06051 P52E TC INTPRET # OPTION 3 REFSMMAT
041415,000147: 15,2122 77650 GOTO
041416,000148: 15,2123 32207 P52F # GO DO R51
041417,000149:
041418,000150: 15,2124 34741 OPT4 CAF EBANK4 # SET EBANK TO USE TLAND
041419,000151: 15,2125 54003 TS EBANK
041420,000152: 15,2126 E4,1426 EBANK= TLAND
041421,000153: 15,2126 00006 EXTEND
041422,000154: 15,2127 31427 DCA TLAND # IF OPTION 4 DISPLAY TLAND
041423,000155: 15,2130 12133 TCF P52T +2
041424,000156:
041425,000157: 15,2131 00006 P52T EXTEND
041426,000158: 15,2132 34755 DCA NEG0
041427,000159: 15,2133 53045 DXCH DSPTEM1
041428,000160: 15,2134 35014 CAF EBANK5 # RESTORE EBANK AFTER USE OF TLAND
041429,000161: 15,2135 54003 TS EBANK
041430,000162: 15,2136 E5,1774 EBANK= TALIGN
041431,000163: 15,2136 32213 CAF V06N34*
041432,000164: 15,2137 04616 TC BANKCALL
041433,000165: 15,2140 20477 CADR GOFLASH
041434,000166: 15,2141 06001 TC GOTOPOOH
041435,000167: 15,2142 02144 TC +2
041436,000168: 15,2143 02136 TC -5
041437,000169: 15,2144 53045 DXCH DSPTEM1
041438,000170: 15,2145 00006 EXTEND
041439,000171: 15,2146 62150 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
041440,000172: 15,2147 12152 TCF +3
041441,000173: 15,2150 00006 EXTEND
|
|
Page 921 |
041443,000175: 15,2151 30025 DCA TIME2
041444,000176: 15,2152 53775 DXCH TALIGN
041445,000177: 15,2153 31144 P52V CA OPTION2
041446,000178: 15,2154 74752 MASK BIT2
041447,000179: 15,2155 10000 CCS A
041448,000180: 15,2156 02162 TC P52W
041449,000181: 15,2157 06051 TC INTPRET # OPTION 4 - GET LS ORIENTATION
041450,000182: 15,2160 77650 GOTO
041451,000183: 15,2161 32243 P52LS
041452,000184:
|
|
Page 922 |
041454,000186: # START ALIGNMENT
041455,000187:
041456,000188: 15,2162 06051 P52W TC INTPRET
041457,000189: 15,2163 45145 DLOAD CALL # PICK UP ALIGN TIME
041458,000190: 15,2164 02775 TALIGN # COMPUTE NOMINAL IMU
041459,000191: 15,2165 31651 S52.3 # ORIENTATION
041460,000192: 15,2166 77624 P52D CALL # READ VEHICLE ATTITUDE AND
041461,000193: 15,2167 31620 S52.2 # COMPUTE GIMBAL ANGLES
041462,000194: 15,2170 77776 EXIT
041463,000195: 15,2171 35010 CAF V06N22
041464,000196: 15,2172 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
041465,000197: 15,2173 20477 CADR GOFLASH
041466,000198: 15,2174 06001 TC GOTOPOOH
041467,000199: 15,2175 12214 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
041468,000200: 15,2176 06051 P52H TC INTPRET
041469,000201: 15,2177 77650 GOTO
041470,000202: 15,2200 32166 P52D
041471,000203: 15,2201 06051 REGCOARS TC INTPRET
041472,000204: 15,2202 77624 CALL # DO COARSE ALIGN
041473,000205: 15,2203 31321 CAL53A # ROUTINE
041474,000206: 15,2204 43014 COARSRET SET CLEAR
041475,000207: 15,2205 01462 REFSMFLG
041476,000208: 15,2206 01273 PFRATFLG
041477,000209: 15,2207 77624 P52F CALL
041478,000210: 15,2210 31007 R51
041479,000211: 15,2211 77776 P52OUT EXIT
041480,000212: 15,2212 06001 TC GOTOPOOH
041481,000213: 15,2213 5006 VB05N09 = V05N09
041482,000214: 15,2213 01442 V06N34* VN 634
041483,000215:
|
|
Page 923 |
041485,000217: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041486,000218: 15,2214 32242 COARSTYP CAF OCT13
041487,000219: 15,2215 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041488,000220: 15,2216 20624 CADR GOPERF1
041489,000221: 15,2217 16001 TCF GOTOPOOH # V34-TERMIN&OE
041490,000222: 15,2220 12201 TCF REGCOARS # V33-NORMAL COARSE
041491,000223: 15,2221 06051 TC INTPRET # V32-GYRO TORQUE COARSE
041492,000224: 15,2222 64375 VLOAD MXV
041493,000225: 15,2223 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
041494,000226: 15,2224 01732 REFSMMAT
041495,000227: 15,2225 77656 UNIT
041496,000228: 15,2226 26665 STOVL XDC
041497,000229: 15,2227 03615 YSMD
041498,000230: 15,2230 53521 MXV UNIT
041499,000231: 15,2231 01732 REFSMMAT
041500,000232: 15,2232 26673 STOVL YDC
041501,000233: 15,2233 03623 ZSMD
041502,000234: 15,2234 53521 MXV UNIT
041503,000235: 15,2235 01732 REFSMMAT
041504,000236: 15,2236 36701 STCALL ZDC
041505,000237: 15,2237 31156 GYCOARS
041506,000238: 15,2240 77650 GOTO
041507,000239: 15,2241 32211 P52OUT
041508,000240: 15,2242 00013 OCT13 OCT 13
041509,000241:
|
|
Page 924 |
041511,000243: # COMPUTE LANDING ORIENTATION FOR OPTION 4
041512,000244: 15,2243 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
041513,000245: 15,2244 01463 LUNAFLAG
041514,000246: 15,2245 00662 ERADFLAG # TO PICK UP RLS
041515,000247: 15,2246 77201 SETPD VLOAD
041516,000248: 15,2247 00001 0
041517,000249: 15,2250 02021 RLS # PICK UP LANDING SITE VEC IN MF
041518,000250: 15,2251 41525 PDDL PUSH # RLS PD 0-5
041519,000251: 15,2252 02775 TALIGN
041520,000252: 15,2253 36027 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
041521,000253:
041522,000254: 15,2254 55720 RP-TO-R # TRANS RLS TO REF
041523,000255: 15,2255 77742 VSR2
041524,000256: 15,2256 16032 STODL ALPHAV # INPUT TO LAT-LONG
041525,000257: 15,2257 02775 TALIGN
041526,000258: 15,2260 77624 CALL
041527,000259: 15,2261 30440 N89DISP
041528,000260: 15,2262 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
041529,000261: 15,2263 02032 ALPHAV
041530,000262: 15,2264 37607 STCALL XSMD
041531,000263: 15,2265 10765 LSORIENT
041532,000264: 15,2266 77650 GOTO
041533,000265: 15,2267 32166 P52D # NOW GO COMPUTE GIMBAL ANGLES
041534,000266:
|
|
Page 925 |
041536,000268: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
041537,000269:
041538,000270: 14,2000 SETLOC P50S1
041539,000271: 14,2000 BANK
041540,000272: 14,2440 E5,1642 EBANK= XSM
041541,000273:
041542,000274: 14,2440 77620 N89DISP STQ
041543,000275: 14,2441 02746 QMAJ
041544,000276: 14,2442 35242 STCALL GDT/2 +4 # STORE TIME
041545,000277: 14,2443 26347 LAT-LONG
041546,000278: 14,2444 70545 DLOAD SR1
041547,000279: 14,2445 01122 LONG
041548,000280: 14,2446 16711 STODL LANDLONG
041549,000281: 14,2447 01124 ALT
041550,000282: 14,2450 16713 STODL LANDALT
041551,000283: 14,2451 01120 LAT
041552,000284: 14,2452 02707 STORE LANDLAT
041553,000285: 14,2453 77776 EXIT
041554,000286:
041555,000287: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
041556,000288: 14,2455 04616 TC BANKCALL
041557,000289: 14,2456 20477 CADR GOFLASH
041558,000290: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
041559,000291: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
041560,000292: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
041561,000293:
041562,000294: 14,2462 06051 TC INTPRET
041563,000295: 14,2463 72545 DLOAD SL1
041564,000296: 14,2464 02711 LANDLONG
041565,000297: 14,2465 15122 STODL LONG
041566,000298: 14,2466 02713 LANDALT
041567,000299: 14,2467 15124 STODL ALT
041568,000300: 14,2470 02707 LANDLAT
041569,000301: 14,2471 15120 STODL LAT
041570,000302: 14,2472 01242 GDT/2 +4 # PICK UP TIME
041571,000303: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG, ALT
041572,000304: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
041573,000305: 14,2475 77650 GOTO
041574,000306: 14,2476 02746 QMAJ
041575,000307: 14,2477 01531 V06N89* VN 689
041576,000308:
|
|
Page 926 |
041578,000310: # NAME -S50 ALIAS LOCSAM
041579,000311: # BY
041580,000312: # VINCENT
041581,000313: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
041582,000314:
041583,000315: # DEFINE
041584,000316:
041585,000317:
041586,000318: # U = UNIT( SUN WRT EARTH)
041587,000319: # ES
041588,000320:
041589,000321: # U =UNIT( MOON WRT EARTH)
041590,000322: # EM
041591,000323:
041592,000324: # R =POSITION VECTOR OF LEM
041593,000325: # L
041594,000326:
041595,000327: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041596,000328: # EM
041597,000329:
041598,000330: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
041599,000331: # EM
041600,000332:
041601,000333: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041602,000334: # E
041603,000335:
041604,000336: # LOCSAM COMPUTES IN EARTH INFLUENCE
041605,000337:
041606,000338: # VSUN = U
041607,000339: # ES
041608,000340:
041609,000341: # VEARTH = -UNIT( R )
041610,000342: # L
041611,000343:
041612,000344: # VMOON = UNIT(R .U - R )
041613,000345: # EM EM L
041614,000346:
041615,000347: # CSUN = COS 90
041616,000348:
041617,000349: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041618,000350: # E L
041619,000351:
041620,000352: # CMOON = COS 5
041621,000353:
041622,000354:
041623,000355: # INPUT - TIME IN MPAC
041624,000356: # OUTPUT - LISTED ABOVE
041625,000357: # SUBROUTINES -LSPOS,LEMPREC
041626,000358: # DEBRIS - VAC AREA ,TSIGHT
041627,000359:
|
|
Page 927 |
041629,000361: 14,2500 COUNT* $$/LOSAM
041630,000362:
041631,000363: 14,2500 14,2500 S50 = LOCSAM
041632,000364: 14,2500 77620 LOCSAM STQ
041633,000365: 14,2501 02745 QMIN
041634,000366: 14,2502 37562 STCALL TSIGHT
041635,000367: 14,2503 33660 LSPOS
041636,000368: 14,2504 77745 DLOAD
041637,000369: 14,2505 03562 TSIGHT
041638,000370: 14,2506 34041 STCALL TDEC1
041639,000371: 14,2507 27056 LEMPREC
041640,000372: 14,2510 61131 SSP TIX,2
041641,000373: 14,2511 00052 S2
041642,000374: 14,2512 00000 0
041643,000375: 14,2513 30535 MOONCNTR
041644,000376: 14,2514 74375 EARTCNTR VLOAD VXSC
041645,000377: 14,2515 02723 VMOON
041646,000378: 14,2516 30001 RSUBEM
041647,000379: 14,2517 52372 VSL1 VSU
041648,000380: 14,2520 00001 RATT
041649,000381: 14,2521 77656 UNIT
041650,000382: 14,2522 26723 STOVL VMOON
041651,000383: 14,2523 00001 RATT
041652,000384: 14,2524 57456 UNIT VCOMP
041653,000385: 14,2525 16707 STODL VEARTH
041654,000386: 14,2526 30005 RSUBE
041655,000387: 14,2527 77624 CALL
041656,000388: 14,2530 30567 OCCOS
041657,000389: 14,2531 14017 STODL CEARTH
041658,000390: 14,2532 30576 CSS5
041659,000391: 14,2533 34023 STCALL CMOON
041660,000392: 14,2534 30562 ENDSAM
041661,000393: 14,2535 74375 MOONCNTR VLOAD VXSC
041662,000394: 14,2536 02723 VMOON
041663,000395: 14,2537 30007 ROE
041664,000396: 14,2540 53445 BVSU UNIT
041665,000397: 14,2541 02715 VSUN
041666,000398: 14,2542 26715 STOVL VSUN
041667,000399: 14,2543 02723 VMOON
041668,000400: 14,2544 53361 VXSC VAD
041669,000401: 14,2545 30001 RSUBEM
041670,000402: 14,2546 00001 RATT
041671,000403: 14,2547 57456 UNIT VCOMP
041672,000404: 14,2550 26707 STOVL VEARTH
041673,000405: 14,2551 00001 RATT
041674,000406: 14,2552 57456 UNIT VCOMP
041675,000407: 14,2553 16723 STODL VMOON
041676,000408: 14,2554 30003 RSUBM
041677,000409: 14,2555 77624 CALL
041678,000410: 14,2556 30567 OCCOS
|
|
Page 928 |
041680,000412: 14,2557 14023 STODL CMOON
041681,000413: 14,2560 30576 CSS5
041682,000414: 14,2561 00017 STORE CEARTH
041683,000415: 14,2562 77745 ENDSAM DLOAD
041684,000416: 14,2563 30600 CSSUN
041685,000417: 14,2564 00021 STORE CSUN
041686,000418: 14,2565 77650 GOTO
041687,000419: 14,2566 02745 QMIN
041688,000420: 14,2567 70471 OCCOS DDV SR1
041689,000421: 14,2570 00045 36D
041690,000422: 14,2571 43336 ASIN DAD
041691,000423: 14,2572 30602 5DEGREES
041692,000424: 14,2573 70546 COS SR1
041693,000425: 14,2574 77616 RVQ
041694,000426: 14,2575 CEARTH = 14D
041695,000427: 14,2575 CSUN = 16D
041696,000428: 14,2575 CMOON = 18D
041697,000429: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041698,000430:
041699,000431: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
041700,000432:
041701,000433: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041702,000434:
|
|
Page 929 |
041704,000436: # PROGRAM NAME - R56 DATE DEC 20 66
041705,000437: # MOD 1 LOG SECTION P51-P53
041706,000438: # ASSEMBLY SUNDISK REV40
041707,000439: # BY KEN VINCENT
041708,000440:
041709,000441: # FUNCTION
041710,000442: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041711,000443: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041712,000444: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041713,000445: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041714,000446: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041715,000447: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041716,000448: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041717,000449: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041718,000450: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041719,000451: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041720,000452: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041721,000453: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
041722,000454:
041723,000455: # CALLING SEQUENCE
041724,000456: # L TC BANKCALL
041725,000457: # L+1 CADR R56
041726,000458: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041727,000459: # L+3 NORMAL RETURN
041728,000460:
041729,000461: # OUTPUT
041730,000462: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041731,000463: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041732,000464:
041733,000465: # INITIALIZATION
041734,000466: # 1)A CALL TO LOCSAM MUST BE MADE
041735,000467:
041736,000468: # DEBRIS
041737,000469: # WORK AREA
041738,000470: # X,Y,ZNB
041739,000471: # SINCDU,COSCDU
041740,000472: # STARAD - STAR +5
041741,000473:
041742,000474: 14,2603 14,2603 R56 = PICAPAR
041743,000475: 14,2603 COUNT* $$/R56
041744,000476: 14,2603 04645 PICAPAR TC MAKECADR
041745,000477: 14,2604 55745 TS QMIN
041746,000478: 14,2605 06051 TC INTPRET
041747,000479: 14,2606 77624 CALL
041748,000480: 14,2607 47535 CDUTRIG
041749,000481: 14,2610 77624 CALL
041750,000482: 14,2611 20030 CALCSMSC
041751,000483: 14,2612 77601 SETPD
041752,000484: 14,2613 00001 0
041753,000485: 14,2614 71214 SET DLOAD # VFLAG = 1
041754,000486: 14,2615 01465 VFLAG
|
|
Page 930 |
041756,000488: 14,2616 24007 DPZERO
041757,000489: 14,2617 26756 STOVL BESTI
041758,000490: 14,2620 02665 XNB
041759,000491: 14,2621 63361 VXSC PDVL
041760,000492: 14,2622 24005 HALFDP
041761,000493: 14,2623 02701 ZNB
041762,000494: 14,2624 74370 AXT,1 VXSC
041763,000495: 14,2625 00344 228D # X1 = 37 X 6 +6
041764,000496: 14,2626 24005 HALFDP
041765,000497: 14,2627 77655 VAD
041766,000498: 14,2630 53505 VXM UNIT
041767,000499: 14,2631 01732 REFSMMAT
041768,000500: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
041769,000501: 14,2633 66331 SSP SSP # S1=S2=6
041770,000502: 14,2634 00051 S1
041771,000503: 14,2635 00006 6
041772,000504: 14,2636 00052 S2
041773,000505: 14,2637 00006 6
041774,000506: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041775,000507: 14,2641 30643 PIC2
041776,000508: 14,2642 30760 PICEND
041777,000509: 14,2643 50373 PIC2 VLOAD* DOT
041778,000510: 14,2644 30347 CATLOG,1
041779,000511: 14,2645 02731 SAX
041780,000512: 14,2646 50025 DSU BMN
041781,000513: 14,2647 30757 CSS33
041782,000514: 14,2650 30640 PIC1
041783,000515: 14,2651 77754 LXA,2
041784,000516: 14,2652 00046 X1
041785,000517: 14,2653 52104 PIC3 TIX,2 GOTO
041786,000518: 14,2654 30656 PIC4
041787,000519: 14,2655 30640 PIC1
041788,000520: 14,2656 50373 PIC4 VLOAD* DOT
041789,000521: 14,2657 47430 CATLOG,2
041790,000522: 14,2660 02731 SAX
041791,000523: 14,2661 50025 DSU BMN
041792,000524: 14,2662 30757 CSS33
041793,000525: 14,2663 30653 PIC3
041794,000526: 14,2664 47773 VLOAD* DOT*
041795,000527: 14,2665 30347 CATLOG,1
041796,000528: 14,2666 47430 CATLOG,2
041797,000529: 14,2667 51025 DSU BPL
041798,000530: 14,2670 30755 CSS40
041799,000531: 14,2671 30653 PIC3
041800,000532: 14,2672 45173 VLOAD* CALL
041801,000533: 14,2673 30347 CATLOG,1
041802,000534: 14,2674 30732 OCCULT
041803,000535: 14,2675 77614 BON
041804,000536: 14,2676 01710 CULTFLAG
041805,000537: 14,2677 30640 PIC1
|
|
Page 931 |
041807,000539: 14,2700 45173 VLOAD* CALL
041808,000540: 14,2701 47430 CATLOG,2
041809,000541: 14,2702 30732 OCCULT
041810,000542: 14,2703 77614 BON
041811,000543: 14,2704 01710 CULTFLAG
041812,000544: 14,2705 30653 PIC3
041813,000545: 14,2706 77614 STRATGY BONCLR
041814,000546: 14,2707 01605 VFLAG
041815,000547: 14,2710 30725 NEWPAR
041816,000548: 14,2711 65120 XCHX,1 XCHX,2
041817,000549: 14,2712 02755 BESTI
041818,000550: 14,2713 02756 BESTJ
041819,000551: 14,2714 47773 STRAT VLOAD* DOT*
041820,000552: 14,2715 30347 CATLOG,1
041821,000553: 14,2716 47430 CATLOG,2
041822,000554: 14,2717 43006 PUSH BOFINV
041823,000555: 14,2720 01545 VFLAG
041824,000556: 14,2721 30711 STRAT -3
041825,000557: 14,2722 45345 DLOAD DSU
041826,000558: 14,2723 77644 BPL
041827,000559: 14,2724 30653 PIC3
041828,000560: 14,2725 67130 NEWPAR SXA,1 SXA,2
041829,000561: 14,2726 02755 BESTI
041830,000562: 14,2727 02756 BESTJ
041831,000563: 14,2730 77650 GOTO
041832,000564: 14,2731 30653 PIC3
041833,000565: 14,2732 51321 OCCULT MXV BVSU
041834,000566: 14,2733 02707 CULTRIX
041835,000567: 14,2734 00017 CSS
041836,000568: 14,2735 77654 BZE
041837,000569: 14,2736 30751 CULTED
041838,000570: 14,2737 75240 BMN SIGN
041839,000571: 14,2740 30751 CULTED
041840,000572: 14,2741 00160 MPAC +3
041841,000573: 14,2742 75240 BMN SIGN
041842,000574: 14,2743 30751 CULTED
041843,000575: 14,2744 00162 MPAC +5
041844,000576: 14,2745 43040 BMN CLRGO
041845,000577: 14,2746 30751 CULTED
041846,000578: 14,2747 01630 CULTFLAG
041847,000579: 14,2750 00052 QPRET
041848,000580: 14,2751 77614 CULTED SETGO
041849,000581: 14,2752 01430 CULTFLAG
041850,000582: 14,2753 00052 QPRET
041851,000583: 14,2754 0000016 CSS = CEARTH
041852,000584: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 /4
041853,000585:
041854,000586: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 /4
041855,000587:
041856,000588: 14,2760 77414 PICEND BOFF EXIT
|
|
Page 932 |
041858,000590: 14,2761 01745 VFLAG
041859,000591: 14,2762 30764 PICGXT
041860,000592: 14,2763 03005 TC PICBXT
041861,000593: 14,2764 73150 PICGXT LXA,1 LXA,2
041862,000594: 14,2765 02755 BESTI
041863,000595: 14,2766 02756 BESTJ
041864,000596: 14,2767 47775 VLOAD DOT*
041865,000597: 14,2770 02731 SAX
041866,000598: 14,2771 30347 CATLOG,1
041867,000599: 14,2772 47715 PDVL DOT*
041868,000600: 14,2773 02731 SAX
041869,000601: 14,2774 47430 CATLOG,2
041870,000602: 14,2775 77625 DSU
041871,000603: 14,2776 66044 BPL SXA,1
041872,000604: 14,2777 31003 PICNSWP
041873,000605: 14,3000 02756 BESTJ
041874,000606: 14,3001 77734 SXA,2
041875,000607: 14,3002 02755 BESTI
041876,000608: 14,3003 77776 PICNSWP EXIT
041877,000609: 14,3004 25745 INCR QMIN
041878,000610: 14,3005 31745 PICBXT CA QMIN
041879,000611: 14,3006 04622 TC SWCALL
041880,000612: 14,3007 VPD = 0D
041881,000613: 14,3007 V0 = 6D
041882,000614: 14,3007 V1 = 12D
041883,000615: 14,3007 V2 = 18D
041884,000616: 14,3007 V3 = 24D
041885,000617: 14,3007 DP0 = 30D
041886,000618: 14,3007 DP1 = 32D
041887,000619:
|
|
Page 933 |
041889,000621: # NAME-R51 FINE ALIGN
041890,000622: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041891,000623: # CALLING SEQ- CALL R51
041892,000624: # INPUT - REFSMMAT
041893,000625: # OUTPUT- GYRO TORQUE PULSES
041894,000626: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041895,000627: 14,3007 COUNT* $$/R51
041896,000628: 14,3007 77620 R51 STQ
041897,000629: 14,3010 02746 QMAJ
041898,000630: 14,3011 77776 R51.1 EXIT
041899,000631: 14,3012 05364 TC PHASCHNG
041900,000632: 14,3013 04024 OCT 04024
041901,000633:
041902,000634: 14,3014 34761 R51C CAF OCT15
041903,000635: 14,3015 04616 TC BANKCALL
041904,000636: 14,3016 20624 CADR GOPERF1
041905,000637: 14,3017 06001 TC GOTOPOOH
041906,000638: 14,3020 03022 TC +2 # V33E
041907,000639: 14,3021 03045 TC R51E # ENTER
041908,000640: 14,3022 06051 TC INTPRET
041909,000641: 14,3023 43234 RTB DAD
041910,000642: 14,3024 21555 LOADTIME
041911,000643: 14,3025 31155 TSIGHT1
041912,000644: 14,3026 77624 CALL
041913,000645: 14,3027 30500 LOCSAM
041914,000646: 14,3030 77776 EXIT
041915,000647: 14,3031 04616 TC BANKCALL
041916,000648: 14,3032 30603 CADR R56
041917,000649: 14,3033 03035 TC R51I
041918,000650: 14,3034 03045 R51F TC R51E
041919,000651: 14,3035 05600 R51I TC ALARM
041920,000652: 14,3036 00405 OCT 405
041921,000653: 14,3037 35006 CAF VB05N09
041922,000654: 14,3040 04616 TC BANKCALL
041923,000655: 14,3041 20477 CADR GOFLASH
041924,000656: 14,3042 06001 TC GOTOPOOH
041925,000657: 14,3043 03045 TC R51E
041926,000658: 14,3044 03014 TC R51C
041927,000659: 14,3045 34755 R51E CAF ZERO
041928,000660: 14,3046 55757 TS STARIND
041929,000661: 14,3047 06051 R51.2 TC INTPRET
041930,000662: 14,3050 77776 R51.3 EXIT
041931,000663: 14,3051 05364 TC PHASCHNG
041932,000664: 14,3052 04024 OCT 04024
041933,000665:
041934,000666: 14,3053 06051 TC INTPRET
041935,000667: 14,3054 77624 CALL
041936,000668: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
041937,000669: 14,3056 77776 EXIT
041938,000670: 14,3057 04616 TC BANKCALL
|
|
Page 934 |
041940,000672: 14,3060 16000 CADR AOTMARK
041941,000673: 14,3061 04616 TC BANKCALL
041942,000674: 14,3062 17711 CADR OPTSTALL
041943,000675: 14,3063 05712 TC CURTAINS
041944,000676: 14,3064 11757 CCS STARIND
041945,000677: 14,3065 13067 TCF +2
041946,000678: 14,3066 03137 TC R51.4
041947,000679: 14,3067 06051 TC INTPRET
041948,000680: 14,3070 77775 VLOAD
041949,000681: 14,3071 02715 STARAD +6
041950,000682: 14,3072 02767 STORE STARSAV2
041951,000683: 14,3073 77776 EXIT
041952,000684: 14,3074 05364 TC PHASCHNG
041953,000685: 14,3075 04024 OCT 04024
041954,000686:
041955,000687: 14,3076 06051 TC INTPRET
041956,000688: 14,3077 45145 DLOAD CALL
041957,000689: 14,3100 03562 TSIGHT
041958,000690: 14,3101 32500 PLANET
041959,000691: 14,3102 53521 MXV UNIT
041960,000692: 14,3103 01732 REFSMMAT
041961,000693: 14,3104 26715 STOVL STARAD +6
041962,000694: 14,3105 03554 PLANVEC
041963,000695: 14,3106 53521 MXV UNIT
041964,000696: 14,3107 01732 REFSMMAT
041965,000697: 14,3110 26707 STOVL STARAD
041966,000698: 14,3111 02761 STARSAV1
041967,000699: 14,3112 24007 STOVL 6D
041968,000700: 14,3113 02767 STARSAV2
041969,000701: 14,3114 34015 STCALL 12D
041970,000702: 14,3115 31250 R54 # STAR DATA TEST
041971,000703: 14,3116 45014 BOFF CALL
041972,000704: 14,3117 00354 FREEFLAG
041973,000705: 14,3120 31126 R51K
041974,000706: 14,3121 47437 AXISGEN
041975,000707: 14,3122 77624 CALL
041976,000708: 14,3123 31216 R55 # GYRO TORQUE
041977,000709: 14,3124 77614 CLEAR
041978,000710: 14,3125 01273 PFRATFLG
041979,000711: 14,3126 77776 R51K EXIT
041980,000712: 14,3127 35752 R51P63 CAF OCT14
041981,000713: 14,3130 04616 TC BANKCALL
041982,000714: 14,3131 20624 CADR GOPERF1
041983,000715: 14,3132 06001 TC GOTOPOOH
041984,000716: 14,3133 03014 TC R51C
041985,000717: 14,3134 06051 TC INTPRET
041986,000718: 14,3135 77650 GOTO
041987,000719: 14,3136 02746 QMAJ
041988,000720: 14,3137 06051 R51.4 TC INTPRET
041989,000721: 14,3140 77775 VLOAD
|
|
Page 935 |
041991,000723: 14,3141 02715 STARAD +6
041992,000724: 14,3142 02761 STORE STARSAV1
041993,000725: 14,3143 45145 DLOAD CALL
041994,000726: 14,3144 03562 TSIGHT
041995,000727: 14,3145 32500 PLANET
041996,000728: 14,3146 03554 STORE PLANVEC
041997,000729: 14,3147 77731 SSP
041998,000730: 14,3150 02760 STARIND
041999,000731: 14,3151 00001 1
042000,000732: 14,3152 77650 GOTO
042001,000733: 14,3153 31050 R51.3
042002,000734: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
042003,000735:
|
|
Page 936 |
042005,000737: # GYRO TORQUE COARSE ALIGNMENT
042006,000738: 14,3156 45020 GYCOARS STQ CALL
042007,000739: 14,3157 02746 QMAJ
042008,000740: 14,3160 47245 CALCGTA
042009,000741: 14,3161 43014 CLEAR CLEAR
042010,000742: 14,3162 01260 DRIFTFLG
042011,000743: 14,3163 01662 REFSMFLG
042012,000744: 14,3164 77776 EXIT
042013,000745: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
042014,000746: 14,3166 04616 TC BANKCALL
042015,000747: 14,3167 20452 CADR GODSPR
042016,000748: 14,3170 33247 CA R55CDR
042017,000749: 14,3171 04616 TC BANKCALL
042018,000750: 14,3172 17270 CADR IMUPULSE
042019,000751: 14,3173 04616 TC BANKCALL
042020,000752: 14,3174 17715 CADR IMUSTALL
042021,000753: 14,3175 05712 TC CURTAINS
042022,000754: 14,3176 05364 TC PHASCHNG
042023,000755: 14,3177 04024 OCT 04024
042024,000756:
042025,000757: 14,3200 06051 TC INTPRET
042026,000758: 14,3201 75160 AXC,1 AXC,2
042027,000759: 14,3202 03606 XSMD
042028,000760: 14,3203 01731 REFSMMAT
042029,000761: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
042030,000762: 14,3205 31371 MATMOVE
042031,000763: 14,3206 43014 CLEAR SET
042032,000764: 14,3207 01273 PFRATFLG
042033,000765: 14,3210 01462 REFSMFLG
042034,000766: 14,3211 77624 CALL
042035,000767: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
042036,000768: 14,3213 77650 GOTO
042037,000769: 14,3214 31126 R51K
042038,000770: 14,3215 04024 V16N20 VN 1620
042039,000771:
|
|
Page 937 |
042041,000773: # R55 GYRO TORQUE
042042,000774: # FUNCTION-COMPUTE AND SEND GYRO PULSES
042043,000775: # CALLING SEQ- CALL R55
042044,000776: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
042045,000777: # OUTPUT- GYRO PULSES
042046,000778: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
042047,000779: 14,3216 COUNT* $$/R55
042048,000780: 14,3216 77620 R55 STQ
042049,000781: 14,3217 02745 QMIN
042050,000782: 14,3220 77624 CALL
042051,000783: 14,3221 47245 CALCGTA
042052,000784: 14,3222 77776 PULSEM EXIT
042053,000785: 14,3223 33246 R55.1 CAF V06N93
042054,000786: 14,3224 04616 TC BANKCALL
042055,000787: 14,3225 20477 CADR GOFLASH
042056,000788: 14,3226 06001 TC GOTOPOOH
042057,000789: 14,3227 03231 TC R55.2
042058,000790: 14,3230 03243 TC R55RET
042059,000791: 14,3231 05364 R55.2 TC PHASCHNG
042060,000792: 14,3232 00214 OCT 00214
042061,000793: 14,3233 33247 CA R55CDR
042062,000794: 14,3234 04616 TC BANKCALL
042063,000795: 14,3235 17270 CADR IMUPULSE
042064,000796: 14,3236 04616 TC BANKCALL
042065,000797: 14,3237 17715 CADR IMUSTALL
042066,000798: 14,3240 05712 TC CURTAINS
042067,000799: 14,3241 05364 TC PHASCHNG
042068,000800: 14,3242 04024 OCT 04024
042069,000801:
042070,000802: 14,3243 06051 R55RET TC INTPRET
042071,000803: 14,3244 77650 GOTO
042072,000804: 14,3245 02745 QMIN
042073,000805: 14,3246 01535 V06N93 VN 0693
042074,000806: 14,3247 02737 R55CDR ECADR OGC
042075,000807: 14,3250 14,3250 R54 = CHKSDATA
042076,000808: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
042077,000809: # MOD NO- 0 LOG SECTION- P51-P53
042078,000810: # MODIFICATION BY- LONSKE ASSEMBLY-
042079,000811:
042080,000812: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
042081,000813: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
042082,000814: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
042083,000815:
042084,000816: # OS1 = OBSERVED STAR 1 VECTOR
042085,000817: # OS2 = OBSERVED STAR 2 VECTOR
042086,000818: # SS1 = STORED STAR 1 VECTOR
042087,000819: # SS2 = STORED STAR 2 VECTOR
042088,000820: # A1 = ARCCOS(OS1 - OS2)
042089,000821: # A2 = ARCCOS(SS1 - SS2)
042090,000822: # A = ABS(2(A1 - A2))
|
|
Page 938 |
042092,000824: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
042093,000825: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
042094,000826: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
042095,000827: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
042096,000828: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
042097,000829:
042098,000830: # ERASABLE INITIALIZATION REQUIRED -
042099,000831: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
042100,000832: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
042101,000833: # DEBRIS -
042102,000834: 14,3250 COUNT* $$/R54
042103,000835: 14,3250 43020 CHKSDATA STQ SET
042104,000836: 14,3251 02745 QMIN
042105,000837: 14,3252 00074 FREEFLAG
042106,000838: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
042107,000839: 14,3254 02706 STARAD
042108,000840:
042109,000841: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
042110,000842: 14,3256 00001 0,1
042111,000843: 14,3257 00007 6,1
042112,000844: 14,3260 65552 SL1 ACOS
042113,000845: 14,3261 00025 STORE THETA
042114,000846: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
042115,000847: 14,3263 00354 FREEFLAG
042116,000848: 14,3264 31274 CHKSD
042117,000849: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
042118,000850: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
042119,000851: 14,3267 00006 6D
042120,000852: 14,3270 00025 THETA
042121,000853: 14,3271 00023 STORE 18D
042122,000854: 14,3272 77650 GOTO
042123,000855: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
042124,000856: 14,3274 45345 CHKSD DLOAD DSU
042125,000857: 14,3275 00025 THETA
042126,000858: 14,3276 00023 18D
042127,000859: 14,3277 77634 RTB # COMPUTE POS DIFF
042128,000860: 14,3300 21574 SGNAGREE
042129,000861: 14,3301 01045 STORE NORMTEM1
042130,000862: 14,3302 77414 SET EXIT
042131,000863: 14,3303 00074 FREEFLAG
042132,000864: 14,3304 33320 CAF VB6N5
042133,000865: 14,3305 04616 TC BANKCALL
042134,000866: 14,3306 20477 CADR GOFLASH
042135,000867: 14,3307 16001 TCF GOTOPOOH
042136,000868: 14,3310 03315 TC CHKSDA # PROCEED
042137,000869: 14,3311 06051 TC INTPRET
042138,000870: 14,3312 52014 CLEAR GOTO
042139,000871: 14,3313 00274 FREEFLAG
042140,000872: 14,3314 02745 QMIN
042141,000873: 14,3315 06051 CHKSDA TC INTPRET
|
|
Page 939 |
042143,000875: 14,3316 77650 GOTO
042144,000876: 14,3317 02745 QMIN
042145,000877: 14,3320 01405 VB6N5 VN 605
042146,000878: # NAME - CAL53A
042147,000879: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
042148,000880: # CALLING SEQUENCE - CALL CAL53A
042149,000881: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
042150,000882: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
042151,000883: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
042152,000884: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
042153,000885: 14,3321 COUNT* $$/R50
042154,000886: 14,3321 77624 CAL53A CALL
042155,000887: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
042156,000888: 14,3323 66234 RTB SSP
042157,000889: 14,3324 31405 RDCDUS # READ CDUS
042158,000890: 14,3325 00051 S1
042159,000891: 14,3326 00001 1
042160,000892: 14,3327 40370 AXT,1 SETPD
042161,000893: 14,3330 00003 3
042162,000894: 14,3331 00005 4
042163,000895: 14,3332 70543 CALOOP DLOAD* SR1
042164,000896: 14,3333 00325 THETAD +3D,1
042165,000897: 14,3334 70523 PDDL* SR1
042166,000898: 14,3335 00005 4,1
042167,000899: 14,3336 51425 DSU ABS
042168,000900: 14,3337 45206 PUSH DSU
042169,000901: 14,3340 31404 DEGREE1
042170,000902: 14,3341 71240 BMN DLOAD
042171,000903: 14,3342 31360 CALOOP1
042172,000904: 14,3343 51025 DSU BPL
042173,000905: 14,3344 31405 DEG359
042174,000906: 14,3345 31360 CALOOP1
042175,000907: 14,3346 77776 EXIT
042176,000908: 14,3347 05364 TC PHASCHNG
042177,000909: 14,3350 04024 OCT 04024
042178,000910:
042179,000911: 14,3351 06051 TC INTPRET
042180,000912: 14,3352 77624 COARFINE CALL
042181,000913: 14,3353 31557 COARSE
042182,000914: 14,3354 77624 CALL
042183,000915: 14,3355 31603 NCOARSE
042184,000916: 14,3356 77650 GOTO
042185,000917: 14,3357 31362 FINEONLY
042186,000918: 14,3360 77700 CALOOP1 TIX,1
042187,000919: 14,3361 31332 CALOOP
042188,000920: 14,3362 75160 FINEONLY AXC,1 AXC,2
042189,000921: 14,3363 02642 XSM
042190,000922: 14,3364 01731 REFSMMAT
042191,000923: 14,3365 77624 CALL
042192,000924: 14,3366 31371 MATMOVE
|
|
Page 940 |
042194,000926: 14,3367 77650 GOTO
042195,000927: 14,3370 32204 COARSRET
042196,000928: 14,3371 77773 MATMOVE VLOAD*
042197,000929: 14,3372 00001 0,1
042198,000930: 14,3373 10001 STORE 0,2
042199,000931: 14,3374 77773 VLOAD*
042200,000932: 14,3375 00007 6D,1
042201,000933: 14,3376 10007 STORE 6D,2
042202,000934: 14,3377 77773 VLOAD*
042203,000935: 14,3400 00015 12D,1
042204,000936: 14,3401 10015 STORE 12D,2
042205,000937: 14,3402 77616 RVQ
042206,000938: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
042207,000939: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
042208,000940: 14,3405 00004 RDCDUS INHINT # READ CDUS
042209,000941: 14,3406 30032 CA CDUX
042210,000942: 14,3407 50120 INDEX FIXLOC
042211,000943: 14,3410 54001 TS 1
042212,000944: 14,3411 30033 CA CDUY
042213,000945: 14,3412 50120 INDEX FIXLOC
042214,000946: 14,3413 54002 TS 2
042215,000947: 14,3414 30034 CA CDUZ
042216,000948: 14,3415 50120 INDEX FIXLOC
042217,000949: 14,3416 54003 TS 3
042218,000950: 14,3417 00003 RELINT
042219,000951: 14,3420 06073 TC DANZIG # +
042220,000952: 14,3421 COUNT* $$/INFLT
042221,000953:
|
|
Page 941 |
042223,000955: # NAME - P51 - IMU ORIENTATION DETERMINATION
042224,000956: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
042225,000957: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
042226,000958:
042227,000959: # FUNCTIONAL DESCRIPTION
042228,000960:
042229,000961: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
042230,000962: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
042231,000963: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
042232,000964: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
042233,000965:
042234,000966: # CALLING SEQUENCE
042235,000967:
042236,000968: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
042237,000969:
042238,000970: # SUBROUTINES CALLED.
042239,000971:
042240,000972: # GOPERF3
042241,000973: # GOPERF1
042242,000974: # GODSPR
042243,000975: # IMUCOARS
042244,000976: # IMUFIN20
042245,000977: # AOTMARK(R53)
042246,000978: # CHKSDATA(R54)
042247,000979: # MKRELEAS
042248,000980: # AXISGEN
042249,000981: # MATMOVE
042250,000982:
042251,000983: # ALARMS
042252,000984:
042253,000985: # NONE.
042254,000986:
042255,000987: # ERASABLE INITIALIZATION
042256,000988:
042257,000989: # IMU ZERO FLAG SHOULD BE SET.
042258,000990:
042259,000991: # OUTPUT
042260,000992:
042261,000993: # REFSMMAT
042262,000994: # REFSMFLG
042263,000995:
042264,000996: # DEBRIS
042265,000997:
042266,000998: # WORK AREA
042267,000999: # STARAD
042268,001000: # STARIND
042269,001001: # BESTI
042270,001002: # BESTJ
042271,001003:
042272,001004: 14,3421 COUNT* $$/P51
|
|
Page 942 |
042274,001006: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042275,001007: 14,3422 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042276,001008:
042277,001009: 14,3423 34761 CAF OCT15
042278,001010: 14,3424 04616 TC BANKCALL
042279,001011: 14,3425 20624 CADR GOPERF1
042280,001012: 14,3426 06001 TC GOTOPOOH # TERM.
042281,001013: 14,3427 13453 TCF P51B # V33
042282,001014: 14,3430 05364 TC PHASCHNG
042283,001015: 14,3431 04024 OCT 04024
042284,001016:
042285,001017: 14,3432 34755 CAF ZERO
042286,001018: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
042287,001019: 14,3434 54322 TS THETAD +1
042288,001020: 14,3435 54323 TS THETAD +2
042289,001021: 14,3436 35010 CAF V06N22
042290,001022: 14,3437 04616 TC BANKCALL
042291,001023: 14,3440 20447 CADR GODSPRET
042292,001024: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
042293,001025: 14,3442 04616 TC BANKCALL
042294,001026: 14,3443 20447 CADR GODSPRET
042295,001027: 14,3444 06051 TC INTPRET
042296,001028: 14,3445 77624 CALL
042297,001029: 14,3446 31557 COARSE
042298,001030: 14,3447 77776 EXIT
042299,001031: 14,3450 05364 TC PHASCHNG
042300,001032: 14,3451 04024 OCT 04024
042301,001033: 14,3452 13423 TCF P51 +2
042302,001034:
042303,001035: 14,3453 05364 P51B TC PHASCHNG
042304,001036: 14,3454 00014 OCT 00014
042305,001037: 14,3455 06051 TC INTPRET
042306,001038: 14,3456 77624 CALL
042307,001039: 14,3457 31603 NCOARSE
042308,001040: 14,3460 40331 SSP SETPD
042309,001041: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
042310,001042: 14,3462 00000 0
042311,001043: 14,3463 00001 0
042312,001044: 14,3464 77776 P51C EXIT
042313,001045: 14,3465 05364 TC PHASCHNG
042314,001046: 14,3466 04024 OCT 04024
042315,001047:
042316,001048: 14,3467 04616 TC BANKCALL
042317,001049: 14,3470 16000 CADR AOTMARK # R53
042318,001050: 14,3471 04616 TC BANKCALL
042319,001051: 14,3472 17711 CADR AOTSTALL
042320,001052: 14,3473 05712 TC CURTAINS
042321,001053: 14,3474 11757 CCS STARIND
042322,001054: 14,3475 13503 TCF P51D +1
042323,001055: 14,3476 06051 TC INTPRET
|
|
Page 943 |
042325,001057: 14,3477 77775 VLOAD
042326,001058: 14,3500 02715 STARAD +6
042327,001059: 14,3501 02761 STORE STARSAV1
042328,001060: 14,3502 77776 P51D EXIT
042329,001061: 14,3503 05364 TC PHASCHNG
042330,001062: 14,3504 04024 OCT 04024
042331,001063:
042332,001064: 14,3505 11757 CCS STARIND
042333,001065: 14,3506 13522 TCF P51E
042334,001066: 14,3507 05364 TC PHASCHNG
042335,001067: 14,3510 04024 OCT 04024
042336,001068:
042337,001069: 14,3511 06051 TC INTPRET
042338,001070: 14,3512 45145 DLOAD CALL
042339,001071: 14,3513 03562 TSIGHT
042340,001072: 14,3514 32500 PLANET
042341,001073: 14,3515 03554 STORE PLANVEC
042342,001074: 14,3516 77776 EXIT
042343,001075: 14,3517 34753 CAF BIT1
042344,001076: 14,3520 55757 TS STARIND
042345,001077: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
042346,001078: 14,3522 05364 P51E TC PHASCHNG
042347,001079: 14,3523 04024 OCT 04024
042348,001080:
042349,001081: 14,3524 06051 TC INTPRET
042350,001082: 14,3525 45145 DLOAD CALL
042351,001083: 14,3526 03562 TSIGHT
042352,001084: 14,3527 32500 PLANET
042353,001085: 14,3530 24015 STOVL 12D
042354,001086: 14,3531 03554 PLANVEC
042355,001087: 14,3532 24007 STOVL 6D
042356,001088: 14,3533 02761 STARSAV1
042357,001089: 14,3534 26707 STOVL STARAD
042358,001090: 14,3535 02767 STARSAV2
042359,001091: 14,3536 36715 STCALL STARAD +6
042360,001092: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
042361,001093: 14,3540 77414 BON EXIT
042362,001094: 14,3541 00314 FREEFLAG
042363,001095: 14,3542 31544 P51G
042364,001096: 14,3543 03423 TC P51 +2
042365,001097: 14,3544 77624 P51G CALL
042366,001098: 14,3545 47437 AXISGEN # COME BACK WITH REFSMMAT IN XDC
042367,001099: 14,3546 75160 AXC,1 AXC,2
042368,001100: 14,3547 02664 XDC
042369,001101: 14,3550 01731 REFSMMAT
042370,001102: 14,3551 77624 CALL
042371,001103: 14,3552 31371 MATMOVE
042372,001104: 14,3553 77414 SET EXIT
042373,001105: 14,3554 01462 REFSMFLG
042374,001106: 14,3555 06001 TC GOTOPOOH # FINIS
|
|
Page 944 |
042376,001108: 14,3556 12200 V41K VN 4100
042377,001109: 14,3557 77776 COARSE EXIT
042378,001110: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
042379,001111: 14,3561 00006 EXTEND
042380,001112: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
042381,001113: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
042382,001114: 14,3564 04616 TC BANKCALL
042383,001115: 14,3565 01736 CADR DELAYJOB
042384,001116: 14,3566 13560 TCF COARSE +1
042385,001117: 14,3567 04616 DOCORS TC BANKCALL
042386,001118: 14,3570 16745 CADR IMUCOARS
042387,001119: 14,3571 04616 TC BANKCALL
042388,001120: 14,3572 17715 CADR IMUSTALL
042389,001121: 14,3573 05712 TC CURTAINS
042390,001122: 14,3574 04616 TC BANKCALL
042391,001123: 14,3575 17155 CADR IMUFINE
042392,001124: 14,3576 04616 TC BANKCALL
042393,001125: 14,3577 17715 CADR IMUSTALL
042394,001126: 14,3600 05712 TC CURTAINS
042395,001127: 14,3601 06051 TC INTPRET
042396,001128: 14,3602 77616 RVQ
042397,001129: 14,3603 77776 NCOARSE EXIT
042398,001130: 14,3604 30025 CA TIME1
042399,001131: 14,3605 55074 TS 1/PIPADT
042400,001132: 14,3606 44755 CS ZERO
042401,001133: 14,3607 54037 TS PIPAX
042402,001134: 14,3610 54040 TS PIPAY
042403,001135: 14,3611 54041 TS PIPAZ
042404,001136: 14,3612 06051 TC INTPRET
042405,001137: 14,3613 77775 VLOAD
042406,001138: 14,3614 24007 ZEROVEC
042407,001139: 14,3615 01472 STORE GCOMP
042408,001140: 14,3616 43414 SET RVQ
042409,001141: 14,3617 01060 DRIFTFLG
042410,001142:
|
|
Page 945 |
042412,001144: # NAME-S52.2
042413,001145: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042414,001146: # CALL- CALL S52.2
042415,001147: # INPUT- X,Y,ZSMD
042416,001148: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
042417,001149: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
042418,001150: 14,3620 COUNT* $$/S52.1
042419,001151: 14,3620 45020 S52.2 STQ CALL
042420,001152: 14,3621 02746 QMAJ
042421,001153: 14,3622 47535 CDUTRIG
042422,001154: 14,3623 77624 CALL
042423,001155: 14,3624 20030 CALCSMSC
042424,001156: 14,3625 66370 AXT,1 SSP
042425,001157: 14,3626 00022 18D
042426,001158: 14,3627 00051 S1
042427,001159: 14,3630 00006 6D
042428,001160: 14,3631 61373 S52.2A VLOAD* VXM
042429,001161: 14,3632 02707 XNB +18D,1
042430,001162: 14,3633 01732 REFSMMAT
042431,001163: 14,3634 77656 UNIT
042432,001164: 14,3635 06707 STORE XNB +18D,1
042433,001165: 14,3636 77700 TIX,1
042434,001166: 14,3637 31631 S52.2A
042435,001167: 14,3640 75160 S52.2.1 AXC,1 AXC,2
042436,001168: 14,3641 03606 XSMD
042437,001169: 14,3642 02642 XSM
042438,001170: 14,3643 77624 CALL
042439,001171: 14,3644 31371 MATMOVE
042440,001172: 14,3645 77624 CALL
042441,001173: 14,3646 47351 CALCGA
042442,001174: 14,3647 77650 GOTO
042443,001175: 14,3650 02746 QMAJ
042444,001176:
|
|
Page 946 |
042446,001178: # NAME-S52.3
042447,001179: # FUNCTION XSMD= UNIT R
042448,001180: # YSMD= UNIT(V X R)
042449,001181: # ZSMD= UNIT(XSMD X YSMD)
042450,001182: # CALL DLOAD CALL
042451,001183: # TALIGN
042452,001184: # S52.3
042453,001185: # INPUT- TIME OF ALIGNMENT IN MPAC
042454,001186: # OUTPUT- X,Y,ZSMD
042455,001187: # SUBROUTINES- CSMCONIC
042456,001188: 14,3651 COUNT* $$/S52.3
042457,001189: 14,3651 77620 S52.3 STQ
042458,001190: 14,3652 02746 QMAJ
042459,001191: 14,3653 34041 STCALL TDEC1
042460,001192: 14,3654 27077 LEMCONIC
042461,001193: 14,3655 53575 VLOAD UNIT
042462,001194: 14,3656 00001 RATT
042463,001195: 14,3657 27607 STOVL XSMD
042464,001196: 14,3660 00007 VATT
042465,001197: 14,3661 53435 VXV UNIT
042466,001198: 14,3662 00001 RATT
042467,001199: 14,3663 27615 STOVL YSMD
042468,001200: 14,3664 03607 XSMD
042469,001201: 14,3665 53435 VXV UNIT
042470,001202: 14,3666 03615 YSMD
042471,001203: 14,3667 37623 STCALL ZSMD
042472,001204: 14,3670 02746 QMAJ
042473,001205:
|
|
Page 947 |
042475,001207: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042476,001208:
042477,001209: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042478,001210: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042479,001211:
042480,001212: # CALLING -CALL R52
042481,001213:
042482,001214: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
042483,001215: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
042484,001216: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
042485,001217: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042486,001218: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042487,001219:
042488,001220: # SUBROUT -R60LEM
042489,001221:
042490,001222: 14,3671 COUNT* $$/R52
042491,001223: 14,3671 77420 R52 STQ EXIT
042492,001224: 14,3672 03665 SAVQR52
042493,001225: 14,3673 51757 INDEX STARIND
042494,001226: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
042495,001227: 14,3675 00006 EXTEND
042496,001228: 14,3676 73772 MP 1/6TH
042497,001229: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
042498,001230: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
042499,001231:
042500,001232: 14,3701 33773 R52A CAF V01N70
042501,001233: 14,3702 04616 TC BANKCALL
042502,001234: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
042503,001235: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
042504,001236: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
042505,001237: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
042506,001238:
042507,001239: 14,3707 05527 R52B TC DOWNFLAG
042508,001240: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042509,001241: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
042510,001242: 14,3712 77756 MASK HIGH9
042511,001243: 14,3713 00006 EXTEND
042512,001244: 14,3714 74743 MP BIT9
042513,001245: 14,3715 54001 TS L # TEMP STORE DETENT
042514,001246:
042515,001247: 14,3716 00006 EXTEND
042516,001248: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
042517,001249:
042518,001250: 14,3720 65661 AD NEG7
042519,001251: 14,3721 00006 EXTEND
042520,001252: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
042521,001253:
042522,001254: 14,3723 E7,1551 EBANK= XYMARK
042523,001255: 14,3723 35016 CA EBANK7
042524,001256: 14,3724 54003 TS EBANK
042525,001257:
|
|
Page 948 |
042527,001259: 14,3725 50001 INDEX L
042528,001260: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
042529,001261: 14,3727 54001 TS L
042530,001262: 14,3730 E5,1642 EBANK= XSM
042531,001263: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
042532,001264: 14,3731 54003 TS EBANK
042533,001265: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
042534,001266: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042535,001267: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
042536,001268:
042537,001269: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
042538,001270: 14,3736 04616 TC BANKCALL
042539,001271: 14,3737 20477 CADR GOFLASH
042540,001272: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
042541,001273: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
042542,001274: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
042543,001275:
042544,001276: 14,3743 00006 EXTEND
042545,001277: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
042546,001278: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
042547,001279: 14,3746 52011 DXCH 8D
042548,001280: 14,3747 06051 TC INTPRET
042549,001281: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
042550,001282: 14,3751 10530 OANB # SCAXIS IN NB COORDS
042551,001283: 14,3752 45034 RTB CALL
042552,001284: 14,3753 21555 LOADTIME
042553,001285: 14,3754 32500 PLANET
042554,001286: 14,3755 53521 MXV UNIT
042555,001287: 14,3756 01732 REFSMMAT
042556,001288: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
042557,001289:
042558,001290: 14,3760 77776 EXIT
042559,001291: 14,3761 04616 TC BANKCALL
042560,001292: 14,3762 54125 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
042561,001293:
042562,001294: 14,3763 37756 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
042563,001295: 14,3764 70734 MASK STARCODE
042564,001296: 14,3765 00006 EXTEND
042565,001297: 14,3766 13701 BZF R52A
042566,001298:
042567,001299: 14,3767 06051 TC INTPRET # RETURN FROM KALCMANU
042568,001300: 14,3770 77650 GOTO
042569,001301: 14,3771 03665 SAVQR52 # RETURN TO CALLER
042570,001302:
042571,001303: 14,3772 05253 1/6TH DEC .1666667
042572,001304: 14,3773 00306 V01N70 VN 0170
042573,001305: 14,3774 01527 V06N87 VN 687
042574,001306:
|
|
Page 949 |
042576,001308: # LUNAR SURFACE STAR AQUISITION
042577,001309:
042578,001310: 15,2270 BANK 15
042579,001311: 15,2000 SETLOC P50S
042580,001312: 15,2000 BANK
042581,001313: 15,2270 COUNT* $$/R59
042582,001314:
042583,001315: 15,2270 40077 R59 CS FLAGWRD3
042584,001316: 15,2271 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042585,001317: 15,2272 10000 CCS A
042586,001318: 15,2273 12463 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042587,001319:
042588,001320: 15,2274 32471 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042589,001321: 15,2275 04616 TC BANKCALL
042590,001322: 15,2276 20477 CADR GOFLASH
042591,001323: 15,2277 06001 TC GOTOPOOH # V34-TERMINATE
042592,001324: 15,2300 12302 TCF R59A # V33-PROCEED
042593,001325: 15,2301 12270 TCF R59 # V32-RECYCLE
042594,001326:
042595,001327: 15,2302 06051 R59A TC INTPRET
042596,001328: 15,2303 45034 RTB CALL
042597,001329: 15,2304 21555 LOADTIME
042598,001330: 15,2305 32500 PLANET # GO GET CELESTRIAL BODY IN REF COORDS.
042599,001331: 15,2306 53521 MXV UNIT
042600,001332: 15,2307 01732 REFSMMAT # TRANSFORM TO NB COORDS.
042601,001333: 15,2310 77624 CALL
042602,001334: 15,2311 47653 CDU*SMNB
042603,001335: 15,2312 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042604,001336: 15,2313 77776 EXIT
042605,001337:
042606,001338: 15,2314 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
042607,001339: 15,2315 55241 TS POSCODE
042608,001340:
042609,001341: 15,2316 E7,1551 EBANK= XYMARK
042610,001342: 15,2316 35016 INCAZ CA EBANK7
042611,001343: 15,2317 54003 TS EBANK
042612,001344:
042613,001345: 15,2320 51241 INDEX POSCODE
042614,001346: 15,2321 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
042615,001347: 15,2322 54001 TS L
042616,001348:
042617,001349: 15,2323 E5,1642 EBANK= XSM
042618,001350: 15,2323 35014 CA EBANK5
042619,001351: 15,2324 54003 TS EBANK
042620,001352:
042621,001353: 15,2325 34737 CA BIT13 # SET ELV TO 45 DEG
042622,001354: 15,2326 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042623,001355: 15,2327 55745 TS QMIN # STORE QMIN=AZ FOR LATER
042624,001356: 15,2330 50120 INDEX FIXLOC
042625,001357: 15,2331 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042626,001358:
|
|
Page 950 |
042628,001360: 15,2332 06051 TC INTPRET
042629,001361: 15,2333 77624 CALL
042630,001362: 15,2334 10530 OANB # GO CALC OPTIC AXIS WRT NB
042631,001363: 15,2335 50375 VLOAD DOT
042632,001364: 15,2336 02731 STAR # DOT STAR WITH OA
042633,001365: 15,2337 03765 SCAXIS
042634,001366: 15,2340 65552 SL1 ARCCOS
042635,001367: 15,2341 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042636,001368:
042637,001369: 15,2342 51025 DSU BPL
042638,001370: 15,2343 32474 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042639,001371: 15,2344 32426 NXAX # NOT IN FIELD - TRY NEXT POSITION
042640,001372: 15,2345 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042641,001373: 15,2346 00031 24D
042642,001374: 15,2347 32476 DEG.5
042643,001375: 15,2350 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042644,001376: 15,2351 32421 ZSPCR # GO ZERO CURSOR AND SPIRAL
042645,001377: 15,2352 00031 24D # GET SPIRAL
042646,001378: 15,2353 42405 DMP SL4
042647,001379: 15,2354 11226 3/4 # 12 SCALED AT 16
042648,001380: 15,2355 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042649,001381:
042650,001382: 15,2356 03765 SCAXIS # OA
042651,001383: 15,2357 53435 VXV UNIT
042652,001384: 15,2360 24005 XUNIT
042653,001385: 15,2361 47206 PUSH VXV # OA X UNITX PD 0-5
042654,001386: 15,2362 03765 SCAXIS
042655,001387: 15,2363 77676 VCOMP
042656,001388: 15,2364 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
042657,001389: 15,2365 03765 SCAXIS
042658,001390: 15,2366 53435 VXV UNIT
042659,001391: 15,2367 02731 STAR
042660,001392: 15,2370 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042661,001393: 15,2371 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042662,001394: 15,2372 65552 SL1 ARCCOS
042663,001395: 15,2373 24033 STOVL 26D # STORE THET SCALED IN REVS
042664,001396:
042665,001397: 15,2374 77641 DOT # UP 12-17, UP 6-11 FOR C2
042666,001398: 15,2375 71244 BPL DLOAD # IF THET NEG-GET 360-THET
042667,001399: 15,2376 32403 R59D
042668,001400: 15,2377 32047 ABOUTONE
042669,001401: 15,2400 77625 DSU
042670,001402: 15,2401 00033 26D
042671,001403: 15,2402 00033 STORE 26D # 360-THET SCALED IN REVS
042672,001404:
042673,001405: 15,2403 70535 R59D SLOAD SR1
042674,001406: 15,2404 02746 QMIN # RESCALE AZ(N) TO REVS
042675,001407: 15,2405 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042676,001408: 15,2406 00033 26D
042677,001409: 15,2407 77634 RTB
|
|
Page 951 |
042679,001411: 15,2410 21576 1STO2S
042680,001412: 15,2411 15236 STODL CURSOR # YROT IN 1/2 REVS
042681,001413: 15,2412 00031 24D # LOAD SROT IN REVS
042682,001414: 15,2413 77615 DAD # 12(SEP) + YROT
042683,001415: 15,2414 77634 RTB
042684,001416: 15,2415 21576 1STO2S
042685,001417: 15,2416 01237 STORE SPIRAL # SROT IN 1/2 REVS
042686,001418: 15,2417 77776 EXIT
042687,001419: 15,2420 12445 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042688,001420:
042689,001421: 15,2421 77776 ZSPCR EXIT
042690,001422: 15,2422 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
042691,001423: 15,2423 55235 TS CURSOR # AND SPIRAL ANGLES
042692,001424: 15,2424 55236 TS SPIRAL
042693,001425: 15,2425 12445 TCF 79DISP
042694,001426:
042695,001427: 15,2426 77776 NXAX EXIT
042696,001428: 15,2427 25241 INCR POSCODE
042697,001429: 15,2430 41241 CS POSCODE
042698,001430: 15,2431 64757 AD SEVEN
042699,001431: 15,2432 00006 EXTEND
042700,001432: 15,2433 62435 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042701,001433: 15,2434 12316 TCF INCAZ
042702,001434:
042703,001435: 15,2435 05600 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042704,001436: 15,2436 00404 OCT 404
042705,001437: 15,2437 35006 CAF VB05N09 # DISPLAY ALARM
042706,001438: 15,2440 04616 TC BANKCALL
042707,001439: 15,2441 20477 CADR GOFLASH
042708,001440: 15,2442 16001 TCF GOTOPOOH # VB34-TERMINATE
042709,001441: 15,2443 12463 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
042710,001442: 15,2444 12270 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
042711,001443:
042712,001444: 15,2445 32472 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042713,001445: 15,2446 04616 TC BANKCALL
042714,001446: 15,2447 20477 CADR GOFLASH
042715,001447: 15,2450 16001 TCF GOTOPOOH # V34-TERMINATE
042716,001448: 15,2451 12453 TCF R59E # V33-PROCEED TO MARK ROUTINE
042717,001449: 15,2452 12270 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
042718,001450:
042719,001451: 15,2453 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
042720,001452: 15,2454 71241 MASK POSCODE
042721,001453: 15,2455 00006 EXTEND
042722,001454: 15,2456 74745 MP BIT7 # DETENT CODE NOW IN L
042723,001455: 15,2457 47756 CS HIGH9
042724,001456: 15,2460 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
042725,001457: 15,2461 60001 AD L
042726,001458: 15,2462 54734 TS AOTCODE # STORE DETENT 7-9
042727,001459:
042728,001460: 15,2463 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
|
|
Page 952 |
042730,001462: 15,2464 16000 CADR AOTMARK
042731,001463: 15,2465 04616 TC BANKCALL
042732,001464: 15,2466 17711 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042733,001465: 15,2467 05712 TC CURTAINS # BADEND RETURN FROM AOTMARK
042734,001466: 15,2470 13050 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042735,001467:
042736,001468: 15,2471 00306 V01N70* VN 170
042737,001469: 15,2472 01517 V06N79 VN 679
042738,001470: 15,2473 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042739,001471:
042740,001472: 15,2475 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042741,001473:
042742,001474: 15,2477 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042743,001475:
|
|
Page 953 |
042745,001477: # NAME - PLANET
042746,001478: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042747,001479: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042748,001480: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042749,001481: # BY DSDY INPUT
042750,001482: # CALL - CALL
042751,001483: # PLANET
042752,001484: # INPUT - TIME IN MPAC
042753,001485: # OUTPUT - VECTOR IN MPAC
042754,001486: # SUBROUTINES - LOCSAM
042755,001487: # DEBRIS - VAC ,STARAD - STARAD +17
042756,001488:
042757,001489: 15,2000 SETLOC P50S
042758,001490: 15,2000 BANK
042759,001491: 15,2500 COUNT* $$/R58
042760,001492:
042761,001493: 15,2500 03562 PLANET STORE TSIGHT
042762,001494: 15,2501 77420 STQ EXIT
042763,001495: 15,2502 02736 GCTR
042764,001496: 15,2503 47756 CS HIGH9
042765,001497: 15,2504 70734 MASK AOTCODE
042766,001498: 15,2505 00006 EXTEND
042767,001499: 15,2506 76254 MP REVCNT
042768,001500: 15,2507 56001 XCH L
042769,001501: 15,2510 51757 INDEX STARIND
042770,001502: 15,2511 55755 TS BESTI
042771,001503: 15,2512 10000 CCS A
042772,001504: 15,2513 12530 TCF NOTPLAN
042773,001505: 15,2514 32567 CAF VNPLANV
042774,001506: 15,2515 04616 TC BANKCALL
042775,001507: 15,2516 20477 CADR GOFLASH
042776,001508: 15,2517 02514 TC -3
042777,001509: 15,2520 02522 TC +2
042778,001510: 15,2521 02514 TC -5
042779,001511: 15,2522 06051 TC INTPRET
042780,001512: 15,2523 74375 VLOAD VXSC
042781,001513: 15,2524 02707 STARAD
042782,001514: 15,2525 32571 1/SQR3
042783,001515: 15,2526 52056 UNIT GOTO
042784,001516: 15,2527 02736 GCTR
042785,001517:
042786,001518: 15,2530 40000 NOTPLAN CS A
042787,001519: 15,2531 62566 AD DEC227
042788,001520: 15,2532 00006 EXTEND
042789,001521: 15,2533 62544 BZMF CALSAM1
042790,001522: 15,2534 51757 INDEX STARIND
042791,001523: 15,2535 31755 CA BESTI
042792,001524: 15,2536 50120 INDEX FIXLOC
042793,001525: 15,2537 54046 TS X1
042794,001526: 15,2540 06051 TC INTPRET
|
|
Page 954 |
042796,001528: 15,2541 52173 VLOAD* GOTO
042797,001529: 15,2542 30347 CATLOG,1
042798,001530: 15,2543 02736 GCTR
042799,001531: 15,2544 06051 CALSAM1 TC INTPRET
042800,001532: 15,2545 45145 CALSAM DLOAD CALL
042801,001533: 15,2546 03562 TSIGHT
042802,001534: 15,2547 30500 LOCSAM
042803,001535: 15,2550 77340 LXC,1 VLOAD
042804,001536: 15,2551 02757 STARIND
042805,001537: 15,2552 02707 VEARTH
042806,001538: 15,2553 24001 STOVL 0D
042807,001539: 15,2554 02715 VSUN
042808,001540: 15,2555 26707 STOVL VEARTH
042809,001541: 15,2556 00001 0D
042810,001542: 15,2557 02715 STORE VSUN
042811,001543: 15,2560 70143 DLOAD* LXC,1
042812,001544: 15,2561 02756 BESTI,1
042813,001545: 15,2562 00154 MPAC
042814,001546: 15,2563 52173 VLOAD* GOTO
042815,001547: 15,2564 02343 STARAD -228D,1
042816,001548: 15,2565 02736 GCTR
042817,001549: 15,2566 00343 DEC227 DEC 227 B-14
042818,001550: 15,2567 01530 VNPLANV VN 0688
042819,001551: 15,2570 34,3755 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042820,001552: 15,2570 22363 11623 1/SQR3 2DEC .57735021
042821,001553:
|
|
Page 955 |
042823,001555: # GRAVITY VECTOR DETERMINATION ROUTINE
042824,001556: # BY KEN VINCENT
042825,001557: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042826,001558: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042827,001559: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042828,001560: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042829,001561: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042830,001562: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042831,001563: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042832,001564: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042833,001565: # READINGS.
042834,001566:
042835,001567: # CALL-
042836,001568: # TC BANKCALL
042837,001569: # CADR GVDETER
042838,001570: # INPUTS-
042839,001571: # PIPAS,CDUS
042840,001572: # OUTPUTS-
042841,001573: # STARSAV1 = UNIT GRAVITY
042842,001574: # GSAV = DITTO
042843,001575: # GRAVBIT = 1
042844,001576: # SUBROUTINES-
042845,001577: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042846,001578: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
042847,001579: # DEBRIS-
042848,001580: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042849,001581: 15,2572 32773 GVDETER CAF 42DEG
042850,001582: 15,2573 54321 TS THETAD
042851,001583: 15,2574 40000 COM
042852,001584: 15,2575 54322 TS THETAD +1
042853,001585: 15,2576 32774 CAF 35DEG
042854,001586: 15,2577 54323 TS THETAD +2
042855,001587: 15,2600 06051 TC INTPRET
042856,001588: 15,2601 45014 CLEAR CALL
042857,001589: 15,2602 01662 REFSMFLG
042858,001590: 15,2603 32677 LUNG
042859,001591: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
042860,001592:
042861,001593: # DEFINE G COOR SYS
042862,001594: # -
042863,001595: # X UNIT G
042864,001596: # * - -
042865,001597: # M= Y = UNITEZSM * X )
042866,001598: # - - -
042867,001599: # Z UNIT(X * Y )
042868,001600: # THEN ROTATED SM WRT PRESENT IS
042869,001601:
042870,001602:
042871,001603: # 1, 0 , 0
042872,001604: # * *T * * *
|
|
Page 956 |
042874,001606: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
042875,001607: # I J
042876,001608: # 0, 0 ,-1
042877,001609:
042878,001610: # ALSO NB WRT PRES SM IS
042879,001611:
042880,001612: # * * *
042881,001613: # XNB = NBSM I
042882,001614: # * *
042883,001615: # GIMBAL ANGLES = CALCGA( XSM , XNB )
042884,001616:
042885,001617: 15,2000 SETLOC P50S
042886,001618: 15,2000 BANK
042887,001619: 15,2604 COUNT* $$/P57
042888,001620: 15,2604 66370 AXT,1 SSP # X1=18
042889,001621: 15,2605 00022 18D # S1= 6
042890,001622: 15,2606 00051 S1 # X2, -2
042891,001623: 15,2607 00006 6D
042892,001624: 15,2610 77744 LXC,2
042893,001625: 15,2611 00050 S1
042894,001626: 15,2612 45173 GRAVEL VLOAD* CALL
042895,001627: 15,2613 54000 XUNIT -6,2
042896,001628: 15,2614 47700 *NBSM* # SIN AND COS COMPUTED IN LUNG
042897,001629: 15,2615 06707 STORE XNB +18D,1
042898,001630: 15,2616 77775 VLOAD
042899,001631: 15,2617 02731 STAR
042900,001632: 15,2620 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
042901,001633: 15,2621 00047 X2
042902,001634: 15,2622 75040 STAR +6,2 # OUTER PRODUCT
042903,001635: 15,2623 71152 VSL2 LXC,2
042904,001636: 15,2624 00047 X2
042905,001637: 15,2625 63047 VSU* INCR,2
042906,001638: 15,2626 54000 XUNIT -6,2
042907,001639: 15,2627 00002 2D
042908,001640: 15,2630 06665 STORE XSM +18D,1
042909,001641: 15,2631 45100 TIX,1 CALL
042910,001642: 15,2632 32612 GRAVEL
042911,001643: 15,2633 47351 CALCGA
042912,001644: 15,2634 74575 VLOAD VSR1
042913,001645: 15,2635 02715 GOUT
042914,001646: 15,2636 36723 STCALL STARAD +12D
042915,001647: 15,2637 32677 LUNG
042916,001648: 15,2640 74575 VLOAD VSR1
042917,001649: 15,2641 02715 GOUT
042918,001650: 15,2642 53455 VAD UNIT
042919,001651: 15,2643 02723 STARAD +12D
042920,001652: 15,2644 02761 STORE STARSAV1
042921,001653: 15,2645 77641 DOT
042922,001654: 15,2646 02222 GSAV
042923,001655: 15,2647 65552 SL1 ACOS
|
|
Page 957 |
042925,001657: 15,2650 01045 STORE DSPTEM1
042926,001658: 15,2651 77776 EXIT
042927,001659: 15,2652 05527 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042928,001660: 15,2653 00014 ADRES FREEFLAG
042929,001661:
042930,001662: 15,2654 32772 CA DISGRVER
042931,001663: 15,2655 04616 TC BANKCALL
042932,001664: 15,2656 20477 CADR GOFLASH
042933,001665: 15,2657 06001 TC GOTOPOOH
042934,001666: 15,2660 12663 TCF PROGRAV # VB33-PROCEED
042935,001667: 15,2661 05515 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042936,001668: 15,2662 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042937,001669:
042938,001670: 15,2663 05364 PROGRAV TC PHASCHNG
042939,001671: 15,2664 04024 OCT 04024
042940,001672:
042941,001673: 15,2665 06051 TC INTPRET
042942,001674: 15,2666 77775 VLOAD
042943,001675: 15,2667 02761 STARSAV1
042944,001676: 15,2670 02222 STORE GSAV
042945,001677: 15,2671 77776 EXIT
042946,001678: 15,2672 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042947,001679: 15,2673 70074 MASK FLAGWRD0
042948,001680: 15,2674 10000 CCS A
042949,001681: 15,2675 12572 TCF GVDETER # SET
042950,001682: 15,2676 13547 TCF ATTCHK # EXIT FROM GVDETER
042951,001683:
042952,001684: 15,2677 77220 LUNG STQ VLOAD
042953,001685: 15,2700 02745 QMIN
042954,001686: 15,2701 24007 ZEROVEC
042955,001687: 15,2702 02707 STORE GACC
042956,001688: 15,2703 77776 EXIT
042957,001689: 15,2704 05364 TC PHASCHNG
042958,001690: 15,2705 04024 OCT 04024
042959,001691:
042960,001692: 15,2706 06051 TC INTPRET
042961,001693: 15,2707 77624 CALL
042962,001694: 15,2710 31557 COARSE
042963,001695: 15,2711 77776 EXIT
042964,001696: 15,2712 32771 CA T/2SEC
042965,001697: 15,2713 55736 TS GCTR
042966,001698: 15,2714 37730 CA PRIO31
042967,001699: 15,2715 55074 TS 1/PIPADT
042968,001700: 15,2716 04616 TC BANKCALL
042969,001701: 15,2717 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
042970,001702: 15,2720 05364 TC PHASCHNG
042971,001703: 15,2721 04024 OCT 04024
042972,001704:
042973,001705: 15,2722 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042974,001706: 15,2723 71755 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 958 |
042976,001708: 15,2724 06051 TC INTPRET
042977,001709: 15,2725 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042978,001710: 15,2726 35000 CAF 2SECS
042979,001711: 15,2727 05204 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042980,001712: 15,2730 02732 ADRES GRABGRAV
042981,001713:
042982,001714: 15,2731 05155 TC ENDOFJOB
042983,001715:
042984,001716: 15,2732 04674 GRABGRAV TC IBNKCALL
042985,001717: 15,2733 71755 CADR PIPSRINE
042986,001718: 15,2734 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042987,001719: 15,2735 05105 TC FINDVAC
042988,001720: 15,2736 E5,1706 EBANK= STARAD
042989,001721: 15,2736 02741 32065 2CADR ADDGRAV
042990,001722:
042991,001723:
042992,001724: 15,2740 05272 TC TASKOVER
042993,001725:
042994,001726: 15,2741 04616 ADDGRAV TC BANKCALL
042995,001727: 15,2742 15271 CADR 1/PIPA
042996,001728: 15,2743 25736 INCR GCTR
042997,001729: 15,2744 06051 TC INTPRET
042998,001730: 15,2745 53375 VLOAD VAD
042999,001731: 15,2746 00325 DELV
043000,001732: 15,2747 02707 GACC
043001,001733: 15,2750 02707 STORE GACC # ACCUMULATE G VECTOR
043002,001734: 15,2751 50135 SLOAD BMN
043003,001735: 15,2752 02737 GCTR
043004,001736: 15,2753 32725 GREED
043005,001737: 15,2754 53575 VLOAD UNIT
043006,001738: 15,2755 02707 GACC
043007,001739: 15,2756 36731 STCALL STAR
043008,001740: 15,2757 47535 CDUTRIG # TRANSFORM IN NB COOR AND STORE
043009,001741: 15,2760 77624 CALL # IN OUTPUT
043010,001742: 15,2761 47676 *SMNB*
043011,001743: 15,2762 02715 STORE GOUT
043012,001744: 15,2763 77776 EXIT
043013,001745: 15,2764 05364 TC PHASCHNG
043014,001746: 15,2765 04024 OCT 04024
043015,001747:
043016,001748: 15,2766 06051 QMINEXIT TC INTPRET
043017,001749: 15,2767 77650 GOTO
043018,001750: 15,2770 02745 QMIN
043019,001751: 15,2771 77753 T/2SEC DEC -20 B-14
043020,001752: 15,2772 01404 DISGRVER VN 0604
043021,001753: 15,2773 07357 42DEG OCT 07357
043022,001754: 15,2774 06211 35DEG OCT 06211
043023,001755:
|
|
Page 959 |
043025,001757: # NAME GYROTRIM
043026,001758:
043027,001759: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
043028,001760: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
043029,001761: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
043030,001762:
043031,001763: # CALL CALL
043032,001764: # GYROTRIM
043033,001765:
043034,001766: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
043035,001767: # CDUX,CDUY,CDUZ
043036,001768:
043037,001769: # OUTPUT - GYRO TORQUE PULSES
043038,001770:
043039,001771: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
043040,001772: # IMPULSE,IMUSTALL
043041,001773: # - - - * * -
043042,001774: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
043043,001775: 15,2775 COUNT* $$/P57
043044,001776: 15,2775 71220 GYROTRIM STQ DLOAD
043045,001777: 15,2776 02745 QMIN
043046,001778: 15,2777 00322 THETAD
043047,001779: 15,3000 65325 PDDL PDDL
043048,001780: 15,3001 00324 THETAD +2
043049,001781: 15,3002 00323 THETAD +1
043050,001782: 15,3003 77666 VDEF
043051,001783: 15,3004 24766 STOVL CDUSPOT
043052,001784: 15,3005 24005 XUNIT
043053,001785: 15,3006 77624 CALL
043054,001786: 15,3007 47671 TRG*NBSM
043055,001787: 15,3010 26707 STOVL STARAD
043056,001788: 15,3011 24003 YUNIT
043057,001789: 15,3012 77624 CALL
043058,001790: 15,3013 47700 *NBSM*
043059,001791: 15,3014 36715 STCALL STARAD +6
043060,001792: 15,3015 47535 CDUTRIG
043061,001793: 15,3016 77624 CALL
043062,001794: 15,3017 20030 CALCSMSC
043063,001795: 15,3020 77775 VLOAD
043064,001796: 15,3021 02665 XNB
043065,001797: 15,3022 24007 STOVL 6D
043066,001798: 15,3023 02673 YNB
043067,001799: 15,3024 34015 STCALL 12D
043068,001800: 15,3025 47437 AXISGEN
043069,001801: 15,3026 77624 CALL
043070,001802: 15,3027 47245 CALCGTA
043071,001803: 15,3030 77776 JUSTTRIM EXIT
043072,001804: 15,3031 33040 CA GYRCDR
043073,001805: 15,3032 04616 TC BANKCALL
043074,001806: 15,3033 17270 CADR IMUPULSE
|
|
Page 960 |
043076,001808: 15,3034 04616 TC BANKCALL
043077,001809: 15,3035 17715 CADR IMUSTALL
043078,001810: 15,3036 05712 TC CURTAINS
043079,001811: 15,3037 12766 TCF QMINEXIT
043080,001812:
043081,001813: 15,3040 02737 GYRCDR ECADR OGC
043082,001814:
|
|
Page 961 |
043084,001816: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
043085,001817:
043086,001818: 15,3041 34755 2STARS CAF ZERO # INITALIZE STARIND
043087,001819: 15,3042 13044 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
043088,001820: 15,3043 34753 1STAR CAF BIT1
043089,001821: 15,3044 55757 TS STARIND
043090,001822:
043091,001823: 15,3045 05364 TC PHASCHNG
043092,001824: 15,3046 04024 OCT 04024
043093,001825:
043094,001826: 15,3047 12270 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
043095,001827:
043096,001828: 15,3050 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
043097,001829: 15,3051 00006 EXTEND
043098,001830: 15,3052 13063 BZF ASTAR # 1ST STAR MARKED
043099,001831:
043100,001832: 15,3053 05364 TC PHASCHNG
043101,001833: 15,3054 04024 OCT 04024
043102,001834:
043103,001835: 15,3055 06051 TC INTPRET
043104,001836: 15,3056 45145 DLOAD CALL
043105,001837: 15,3057 03562 TSIGHT # TIME OF 2ND MARK
043106,001838: 15,3060 32500 PLANET
043107,001839: 15,3061 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
043108,001840: 15,3062 33075 SURFLINE
043109,001841:
043110,001842: 15,3063 06051 ASTAR TC INTPRET
043111,001843: 15,3064 77775 VLOAD
043112,001844: 15,3065 02715 STARAD +6
043113,001845: 15,3066 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
043114,001846: 15,3067 45145 DLOAD CALL
043115,001847: 15,3070 03562 TSIGHT # TIME OF 1ST MARK
043116,001848: 15,3071 32500 PLANET
043117,001849: 15,3072 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
043118,001850: 15,3073 77776 EXIT
043119,001851: 15,3074 13043 TCF 1STAR # GO GET 2ND STAR SIGHTING
043120,001852:
|
|
Page 962 |
043122,001854: # DO FINE OR COARSE ALIGNMENT OF IMU
043123,001855:
043124,001856: 15,3075 77131 SURFLINE SSP AXT,2
043125,001857: 15,3076 00052 S2
043126,001858: 15,3077 00006 6
043127,001859: 15,3100 00014 12D
043128,001860: 15,3101 64373 WRTDESIR VLOAD* MXV
043129,001861: 15,3102 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
043130,001862: 15,3103 03607 XSMD
043131,001863: 15,3104 77656 UNIT
043132,001864: 15,3105 12723 STORE STARAD +12D,2 # VEC IN SM
043133,001865: 15,3106 77773 VLOAD*
043134,001866: 15,3107 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
043135,001867: 15,3110 10023 STORE 18D,2
043136,001868: 15,3111 43104 TIX,2 BON
043137,001869: 15,3112 33101 WRTDESIR
043138,001870: 15,3113 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
043139,001871: 15,3114 33122 INITBY
043140,001872: 15,3115 77624 DOALIGN CALL
043141,001873: 15,3116 31250 R54 # DO CHKSDATA
043142,001874: 15,3117 77614 BOFF
043143,001875: 15,3120 00354 FREEFLAG
043144,001876: 15,3121 33202 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
043145,001877: 15,3122 77624 INITBY CALL
043146,001878: 15,3123 47437 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
043147,001879: 15,3124 77624 CALL
043148,001880: 15,3125 47245 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
043149,001881: 15,3126 77776 EXIT
043150,001882: 15,3127 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
043151,001883: 15,3130 70104 MASK FLAGWRD8
043152,001884: 15,3131 10000 CCS A
043153,001885: 15,3132 13141 TCF 5DEGTEST
043154,001886: 15,3133 33307 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
043155,001887: 15,3134 04616 TC BANKCALL
043156,001888: 15,3135 20477 CADR GOFLASH
043157,001889: 15,3136 06001 TC GOTOPOOH # V34-TERMINATE
043158,001890: 15,3137 13141 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
043159,001891: 15,3140 13203 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
043160,001892:
043161,001893: 15,3141 06051 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
043162,001894: 15,3142 40175 VLOAD BOV
043163,001895: 15,3143 02740 OGC
043164,001896: 15,3144 33145 SURFSUP
043165,001897: 15,3145 02750 SURFSUP STORE OGCT
043166,001898: 15,3146 40141 V/SC BOV
043167,001899: 15,3147 30602 5DEGREES
043168,001900: 15,3150 33250 COATRIM
043169,001901: 15,3151 52131 SSP GOTO
043170,001902: 15,3152 02746 QMIN
043171,001903: 15,3153 33155 SURFDISP
|
|
Page 963 |
043173,001905: 15,3154 33030 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
043174,001906:
043175,001907: 15,3155 77776 SURFDISP EXIT
043176,001908: 15,3156 05364 TC PHASCHNG
043177,001909: 15,3157 04024 OCT 04024
043178,001910:
043179,001911: 15,3160 06051 TC INTPRET
043180,001912: 15,3161 75160 AXC,1 AXC,2
043181,001913: 15,3162 03606 XSMD
043182,001914: 15,3163 01731 REFSMMAT
043183,001915: 15,3164 45014 SET CALL
043184,001916: 15,3165 01462 REFSMFLG
043185,001917: 15,3166 31371 MATMOVE
043186,001918: 15,3167 77776 EXIT
043187,001919: 15,3170 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
043188,001920: 15,3171 13173 TCF B2F8
043189,001921: 15,3172 13203 TCF P57POST +1
043190,001922:
043191,001923: 15,3173 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
043192,001924: 15,3174 70104 MASK FLAGWRD8
043193,001925: 15,3175 10000 CCS A
043194,001926: 15,3176 13555 TCF P57JUMP # ITS SET
043195,001927: 15,3177 06051 TC INTPRET
043196,001928: 15,3200 77624 CALL
043197,001929: 15,3201 33502 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
043198,001930: 15,3202 77776 P57POST EXIT
043199,001931: 15,3203 35752 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
043200,001932: 15,3204 04616 TC BANKCALL
043201,001933: 15,3205 20624 CADR GOPERF1
043202,001934: 15,3206 16001 TCF GOTOPOOH # VB34-TERMINATE
043203,001935: 15,3207 13555 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
043204,001936: 15,3210 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
043205,001937: 15,3211 61144 AD OPTION2
043206,001938: 15,3212 00006 EXTEND
043207,001939: 15,3213 13215 BZF +2 # YES-GO CALCULATE LANDING SITE
043208,001940: 15,3214 16001 TCF GOTOPOOH # NO-EXIT P57
043209,001941: 15,3215 05364 TC PHASCHNG # RESTART PLACE
043210,001942: 15,3216 04024 OCT 04024
043211,001943: 15,3217 06051 TC INTPRET
043212,001944: 15,3220 45175 VLOAD CALL # USE GNB
043213,001945: 15,3221 02222 GSAV
043214,001946: 15,3222 47666 CDU*NBSM # GO TO SM COORDS
043215,001947: 15,3223 43105 VXM SET # ON MOON SO SET LUNAFLAG
043216,001948: 15,3224 01732 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
043217,001949: 15,3225 01463 LUNAFLAG
043218,001950: 15,3226 51515 PDVL ABVAL
043219,001951: 15,3227 02021 RLS
043220,001952: 15,3230 45561 VXSC STADR
043221,001953: 15,3231 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
043222,001954: 15,3232 47014 CLEAR RTB
|
|
Page 964 |
043224,001956: 15,3233 00662 ERADFLAG
043225,001957: 15,3234 21555 LOADTIME
043226,001958: 15,3235 77624 CALL
043227,001959: 15,3236 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
043228,001960: 15,3237 01220 STORE RN # RN=RLS B-29 = LM POSITION
043229,001961: 15,3240 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
043230,001962: 15,3241 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
043231,001963: 15,3242 77606 PUSH # TIME AT 6-7 IN PDLIST
043232,001964: 15,3243 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
043233,001965: 15,3244 51644 R-TO-RP
043234,001966: 15,3245 02021 STORE RLS # RLS IN MOON-FIXED COORDS
043235,001967: 15,3246 77776 EXIT
043236,001968: 15,3247 16001 TCF GOTOPOOH # EXIT P57
043237,001969:
|
|
Page 965 |
043239,001971: # COARSE AND FINE ALIGN IMU
043240,001972: 15,3250 75160 COATRIM AXC,1 AXC,2
043241,001973: 15,3251 02664 XDC
043242,001974: 15,3252 02642 XSM
043243,001975: 15,3253 77624 CALL
043244,001976: 15,3254 31371 MATMOVE
043245,001977: 15,3255 77624 CALL
043246,001978: 15,3256 47535 CDUTRIG
043247,001979: 15,3257 77624 CALL
043248,001980: 15,3260 20030 CALCSMSC
043249,001981: 15,3261 77624 CALL
043250,001982: 15,3262 47351 CALCGA
043251,001983: 15,3263 77414 BOFF EXIT
043252,001984: 15,3264 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
043253,001985: 15,3265 33277 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
043254,001986: 15,3266 35010 CAF V06N22 # THAN 5 DEGREES
043255,001987: 15,3267 04616 TC BANKCALL
043256,001988: 15,3270 20477 CADR GOFLASH
043257,001989: 15,3271 06001 TC GOTOPOOH
043258,001990: 15,3272 13274 TCF +2
043259,001991: 15,3273 13266 TCF -5
043260,001992: 15,3274 05364 TC PHASCHNG
043261,001993: 15,3275 04024 OCT 04024
043262,001994:
043263,001995: 15,3276 06051 TC INTPRET
043264,001996: 15,3277 77624 CORSIT CALL
043265,001997: 15,3300 31557 COARSE
043266,001998: 15,3301 77624 CALL
043267,001999: 15,3302 31603 NCOARSE
043268,002000: 15,3303 77624 CALL
043269,002001: 15,3304 32775 GYROTRIM
043270,002002: 15,3305 77650 GOTO
043271,002003: 15,3306 33155 SURFDISP
043272,002004: 15,3307 01535 DISPGYRO VN 0693
043273,002005:
|
|
Page 966 |
043275,002007: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
043276,002008:
043277,002009: 15,3310 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
043278,002010: 15,3311 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
043279,002011:
043280,002012: 15,3312 36257 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
043281,002013: 15,3313 55144 TS OPTION2
043282,002014: 15,3314 34753 P57OPT CAF BIT1
043283,002015: 15,3315 04616 TC BANKCALL
043284,002016: 15,3316 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
043285,002017: 15,3317 06001 TC GOTOPOOH # V34 TERMINATE
043286,002018: 15,3320 13325 TCF ALIGNOPT # V33 PROCEED
043287,002019: 15,3321 13314 TCF P57OPT # V32 RECYCLE
043288,002020:
043289,002021: 15,3322 05364 TC PHASCHNG
043290,002022: 15,3323 00014 OCT 00014
043291,002023: 15,3324 05155 TC ENDOFJOB
043292,002024:
043293,002025: 15,3325 31144 ALIGNOPT CA OPTION2
043294,002026: 15,3326 76257 MASK THREE
043295,002027: 15,3327 50000 INDEX A
043296,002028: 15,3330 13331 TCF +1
043297,002029: 15,3331 13344 TCF TDISP # OPTION 4 LS ORIENTATION
043298,002030: 15,3332 13405 TCF PACKOPTN # OPTION 1 PREFERRED
043299,002031: 15,3333 13314 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
043300,002032: 15,3334 06051 TC INTPRET # OPTION 3 REFSMMAT
043301,002033: 15,3335 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
043302,002034: 15,3336 01731 REFSMMAT
043303,002035: 15,3337 03606 XSMD
043304,002036: 15,3340 77624 CALL
043305,002037: 15,3341 31371 MATMOVE
043306,002038: 15,3342 77650 GOTO
043307,002039: 15,3343 33404 PACKOPTN -1
043308,002040:
043309,002041: 15,3344 06051 TDISP TC INTPRET
043310,002042: 15,3345 77745 DLOAD
043311,002043: 15,3346 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
043312,002044: 15,3347 01045 P57A STORE DSPTEM1
043313,002045: 15,3350 77776 EXIT
043314,002046: 15,3351 32213 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
043315,002047: 15,3352 04616 TC BANKCALL
043316,002048: 15,3353 20477 CADR GOFLASH
043317,002049: 15,3354 16001 TCF GOTOPOOH # V34-TERMINATE
043318,002050: 15,3355 13357 TCF +2
043319,002051: 15,3356 13351 TCF P57AA # VB32-RECYCLE
043320,002052:
043321,002053: 15,3357 06051 TC INTPRET
043322,002054: 15,3360 65234 RTB PDDL
043323,002055: 15,3361 21555 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
043324,002056: 15,3362 01045 DSPTEM1
|
|
Page 967 |
043326,002058: 15,3363 65254 BZE PDDL
043327,002059: 15,3364 33374 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
043328,002060: 15,3365 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043329,002061: 15,3366 01045 DSPTEM1
043330,002062: 15,3367 33374 P57C
043331,002063: 15,3370 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
043332,002064: 15,3371 74335 STORE TIG # STORE IT IN TIG
043333,002065: 15,3372 36775 STCALL TALIGN
043334,002066: 15,3373 33376 P57D
043335,002067: 15,3374 45545 P57C DLOAD STADR
043336,002068: 15,3375 75002 STORE TALIGN
043337,002069: 15,3376 34041 P57D STCALL TDEC1
043338,002070: 15,3377 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
043339,002071: 15,3400 53575 VLOAD UNIT # IN X,Y,ZSMD
043340,002072: 15,3401 00001 RATT
043341,002073: 15,3402 37607 STCALL XSMD
043342,002074: 15,3403 10765 LSORIENT
043343,002075: 15,3404 77776 EXIT
043344,002076: 15,3405 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
043345,002077: 15,3406 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
043346,002078: 15,3407 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
043347,002079: 15,3410 34737 CAF REFSMBIT
043348,002080: 15,3411 70077 MASK FLAGWRD3 # REFSMFLG
043349,002081: 15,3412 10000 CCS A
043350,002082: 15,3413 34745 CAF BIT7 # SET
043351,002083: 15,3414 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
043352,002084: 15,3415 34753 CAF ATTFLBIT
043353,002085: 15,3416 70102 MASK FLAGWRD6 # ATTFLG
043354,002086: 15,3417 10000 CCS A
043355,002087: 15,3420 34750 CAF BIT4 # SET
043356,002088: 15,3421 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
043357,002089: 15,3422 34750 CAF BIT4
043358,002090: 15,3423 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
043359,002091:
043360,002092: 15,3424 33645 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
043361,002093: 15,3425 04616 TC BANKCALL
043362,002094: 15,3426 20477 CADR GOFLASH
043363,002095: 15,3427 16001 TCF GOTOPOOH # VB34-TERMINATE
043364,002096: 15,3430 13432 TCF +2 # V33-PROCEED
043365,002097: 15,3431 13424 TCF DSPOPTN # V32-RECYCLE
043366,002098:
043367,002099: 15,3432 34737 CAF REFSMBIT
043368,002100: 15,3433 70077 MASK FLAGWRD3
043369,002101: 15,3434 10000 CCS A
043370,002102: 15,3435 13535 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
043371,002103: 15,3436 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
043372,002104: 15,3437 70102 MASK FLAGWRD6
043373,002105: 15,3440 10000 CCS A
043374,002106: 15,3441 13541 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043375,002107: 15,3442 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
|
|
Page 968 |
043377,002109: 15,3443 71144 MASK OPTION2
043378,002110: 15,3444 10000 CCS A
043379,002111: 15,3445 13541 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043380,002112: 15,3446 05600 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
043381,002113: 15,3447 00701 OCT 701
043382,002114: 15,3450 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
043383,002115: 15,3451 04616 TC BANKCALL
043384,002116: 15,3452 20477 CADR GOFLASH
043385,002117: 15,3453 16001 TCF GOTOPOOH # VB34-TERMINATE
043386,002118: 15,3454 13424 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
043387,002119: 15,3455 13424 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
043388,002120:
|
|
Page 969 |
043390,002122: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043391,002123:
043392,002124: 15,3456 40220 MFREF STQ SETPD
043393,002125: 15,3457 02746 QMAJ
043394,002126: 15,3460 00001 0
043395,002127: 15,3461 77634 RTB
043396,002128: 15,3462 21555 LOADTIME
043397,002129: 15,3463 27562 STOVL TSIGHT
043398,002130: 15,3464 03246 VEC1
043399,002131: 15,3465 41525 PDDL PUSH
043400,002132: 15,3466 03562 TSIGHT
043401,002133: 15,3467 77624 CALL
043402,002134: 15,3470 55720 RP-TO-R
043403,002135: 15,3471 27246 STOVL VEC1
043404,002136: 15,3472 03254 VEC2
043405,002137: 15,3473 65201 SETPD PDDL
043406,002138: 15,3474 00001 0
043407,002139: 15,3475 03562 TSIGHT
043408,002140: 15,3476 45006 PUSH CALL
043409,002141: 15,3477 55720 RP-TO-R
043410,002142: 15,3500 37254 STCALL VEC2
043411,002143: 15,3501 02746 QMAJ
043412,002144:
|
|
Page 970 |
043414,002146: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043415,002147: # STORE IN YNBSAV AND ZNBSAV
043416,002148:
043417,002149: 15,3502 45020 REFMF STQ CALL
043418,002150: 15,3503 02746 QMAJ
043419,002151: 15,3504 47535 CDUTRIG # GET SIN AND COS OF CDUS
043420,002152: 15,3505 40234 RTB SETPD
043421,002153: 15,3506 21555 LOADTIME
043422,002154: 15,3507 00001 0
043423,002155: 15,3510 37562 STCALL TSIGHT
043424,002156: 15,3511 20030 CALCSMSC # GET YNB IN SM
043425,002157: 15,3512 61375 VLOAD VXM
043426,002158: 15,3513 02673 YNB
043427,002159: 15,3514 01732 REFSMMAT # YNB TO REF
043428,002160: 15,3515 65256 UNIT PDDL
043429,002161: 15,3516 03562 TSIGHT
043430,002162: 15,3517 45006 PUSH CALL
043431,002163: 15,3520 51644 R-TO-RP
043432,002164: 15,3521 26230 STOVL YNBSAV # YNB TO MF
043433,002165: 15,3522 02701 ZNB
043434,002166: 15,3523 53505 VXM UNIT
043435,002167: 15,3524 01732 REFSMMAT # ZNB TO REF
043436,002168: 15,3525 41525 PDDL PUSH
043437,002169: 15,3526 03562 TSIGHT
043438,002170: 15,3527 77624 CALL
043439,002171: 15,3530 51644 R-TO-RP # ZNB TO MF
043440,002172: 15,3531 02236 STORE ZNBSAV
043441,002173: 15,3532 77614 SETGO
043442,002174: 15,3533 03036 ATTFLAG
043443,002175: 15,3534 02746 QMAJ
043444,002176:
|
|
Page 971 |
043446,002178: # BRANCH TO ALIGNMENT OPTION
043447,002179:
043448,002180: 15,3535 06051 GETLMATT TC INTPRET
043449,002181: 15,3536 77624 CALL
043450,002182: 15,3537 33502 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
043451,002183: 15,3540 77776 EXIT
043452,002184:
043453,002185: 15,3541 05515 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
043454,002186: 15,3542 00205 ADRES INITALGN
043455,002187: 15,3543 34753 CAF BIT1
043456,002188: 15,3544 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
043457,002189: 15,3545 10000 CCS A
043458,002190: 15,3546 12572 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
043459,002191:
043460,002192: 15,3547 05364 ATTCHK TC PHASCHNG
043461,002193: 15,3550 04024 OCT 04024
043462,002194:
043463,002195: 15,3551 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
043464,002196: 15,3552 70102 MASK FLAGWRD6
043465,002197: 15,3553 10000 CCS A
043466,002198: 15,3554 13571 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
043467,002199: 15,3555 05364 P57JUMP TC PHASCHNG
043468,002200: 15,3556 04024 OCT 04024
043469,002201:
043470,002202: 15,3557 05527 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
043471,002203: 15,3560 00205 ADRES INITALGN
043472,002204: 15,3561 36257 CAF THREE
043473,002205: 15,3562 71144 MASK OPTION2 # BRANCH ON OPTION CODE
043474,002206: 15,3563 50000 INDEX A
043475,002207: 15,3564 13565 TCF +1
043476,002208: 15,3565 13571 TCF P57OPT0 # OPTION IS 0
043477,002209: 15,3566 13612 TCF P57OPT1 # OPTION IS 1
043478,002210: 15,3567 13630 TCF P57OPT2 # OPTION IS 2
043479,002211: 15,3570 13631 TCF P57OPT3 # OPTION IS 3
043480,002212:
|
|
Page 972 |
043482,002214: # OPTION 0, GET TWO ATTITUDE VECS
043483,002215:
043484,002216: 15,3571 06051 P57OPT0 TC INTPRET
043485,002217: 15,3572 77775 VLOAD
043486,002218: 15,3573 02230 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
043487,002219: 15,3574 27246 STOVL VEC1
043488,002220: 15,3575 02236 ZNBSAV
043489,002221: 15,3576 37254 STCALL VEC2
043490,002222: 15,3577 47535 CDUTRIG
043491,002223: 15,3600 77624 CALL
043492,002224: 15,3601 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
043493,002225: 15,3602 77775 VLOAD
043494,002226: 15,3603 02673 YNB
043495,002227: 15,3604 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
043496,002228: 15,3605 02701 ZNB
043497,002229: 15,3606 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
043498,002230: 15,3607 33456 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
043499,002231: 15,3610 77650 GOTO
043500,002232: 15,3611 33075 SURFLINE
043501,002233:
043502,002234: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043503,002235:
043504,002236: 15,3612 06051 P57OPT1 TC INTPRET
043505,002237: 15,3613 53575 VLOAD UNIT
043506,002238: 15,3614 02021 RLS # LANDING SITE VEC
043507,002239: 15,3615 27246 STOVL VEC1
043508,002240: 15,3616 02236 ZNBSAV # Z ATTITUDE VEC
043509,002241: 15,3617 37254 STCALL VEC2
043510,002242: 15,3620 47535 CDUTRIG
043511,002243: 15,3621 77624 CALL
043512,002244: 15,3622 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
043513,002245: 15,3623 45175 VLOAD CALL
043514,002246: 15,3624 02222 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
043515,002247: 15,3625 47666 CDU*NBSM
043516,002248: 15,3626 77650 GOTO
043517,002249: 15,3627 33604 SAMETYP # NOW DO SAME AS OPTION 0
043518,002250:
|
|
Page 973 |
043520,002252: # OPTION 2, GET TWO STAR SIGHTINGS
043521,002253:
043522,002254: 15,3630 13041 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
043523,002255:
043524,002256: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043525,002257:
043526,002258: 15,3631 06051 P57OPT3 TC INTPRET
043527,002259: 15,3632 53575 VLOAD UNIT
043528,002260: 15,3633 02021 RLS # LANDING SITE VEC
043529,002261: 15,3634 03246 STORE VEC1
043530,002262: 15,3635 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
043531,002263: 15,3636 02222 GSAV # GRAVITY VEC NB
043532,002264: 15,3637 77624 CALL
043533,002265: 15,3640 47666 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
043534,002266: 15,3641 36761 STCALL STARSAV1
043535,002267: 15,3642 33456 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
043536,002268: 15,3643 77776 EXIT
043537,002269: 15,3644 13043 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043538,002270:
043539,002271: 15,3645 01206 VB05N06 VN 506
043540,002272:
|
|
Page 974 |
043542,002274: # CHECK IMODES30 TO VARIFY IMU IS ON
043543,002275:
043544,002276: 15,3646 41277 IMUCHK CS IMODES30
043545,002277: 15,3647 74743 MASK BIT9
043546,002278: 15,3650 10000 CCS A # IS IMU ON
043547,002279: 15,3651 13655 TCF +4 # YES
043548,002280:
043549,002281: 15,3652 05600 TC ALARM # NO, SEND ALARM AND EXIT
043550,002282: 15,3653 00210 OCT 210
043551,002283: 15,3654 06001 TC GOTOPOOH
043552,002284:
043553,002285: 15,3655 05515 TC UPFLAG
043554,002286: 15,3656 00007 ADRES IMUSE # SET IMUSE FLAG
043555,002287:
043556,002288: 15,3657 04631 TC SWRETURN
043557,002289:
043558,002290: 04,2765 BANK 04
043559,002291: 04,2000 SETLOC AOTMARK2
043560,002292: 04,2000 BANK
043561,002293: 04,2765 COUNT* $$/P57
043562,002294:
043563,002295: 04,2765 77220 LSORIENT STQ VLOAD
043564,002296: 04,2766 02746 QMAJ
043565,002297: 04,2767 01555 RRECTCSM
043566,002298: 04,2770 47235 VXV VXV
043567,002299: 04,2771 01563 VRECTCSM
043568,002300: 04,2772 03607 XSMD
043569,002301: 04,2773 77656 UNIT
043570,002302: 04,2774 03623 STORE ZSMD
043571,002303: 04,2775 53435 VXV UNIT
043572,002304: 04,2776 03607 XSMD
043573,002305: 04,2777 37615 STCALL YSMD
043574,002306: 04,3000 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc