Source Code
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These source-code files are part of a reconstructed copy of LUM69 Revision 2, the
flown Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction began with source code of Luminary 69 revision 0 previously
transcribed from a digitized copy of that program. The code was then updated
by back-porting the R-2 lunar potential model from previously-transcribed source
code of Luminary 99. These required changes were described in the original
Luminary memos 75 and 78. The reconstructed code was verified by
matching memory-bank checksums to those listed in drawing 2021152G. Note that
page numbers in the reconstructed code match those on the Luminary 069 printout,
although the added code would likely have changed page numbers for a real LUM69
Revision 2 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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040671,000002: ## Copyright: Public domain.
040672,000003: ## Filename: P51-P53.agc
040673,000004: ## Purpose: A section of LUM69 revision 2.
040674,000005: ## It is part of the reconstructed source code for the flown
040675,000006: ## version of the flight software for the Lunar Module's (LM)
040676,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
040677,000008: ## been recreated from a copy of Luminary revsion 069, using
040678,000009: ## changes present in Luminary 099 which were described in
040679,000010: ## Luminary memos 75 and 78. The code has been adapted such
040680,000011: ## that the resulting bugger words exactly match those specified
040681,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
040682,000013: ## relatively high confidence that the reconstruction is correct.
040683,000014: ## Reference: pp. 925-978
040684,000015: ## Assembler: yaYUL
040685,000016: ## Contact: Ron Burkey <info@sandroid.org>.
040686,000017: ## Website: www.ibiblio.org/apollo/index.html
040687,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
040688,000019:
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Page 925
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040690,000021: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
040691,000022: # MOD NO- 0 LOG SECTION- P51-P53
040692,000023: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
040693,000024:
040694,000025: # FUNCTIONAL DESCRIPTION-
040695,000026:
040696,000027: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040697,000028: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
040698,000029:
040699,000030: # (A) PREFERRED ORIENTATION
040700,000031:
040701,000032: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
040702,000033: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040703,000034:
040704,000035: # (B) NOMINAL ORIENTATION
040705,000036:
040706,000037: # X = UNIT ( R )
040707,000038: # -SM
040708,000039:
040709,000040: # Y = UNIT (V X R)
040710,000041: # SM
040711,000042:
040712,000043: # Z = UNIT (X X Y )
040713,000044: # SM SM SM
040714,000045:
040715,000046: # WHERE_
040716,000047: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040717,000048: # -
040718,000049:
040719,000050: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040720,000051: # -
040721,000052:
040722,000053: # (C) REFSMMAT ORIENTATION
040723,000054:
040724,000055: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040725,000056:
040726,000057: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040727,000058: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040728,000059: # SINCE THE LAST ALIGNMENT).
040729,000060:
040730,000061: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040731,000062: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040732,000063: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040733,000064: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040734,000065: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040735,000066: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040736,000067: # REQUESTED.
040737,000068:
040738,000069: # CALLING SEQUENCE-
040739,000070:
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Page 926
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040741,000072: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040742,000073:
040743,000074: # SUBROUTINES CALLED-
040744,000075:
040745,000076: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040746,000077: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040747,000078: # 3. GOPERF4 9. FLAGUP
040748,000079: # 4. MATMOVE 10. R56
040749,000080: # 5. GOFLASH 11. R51
040750,000081: # 6. S52.3 12. GOPERF3
040751,000082:
040752,000083: # NORMAL EXIT MODES-
040753,000084:
040754,000085: # EXITS TO ENDOFJOB
040755,000086:
040756,000087: # ALARM OR ABORT EXIT MODES-
040757,000088:
040758,000089: # NONE
040759,000090:
040760,000091: # OUTPUT-
040761,000092:
040762,000093: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040763,000094: # 1. IMU ORIENTATION CODE
040764,000095: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
040765,000096: # 3. TIME OF NEXT IGNITION
040766,000097: # 4. GIMBAL ANGLES
040767,000098: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
040768,000099: # 6. PLEASE PERFORM P00
040769,000100: # THE MODE DISPLAY MAY BE CHANGED TO 20
040770,000101:
040771,000102: # ERASABLE INITIALIZATION REQUIRED-
040772,000103:
040773,000104: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
040774,000105: # XSMD,YSMD,ZSMD.
040775,000106: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040776,000107:
040777,000108: # DEBRIS-
040778,000109:
040779,000110: # WORK AREA
040780,000111: 33,3755 BANK 33
040781,000112: 15,2000 SETLOC P50S
040782,000113: 15,2000 BANK
040783,000114:
040784,000115: 15,2050 E5,1755 EBANK= BESTI
040785,000116: 15,2050 COUNT* $$/P52
040786,000117: 15,2050 04616 PROG52 TC BANKCALL
040787,000118: 15,2051 11175 CADR R02BOTH # IMU STATUS CHECK
040788,000119: 15,2052 34750 CAF PFRATBIT
040789,000120: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040790,000121: 15,2054 10000 CCS A
040791,000122:
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Page 927
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040793,000124: 15,2055 02060 TC P52A # YES
040794,000125: 15,2056 34752 CAF BIT2 # NO
040795,000126: 15,2057 02061 TC P52A +1
040796,000127: 15,2060 34753 P52A CAF BIT1
040797,000128: 15,2061 55145 TS OPTION2
040798,000129: 15,2062 34753 P52B CAF BIT1
040799,000130: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040800,000131: 15,2064 20566 CADR GOPERF4R # FLASH V04N06
040801,000132: 15,2065 06001 TC GOTOPOOH
040802,000133: 15,2066 12073 TCF +5 # V33-PROCEED
040803,000134: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040804,000135: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
040805,000136: 15,2071 00014 OCT 00014
040806,000137: 15,2072 05155 TC ENDOFJOB
040807,000138:
040808,000139: 15,2073 31145 CA OPTION2
040809,000140: 15,2074 76244 MASK THREE
040810,000141: 15,2075 50000 INDEX A
040811,000142: 15,2076 02077 TC +1
040812,000143: 15,2077 02105 TC P52T
040813,000144: 15,2100 02166 TC P52H
040814,000145: 15,2101 02105 TC P52T
040815,000146: 15,2102 06036 P52E TC INTPRET
040816,000147: 15,2103 77650 GOTO
040817,000148: 15,2104 32162 P52F
040818,000149: 15,2105 00006 P52T EXTEND
040819,000150: 15,2106 34755 DCA NEG0
040820,000151: 15,2107 53046 DXCH DSPTEM1
040821,000152: 15,2110 32172 CAF V06N34*
040822,000153: 15,2111 04616 TC BANKCALL
040823,000154: 15,2112 20351 CADR GOFLASH
040824,000155: 15,2113 06001 TC GOTOPOOH
040825,000156: 15,2114 02116 TC +2
040826,000157: 15,2115 02110 TC -5
040827,000158: 15,2116 53046 DXCH DSPTEM1
040828,000159: 15,2117 00006 EXTEND
040829,000160: 15,2120 62122 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040830,000161: 15,2121 12124 TCF +3
040831,000162: 15,2122 00006 EXTEND
040832,000163: 15,2123 30025 DCA TIME2
040833,000164: 15,2124 53775 DXCH TALIGN
040834,000165: 15,2125 31145 P52V CA OPTION2
040835,000166: 15,2126 74752 MASK BIT2
040836,000167: 15,2127 10000 CCS A
040837,000168: 15,2130 02134 TC P52W
040838,000169: 15,2131 06036 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040839,000170: 15,2132 77650 GOTO
040840,000171: 15,2133 32223 P52LS
040841,000172:
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Page 928
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040843,000174: # START ALIGNMENT
040844,000175:
040845,000176: 15,2134 06036 P52W TC INTPRET
040846,000177: 15,2135 77745 DLOAD
040847,000178: 15,2136 02775 TALIGN # PICK UP ALIGN TIME
040848,000179: 15,2137 77624 CALL # COMPUTE NOMINAL IMU
040849,000180: 15,2140 31566 S52.3 # ORIENTATION
040850,000181: 15,2141 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040851,000182: 15,2142 31534 S52.2 # COMPUTE GIMBAL ANGLES
040852,000183: 15,2143 77776 EXIT
040853,000184: 15,2144 32171 CAF V06N22*
040854,000185: 15,2145 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040855,000186: 15,2146 20351 CADR GOFLASH
040856,000187: 15,2147 06001 TC GOTOPOOH
040857,000188: 15,2150 12174 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
040858,000189: 15,2151 06036 TC INTPRET # RECYCLE - VEHICLE HAS BEEN MANUEVERED
040859,000190: 15,2152 77650 GOTO
040860,000191: 15,2153 32141 P52D
040861,000192: 15,2154 06036 REGCOARS TC INTPRET
040862,000193: 15,2155 77624 CALL # DO COARSE ALIGN
040863,000194: 15,2156 31172 CAL53A # ROUTINE
040864,000195: 15,2157 43014 SET CLEAR
040865,000196: 15,2160 01462 REFSMFLG
040866,000197: 15,2161 01273 PFRATFLG
040867,000198: 15,2162 77624 P52F CALL
040868,000199: 15,2163 30656 R51
040869,000200: 15,2164 77776 P52OUT EXIT
040870,000201: 15,2165 06001 TC GOTOPOOH
040871,000202: 15,2166 06036 P52H TC INTPRET # PREFERRED OPTION, GO COMPUTE GIMBALS
040872,000203: 15,2167 77650 GOTO
040873,000204: 15,2170 32141 P52D
040874,000205:
040875,000206: 15,2171 5006 VB05N09 = V05N09
040876,000207: 15,2171 01426 V06N22* VN 00622
040877,000208: 15,2172 01442 V06N34* VN 634
040878,000209:
040879,000210: 15,2173 01531 V06N89* VN 0689
040880,000211:
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Page 929
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040882,000213: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040883,000214: 15,2174 32222 COARSTYP CAF OCT13
040884,000215: 15,2175 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040885,000216: 15,2176 20476 CADR GOPERF1
040886,000217: 15,2177 16001 TCF GOTOPOOH # V34-TERMIN&OE
040887,000218: 15,2200 12154 TCF REGCOARS # V33-NORMAL COARSE
040888,000219: 15,2201 06036 TC INTPRET # V32-GYRO TORQUE COARSE
040889,000220: 15,2202 64375 VLOAD MXV
040890,000221: 15,2203 03605 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040891,000222: 15,2204 01734 REFSMMAT
040892,000223: 15,2205 77656 UNIT
040893,000224: 15,2206 26665 STOVL XDC
040894,000225: 15,2207 03613 YSMD
040895,000226: 15,2210 53521 MXV UNIT
040896,000227: 15,2211 01734 REFSMMAT
040897,000228: 15,2212 26673 STOVL YDC
040898,000229: 15,2213 03621 ZSMD
040899,000230: 15,2214 53521 MXV UNIT
040900,000231: 15,2215 01734 REFSMMAT
040901,000232: 15,2216 36701 STCALL ZDC
040902,000233: 15,2217 31025 GYCOARS
040903,000234: 15,2220 77650 GOTO
040904,000235: 15,2221 32164 P52OUT
040905,000236: 15,2222 00013 OCT13 OCT 13
040906,000237:
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Page 930
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040908,000239: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040909,000240: 15,2223 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040910,000241: 15,2224 01463 LUNAFLAG
040911,000242: 15,2225 00662 ERADFLAG # TO PICK UP RLS
040912,000243: 15,2226 77201 SETPD VLOAD
040913,000244: 15,2227 00001 0
040914,000245: 15,2230 02023 RLS # PICK UP LANDING SITE VEC IN MF
040915,000246: 15,2231 41525 PDDL PUSH # RLS PD 0-5
040916,000247: 15,2232 02775 TALIGN
040917,000248: 15,2233 77624 CALL
040918,000249: 15,2234 51504 RP-TO-R # TRANS RLS TO REF
040919,000250: 15,2235 77742 VSR2
040920,000251: 15,2236 16032 STODL ALPHAV # INPUT TO LAT-LONG
040921,000252: 15,2237 02775 TALIGN
040922,000253: 15,2240 77624 CALL
040923,000254: 15,2241 26351 LAT-LONG # GET LAT, LONG, AND ALT
040924,000255: 15,2242 70545 DLOAD SR1 # RESCALE LONG TO DEGREES/2
040925,000256: 15,2243 01123 LONG
040926,000257: 15,2244 16711 STODL LANDLONG
040927,000258: 15,2245 01125 ALT
040928,000259: 15,2246 16713 STODL LANDALT # ALT ALREADY AT 2(29) METERS
040929,000260: 15,2247 01121 LAT
040930,000261: 15,2250 02707 STORE LANDLAT
040931,000262: 15,2251 77776 EXIT
040932,000263:
040933,000264: 15,2252 32173 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2, ALT
040934,000265: 15,2253 04616 TC BANKCALL
040935,000266: 15,2254 20351 CADR GOFLASH
040936,000267: 15,2255 16001 TCF GOTOPOOH # VB34 TERMINATE
040937,000268: 15,2256 12260 TCF +2 # VB33 PROCEED
040938,000269: 15,2257 12252 TCF LSDISP # VB32 RECYCLE
040939,000270:
040940,000271: 15,2260 06036 TC INTPRET
040941,000272: 15,2261 72545 DLOAD SL1
040942,000273: 15,2262 02711 LANDLONG
040943,000274: 15,2263 15123 STODL LONG
040944,000275: 15,2264 02713 LANDALT
040945,000276: 15,2265 15125 STODL ALT
040946,000277: 15,2266 02707 LANDLAT
040947,000278: 15,2267 15121 STODL LAT
040948,000279: 15,2270 02775 TALIGN
040949,000280: 15,2271 77624 CALL
040950,000281: 15,2272 26422 LALOTORV
040951,000282: 15,2273 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040952,000283: 15,2274 02032 ALPHAV
040953,000284: 15,2275 37605 STCALL XSMD
040954,000285: 15,2276 33647 LSORIENT
040955,000286: 15,2277 77650 GOTO
040956,000287: 15,2300 32141 P52D # NOW GO COMPUTE GIMBAL ANGLES
040957,000288:
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Page 931
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040959,000290: # NAME -S50 ALIAS LOCSAM
040960,000291: # BY
040961,000292: # VINCENT
040962,000293: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040963,000294:
040964,000295: # DEFINE
040965,000296:
040966,000297:
040967,000298: # U = UNIT( SUN WRT EARTH)
040968,000299: # ES
040969,000300:
040970,000301: # U =UNIT( MOON WRT EARTH)
040971,000302: # EM
040972,000303:
040973,000304: # R =POSITION VECTOR OF LEM
040974,000305: # L
040975,000306:
040976,000307: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040977,000308: # EM
040978,000309:
040979,000310: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
040980,000311: # EM
040981,000312:
040982,000313: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040983,000314: # E
040984,000315:
040985,000316: # LOCSAM COMPUTES IN EARTH INFLUENCE
040986,000317:
040987,000318:
040988,000319: # VSUN = U
040989,000320: # ES
040990,000321:
040991,000322: # VEARTH = -UNIT( R )
040992,000323: # L
040993,000324:
040994,000325: # VMOON = UNIT(R .U - R )
040995,000326: # EM EM L
040996,000327:
040997,000328: # CSUN = COS 90
040998,000329:
040999,000330: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041000,000331: # E L
041001,000332:
041002,000333: # CMOON = COS 5
041003,000334:
041004,000335:
041005,000336: # INPUT - TIME IN MPAC
041006,000337: # OUTPUT - LISTED ABOVE
041007,000338: # SUBROUTINES -LSPOS,LEMPREC
041008,000339: # DEBRIS - VAC AREA ,TSIGHT
041009,000340:
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Page 932
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041011,000342: 14,2000 SETLOC P50S1
041012,000343: 14,2000 BANK
041013,000344: 14,2347 E5,1642 EBANK= XSM
041014,000345:
041015,000346: 14,2347 COUNT* $$/LOSAM
041016,000347:
041017,000348: 14,2347 14,2347 S50 = LOCSAM
041018,000349: 14,2347 77620 LOCSAM STQ
041019,000350: 14,2350 02745 QMIN
041020,000351: 14,2351 37560 STCALL TSIGHT
041021,000352: 14,2352 33663 LSPOS
041022,000353: 14,2353 77745 DLOAD
041023,000354: 14,2354 03560 TSIGHT
041024,000355: 14,2355 34041 STCALL TDEC1
041025,000356: 14,2356 27057 LEMPREC
041026,000357: 14,2357 61131 SSP TIX,2
041027,000358: 14,2360 00052 S2
041028,000359: 14,2361 00000 0
041029,000360: 14,2362 30404 MOONCNTR
041030,000361: 14,2363 74375 EARTCNTR VLOAD VXSC
041031,000362: 14,2364 02723 VMOON
041032,000363: 14,2365 30001 RSUBEM
041033,000364: 14,2366 52372 VSL1 VSU
041034,000365: 14,2367 00001 RATT
041035,000366: 14,2370 77656 UNIT
041036,000367: 14,2371 26723 STOVL VMOON
041037,000368: 14,2372 00001 RATT
041038,000369: 14,2373 57456 UNIT VCOMP
041039,000370: 14,2374 16707 STODL VEARTH
041040,000371: 14,2375 30005 RSUBE
041041,000372: 14,2376 77624 CALL
041042,000373: 14,2377 30436 OCCOS
041043,000374: 14,2400 14017 STODL CEARTH
041044,000375: 14,2401 30445 CSS5
041045,000376: 14,2402 34023 STCALL CMOON
041046,000377: 14,2403 30431 ENDSAM
041047,000378: 14,2404 74375 MOONCNTR VLOAD VXSC
041048,000379: 14,2405 02723 VMOON
041049,000380: 14,2406 30007 ROE
041050,000381: 14,2407 53445 BVSU UNIT
041051,000382: 14,2410 02715 VSUN
041052,000383: 14,2411 26715 STOVL VSUN
041053,000384: 14,2412 02723 VMOON
041054,000385: 14,2413 53361 VXSC VAD
041055,000386: 14,2414 30001 RSUBEM
041056,000387: 14,2415 00001 RATT
041057,000388: 14,2416 57456 UNIT VCOMP
041058,000389: 14,2417 26707 STOVL VEARTH
041059,000390: 14,2420 00001 RATT
041060,000391: 14,2421 57456 UNIT VCOMP
041061,000392:
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Page 933
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041063,000394: 14,2422 16723 STODL VMOON
041064,000395: 14,2423 30003 RSUBM
041065,000396: 14,2424 77624 CALL
041066,000397: 14,2425 30436 OCCOS
041067,000398: 14,2426 14023 STODL CMOON
041068,000399: 14,2427 30445 CSS5
041069,000400: 14,2430 00017 STORE CEARTH
041070,000401: 14,2431 77745 ENDSAM DLOAD
041071,000402: 14,2432 30447 CSSUN
041072,000403: 14,2433 00021 STORE CSUN
041073,000404: 14,2434 77650 GOTO
041074,000405: 14,2435 02745 QMIN
041075,000406: 14,2436 70471 OCCOS DDV SR1
041076,000407: 14,2437 00045 36D
041077,000408: 14,2440 43336 ASIN DAD
041078,000409: 14,2441 30451 5DEGREES
041079,000410: 14,2442 70546 COS SR1
041080,000411: 14,2443 77616 RVQ
041081,000412: 14,2444 CEARTH = 14D
041082,000413: 14,2444 CSUN = 16D
041083,000414: 14,2444 CMOON = 18D
041084,000415: 14,2444 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041085,000416: 14,2446 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
041086,000417: 14,2450 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041087,000418:
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Page 934
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041089,000420: # PROGRAM NAME - R56 DATE DEC 20 66
041090,000421: # MOD 1 LOG SECTION P51-P53
041091,000422: # ASSEMBLY SUNDISK REV40
041092,000423: # BY KEN VINCENT
041093,000424:
041094,000425: # FUNCTION
041095,000426: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041096,000427: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041097,000428: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041098,000429: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041099,000430: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041100,000431: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041101,000432: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041102,000433: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041103,000434: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041104,000435: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041105,000436: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041106,000437: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
041107,000438:
041108,000439: # CALLING SEQUENCE
041109,000440: # L TC BANKCALL
041110,000441: # L+1 CADR R56
041111,000442: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041112,000443: # L+3 NORMAL RETURN
041113,000444:
041114,000445: # OUTPUT
041115,000446: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041116,000447: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041117,000448:
041118,000449: # INITIALIZATION
041119,000450: # 1)A CALL TO LOCSAM MUST BE MADE
041120,000451:
041121,000452: # DEBRIS
041122,000453: # WORK AREA
041123,000454: # X,Y,ZNB
041124,000455: # SINCDU,COSCDU
041125,000456: # STARAD - STAR +5
041126,000457: 14,2452 14,2452 R56 = PICAPAR
041127,000458: 14,2452 COUNT* $$/R56
041128,000459: 14,2452 04645 PICAPAR TC MAKECADR
041129,000460: 14,2453 55745 TS QMIN
041130,000461: 14,2454 06036 TC INTPRET
041131,000462: 14,2455 77624 CALL
041132,000463: 14,2456 47443 CDUTRIG
041133,000464: 14,2457 77624 CALL
041134,000465: 14,2460 31267 CALCSMSC
041135,000466: 14,2461 77601 SETPD
041136,000467: 14,2462 00001 0
041137,000468: 14,2463 71214 SET DLOAD # VFLAG = 1
041138,000469: 14,2464 01465 VFLAG
041139,000470:
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|
Page 935
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041141,000472: 14,2465 22275 DPZERO
041142,000473: 14,2466 26756 STOVL BESTI
041143,000474: 14,2467 02665 XNB
041144,000475: 14,2470 63361 VXSC PDVL
041145,000476: 14,2471 22273 HALFDP
041146,000477: 14,2472 02701 ZNB
041147,000478: 14,2473 74370 AXT,1 VXSC
041148,000479: 14,2474 00344 228D # X1 = 37 X 6 + 6
041149,000480: 14,2475 22273 HALFDP
041150,000481: 14,2476 77655 VAD
041151,000482: 14,2477 53505 VXM UNIT
041152,000483: 14,2500 01734 REFSMMAT
041153,000484: 14,2501 02731 STORE SAX # SAX = SHAFT AXIS
041154,000485: 14,2502 66331 SSP SSP # S1=S2=6
041155,000486: 14,2503 00051 S1
041156,000487: 14,2504 00006 6
041157,000488: 14,2505 00052 S2
041158,000489: 14,2506 00006 6
041159,000490: 14,2507 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041160,000491: 14,2510 30512 PIC2
041161,000492: 14,2511 30627 PICEND
041162,000493: 14,2512 50373 PIC2 VLOAD* DOT
041163,000494: 14,2513 30347 CATLOG,1
041164,000495: 14,2514 02731 SAX
041165,000496: 14,2515 50025 DSU BMN
041166,000497: 14,2516 30626 CSS33
041167,000498: 14,2517 30507 PIC1
041168,000499: 14,2520 77754 LXA,2
041169,000500: 14,2521 00046 X1
041170,000501: 14,2522 52104 PIC3 TIX,2 GOTO
041171,000502: 14,2523 30525 PIC4
041172,000503: 14,2524 30507 PIC1
041173,000504: 14,2525 50373 PIC4 VLOAD* DOT
041174,000505: 14,2526 47430 CATLOG,2
041175,000506: 14,2527 02731 SAX
041176,000507: 14,2530 50025 DSU BMN
041177,000508: 14,2531 30626 CSS33
041178,000509: 14,2532 30522 PIC3
041179,000510: 14,2533 47773 VLOAD* DOT*
041180,000511: 14,2534 30347 CATLOG,1
041181,000512: 14,2535 47430 CATLOG,2
041182,000513: 14,2536 51025 DSU BPL
041183,000514: 14,2537 30624 CSS40
041184,000515: 14,2540 30522 PIC3
041185,000516: 14,2541 45173 VLOAD* CALL
041186,000517: 14,2542 30347 CATLOG,1
041187,000518: 14,2543 30601 OCCULT
041188,000519: 14,2544 77614 BON
041189,000520: 14,2545 01710 CULTFLAG
041190,000521: 14,2546 30507 PIC1
041191,000522:
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|
Page 936
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041193,000524: 14,2547 45173 VLOAD* CALL
041194,000525: 14,2550 47430 CATLOG,2
041195,000526: 14,2551 30601 OCCULT
041196,000527: 14,2552 77614 BON
041197,000528: 14,2553 01710 CULTFLAG
041198,000529: 14,2554 30522 PIC3
041199,000530: 14,2555 77614 STRATGY BONCLR
041200,000531: 14,2556 01605 VFLAG
041201,000532: 14,2557 30574 NEWPAR
041202,000533: 14,2560 65120 XCHX,1 XCHX,2
041203,000534: 14,2561 02755 BESTI
041204,000535: 14,2562 02756 BESTJ
041205,000536: 14,2563 47773 STRAT VLOAD* DOT*
041206,000537: 14,2564 30347 CATLOG,1
041207,000538: 14,2565 47430 CATLOG,2
041208,000539: 14,2566 43006 PUSH BOFINV
041209,000540: 14,2567 01545 VFLAG
041210,000541: 14,2570 30560 STRAT -3
041211,000542: 14,2571 45345 DLOAD DSU
041212,000543: 14,2572 77644 BPL
041213,000544: 14,2573 30522 PIC3
041214,000545: 14,2574 67130 NEWPAR SXA,1 SXA,2
041215,000546: 14,2575 02755 BESTI
041216,000547: 14,2576 02756 BESTJ
041217,000548: 14,2577 77650 GOTO
041218,000549: 14,2600 30522 PIC3
041219,000550: 14,2601 51321 OCCULT MXV BVSU
041220,000551: 14,2602 02707 CULTRIX
041221,000552: 14,2603 00017 CSS
041222,000553: 14,2604 77654 BZE
041223,000554: 14,2605 30620 CULTED
041224,000555: 14,2606 75240 BMN SIGN
041225,000556: 14,2607 30620 CULTED
041226,000557: 14,2610 00160 MPAC +3
041227,000558: 14,2611 75240 BMN SIGN
041228,000559: 14,2612 30620 CULTED
041229,000560: 14,2613 00162 MPAC +5
041230,000561: 14,2614 43040 BMN CLRGO
041231,000562: 14,2615 30620 CULTED
041232,000563: 14,2616 01630 CULTFLAG
041233,000564: 14,2617 00052 QPRET
041234,000565: 14,2620 77614 CULTED SETGO
041235,000566: 14,2621 01430 CULTFLAG
041236,000567: 14,2622 00052 QPRET
041237,000568: 14,2623 0000016 CSS = CEARTH
041238,000569: 14,2623 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041239,000570: 14,2625 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041240,000571: 14,2627 77414 PICEND BOFF EXIT
041241,000572:
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Page 937
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041243,000574: 14,2630 01745 VFLAG
041244,000575: 14,2631 30633 PICGXT
041245,000576: 14,2632 02654 TC PICBXT
041246,000577: 14,2633 73150 PICGXT LXA,1 LXA,2
041247,000578: 14,2634 02755 BESTI
041248,000579: 14,2635 02756 BESTJ
041249,000580: 14,2636 47775 VLOAD DOT*
041250,000581: 14,2637 02731 SAX
041251,000582: 14,2640 30347 CATLOG,1
041252,000583: 14,2641 47715 PDVL DOT*
041253,000584: 14,2642 02731 SAX
041254,000585: 14,2643 47430 CATLOG,2
041255,000586: 14,2644 77625 DSU
041256,000587: 14,2645 66044 BPL SXA,1
041257,000588: 14,2646 30652 PICNSWP
041258,000589: 14,2647 02756 BESTJ
041259,000590: 14,2650 77734 SXA,2
041260,000591: 14,2651 02755 BESTI
041261,000592: 14,2652 77776 PICNSWP EXIT
041262,000593: 14,2653 25745 INCR QMIN
041263,000594: 14,2654 31745 PICBXT CA QMIN
041264,000595: 14,2655 04622 TC SWCALL
041265,000596: 14,2656 VPD = 0D
041266,000597: 14,2656 V0 = 6D
041267,000598: 14,2656 V1 = 12D
041268,000599: 14,2656 V2 = 18D
041269,000600: 14,2656 V3 = 24D
041270,000601: 14,2656 DP0 = 30D
041271,000602: 14,2656 DP1 = 32D
041272,000603:
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Page 938
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041274,000605: # NAME-R51 FINE ALIGN
041275,000606: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041276,000607: # CALLING SEQ- CALL R51
041277,000608: # INPUT - REFSMMAT
041278,000609: # OUTPUT- GYRO TORQUE PULSES
041279,000610: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041280,000611: 14,2656 COUNT* $$/R51
041281,000612: 14,2656 77620 R51 STQ
041282,000613: 14,2657 02746 QMAJ
041283,000614: 14,2660 77776 R51.1 EXIT
041284,000615: 14,2661 34761 R51C CAF OCT15
041285,000616: 14,2662 04616 TC BANKCALL
041286,000617: 14,2663 20476 CADR GOPERF1
041287,000618: 14,2664 06001 TC GOTOPOOH
041288,000619: 14,2665 02667 TC +2 # V33E
041289,000620: 14,2666 02712 TC R51E # ENTER
041290,000621: 14,2667 06036 TC INTPRET
041291,000622: 14,2670 43234 RTB DAD
041292,000623: 14,2671 21462 LOADTIME
041293,000624: 14,2672 31024 TSIGHT1
041294,000625: 14,2673 77624 CALL
041295,000626: 14,2674 30347 LOCSAM
041296,000627: 14,2675 77776 EXIT
041297,000628: 14,2676 04616 TC BANKCALL
041298,000629: 14,2677 30452 CADR R56
041299,000630: 14,2700 02702 TC R51I
041300,000631: 14,2701 02712 R51F TC R51E
041301,000632: 14,2702 05567 R51I TC ALARM
041302,000633: 14,2703 00405 OCT 405
041303,000634: 14,2704 35006 CAF VB05N09
041304,000635: 14,2705 04616 TC BANKCALL
041305,000636: 14,2706 20351 CADR GOFLASH
041306,000637: 14,2707 06001 TC GOTOPOOH
041307,000638: 14,2710 02712 TC R51E
041308,000639: 14,2711 02661 TC R51C
041309,000640: 14,2712 34755 R51E CAF ZERO
041310,000641: 14,2713 55757 TS STARIND
041311,000642: 14,2714 06036 R51.2 TC INTPRET
041312,000643: 14,2715 77776 R51.3 EXIT
041313,000644: 14,2716 05353 TC PHASCHNG
041314,000645: 14,2717 05024 OCT 05024
041315,000646: 14,2720 13000 OCT 13000
041316,000647: 14,2721 06036 TC INTPRET
041317,000648: 14,2722 77624 CALL
041318,000649: 14,2723 31610 R52 # AOP WILL MAKE CALLS TO SIGHTING
041319,000650: 14,2724 77776 EXIT
041320,000651: 14,2725 04616 TC BANKCALL
041321,000652: 14,2726 16000 CADR AOTMARK
041322,000653: 14,2727 04616 TC BANKCALL
041323,000654: 14,2730 17665 CADR OPTSTALL
041324,000655:
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|
Page 939
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041326,000657: 14,2731 05703 TC CURTAINS
041327,000658: 14,2732 11757 CCS STARIND
041328,000659: 14,2733 12735 TCF +2
041329,000660: 14,2734 03006 TC R51.4
041330,000661: 14,2735 06036 TC INTPRET
041331,000662: 14,2736 77775 VLOAD
041332,000663: 14,2737 02715 STARAD +6
041333,000664: 14,2740 02767 STORE STARSAV2
041334,000665: 14,2741 77776 EXIT
041335,000666: 14,2742 05353 TC PHASCHNG
041336,000667: 14,2743 05024 OCT 05024
041337,000668: 14,2744 13000 OCT 13000
041338,000669: 14,2745 06036 TC INTPRET
041339,000670: 14,2746 45145 DLOAD CALL
041340,000671: 14,2747 03560 TSIGHT
041341,000672: 14,2750 32540 PLANET
041342,000673: 14,2751 53521 MXV UNIT
041343,000674: 14,2752 01734 REFSMMAT
041344,000675: 14,2753 26715 STOVL STARAD +6
041345,000676: 14,2754 03552 PLANVEC
041346,000677: 14,2755 53521 MXV UNIT
041347,000678: 14,2756 01734 REFSMMAT
041348,000679: 14,2757 26707 STOVL STARAD
041349,000680: 14,2760 02761 STARSAV1
041350,000681: 14,2761 24007 STOVL 6D
041351,000682: 14,2762 02767 STARSAV2
041352,000683: 14,2763 34015 STCALL 12D
041353,000684: 14,2764 31121 R54 # STAR DATA TEST
041354,000685: 14,2765 45014 BOFF CALL
041355,000686: 14,2766 00354 FREEFLAG
041356,000687: 14,2767 30775 R51K
041357,000688: 14,2770 47345 AXISGEN
041358,000689: 14,2771 77624 CALL
041359,000690: 14,2772 31066 R55 # GYRO TORQUE
041360,000691: 14,2773 77614 CLEAR
041361,000692: 14,2774 01273 PFRATFLG
041362,000693: 14,2775 77776 R51K EXIT
041363,000694: 14,2776 35742 R51P63 CAF OCT14
041364,000695: 14,2777 04616 TC BANKCALL
041365,000696: 14,3000 20476 CADR GOPERF1
041366,000697: 14,3001 06001 TC GOTOPOOH
041367,000698: 14,3002 02661 TC R51C
041368,000699: 14,3003 06036 TC INTPRET
041369,000700: 14,3004 77650 GOTO
041370,000701: 14,3005 02746 QMAJ
041371,000702: 14,3006 06036 R51.4 TC INTPRET
041372,000703: 14,3007 77775 VLOAD
041373,000704: 14,3010 02715 STARAD +6
041374,000705: 14,3011 02761 STORE STARSAV1
041375,000706: 14,3012 45145 DLOAD CALL
041376,000707:
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|
Page 940
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041378,000709: 14,3013 03560 TSIGHT
041379,000710: 14,3014 32540 PLANET
041380,000711: 14,3015 03552 STORE PLANVEC
041381,000712: 14,3016 77731 SSP
041382,000713: 14,3017 02760 STARIND
041383,000714: 14,3020 00001 1
041384,000715: 14,3021 77650 GOTO
041385,000716: 14,3022 30715 R51.3
041386,000717: 14,3023 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041387,000718:
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Page 941
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041389,000720: # GYRO TORQUE COARSE ALIGNMENT
041390,000721: 14,3025 45020 GYCOARS STQ CALL
041391,000722: 14,3026 02746 QMAJ
041392,000723: 14,3027 47151 CALCGTA
041393,000724: 14,3030 43014 CLEAR CLEAR
041394,000725: 14,3031 01260 DRIFTFLG
041395,000726: 14,3032 01662 REFSMFLG
041396,000727: 14,3033 77776 EXIT
041397,000728: 14,3034 33065 CAF V16N20 # MONITOR GIMBALS
041398,000729: 14,3035 04616 TC BANKCALL
041399,000730: 14,3036 20327 CADR GODSPR
041400,000731: 14,3037 33120 CA R55CDR
041401,000732: 14,3040 04616 TC BANKCALL
041402,000733: 14,3041 17276 CADR IMUPULSE
041403,000734: 14,3042 04616 TC BANKCALL
041404,000735: 14,3043 17671 CADR IMUSTALL
041405,000736: 14,3044 05703 TC CURTAINS
041406,000737: 14,3045 05353 TC PHASCHNG
041407,000738: 14,3046 05024 OCT 05024
041408,000739: 14,3047 13000 OCT 13000
041409,000740: 14,3050 06036 TC INTPRET
041410,000741: 14,3051 75160 AXC,1 AXC,2
041411,000742: 14,3052 03604 XSMD
041412,000743: 14,3053 01733 REFSMMAT
041413,000744: 14,3054 77624 CALL # STORE DESIRED REFSMMAT
041414,000745: 14,3055 31237 MATMOVE
041415,000746: 14,3056 43014 CLEAR SET
041416,000747: 14,3057 01273 PFRATFLG
041417,000748: 14,3060 01462 REFSMFLG
041418,000749: 14,3061 77624 CALL
041419,000750: 14,3062 31523 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041420,000751: 14,3063 77650 GOTO
041421,000752: 14,3064 30775 R51K
041422,000753: 14,3065 04024 V16N20 VN 1620
041423,000754:
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Page 942
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041425,000756: # R55 GYRO TORQUE
041426,000757: # FUNCTION-COMPUTE AND SEND GYRO PULSES
041427,000758: # CALLING SEQ- CALL R55
041428,000759: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
041429,000760: # OUTPUT- GYRO PULSES
041430,000761: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE, IMUPULSE,GOPERF1
041431,000762: 14,3066 COUNT* $$/R55
041432,000763: 14,3066 77620 R55 STQ
041433,000764: 14,3067 02745 QMIN
041434,000765: 14,3070 77624 CALL
041435,000766: 14,3071 47151 CALCGTA
041436,000767: 14,3072 77776 PULSEM EXIT
041437,000768: 14,3073 33117 R55.1 CAF V06N93
041438,000769: 14,3074 04616 TC BANKCALL
041439,000770: 14,3075 20351 CADR GOFLASH
041440,000771: 14,3076 06001 TC GOTOPOOH
041441,000772: 14,3077 03101 TC R55.2
041442,000773: 14,3100 03114 TC R55RET
041443,000774: 14,3101 05353 R55.2 TC PHASCHNG
041444,000775: 14,3102 00214 OCT 00214
041445,000776: 14,3103 33120 CA R55CDR
041446,000777: 14,3104 04616 TC BANKCALL
041447,000778: 14,3105 17276 CADR IMUPULSE
041448,000779: 14,3106 04616 TC BANKCALL
041449,000780: 14,3107 17671 CADR IMUSTALL
041450,000781: 14,3110 05703 TC CURTAINS
041451,000782: 14,3111 05353 TC PHASCHNG
041452,000783: 14,3112 05024 OCT 05024
041453,000784: 14,3113 13000 OCT 13000
041454,000785: 14,3114 06036 R55RET TC INTPRET
041455,000786: 14,3115 77650 GOTO
041456,000787: 14,3116 02745 QMIN
041457,000788: 14,3117 01535 V06N93 VN 0693
041458,000789: 14,3120 02737 R55CDR ECADR OGC
041459,000790: 14,3121 14,3121 R54 = CHKSDATA
041460,000791: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
041461,000792: # MOD NO- 0 LOG SECTION- P51-P53
041462,000793: # MODIFICATION BY- LONSKE ASSEMBLY-
041463,000794:
041464,000795: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041465,000796: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041466,000797: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041467,000798:
041468,000799: # OS1 = OBSERVED STAR 1 VECTOR
041469,000800: # OS2 = OBSERVED STAR 2 VECTOR
041470,000801: # SS1 = STORED STAR 1 VECTOR
041471,000802: # SS2 = STORED STAR 2 VECTOR
041472,000803: # A1 = ARCCOS(OS1 - OS2)
041473,000804: # A2 = ARCCOS(SS1 - SS2)
041474,000805: # A = ABS(2(A1 - A2))
041475,000806:
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Page 943
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041477,000808: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041478,000809: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041479,000810: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041480,000811: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041481,000812: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041482,000813:
041483,000814: # ERASABLE INITIALIZATION REQUIRED -
041484,000815: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041485,000816: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
041486,000817: # DEBRIS -
041487,000818: 14,3121 COUNT* $$/R54
041488,000819: 14,3121 43020 CHKSDATA STQ SET
041489,000820: 14,3122 02745 QMIN
041490,000821: 14,3123 00074 FREEFLAG
041491,000822: 14,3124 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041492,000823: 14,3125 02706 STARAD
041493,000824:
041494,000825: 14,3126 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041495,000826: 14,3127 00001 0,1
041496,000827: 14,3130 00007 6,1
041497,000828: 14,3131 65552 SL1 ACOS
041498,000829: 14,3132 00025 STORE THETA
041499,000830: 14,3133 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041500,000831: 14,3134 00354 FREEFLAG
041501,000832: 14,3135 31145 CHKSD
041502,000833: 14,3136 00174 FREEFLAG # CLEAR FREEFLAG
041503,000834: 14,3137 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041504,000835: 14,3140 00006 6D
041505,000836: 14,3141 00025 THETA
041506,000837: 14,3142 00023 STORE 18D
041507,000838: 14,3143 77650 GOTO
041508,000839: 14,3144 31126 CHKSB # RETURN TO CAL. 2ND ANGLE
041509,000840: 14,3145 45345 CHKSD DLOAD DSU
041510,000841: 14,3146 00025 THETA
041511,000842: 14,3147 00023 18D
041512,000843: 14,3150 47046 ABS RTB # COMPUTE POS DIFF
041513,000844: 14,3151 21516 SGNAGREE
041514,000845: 14,3152 01046 STORE NORMTEM1
041515,000846: 14,3153 77414 SET EXIT
041516,000847: 14,3154 00074 FREEFLAG
041517,000848: 14,3155 33171 CAF VB6N5
041518,000849: 14,3156 04616 TC BANKCALL
041519,000850: 14,3157 20351 CADR GOFLASH
041520,000851: 14,3160 16001 TCF GOTOPOOH
041521,000852: 14,3161 03166 TC CHKSDA # PROCEED
041522,000853: 14,3162 06036 TC INTPRET
041523,000854: 14,3163 52014 CLEAR GOTO
041524,000855: 14,3164 00274 FREEFLAG
041525,000856: 14,3165 02745 QMIN
041526,000857: 14,3166 06036 CHKSDA TC INTPRET
041527,000858:
|
|
Page 944
|
041529,000860: 14,3167 77650 GOTO
041530,000861: 14,3170 02745 QMIN
041531,000862: 14,3171 01405 VB6N5 VN 605
041532,000863: # NAME - CAL53A
041533,000864: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041534,000865: # CALLING SEQUENCE - CALL CAL53A
041535,000866: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
041536,000867: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041537,000868: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041538,000869: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
041539,000870: 14,3172 COUNT* $$/R50
041540,000871: 14,3172 45020 CAL53A STQ CALL
041541,000872: 14,3173 00035 29D
041542,000873: 14,3174 31534 S52.2 # MAKE ONE FINAL COMP OF GIMBLE ANGLES
041543,000874: 14,3175 66234 RTB SSP
041544,000875: 14,3176 31253 RDCDUS # READ CDUS
041545,000876: 14,3177 00051 S1
041546,000877: 14,3200 00001 1
041547,000878: 14,3201 40370 AXT,1 SETPD
041548,000879: 14,3202 00003 3
041549,000880: 14,3203 00005 4
041550,000881: 14,3204 70543 CALOOP DLOAD* SR1
041551,000882: 14,3205 00325 THETAD +3D,1
041552,000883: 14,3206 70523 PDDL* SR1
041553,000884: 14,3207 00005 4,1
041554,000885: 14,3210 51425 DSU ABS
041555,000886: 14,3211 45206 PUSH DSU
041556,000887: 14,3212 31252 DEGREE1
041557,000888: 14,3213 71240 BMN DLOAD
041558,000889: 14,3214 31226 CALOOP1
041559,000890: 14,3215 51025 DSU BPL
041560,000891: 14,3216 31253 DEG359
041561,000892: 14,3217 31226 CALOOP1
041562,000893: 14,3220 77624 COARFINE CALL
041563,000894: 14,3221 31506 COARSE
041564,000895: 14,3222 77624 CALL
041565,000896: 14,3223 31523 NCOARSE
041566,000897: 14,3224 77650 GOTO
041567,000898: 14,3225 31230 FINEONLY
041568,000899: 14,3226 77700 CALOOP1 TIX,1
041569,000900: 14,3227 31204 CALOOP
041570,000901: 14,3230 75160 FINEONLY AXC,1 AXC,2
041571,000902: 14,3231 02642 XSM
041572,000903: 14,3232 01733 REFSMMAT
041573,000904: 14,3233 77624 CALL
041574,000905: 14,3234 31237 MATMOVE
041575,000906: 14,3235 77650 GOTO
041576,000907: 14,3236 00035 29D
041577,000908: 14,3237 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041578,000909: 14,3240 00001 0,1
041579,000910:
|
|
Page 945
|
041581,000912: 14,3241 10001 STORE 0,2
041582,000913: 14,3242 77773 VLOAD*
041583,000914: 14,3243 00007 6D,1
041584,000915: 14,3244 10007 STORE 6D,2
041585,000916: 14,3245 77773 VLOAD*
041586,000917: 14,3246 00015 12D,1
041587,000918: 14,3247 10015 STORE 12D,2
041588,000919: 14,3250 77616 RVQ
041589,000920: 14,3251 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041590,000921: 14,3252 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041591,000922: 14,3253 00004 RDCDUS INHINT # READ CDUS
041592,000923: 14,3254 30032 CA CDUX
041593,000924: 14,3255 50120 INDEX FIXLOC
041594,000925: 14,3256 54001 TS 1
041595,000926: 14,3257 30033 CA CDUY
041596,000927: 14,3260 50120 INDEX FIXLOC
041597,000928: 14,3261 54002 TS 2
041598,000929: 14,3262 30034 CA CDUZ
041599,000930: 14,3263 50120 INDEX FIXLOC
041600,000931: 14,3264 54003 TS 3
041601,000932: 14,3265 00003 RELINT
041602,000933: 14,3266 06060 TC DANZIG # +
041603,000934: 14,3267 COUNT* $$/INFLT
041604,000935: 14,3267 77760 CALCSMSC AXC,1
041605,000936: 14,3270 02664 XNB
041606,000937:
041607,000938: 14,3271 41345 XNBNDX DLOAD DMP
041608,000939: 14,3272 00737 SINCDUY
041609,000940: 14,3273 00747 COSCDUZ
041610,000941: 14,3274 77676 DCOMP
041611,000942: 14,3275 70525 PDDL SR1
041612,000943: 14,3276 00741 SINCDUZ
041613,000944: 14,3277 41325 PDDL DMP
041614,000945: 14,3300 00745 COSCDUY
041615,000946: 14,3301 00747 COSCDUZ
041616,000947: 14,3302 76466 VDEF VSL1
041617,000948: 14,3303 04001 STORE 0,1
041618,000949: 14,3304 41345 DLOAD DMP
041619,000950: 14,3305 00743 SINCDUX
041620,000951: 14,3306 00741 SINCDUZ
041621,000952: 14,3307 77752 SL1
041622,000953: 14,3310 00033 STORE 26D
041623,000954: 14,3311 77605 DMP
041624,000955: 14,3312 00737 SINCDUY
041625,000956: 14,3313 41325 PDDL DMP
041626,000957: 14,3314 00751 COSCDUX
041627,000958: 14,3315 00745 COSCDUY
041628,000959: 14,3316 77625 DSU
041629,000960: 14,3317 41325 PDDL DMP
041630,000961: 14,3320 00743 SINCDUX
041631,000962:
|
|
Page 946
|
041633,000964: 14,3321 00747 COSCDUZ
041634,000965: 14,3322 77676 DCOMP
041635,000966: 14,3323 41325 PDDL DMP
041636,000967: 14,3324 00751 COSCDUX
041637,000968: 14,3325 00737 SINCDUY
041638,000969: 14,3326 41325 PDDL DMP
041639,000970: 14,3327 00745 COSCDUY
041640,000971: 14,3330 00033 26D
041641,000972: 14,3331 55415 DAD VDEF
041642,000973: 14,3332 77772 VSL1
041643,000974: 14,3333 04015 STORE 14,1
041644,000975: 14,3334 76433 VXV* VSL1
041645,000976: 14,3335 00001 0,1
041646,000977: 14,3336 04007 STORE 6,1
041647,000978: 14,3337 77616 RVQ
041648,000979:
|
|
Page 947
|
041650,000981: # NAME - P51 - IMU ORIENTATION DETERMINATION
041651,000982: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
041652,000983: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041653,000984:
041654,000985: # FUNCTIONAL DESCRIPTION
041655,000986:
041656,000987: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041657,000988: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
041658,000989: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041659,000990: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041660,000991:
041661,000992: # CALLING SEQUENCE
041662,000993:
041663,000994: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041664,000995:
041665,000996: # SUBROUTINES CALLED.
041666,000997:
041667,000998: # GOPERF3
041668,000999: # GOPERF1
041669,001000: # GODSPR
041670,001001: # IMUCOARS
041671,001002: # IMUFIN20
041672,001003: # AOTMARK(R53)
041673,001004: # CHKSDATA(R54)
041674,001005: # MKRELEAS
041675,001006: # AXISGEN
041676,001007: # MATMOVE
041677,001008:
041678,001009: # ALARMS
041679,001010:
041680,001011: # NONE.
041681,001012:
041682,001013: # ERASABLE INITIALIZATION
041683,001014:
041684,001015: # IMU ZERO FLAG SHOULD BE SET.
041685,001016:
041686,001017: # OUTPUT
041687,001018:
041688,001019: # REFSMMAT
041689,001020: # REFSMFLG
041690,001021:
041691,001022: # DEBRIS
041692,001023:
041693,001024: # WORK AREA
041694,001025: # STARAD
041695,001026: # STARIND
041696,001027: # BESTI
041697,001028: # BESTJ
041698,001029:
041699,001030: 14,3340 COUNT* $$/P51
|
|
Page 948
|
041701,001032: 14,3340 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041702,001033: 14,3341 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041703,001034:
041704,001035: 14,3342 34761 CAF PRFMSTAQ
041705,001036: 14,3343 04616 TC BANKCALL
041706,001037: 14,3344 20476 CADR GOPERF1
041707,001038: 14,3345 06001 TC GOTOPOOH # TERM.
041708,001039: 14,3346 13374 TCF P51B # V33
041709,001040: 14,3347 05353 TC PHASCHNG
041710,001041: 14,3350 05024 OCT 05024
041711,001042: 14,3351 13000 OCT 13000
041712,001043: 14,3352 34755 CAF P51ZERO
041713,001044: 14,3353 54321 TS THETAD # ZERO THE GIMBALS
041714,001045: 14,3354 54322 TS THETAD +1
041715,001046: 14,3355 54323 TS THETAD +2
041716,001047: 14,3356 33504 CAF V6N22
041717,001048: 14,3357 04616 TC BANKCALL
041718,001049: 14,3360 20324 CADR GODSPRET
041719,001050: 14,3361 33505 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041720,001051: 14,3362 04616 TC BANKCALL
041721,001052: 14,3363 20324 CADR GODSPRET
041722,001053: 14,3364 06036 TC INTPRET
041723,001054: 14,3365 77624 CALL
041724,001055: 14,3366 31506 COARSE
041725,001056: 14,3367 77776 EXIT
041726,001057: 14,3370 05353 TC PHASCHNG
041727,001058: 14,3371 05024 OCT 05024
041728,001059: 14,3372 13000 OCT 13000
041729,001060: 14,3373 13342 TCF P51 +2
041730,001061:
041731,001062: 14,3374 05353 P51B TC PHASCHNG
041732,001063: 14,3375 00014 OCT 00014
041733,001064: 14,3376 06036 TC INTPRET
041734,001065: 14,3377 77624 CALL
041735,001066: 14,3400 31523 NCOARSE
041736,001067: 14,3401 40331 SSP SETPD
041737,001068: 14,3402 02760 STARIND # INDEX-STAR 1 OR 2
041738,001069: 14,3403 00000 0
041739,001070: 14,3404 00001 0
041740,001071: 14,3405 77776 P51C EXIT
041741,001072: 14,3406 05353 TC PHASCHNG
041742,001073: 14,3407 05024 OCT 05024
041743,001074: 14,3410 13000 OCT 13000
041744,001075: 14,3411 04616 TC BANKCALL
041745,001076: 14,3412 16000 CADR AOTMARK # R53
041746,001077: 14,3413 04616 TC BANKCALL
041747,001078: 14,3414 17665 CADR AOTSTALL
041748,001079: 14,3415 05703 TC CURTAINS
041749,001080: 14,3416 11757 CCS STARIND
041750,001081: 14,3417 13425 TCF P51D +1
041751,001082:
|
|
Page 949
|
041753,001084: 14,3420 06036 TC INTPRET
041754,001085: 14,3421 77775 VLOAD
041755,001086: 14,3422 02715 STARAD +6
041756,001087: 14,3423 02761 STORE STARSAV1
041757,001088: 14,3424 77776 P51D EXIT
041758,001089: 14,3425 05353 TC PHASCHNG
041759,001090: 14,3426 05024 OCT 05024
041760,001091: 14,3427 13000 OCT 13000
041761,001092: 14,3430 11757 CCS STARIND
041762,001093: 14,3431 13446 TCF P51E
041763,001094: 14,3432 05353 TC PHASCHNG
041764,001095: 14,3433 05024 OCT 05024
041765,001096: 14,3434 13000 OCT 13000
041766,001097: 14,3435 06036 TC INTPRET
041767,001098: 14,3436 45145 DLOAD CALL
041768,001099: 14,3437 03560 TSIGHT
041769,001100: 14,3440 32540 PLANET
041770,001101: 14,3441 03552 STORE PLANVEC
041771,001102: 14,3442 77776 EXIT
041772,001103: 14,3443 34753 CAF BIT1
041773,001104: 14,3444 55757 TS STARIND
041774,001105: 14,3445 13406 TCF P51C +1 # DO SECOND STAR
041775,001106: 14,3446 05353 P51E TC PHASCHNG
041776,001107: 14,3447 05024 OCT 05024
041777,001108: 14,3450 13000 OCT 13000
041778,001109: 14,3451 06036 TC INTPRET
041779,001110: 14,3452 45145 DLOAD CALL
041780,001111: 14,3453 03560 TSIGHT
041781,001112: 14,3454 32540 PLANET
041782,001113: 14,3455 24015 STOVL 12D
041783,001114: 14,3456 03552 PLANVEC
041784,001115: 14,3457 24007 STOVL 6D
041785,001116: 14,3460 02761 STARSAV1
041786,001117: 14,3461 26707 STOVL STARAD
041787,001118: 14,3462 02767 STARSAV2
041788,001119: 14,3463 36715 STCALL STARAD +6
041789,001120: 14,3464 31121 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041790,001121: 14,3465 77414 BON EXIT
041791,001122: 14,3466 00314 FREEFLAG
041792,001123: 14,3467 31471 P51G
041793,001124: 14,3470 03342 TC P51 +2
041794,001125: 14,3471 77624 P51G CALL
041795,001126: 14,3472 47345 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041796,001127: 14,3473 75160 AXC,1 AXC,2
041797,001128: 14,3474 02664 XDC
041798,001129: 14,3475 01733 REFSMMAT
041799,001130: 14,3476 77624 CALL
041800,001131: 14,3477 31237 MATMOVE
041801,001132: 14,3500 77614 SET
041802,001133: 14,3501 01462 REFSMFLG
041803,001134:
|
|
Page 950
|
041805,001136: 14,3502 77776 EXIT
041806,001137: 14,3503 06001 TC GOTOPOOH # FINIS
041807,001138: 14,3504 4761 PRFMSTAQ = OCT15
041808,001139: 14,3504 4755 P51ZERO = ZERO
041809,001140: 14,3504 4756 P51FIVE = FIVE
041810,001141: 14,3504 01426 V6N22 VN 0622
041811,001142: 14,3505 12200 V41K VN 4100
041812,001143: 14,3506 77776 COARSE EXIT
041813,001144: 14,3507 04616 TC BANKCALL
041814,001145: 14,3510 16753 CADR IMUCOARS
041815,001146: 14,3511 04616 TC BANKCALL
041816,001147: 14,3512 17671 CADR IMUSTALL
041817,001148: 14,3513 05703 TC CURTAINS
041818,001149: 14,3514 04616 TC BANKCALL
041819,001150: 14,3515 17163 CADR IMUFINE
041820,001151: 14,3516 04616 TC BANKCALL
041821,001152: 14,3517 17671 CADR IMUSTALL
041822,001153: 14,3520 05703 TC CURTAINS
041823,001154: 14,3521 06036 TC INTPRET
041824,001155: 14,3522 77616 RVQ
041825,001156: 14,3523 77776 NCOARSE EXIT
041826,001157: 14,3524 30025 CA TIME1
041827,001158: 14,3525 55075 TS 1/PIPADT
041828,001159: 14,3526 06036 TC INTPRET
041829,001160: 14,3527 77775 VLOAD
041830,001161: 14,3530 22275 ZEROVEC
041831,001162: 14,3531 01472 STORE GCOMP
041832,001163: 14,3532 43414 SET RVQ
041833,001164: 14,3533 01060 DRIFTFLG
041834,001165:
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|
Page 951
|
041836,001167: # NAME-S52.2
041837,001168: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041838,001169: # CALL- CALL S52.2
041839,001170: # INPUT- X,Y,ZSMD
041840,001171: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
041841,001172: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
041842,001173: 14,3534 COUNT* $$/S52.1
041843,001174: 14,3534 77620 S52.2 STQ
041844,001175: 14,3535 02746 QMAJ
041845,001176: 14,3536 77624 CALL
041846,001177: 14,3537 47443 CDUTRIG
041847,001178: 14,3540 77624 CALL
041848,001179: 14,3541 31267 CALCSMSC
041849,001180: 14,3542 66370 AXT,1 SSP
041850,001181: 14,3543 00022 18D
041851,001182: 14,3544 00051 S1
041852,001183: 14,3545 00006 6D
041853,001184: 14,3546 61373 S52.2A VLOAD* VXM
041854,001185: 14,3547 02707 XNB +18D,1
041855,001186: 14,3550 01734 REFSMMAT
041856,001187: 14,3551 77656 UNIT
041857,001188: 14,3552 06707 STORE XNB +18D,1
041858,001189: 14,3553 77700 TIX,1
041859,001190: 14,3554 31546 S52.2A
041860,001191: 14,3555 75160 S52.2.1 AXC,1 AXC,2
041861,001192: 14,3556 03604 XSMD
041862,001193: 14,3557 02642 XSM
041863,001194: 14,3560 77624 CALL
041864,001195: 14,3561 31237 MATMOVE
041865,001196: 14,3562 77624 CALL
041866,001197: 14,3563 47255 CALCGA
041867,001198: 14,3564 77650 GOTO
041868,001199: 14,3565 02746 QMAJ
041869,001200:
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|
Page 952
|
041871,001202: # NAME-S52.3
041872,001203: # FUNCTION XSMD= UNIT R
041873,001204: # YSMD= UNIT(V X R)
041874,001205: # ZSMD= UNIT(XSMD X YSMD)
041875,001206: # CALL DLOAD CALL
041876,001207: # TALIGN
041877,001208: # S52.3
041878,001209: # INPUT- TIME OF ALIGNMENT IN MPAC
041879,001210: # OUTPUT- X,Y,ZSMD
041880,001211: # SUBROUTINES- CSMCONIC
041881,001212: 14,3566 COUNT* $$/S52.3
041882,001213: 14,3566 77620 S52.3 STQ
041883,001214: 14,3567 02746 QMAJ
041884,001215: 14,3570 34041 STCALL TDEC1
041885,001216: 14,3571 27100 LEMCONIC
041886,001217: 14,3572 77601 SETPD
041887,001218: 14,3573 00001 0
041888,001219: 14,3574 53575 VLOAD UNIT
041889,001220: 14,3575 00001 RATT
041890,001221: 14,3576 27605 STOVL XSMD
041891,001222: 14,3577 00007 VATT
041892,001223: 14,3600 53435 VXV UNIT
041893,001224: 14,3601 00001 RATT
041894,001225: 14,3602 27613 STOVL YSMD
041895,001226: 14,3603 03605 XSMD
041896,001227: 14,3604 53435 VXV UNIT
041897,001228: 14,3605 03613 YSMD
041898,001229: 14,3606 37621 STCALL ZSMD
041899,001230: 14,3607 02746 QMAJ
041900,001231:
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|
Page 953
|
041902,001233: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041903,001234:
041904,001235: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041905,001236: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041906,001237:
041907,001238: # CALLING -CALL R52
041908,001239:
041909,001240: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
041910,001241: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
041911,001242: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041912,001243: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041913,001244: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041914,001245:
041915,001246: # SUBROUT -R60LEM
041916,001247:
041917,001248: 14,3610 COUNT* $$/R52
041918,001249: 14,3610 77420 R52 STQ EXIT
041919,001250: 14,3611 03663 SAVQR52
041920,001251: 14,3612 51757 INDEX STARIND
041921,001252: 14,3613 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041922,001253: 14,3614 00006 EXTEND
041923,001254: 14,3615 73706 MP 1/6TH
041924,001255: 14,3616 64744 AD BIT8 # SET DETENT POSITION 2
041925,001256: 14,3617 54735 TS STARCODE # SCALE AND STORE IN STARCODE
041926,001257:
041927,001258: 14,3620 33707 R52A CAF V01N70
041928,001259: 14,3621 04616 TC BANKCALL
041929,001260: 14,3622 20351 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041930,001261: 14,3623 06001 TC GOTOPOOH # V34-TERMINATE
041931,001262: 14,3624 13626 TCF R52B # V33-PROCEED TO ORIENT LEM
041932,001263: 14,3625 13620 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041933,001264:
041934,001265: 14,3626 05516 R52B TC DOWNFLAG
041935,001266: 14,3627 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041936,001267: 14,3630 30735 CA STARCODE # GRAB DETENT CODE
041937,001268: 14,3631 77743 MASK HIGH9
041938,001269: 14,3632 00006 EXTEND
041939,001270: 14,3633 63620 BZMF R52A # DONT ALLOW ZERO CODE-RECYCLE
041940,001271: 14,3634 74743 MASK BIT9 # SEE IF CODE 4 OR 5
041941,001272: 14,3635 10000 CCS A
041942,001273: 14,3636 13655 TCF GETAZEL # CODE 4 OR 5-GET CALIBRATION AZ EL
041943,001274: 14,3637 E7,1547 EBANK= XYMARK
041944,001275: 14,3637 35016 CA EBANK7
041945,001276: 14,3640 54003 TS EBANK
041946,001277: 14,3641 37743 CAF HIGH9 # FORWARD DETENT, INDEX DETENT AND GRAB
041947,001278: 14,3642 70735 MASK STARCODE # AZIMUTH ANGLE AND ELV = 45 DEG
041948,001279: 14,3643 00006 EXTEND
041949,001280: 14,3644 74743 MP BIT9 # SHIFT DETENT TO BITS1-2 FOR INDEX
041950,001281: 14,3645 50000 INDEX A
041951,001282: 14,3646 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041952,001283:
|
|
Page 954
|
041954,001285: 14,3647 54001 TS L
041955,001286: 14,3650 E5,1642 EBANK= XSM
041956,001287: 14,3650 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041957,001288: 14,3651 54003 TS EBANK
041958,001289: 14,3652 34737 CA BIT13 # SET ELV TO 45 DEG
041959,001290: 14,3653 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041960,001291: 14,3654 13665 TCF AZEL # GO COMP OPTIC AXIS
041961,001292:
041962,001293: 14,3655 33710 GETAZEL CAF V06N87 # CODE 4 OR 5-GET AZ AND EL FROM ASTRO
041963,001294: 14,3656 04616 TC BANKCALL
041964,001295: 14,3657 20351 CADR GOFLASH
041965,001296: 14,3660 06001 TC GOTOPOOH # V34-TERMINATE
041966,001297: 14,3661 13663 TCF +2 # PROCEED-CALC OPTIC AXIS
041967,001298: 14,3662 13655 TCF GETAZEL # ENTER-RECYCLE
041968,001299:
041969,001300: 14,3663 00006 EXTEND
041970,001301: 14,3664 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041971,001302: 14,3665 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041972,001303: 14,3666 52011 DXCH 8D
041973,001304: 14,3667 06036 TC INTPRET
041974,001305: 14,3670 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041975,001306: 14,3671 13370 OANB # SCAXIS IN NB COORDS
041976,001307: 14,3672 45034 RTB CALL
041977,001308: 14,3673 21462 LOADTIME
041978,001309: 14,3674 32540 PLANET
041979,001310: 14,3675 53521 MXV UNIT
041980,001311: 14,3676 01734 REFSMMAT
041981,001312: 14,3677 03767 STORE POINTVSM # STORE FOR VECPOINT
041982,001313:
041983,001314: 14,3700 77776 EXIT
041984,001315: 14,3701 04616 TC BANKCALL
041985,001316: 14,3702 54101 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041986,001317:
041987,001318: 14,3703 06036 TC INTPRET # RETURN FROM KALCMANU
041988,001319: 14,3704 77650 GOTO
041989,001320: 14,3705 03663 SAVQR52 # RETURN TO CALLER
041990,001321:
041991,001322: 14,3706 05253 1/6TH DEC .1666667
041992,001323: 14,3707 00306 V01N70 VN 0170
041993,001324: 14,3710 01527 V06N87 VN 687
041994,001325:
|
|
Page 955
|
041996,001327: # LUNAR SURFACE STAR AQUISITION
041997,001328:
041998,001329: 15,2301 BANK 15
041999,001330: 15,2000 SETLOC P50S
042000,001331: 15,2000 BANK
042001,001332: 15,2301 COUNT* $$/R59
042002,001333:
042003,001334: 15,2301 40077 R59 CS FLAGWRD3
042004,001335: 15,2302 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042005,001336: 15,2303 10000 CCS A
042006,001337: 15,2304 12523 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042007,001338:
042008,001339: 15,2305 32531 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042009,001340: 15,2306 04616 TC BANKCALL
042010,001341: 15,2307 20351 CADR GOFLASH
042011,001342: 15,2310 06001 TC GOTOPOOH # V34-TERMINATE
042012,001343: 15,2311 12313 TCF R59A # V33-PROCEED
042013,001344: 15,2312 12301 TCF R59 # V32-RECYCLE
042014,001345:
042015,001346: 15,2313 47743 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
042016,001347: 15,2314 70735 MASK AOTCODE
042017,001348: 15,2315 00006 EXTEND
042018,001349: 15,2316 76241 MP REVCNT # JUST 6
042019,001350: 15,2317 56001 XCH L
042020,001351: 15,2320 51757 INDEX STARIND
042021,001352: 15,2321 55755 TS BESTI
042022,001353: 15,2322 50120 INDEX FIXLOC
042023,001354: 15,2323 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
042024,001355: 15,2324 00006 EXTEND
042025,001356: 15,2325 12523 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
042026,001357: 15,2326 40000 COM
042027,001358: 15,2327 62625 AD DEC227
042028,001359: 15,2330 00006 EXTEND
042029,001360: 15,2331 62523 BZMF R59OUT
042030,001361:
042031,001362: 15,2332 06036 TC INTPRET
042032,001363: 15,2333 77624 CALL
042033,001364: 15,2334 47443 CDUTRIG # GET CDU JAZZ FOR SMNB
042034,001365: 15,2335 64373 VLOAD* MXV
042035,001366: 15,2336 30347 CATLOG,1 # GRAB STAR VECTOR
042036,001367: 15,2337 01734 REFSMMAT # TRANSFORM TO SM
042037,001368: 15,2340 45056 UNIT CALL
042038,001369: 15,2341 47575 *SMNB* # TRANSFORM TO NB
042039,001370: 15,2342 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042040,001371: 15,2343 77776 EXIT
042041,001372:
042042,001373: 15,2344 34753 CAF BIT1 # INITIALIZE POS TO ONE
042043,001374: 15,2345 55052 TS POSCODE
042044,001375: 15,2346 42537 CS DEG60 # AS(N) TO -60 DEG
042045,001376: 15,2347 55745 TS QMIN
042046,001377:
|
|
Page 956
|
042048,001379:
042049,001380:
042050,001381: 15,2350 54000 STORPOS TS A # DETECT OVF AZ = -120
042051,001382: 15,2351 12354 TCF +3 # NO OVF
042052,001383: 15,2352 34735 CAF BIT15 # OVF SKIP-ADD NEGMAX TO OVF CORRECT QMIN
042053,001384: 15,2353 27745 ADS QMIN
042054,001385: 15,2354 34737 CAF BIT13 # ELV=45 DEG
042055,001386: 15,2355 54001 TS L
042056,001387: 15,2356 31745 CA QMIN
042057,001388: 15,2357 50120 INDEX FIXLOC
042058,001389: 15,2360 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042059,001390:
042060,001391: 15,2361 06036 TC INTPRET
042061,001392: 15,2362 77624 CALL
042062,001393: 15,2363 13370 OANB # GO CALC OPTIC AXIS WRT NB
042063,001394: 15,2364 50375 VLOAD DOT
042064,001395: 15,2365 02731 STAR # DOT STAR WITH OA
042065,001396: 15,2366 03761 SCAXIS
042066,001397: 15,2367 65552 SL1 ARCCOS
042067,001398: 15,2370 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042068,001399:
042069,001400: 15,2371 51025 DSU BPL
042070,001401: 15,2372 32534 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042071,001402: 15,2373 32455 NXAX # NOT IN FIELD - TRY NEXT POSITION
042072,001403: 15,2374 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042073,001404: 15,2375 00031 24D
042074,001405: 15,2376 32536 DEG.5
042075,001406: 15,2377 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042076,001407: 15,2400 32450 ZSPCR # GO ZERO CURSOR AND SPIRAL
042077,001408: 15,2401 00031 24D # GET SPIRAL
042078,001409: 15,2402 42405 DMP SL4
042079,001410: 15,2403 23710 3/4 # 12 SCALED AT 16
042080,001411: 15,2404 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042081,001412:
042082,001413: 15,2405 03761 SCAXIS # OA
042083,001414: 15,2406 53435 VXV UNIT
042084,001415: 15,2407 22273 XUNIT
042085,001416: 15,2410 47206 PUSH VXV # OA X UNITX PD 0-5
042086,001417: 15,2411 03761 SCAXIS
042087,001418: 15,2412 77676 VCOMP
042088,001419: 15,2413 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
042089,001420: 15,2414 03761 SCAXIS
042090,001421: 15,2415 53435 VXV UNIT
042091,001422: 15,2416 02731 STAR
042092,001423: 15,2417 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042093,001424: 15,2420 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042094,001425: 15,2421 65552 SL1 ARCCOS
042095,001426: 15,2422 24033 STOVL 26D # STORE THET SCALED IN REVS
042096,001427:
042097,001428: 15,2423 77641 DOT # UP 12-17, UP 6-11 FOR C2
042098,001429: 15,2424 71244 BPL DLOAD # IF THET NEG-GET 360-THET
042099,001430: 15,2425 32432 R59D
042100,001431:
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|
Page 957
|
042102,001433: 15,2426 32047 ABOUTONE
042103,001434: 15,2427 77625 DSU
042104,001435: 15,2430 00033 26D
042105,001436: 15,2431 00033 STORE 26D # 360-THET SCALED IN REVS
042106,001437:
042107,001438: 15,2432 70535 R59D SLOAD SR1
042108,001439: 15,2433 02746 QMIN # RESCALE AZ(N) TO REVS
042109,001440: 15,2434 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042110,001441: 15,2435 00033 26D
042111,001442: 15,2436 77634 RTB
042112,001443: 15,2437 21520 1STO2S
042113,001444: 15,2440 15046 STODL CURSOR # YROT IN 1/2 REVS
042114,001445: 15,2441 00031 24D # LOAD SROT IN REVS
042115,001446: 15,2442 77615 DAD # 12(SEP) + YROT
042116,001447: 15,2443 77634 RTB
042117,001448: 15,2444 21520 1STO2S
042118,001449: 15,2445 01047 STORE SPIRAL # SROT IN 1/2 REVS
042119,001450: 15,2446 77776 EXIT
042120,001451: 15,2447 12476 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042121,001452:
042122,001453: 15,2450 77776 ZSPCR EXIT
042123,001454: 15,2451 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
042124,001455: 15,2452 55045 TS CURSOR # AND SPIRAL ANGLES
042125,001456: 15,2453 55046 TS SPIRAL
042126,001457: 15,2454 12476 TCF 79DISP
042127,001458:
042128,001459: 15,2455 77776 NXAX EXIT
042129,001460: 15,2456 25052 INCR POSCODE
042130,001461: 15,2457 41052 CS POSCODE
042131,001462: 15,2460 64757 AD SEVEN
042132,001463: 15,2461 00006 EXTEND
042133,001464: 15,2462 62466 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042134,001465: 15,2463 32537 CAF DEG60 # ADVANCE AZ(N) BY 60 DEG
042135,001466: 15,2464 27745 ADS QMIN # IF OVF, QMIN CONTAINS OVF CORRECTED
042136,001467: 15,2465 12350 TCF STORPOS
042137,001468: 15,2466 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042138,001469: 15,2467 00404 OCT 404
042139,001470: 15,2470 35006 CAF VB05N09 # DISPLAY ALARM
042140,001471: 15,2471 04616 TC BANKCALL
042141,001472: 15,2472 20351 CADR GOFLASH
042142,001473: 15,2473 16001 TCF GOTOPOOH # VB34-TERMINATE
042143,001474: 15,2474 12523 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
042144,001475: 15,2475 12301 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
042145,001476:
042146,001477: 15,2476 32532 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042147,001478: 15,2477 04616 TC BANKCALL
042148,001479: 15,2500 20351 CADR GOFLASH
042149,001480: 15,2501 16001 TCF GOTOPOOH # V34-TERMINATE
042150,001481: 15,2502 12504 TCF R59E # V33-PROCEED TO MARK ROUTINE
042151,001482: 15,2503 12301 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
042152,001483:
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|
Page 958
|
042154,001485: 15,2504 34751 R59E CAF BIT3 # GET DETENT CORRESPONDING TO POSITION COD
042155,001486: 15,2505 71052 MASK POSCODE # KEYED IN POS CODE
042156,001487: 15,2506 00006 EXTEND
042157,001488: 15,2507 12511 BZF +2 # FORWARD DETENT
042158,001489: 15,2510 12513 TCF +3 # ITS REAR DETENT, 4 ALREADY IN (A)
042159,001490: 15,2511 34757 CAF SEVEN # GET FORWARD DETENT
042160,001491: 15,2512 71052 MASK POSCODE
042161,001492: 15,2513 00006 EXTEND
042162,001493: 15,2514 74745 MP BIT7
042163,001494: 15,2515 56001 XCH L
042164,001495: 15,2516 55745 TS QMIN
042165,001496: 15,2517 47743 CS HIGH9
042166,001497: 15,2520 70735 MASK AOTCODE
042167,001498: 15,2521 61745 AD QMIN
042168,001499: 15,2522 54735 TS AOTCODE # STORE DETENT IN 7-9
042169,001500:
042170,001501: 15,2523 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
042171,001502: 15,2524 16000 CADR AOTMARK
042172,001503: 15,2525 04616 TC BANKCALL
042173,001504: 15,2526 17665 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042174,001505: 15,2527 05703 TC CURTAINS # BADEND RETURN FROM AOTMARK
042175,001506: 15,2530 13123 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042176,001507:
042177,001508: 15,2531 00306 V01N70* VN 170
042178,001509: 15,2532 01517 V06N79 VN 679
042179,001510: 15,2533 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042180,001511: 15,2535 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042181,001512: 15,2537 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042182,001513: 15,2540 1045 CURSOR EQUALS DSPTEM1
042183,001514: 15,2540 1046 SPIRAL EQUALS DSPTEM1 +1
042184,001515: 15,2540 1052 POSCODE EQUALS DSPTEM2 +2
042185,001516:
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|
Page 959
|
042187,001518: # NAME - PLANET
042188,001519: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042189,001520: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042190,001521: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042191,001522: # BY DSDY INPUT
042192,001523: # CALL - CALL
042193,001524: # PLANET
042194,001525: # INPUT - TIME IN MPAC
042195,001526: # OUTPUT - VECTOR IN MPAC
042196,001527: # SUBROUTINES - LOCSAM
042197,001528: # DEBRIS - VAC ,STARAD - STARAD +17
042198,001529:
042199,001530: 15,2000 SETLOC P50S
042200,001531: 15,2000 BANK
042201,001532: 15,2540 COUNT* $$/P51
042202,001533:
042203,001534: 15,2540 03560 PLANET STORE TSIGHT
042204,001535: 15,2541 77420 STQ EXIT
042205,001536: 15,2542 02736 GCTR
042206,001537: 15,2543 47743 CS HIGH9
042207,001538: 15,2544 70735 MASK AOTCODE
042208,001539: 15,2545 00006 EXTEND
042209,001540: 15,2546 76241 MP REVCNT
042210,001541: 15,2547 56001 XCH L
042211,001542: 15,2550 51757 INDEX STARIND
042212,001543: 15,2551 55755 TS BESTI
042213,001544: 15,2552 10000 CCS A
042214,001545: 15,2553 12567 TCF NOTPLAN
042215,001546: 15,2554 32626 CAF VNPLANV
042216,001547: 15,2555 04616 TC BANKCALL
042217,001548: 15,2556 20351 CADR GOFLASH
042218,001549: 15,2557 02554 TC -3
042219,001550: 15,2560 02562 TC +2
042220,001551: 15,2561 02554 TC -5
042221,001552: 15,2562 06036 TC INTPRET
042222,001553: 15,2563 53575 VLOAD UNIT
042223,001554: 15,2564 02707 STARAD
042224,001555: 15,2565 77650 GOTO
042225,001556: 15,2566 02736 GCTR
042226,001557: 15,2567 40000 NOTPLAN CS A
042227,001558: 15,2570 62625 AD DEC227
042228,001559: 15,2571 00006 EXTEND
042229,001560: 15,2572 62603 BZMF CALSAM1
042230,001561: 15,2573 51757 INDEX STARIND
042231,001562: 15,2574 31755 CA BESTI
042232,001563: 15,2575 50120 INDEX FIXLOC
042233,001564: 15,2576 54046 TS X1
042234,001565: 15,2577 06036 TC INTPRET
042235,001566: 15,2600 52173 VLOAD* GOTO
042236,001567: 15,2601 30347 CATLOG,1
042237,001568:
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|
Page 960
|
042239,001570: 15,2602 02736 GCTR
042240,001571: 15,2603 06036 CALSAM1 TC INTPRET
042241,001572: 15,2604 45145 CALSAM DLOAD CALL
042242,001573: 15,2605 03560 TSIGHT
042243,001574: 15,2606 30347 LOCSAM
042244,001575: 15,2607 77340 LXC,1 VLOAD
042245,001576: 15,2610 02757 STARIND
042246,001577: 15,2611 02707 VEARTH
042247,001578: 15,2612 24001 STOVL 0D
042248,001579: 15,2613 02715 VSUN
042249,001580: 15,2614 26707 STOVL VEARTH
042250,001581: 15,2615 00001 0D
042251,001582: 15,2616 02715 STORE VSUN
042252,001583: 15,2617 70143 DLOAD* LXC,1
042253,001584: 15,2620 02756 BESTI,1
042254,001585: 15,2621 00154 MPAC
042255,001586: 15,2622 52173 VLOAD* GOTO
042256,001587: 15,2623 02343 STARAD -228D,1
042257,001588: 15,2624 02736 GCTR
042258,001589: 15,2625 00343 DEC227 DEC 227 B-14
042259,001590: 15,2626 01530 VNPLANV VN 0688
042260,001591: 15,2627 37,3533 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042261,001592:
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|
Page 961
|
042263,001594: # GRAVITY VECTOR DETERMINATION ROUTINE
042264,001595: # BY KEN VINCENT
042265,001596: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042266,001597: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042267,001598: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042268,001599: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042269,001600: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042270,001601: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042271,001602: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042272,001603: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042273,001604: # READINGS.
042274,001605:
042275,001606: # CALL-
042276,001607: # TC BANKCALL
042277,001608: # CADR GVDETER
042278,001609: # INPUTS-
042279,001610: # PIPAS,CDUS
042280,001611: # OUTPUTS-
042281,001612: # STARSAV1 = UNIT GRAVITY
042282,001613: # GSAV = DITTO
042283,001614: # GRAVBIT = 1
042284,001615: # SUBROUTINES-
042285,001616: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042286,001617: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
042287,001618: # DEBRIS-
042288,001619: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042289,001620: 15,2627 44737 GVDETER CS BIT13 # JAM 45 DEG IN DESIRED GIMBAL ANGLES
042290,001621: 15,2630 54322 TS THETAD +1
042291,001622: 15,2631 40000 COM
042292,001623: 15,2632 54323 TS THETAD +2
042293,001624: 15,2633 54321 TS THETAD
042294,001625: 15,2634 06036 TC INTPRET
042295,001626: 15,2635 45014 CLEAR CALL
042296,001627: 15,2636 01662 REFSMFLG
042297,001628: 15,2637 32734 LUNG
042298,001629: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
042299,001630:
042300,001631: # DEFINE G COOR SYS
042301,001632: # -
042302,001633: # X UNIT G
042303,001634: # * - -
042304,001635: # M= Y = UNITEZSM * X )
042305,001636: # - - -
042306,001637: # Z UNIT(X * Y )
042307,001638: # THEN ROTATED SM WRT PRESENT IS
042308,001639:
042309,001640:
042310,001641: # 1, 0 , 0
042311,001642: # * *T * * *
042312,001643: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
042313,001644:
|
|
Page 962
|
042315,001646: # I J
042316,001647: # 0, 0 ,-1
042317,001648:
042318,001649: # ALSO NB WRT PRES SM IS
042319,001650:
042320,001651: # * * *
042321,001652: # XNB = NBSM I
042322,001653: # * *
042323,001654: # GIMBAL ANGLES = CALCGA( XSM , XNB )
042324,001655:
042325,001656: 15,2000 SETLOC P50S
042326,001657: 15,2000 BANK
042327,001658: 15,2640 COUNT* $$/P57
042328,001659: 15,2640 66370 AXT,1 SSP # X1=18
042329,001660: 15,2641 00022 18D # S1= 6
042330,001661: 15,2642 00051 S1 # X2, -2
042331,001662: 15,2643 00006 6D
042332,001663: 15,2644 77744 LXC,2
042333,001664: 15,2645 00050 S1
042334,001665: 15,2646 45173 GRAVEL VLOAD* CALL
042335,001666: 15,2647 55512 XUNIT -6,2
042336,001667: 15,2650 47577 *NBSM* # SIN AND COS COMPUTED IN LUNG
042337,001668: 15,2651 06707 STORE XNB +18D,1
042338,001669: 15,2652 77775 VLOAD
042339,001670: 15,2653 02731 STAR
042340,001671: 15,2654 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
042341,001672: 15,2655 00047 X2
042342,001673: 15,2656 75040 STAR +6,2 # OUTER PRODUCT
042343,001674: 15,2657 71152 VSL2 LXC,2
042344,001675: 15,2660 00047 X2
042345,001676: 15,2661 63047 VSU* INCR,2
042346,001677: 15,2662 55512 XUNIT -6,2
042347,001678: 15,2663 00002 2D
042348,001679: 15,2664 06665 STORE XSM +18D,1
042349,001680: 15,2665 45100 TIX,1 CALL
042350,001681: 15,2666 32646 GRAVEL
042351,001682: 15,2667 47255 CALCGA
042352,001683: 15,2670 74575 VLOAD VSR1
042353,001684: 15,2671 02715 GOUT
042354,001685: 15,2672 36723 STCALL STARAD +12D
042355,001686: 15,2673 32734 LUNG
042356,001687: 15,2674 74575 VLOAD VSR1
042357,001688: 15,2675 02715 GOUT
042358,001689: 15,2676 53455 VAD UNIT
042359,001690: 15,2677 02723 STARAD +12D
042360,001691: 15,2700 02761 STORE STARSAV1
042361,001692: 15,2701 77641 DOT
042362,001693: 15,2702 02235 GSAV
042363,001694: 15,2703 65552 SL1 ACOS
042364,001695: 15,2704 01046 STORE DSPTEM1
042365,001696:
|
|
Page 963
|
042367,001698: 15,2705 77776 EXIT
042368,001699: 15,2706 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042369,001700: 15,2707 00014 ADRES FREEFLAG
042370,001701:
042371,001702: 15,2710 33040 CA DISGRVER
042372,001703: 15,2711 04616 TC BANKCALL
042373,001704: 15,2712 20351 CADR GOFLASH
042374,001705: 15,2713 06001 TC GOTOPOOH
042375,001706: 15,2714 12717 TCF PROGRAV # VB33-PROCEED
042376,001707: 15,2715 05504 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042377,001708: 15,2716 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042378,001709:
042379,001710: 15,2717 05353 PROGRAV TC PHASCHNG
042380,001711: 15,2720 05024 OCT 05024
042381,001712: 15,2721 13000 OCT 13000
042382,001713: 15,2722 06036 TC INTPRET
042383,001714: 15,2723 77775 VLOAD
042384,001715: 15,2724 02761 STARSAV1
042385,001716: 15,2725 02235 STORE GSAV
042386,001717: 15,2726 77776 EXIT
042387,001718: 15,2727 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042388,001719: 15,2730 70074 MASK FLAGWRD0
042389,001720: 15,2731 10000 CCS A
042390,001721: 15,2732 12627 TCF GVDETER # SET
042391,001722: 15,2733 13535 TCF ATTCHK # EXIT FROM GVDETER
042392,001723:
042393,001724: 15,2734 77220 LUNG STQ VLOAD
042394,001725: 15,2735 02745 QMIN
042395,001726: 15,2736 22275 ZEROVEC
042396,001727: 15,2737 02707 STORE GACC
042397,001728: 15,2740 77776 EXIT
042398,001729: 15,2741 05353 TC PHASCHNG
042399,001730: 15,2742 05024 OCT 05024
042400,001731: 15,2743 13000 OCT 13000
042401,001732: 15,2744 04616 TC BANKCALL
042402,001733: 15,2745 16753 CADR IMUCOARS
042403,001734: 15,2746 04616 TC BANKCALL
042404,001735: 15,2747 17671 CADR IMUSTALL
042405,001736: 15,2750 05703 TC CURTAINS
042406,001737: 15,2751 04616 TC BANKCALL
042407,001738: 15,2752 17163 CADR IMUFINE
042408,001739: 15,2753 04616 TC BANKCALL
042409,001740: 15,2754 17671 CADR IMUSTALL
042410,001741: 15,2755 05703 TC CURTAINS
042411,001742: 15,2756 33037 CA T/2SEC
042412,001743: 15,2757 55736 TS GCTR
042413,001744: 15,2760 37715 CA PRIO31
042414,001745: 15,2761 55075 TS 1/PIPADT
042415,001746: 15,2762 04616 TC BANKCALL
042416,001747: 15,2763 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
042417,001748:
|
|
Page 964
|
042419,001750: 15,2764 05353 TC PHASCHNG
042420,001751: 15,2765 05024 OCT 05024
042421,001752: 15,2766 13000 OCT 13000
042422,001753: 15,2767 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042423,001754: 15,2770 77533 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042424,001755: 15,2771 06036 TC INTPRET
042425,001756: 15,2772 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042426,001757: 15,2773 35000 CAF 2SECS
042427,001758: 15,2774 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042428,001759: 15,2775 02777 ADRES GRABGRAV
042429,001760:
042430,001761: 15,2776 05155 TC ENDOFJOB
042431,001762:
042432,001763: 15,2777 04674 GRABGRAV TC IBNKCALL
042433,001764: 15,3000 77533 CADR PIPSRINE
042434,001765: 15,3001 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042435,001766: 15,3002 05105 TC FINDVAC
042436,001767: 15,3003 E5,1706 EBANK= STARAD
042437,001768: 15,3003 03006 32065 2CADR ADDGRAV
042438,001769:
042439,001770: 15,3005 05261 TC TASKOVER
042440,001771:
042441,001772: 15,3006 04616 ADDGRAV TC BANKCALL
042442,001773: 15,3007 15263 CADR 1/PIPA
042443,001774: 15,3010 25736 INCR GCTR
042444,001775: 15,3011 06036 TC INTPRET
042445,001776: 15,3012 53375 VLOAD VAD
042446,001777: 15,3013 00325 DELV
042447,001778: 15,3014 02707 GACC
042448,001779: 15,3015 02707 STORE GACC # ACCUMULATE G VECTOR
042449,001780: 15,3016 50135 SLOAD BMN
042450,001781: 15,3017 02737 GCTR
042451,001782: 15,3020 32772 GREED
042452,001783: 15,3021 53575 VLOAD UNIT
042453,001784: 15,3022 02707 GACC
042454,001785: 15,3023 36731 STCALL STAR
042455,001786: 15,3024 47443 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042456,001787: 15,3025 77624 CALL # IN OUTPUT
042457,001788: 15,3026 47575 *SMNB*
042458,001789: 15,3027 02715 STORE GOUT
042459,001790: 15,3030 77776 EXIT
042460,001791: 15,3031 05353 TC PHASCHNG
042461,001792: 15,3032 05024 OCT 05024
042462,001793: 15,3033 13000 OCT 13000
042463,001794: 15,3034 06036 TC INTPRET
042464,001795: 15,3035 77650 GOTO
042465,001796: 15,3036 02745 QMIN
042466,001797: 15,3037 77751 T/2SEC DEC -22 B-14
042467,001798: 15,3040 01404 DISGRVER VN 0604
042468,001799:
|
|
Page 965
|
042470,001801: # NAME GYROTRIM
042471,001802:
042472,001803: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042473,001804: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042474,001805: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042475,001806:
042476,001807: # CALL CALL
042477,001808: # GYROTRIM
042478,001809:
042479,001810: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042480,001811: # CDUX,CDUY,CDUZ
042481,001812:
042482,001813: # OUTPUT - GYRO TORQUE PULSES
042483,001814:
042484,001815: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
042485,001816: # IMPULSE,IMUSTALL
042486,001817: # - - - * * -
042487,001818: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
042488,001819: 15,3041 COUNT* $$/P57
042489,001820: 15,3041 71220 GYROTRIM STQ DLOAD
042490,001821: 15,3042 02745 QMIN
042491,001822: 15,3043 00322 THETAD
042492,001823: 15,3044 65325 PDDL PDDL
042493,001824: 15,3045 00324 THETAD +2
042494,001825: 15,3046 00323 THETAD +1
042495,001826: 15,3047 77666 VDEF
042496,001827: 15,3050 24767 STOVL CDUSPOT
042497,001828: 15,3051 22273 XUNIT
042498,001829: 15,3052 77624 CALL
042499,001830: 15,3053 47570 TRG*NBSM
042500,001831: 15,3054 26707 STOVL STARAD
042501,001832: 15,3055 22271 YUNIT
042502,001833: 15,3056 77624 CALL
042503,001834: 15,3057 47577 *NBSM*
042504,001835: 15,3060 36715 STCALL STARAD +6
042505,001836: 15,3061 47443 CDUTRIG
042506,001837: 15,3062 77624 CALL
042507,001838: 15,3063 31267 CALCSMSC
042508,001839: 15,3064 77775 VLOAD
042509,001840: 15,3065 02665 XNB
042510,001841: 15,3066 24007 STOVL 6D
042511,001842: 15,3067 02673 YNB
042512,001843: 15,3070 34015 STCALL 12D
042513,001844: 15,3071 47345 AXISGEN
042514,001845: 15,3072 77624 CALL
042515,001846: 15,3073 47151 CALCGTA
042516,001847: 15,3074 77776 JUSTTRIM EXIT
042517,001848: 15,3075 04616 TC BANKCALL
042518,001849: 15,3076 17163 CADR IMUFINE
042519,001850: 15,3077 04616 TC BANKCALL
042520,001851:
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|
Page 966
|
042522,001853: 15,3100 17671 CADR IMUSTALL
042523,001854: 15,3101 05703 TC CURTAINS
042524,001855: 15,3102 33113 CA GYRCDR
042525,001856: 15,3103 04616 TC BANKCALL
042526,001857: 15,3104 17276 CADR IMUPULSE
042527,001858: 15,3105 04616 TC BANKCALL
042528,001859: 15,3106 17671 CADR IMUSTALL
042529,001860: 15,3107 05703 TC CURTAINS
042530,001861: 15,3110 06036 TC INTPRET
042531,001862: 15,3111 77650 GOTO
042532,001863: 15,3112 02745 QMIN
042533,001864: 15,3113 02737 GYRCDR ECADR OGC
042534,001865:
|
|
Page 967
|
042536,001867: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042537,001868:
042538,001869: 15,3114 34755 2STARS CAF ZERO # INITALIZE STARIND
042539,001870: 15,3115 13117 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042540,001871: 15,3116 34753 1STAR CAF BIT1
042541,001872: 15,3117 55757 TS STARIND
042542,001873:
042543,001874: 15,3120 05353 TC PHASCHNG
042544,001875: 15,3121 04024 OCT 04024
042545,001876:
042546,001877: 15,3122 12301 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042547,001878:
042548,001879: 15,3123 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042549,001880: 15,3124 00006 EXTEND
042550,001881: 15,3125 13144 BZF ASTAR # 1ST STAR MARKED
042551,001882:
042552,001883: 15,3126 06036 TC INTPRET # 2ND STAR MARKED
042553,001884: 15,3127 77775 VLOAD
042554,001885: 15,3130 02715 STARAD +6
042555,001886: 15,3131 02767 STORE STARSAV2 # 2ND STAR IN SM
042556,001887:
042557,001888: 15,3132 77776 EXIT
042558,001889: 15,3133 05353 TC PHASCHNG
042559,001890: 15,3134 05024 OCT 05024
042560,001891: 15,3135 13000 OCT 13000
042561,001892:
042562,001893: 15,3136 06036 TC INTPRET
042563,001894: 15,3137 45145 DLOAD CALL
042564,001895: 15,3140 03560 TSIGHT # TIME OF 2ND MARK
042565,001896: 15,3141 32540 PLANET
042566,001897: 15,3142 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042567,001898: 15,3143 33156 SURFLINE
042568,001899:
042569,001900: 15,3144 06036 ASTAR TC INTPRET
042570,001901: 15,3145 77775 VLOAD
042571,001902: 15,3146 02715 STARAD +6
042572,001903: 15,3147 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042573,001904: 15,3150 45145 DLOAD CALL
042574,001905: 15,3151 03560 TSIGHT # TIME OF 1ST MARK
042575,001906: 15,3152 32540 PLANET
042576,001907: 15,3153 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042577,001908: 15,3154 77776 EXIT
042578,001909: 15,3155 13116 TCF 1STAR # GO GET 2ND STAR SIGHTING
042579,001910:
|
|
Page 968
|
042581,001912: # DO FINE OR COARSE ALIGNMENT OF IMU
042582,001913:
042583,001914: 15,3156 77131 SURFLINE SSP AXT,2
042584,001915: 15,3157 00052 S2
042585,001916: 15,3160 00006 6
042586,001917: 15,3161 00014 12D
042587,001918: 15,3162 64373 WRTDESIR VLOAD* MXV
042588,001919: 15,3163 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042589,001920: 15,3164 03605 XSMD
042590,001921: 15,3165 77656 UNIT
042591,001922: 15,3166 12723 STORE STARAD +12D,2 # VEC IN SM
042592,001923: 15,3167 77773 VLOAD*
042593,001924: 15,3170 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042594,001925: 15,3171 10023 STORE 18D,2
042595,001926: 15,3172 43104 TIX,2 BON
042596,001927: 15,3173 33162 WRTDESIR
042597,001928: 15,3174 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042598,001929: 15,3175 33203 INITBY
042599,001930: 15,3176 77624 DOALIGN CALL
042600,001931: 15,3177 31121 R54 # DO CHKSDATA
042601,001932: 15,3200 77614 BOFF
042602,001933: 15,3201 00354 FREEFLAG
042603,001934: 15,3202 33264 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042604,001935: 15,3203 77624 INITBY CALL
042605,001936: 15,3204 47345 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
042606,001937: 15,3205 77624 CALL
042607,001938: 15,3206 47151 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042608,001939: 15,3207 77776 EXIT
042609,001940: 15,3210 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042610,001941: 15,3211 70104 MASK FLAGWRD8
042611,001942: 15,3212 10000 CCS A
042612,001943: 15,3213 13222 TCF 5DEGTEST
042613,001944: 15,3214 33316 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042614,001945: 15,3215 04616 TC BANKCALL
042615,001946: 15,3216 20351 CADR GOFLASH
042616,001947: 15,3217 06001 TC GOTOPOOH # V34-TERMINATE
042617,001948: 15,3220 13222 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
042618,001949: 15,3221 13265 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
042619,001950:
042620,001951: 15,3222 06036 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042621,001952: 15,3223 40175 VLOAD BOV
042622,001953: 15,3224 02740 OGC
042623,001954: 15,3225 33226 SURFSUP
042624,001955: 15,3226 02750 SURFSUP STORE OGCT
042625,001956: 15,3227 40141 V/SC BOV
042626,001957: 15,3230 30451 5DEGREES
042627,001958: 15,3231 33273 COATRIM
042628,001959: 15,3232 52131 SSP GOTO
042629,001960: 15,3233 02746 QMIN
042630,001961: 15,3234 33236 SURFDISP
042631,001962:
|
|
Page 969
|
042633,001964: 15,3235 33074 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042634,001965:
042635,001966: 15,3236 77776 SURFDISP EXIT
042636,001967: 15,3237 05353 TC PHASCHNG
042637,001968: 15,3240 05024 OCT 05024 # STORE REFSMMAT ,SET REFSMFLG AND
042638,001969: 15,3241 13000 OCT 13000 # DISPLAY ORIGINAL TORQ ANGLES
042639,001970: 15,3242 06036 TC INTPRET
042640,001971: 15,3243 75160 AXC,1 AXC,2
042641,001972: 15,3244 03604 XSMD
042642,001973: 15,3245 01733 REFSMMAT
042643,001974: 15,3246 45014 SET CALL
042644,001975: 15,3247 01462 REFSMFLG
042645,001976: 15,3250 31237 MATMOVE
042646,001977: 15,3251 77776 EXIT
042647,001978: 15,3252 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042648,001979: 15,3253 13255 TCF B2F8
042649,001980: 15,3254 13265 TCF P57POST +1
042650,001981:
042651,001982: 15,3255 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042652,001983: 15,3256 70104 MASK FLAGWRD8
042653,001984: 15,3257 10000 CCS A
042654,001985: 15,3260 13543 TCF P57JUMP # ITS SET
042655,001986: 15,3261 06036 TC INTPRET
042656,001987: 15,3262 77624 CALL
042657,001988: 15,3263 33470 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042658,001989: 15,3264 77776 P57POST EXIT
042659,001990: 15,3265 35742 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042660,001991: 15,3266 04616 TC BANKCALL
042661,001992: 15,3267 20476 CADR GOPERF1
042662,001993: 15,3270 16001 TCF GOTOPOOH # VB34-TERMINATE
042663,001994: 15,3271 13543 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
042664,001995: 15,3272 16001 TCF GOTOPOOH # VB32-R59 DONE-GO TO PROG 00
042665,001996:
|
|
Page 970
|
042667,001998: # COARSE AND FINE ALIGN IMU
042668,001999: 15,3273 75160 COATRIM AXC,1 AXC,2
042669,002000: 15,3274 02664 XDC
042670,002001: 15,3275 02642 XSM
042671,002002: 15,3276 77624 CALL
042672,002003: 15,3277 31237 MATMOVE
042673,002004: 15,3300 77624 CALL
042674,002005: 15,3301 47443 CDUTRIG
042675,002006: 15,3302 77624 CALL
042676,002007: 15,3303 31267 CALCSMSC
042677,002008: 15,3304 77624 CALL
042678,002009: 15,3305 47255 CALCGA
042679,002010: 15,3306 77624 CALL
042680,002011: 15,3307 31506 COARSE
042681,002012: 15,3310 77624 CALL
042682,002013: 15,3311 31523 NCOARSE
042683,002014: 15,3312 77624 CALL
042684,002015: 15,3313 33041 GYROTRIM
042685,002016: 15,3314 77650 GOTO
042686,002017: 15,3315 33236 SURFDISP
042687,002018: 15,3316 01535 DISPGYRO VN 0693
042688,002019:
|
|
Page 971
|
042690,002021: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042691,002022:
042692,002023: 15,3317 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042693,002024: 15,3320 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042694,002025:
042695,002026: 15,3321 06036 TC INTPRET
042696,002027: 15,3322 77745 DLOAD
042697,002028: 15,3323 03440 TIG # LOAD ASCENT TIME FOR DISPLAY
042698,002029: 15,3324 01046 P57A STORE DSPTEM1
042699,002030: 15,3325 77776 EXIT
042700,002031: 15,3326 32172 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042701,002032: 15,3327 04616 TC BANKCALL
042702,002033: 15,3330 20510 CADR GOFLASHR
042703,002034: 15,3331 16001 TCF GOTOPOOH # V34-TERMINATE
042704,002035: 15,3332 13337 TCF +5
042705,002036: 15,3333 13326 TCF P57AA # VB32-RECYCLE
042706,002037:
042707,002038: 15,3334 05353 TC PHASCHNG
042708,002039: 15,3335 00014 OCT 00014
042709,002040: 15,3336 05155 TC ENDOFJOB
042710,002041:
042711,002042: 15,3337 06036 TC INTPRET
042712,002043: 15,3340 50145 DLOAD BMN
042713,002044: 15,3341 01046 DSPTEM1
042714,002045: 15,3342 33367 PACKOPTN -1 # NEG TIME-PREF ORIENT IN XSMD MATRIX
042715,002046: 15,3343 65234 RTB PDDL
042716,002047: 15,3344 21462 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042717,002048: 15,3345 01046 DSPTEM1
042718,002049: 15,3346 65254 BZE PDDL
042719,002050: 15,3347 33357 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
042720,002051: 15,3350 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042721,002052: 15,3351 01046 DSPTEM1
042722,002053: 15,3352 33357 P57C
042723,002054: 15,3353 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042724,002055: 15,3354 74337 STORE TIG # STORE IT IN TIG
042725,002056: 15,3355 36775 STCALL TALIGN
042726,002057: 15,3356 33361 P57D
042727,002058: 15,3357 45545 P57C DLOAD STADR
042728,002059: 15,3360 75002 STORE TALIGN
042729,002060: 15,3361 34041 P57D STCALL TDEC1
042730,002061: 15,3362 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042731,002062: 15,3363 53575 VLOAD UNIT # IN X,Y,ZSMD
042732,002063: 15,3364 00001 RATT
042733,002064: 15,3365 37605 STCALL XSMD
042734,002065: 15,3366 33647 LSORIENT
042735,002066: 15,3367 77776 EXIT
042736,002067: 15,3370 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042737,002068: 15,3371 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042738,002069: 15,3372 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042739,002070: 15,3373 34737 CAF REFSMBIT
042740,002071:
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Page 972
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042742,002073: 15,3374 70077 MASK FLAGWRD3 # REFSMFLG
042743,002074: 15,3375 10000 CCS A
042744,002075: 15,3376 34745 CAF BIT7 # SET
042745,002076: 15,3377 27146 ADS OPTION1 +2 # CLEAR-JUST ZERO
042746,002077: 15,3400 34753 CAF ATTFLBIT
042747,002078: 15,3401 70102 MASK FLAGWRD6 # ATTFLG
042748,002079: 15,3402 10000 CCS A
042749,002080: 15,3403 34750 CAF BIT4 # SET
042750,002081: 15,3404 27146 ADS OPTION1 +2 # CLEAR-ZERO IN A
042751,002082: 15,3405 34750 CAF BIT4
042752,002083: 15,3406 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042753,002084:
042754,002085: 15,3407 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042755,002086: 15,3410 04616 TC BANKCALL
042756,002087: 15,3411 20351 CADR GOFLASH
042757,002088: 15,3412 16001 TCF GOTOPOOH # VB34-TERMINATE
042758,002089: 15,3413 13415 TCF +2 # V33-PROCEED
042759,002090: 15,3414 13407 TCF DSPOPTN # V32-RECYCLE
042760,002091:
042761,002092: 15,3415 05353 TC PHASCHNG
042762,002093: 15,3416 05024 OCT 05024
042763,002094: 15,3417 13000 OCT 13000
042764,002095: 15,3420 34737 CAF REFSMBIT
042765,002096: 15,3421 70077 MASK FLAGWRD3
042766,002097: 15,3422 10000 CCS A
042767,002098: 15,3423 13523 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042768,002099: 15,3424 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
042769,002100: 15,3425 70102 MASK FLAGWRD6
042770,002101: 15,3426 10000 CCS A
042771,002102: 15,3427 13527 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042772,002103: 15,3430 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
042773,002104: 15,3431 71145 MASK OPTION2
042774,002105: 15,3432 10000 CCS A
042775,002106: 15,3433 13527 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042776,002107: 15,3434 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
042777,002108: 15,3435 00701 OCT 701
042778,002109: 15,3436 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042779,002110: 15,3437 04616 TC BANKCALL
042780,002111: 15,3440 20351 CADR GOFLASH
042781,002112: 15,3441 16001 TCF GOTOPOOH # VB34-TERMINATE
042782,002113: 15,3442 13407 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
042783,002114: 15,3443 13407 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
042784,002115:
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Page 973
|
042786,002117: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042787,002118:
042788,002119: 15,3444 40220 MFREF STQ SETPD
042789,002120: 15,3445 02746 QMAJ
042790,002121: 15,3446 00001 0
042791,002122: 15,3447 77634 RTB
042792,002123: 15,3450 21462 LOADTIME
042793,002124: 15,3451 27560 STOVL TSIGHT
042794,002125: 15,3452 02723 VEC1
042795,002126: 15,3453 41525 PDDL PUSH
042796,002127: 15,3454 03560 TSIGHT
042797,002128: 15,3455 77624 CALL
042798,002129: 15,3456 51504 RP-TO-R
042799,002130: 15,3457 26723 STOVL VEC1
042800,002131: 15,3460 02731 VEC2
042801,002132: 15,3461 65201 SETPD PDDL
042802,002133: 15,3462 00001 0
042803,002134: 15,3463 03560 TSIGHT
042804,002135: 15,3464 45006 PUSH CALL
042805,002136: 15,3465 51504 RP-TO-R
042806,002137: 15,3466 36731 STCALL VEC2
042807,002138: 15,3467 02746 QMAJ
042808,002139:
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|
Page 974
|
042810,002141: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042811,002142: # STORE IN YNBSAV AND ZNBSAV
042812,002143:
042813,002144: 15,3470 45020 REFMF STQ CALL
042814,002145: 15,3471 02746 QMAJ
042815,002146: 15,3472 47443 CDUTRIG # GET SIN AND COS OF CDUS
042816,002147: 15,3473 40234 RTB SETPD
042817,002148: 15,3474 21462 LOADTIME
042818,002149: 15,3475 00001 0
042819,002150: 15,3476 37560 STCALL TSIGHT
042820,002151: 15,3477 31267 CALCSMSC # GET YNB IN SM
042821,002152: 15,3500 61375 VLOAD VXM
042822,002153: 15,3501 02673 YNB
042823,002154: 15,3502 01734 REFSMMAT # YNB TO REF
042824,002155: 15,3503 65256 UNIT PDDL
042825,002156: 15,3504 03560 TSIGHT
042826,002157: 15,3505 45006 PUSH CALL
042827,002158: 15,3506 51531 R-TO-RP
042828,002159: 15,3507 26243 STOVL YNBSAV # YNB TO MF
042829,002160: 15,3510 02701 ZNB
042830,002161: 15,3511 53505 VXM UNIT
042831,002162: 15,3512 01734 REFSMMAT # ZNB TO REF
042832,002163: 15,3513 41525 PDDL PUSH
042833,002164: 15,3514 03560 TSIGHT
042834,002165: 15,3515 77624 CALL
042835,002166: 15,3516 51531 R-TO-RP # ZNB TO MF
042836,002167: 15,3517 02251 STORE ZNBSAV
042837,002168: 15,3520 77614 SETGO
042838,002169: 15,3521 03036 ATTFLAG
042839,002170: 15,3522 02746 QMAJ
042840,002171:
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|
Page 975
|
042842,002173: # BRANCH TO ALIGNMENT OPTION
042843,002174:
042844,002175: 15,3523 06036 GETLMATT TC INTPRET
042845,002176: 15,3524 77624 CALL
042846,002177: 15,3525 33470 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
042847,002178: 15,3526 77776 EXIT
042848,002179:
042849,002180: 15,3527 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042850,002181: 15,3530 00205 ADRES INITALGN
042851,002182: 15,3531 34753 CAF BIT1
042852,002183: 15,3532 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
042853,002184: 15,3533 10000 CCS A
042854,002185: 15,3534 12627 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042855,002186:
042856,002187: 15,3535 05353 ATTCHK TC PHASCHNG
042857,002188: 15,3536 04024 OCT 04024
042858,002189:
042859,002190: 15,3537 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042860,002191: 15,3540 70102 MASK FLAGWRD6
042861,002192: 15,3541 10000 CCS A
042862,002193: 15,3542 13557 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042863,002194: 15,3543 05353 P57JUMP TC PHASCHNG
042864,002195: 15,3544 04024 OCT 04024
042865,002196:
042866,002197: 15,3545 05516 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
042867,002198: 15,3546 00205 ADRES INITALGN
042868,002199: 15,3547 36244 CAF THREE
042869,002200: 15,3550 71145 MASK OPTION2 # BRANCH ON OPTION CODE
042870,002201: 15,3551 50000 INDEX A
042871,002202: 15,3552 13553 TCF +1
042872,002203: 15,3553 13557 TCF P57OPT0 # OPTION IS 0
042873,002204: 15,3554 13600 TCF P57OPT1 # OPTION IS 1
042874,002205: 15,3555 13616 TCF P57OPT2 # OPTION IS 2
042875,002206: 15,3556 13617 TCF P57OPT3 # OPTION IS 3
042876,002207:
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|
Page 976
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042878,002209: # OPTION 0, GET TWO ATTITUDE VECS
042879,002210:
042880,002211: 15,3557 06036 P57OPT0 TC INTPRET
042881,002212: 15,3560 77775 VLOAD
042882,002213: 15,3561 02243 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042883,002214: 15,3562 26723 STOVL VEC1
042884,002215: 15,3563 02251 ZNBSAV
042885,002216: 15,3564 36731 STCALL VEC2
042886,002217: 15,3565 47443 CDUTRIG
042887,002218: 15,3566 77624 CALL
042888,002219: 15,3567 31267 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042889,002220: 15,3570 77775 VLOAD
042890,002221: 15,3571 02673 YNB
042891,002222: 15,3572 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042892,002223: 15,3573 02701 ZNB
042893,002224: 15,3574 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042894,002225: 15,3575 33444 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042895,002226: 15,3576 77650 GOTO
042896,002227: 15,3577 33156 SURFLINE
042897,002228:
042898,002229: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042899,002230:
042900,002231: 15,3600 06036 P57OPT1 TC INTPRET
042901,002232: 15,3601 53575 VLOAD UNIT
042902,002233: 15,3602 02023 RLS # LANDING SITE VEC
042903,002234: 15,3603 26723 STOVL VEC1
042904,002235: 15,3604 02251 ZNBSAV # Z ATTITUDE VEC
042905,002236: 15,3605 36731 STCALL VEC2
042906,002237: 15,3606 47443 CDUTRIG
042907,002238: 15,3607 77624 CALL
042908,002239: 15,3610 31267 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042909,002240: 15,3611 45175 VLOAD CALL
042910,002241: 15,3612 02235 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042911,002242: 15,3613 47565 CDU*NBSM
042912,002243: 15,3614 77650 GOTO
042913,002244: 15,3615 33572 SAMETYP # NOW DO SAME AS OPTION 0
042914,002245:
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|
Page 977
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042916,002247: # OPTION 2, GET TWO STAR SIGHTINGS
042917,002248:
042918,002249: 15,3616 13114 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042919,002250:
042920,002251: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042921,002252:
042922,002253: 15,3617 06036 P57OPT3 TC INTPRET
042923,002254: 15,3620 53575 VLOAD UNIT
042924,002255: 15,3621 02023 RLS # LANDING SITE VEC
042925,002256: 15,3622 02723 STORE VEC1
042926,002257: 15,3623 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042927,002258: 15,3624 02235 GSAV # GRAVITY VEC NB
042928,002259: 15,3625 77624 CALL
042929,002260: 15,3626 47565 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042930,002261: 15,3627 36761 STCALL STARSAV1
042931,002262: 15,3630 33444 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042932,002263: 15,3631 77776 EXIT
042933,002264: 15,3632 13116 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042934,002265:
042935,002266: 15,3633 00701 BADOPT OCT 00701 # **** TEMP ****
042936,002267: 15,3634 01206 VB05N06 VN 506
042937,002268:
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Page 978
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042939,002270: # CHECK IMODES30 TO VARIFY IMU IS ON
042940,002271:
042941,002272: 15,3635 41302 IMUCHK CS IMODES30
042942,002273: 15,3636 74743 MASK BIT9
042943,002274: 15,3637 10000 CCS A # IS IMU ON
042944,002275: 15,3640 13644 TCF +4 # YES
042945,002276:
042946,002277: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
042947,002278: 15,3642 00210 OCT 210
042948,002279: 15,3643 06001 TC GOTOPOOH
042949,002280:
042950,002281: 15,3644 05504 TC UPFLAG
042951,002282: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
042952,002283:
042953,002284: 15,3646 04631 TC SWRETURN
042954,002285:
042955,002286: 15,3647 77220 LSORIENT STQ VLOAD
042956,002287: 15,3650 02746 QMAJ
042957,002288: 15,3651 01555 RRECTCSM
042958,002289: 15,3652 47235 VXV VXV
042959,002290: 15,3653 01563 VRECTCSM
042960,002291: 15,3654 03605 XSMD
042961,002292: 15,3655 77656 UNIT
042962,002293: 15,3656 03621 STORE ZSMD
042963,002294: 15,3657 53435 VXV UNIT
042964,002295: 15,3660 03605 XSMD
042965,002296: 15,3661 37613 STCALL YSMD
042966,002297: 15,3662 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc