Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 97 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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039728,000002: ## Copyright: Public domain.
039729,000003: ## Filename: P51-P53.agc
039730,000004: ## Purpose: A section of Luminary revision 97.
039731,000005: ## It is part of the reconstructed source code for the
039732,000006: ## original release of the flight software for the Lunar
039733,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
039734,000008: ## The code has been recreated from a copy of Luminary 99
039735,000009: ## revision 001, using asterisks indicating changed lines in
039736,000010: ## the listing and Luminary Memos #83 and #85, which list
039737,000011: ## changes between Luminary 97 and 98, and 98 and 99. The
039738,000012: ## code has been adapted such that the resulting bugger words
039739,000013: ## exactly match those specified for Luminary 97 in NASA drawing
039740,000014: ## 2021152D, which gives relatively high confidence that the
039741,000015: ## reconstruction is correct.
039742,000016: ## Reference: pp. 926-983
039743,000017: ## Assembler: yaYUL
039744,000018: ## Contact: Ron Burkey <info@sandroid.org>.
039745,000019: ## Website: www.ibiblio.org/apollo/index.html
039746,000020: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
039747,000021:
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Page 926
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039749,000023: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039750,000024: # MOD NO - 0 LOG SECTION - P51-P53
039751,000025: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039752,000026:
039753,000027: # FUNCTIONAL DESCRIPTION -
039754,000028:
039755,000029: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039756,000030: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039757,000031:
039758,000032: # (A) PREFERRED ORIENTATION
039759,000033:
039760,000034: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039761,000035: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039762,000036:
039763,000037: # (B) NOMINAL ORIENTATION
039764,000038:
039765,000039: # X = UNIT ( R )
039766,000040: # -SM
039767,000041:
039768,000042: # Y = UNIT (V X R)
039769,000043: # SM
039770,000044:
039771,000045: # Z = UNIT (X X Y )
039772,000046: # SM SM SM
039773,000047:
039774,000048: # WHERE_
039775,000049:
039776,000050: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039777,000051: # -
039778,000052:
039779,000053: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039780,000054: # -
039781,000055:
039782,000056: # (C) REFSMMAT ORIENTATION
039783,000057:
039784,000058: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039785,000059:
039786,000060: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039787,000061: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039788,000062: # SINCE THE LAST ALIGNMENT).
039789,000063:
039790,000064: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039791,000065: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039792,000066: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039793,000067: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039794,000068: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039795,000069: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039796,000070: # REQUESTED.
039797,000071:
039798,000072: # CALLING SEQUENCE -
039799,000073:
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Page 927
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039801,000075: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039802,000076:
039803,000077: # SUBROUTINES CALLED -
039804,000078:
039805,000079: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039806,000080: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039807,000081: # 3. GOPERF4 9. FLAGUP
039808,000082: # 4. MATMOVE 10. R56
039809,000083: # 5. GOFLASH 11. R51
039810,000084: # 6. S52.3 12. GOPERF3
039811,000085:
039812,000086: # NORMAL EXIT MODES -
039813,000087:
039814,000088: # EXITS TO ENDOFJOB
039815,000089:
039816,000090: # ALARM OR ABORT EXIT MODES -
039817,000091:
039818,000092: # NONE
039819,000093:
039820,000094: # OUTPUT -
039821,000095:
039822,000096: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039823,000097: # 1. IMU ORIENTATION CODE
039824,000098: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039825,000099: # 3. TIME OF NEXT IGNITION
039826,000100: # 4. GIMBAL ANGLES
039827,000101: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039828,000102: # 6. PLEASE PERFORM P00
039829,000103: # THE MODE DISPLAY MAY BE CHANGED TO 20
039830,000104:
039831,000105: # ERASABLE INITIALIZATION REQUIRED -
039832,000106:
039833,000107: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039834,000108: # XSMD, YSMD, ZSMD.
039835,000109:
039836,000110: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039837,000111:
039838,000112: # DEBRIS -
039839,000113:
039840,000114: # WORK AREA
039841,000115:
039842,000116: 33,3757 BANK 33
039843,000117: 15,2000 SETLOC P50S
039844,000118: 15,2000 BANK
039845,000119:
039846,000120: 15,2050 E5,1755 EBANK= BESTI
039847,000121: 15,2050 COUNT* $$/P52
039848,000122: 15,2050 04616 PROG52 TC BANKCALL
039849,000123: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
039850,000124: 15,2052 34750 CAF PFRATBIT
039851,000125: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039852,000126: 15,2054 10000 CCS A
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Page 928
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039854,000128: 15,2055 02060 TC P52A # YES
039855,000129: 15,2056 34752 CAF BIT2 # NO
039856,000130: 15,2057 02061 TC P52A +1
039857,000131: 15,2060 34753 P52A CAF BIT1
039858,000132: 15,2061 55145 TS OPTION2
039859,000133: 15,2062 34753 P52B CAF BIT1
039860,000134: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039861,000135: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
039862,000136: 15,2065 06001 TC GOTOPOOH
039863,000137: 15,2066 12073 TCF +5 # V33 - PROCEED
039864,000138: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039865,000139: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039866,000140: 15,2071 00014 OCT 00014
039867,000141: 15,2072 05155 TC ENDOFJOB
039868,000142:
039869,000143: 15,2073 31145 CA OPTION2
039870,000144: 15,2074 76245 MASK THREE
039871,000145: 15,2075 50000 INDEX A
039872,000146: 15,2076 02077 TC +1
039873,000147: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039874,000148: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039875,000149: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039876,000150: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
039877,000151: 15,2103 77650 GOTO
039878,000152: 15,2104 32164 P52F # GO DO R51
039879,000153:
039880,000154: 15,2105 00006 OPT4 EXTEND
039881,000155: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039882,000156: 15,2107 12112 TCF P52T +2
039883,000157:
039884,000158: 15,2110 00006 P52T EXTEND
039885,000159: 15,2111 34755 DCA NEG0
039886,000160: 15,2112 53046 DXCH DSPTEM1
039887,000161: 15,2113 32170 CAF V06N34*
039888,000162: 15,2114 04616 TC BANKCALL
039889,000163: 15,2115 20476 CADR GOFLASH
039890,000164: 15,2116 06001 TC GOTOPOOH
039891,000165: 15,2117 02121 TC +2
039892,000166: 15,2120 02113 TC -5
039893,000167: 15,2121 53046 DXCH DSPTEM1
039894,000168: 15,2122 00006 EXTEND
039895,000169: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039896,000170: 15,2124 12127 TCF +3
039897,000171: 15,2125 00006 EXTEND
039898,000172: 15,2126 30025 DCA TIME2
039899,000173: 15,2127 53775 DXCH TALIGN
039900,000174: 15,2130 31145 P52V CA OPTION2
039901,000175: 15,2131 74752 MASK BIT2
039902,000176: 15,2132 10000 CCS A
039903,000177: 15,2133 02137 TC P52W
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Page 929
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039905,000179: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039906,000180: 15,2135 77650 GOTO
039907,000181: 15,2136 32220 P52LS
039908,000182:
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Page 930
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039910,000184: # START ALIGNMENT
039911,000185:
039912,000186: 15,2137 06037 P52W TC INTPRET
039913,000187: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039914,000188: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039915,000189: 15,2142 31650 S52.3 # ORIENTATION
039916,000190: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039917,000191: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
039918,000192: 15,2145 77776 EXIT
039919,000193: 15,2146 35010 CAF V06N22
039920,000194: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039921,000195: 15,2150 20476 CADR GOFLASH
039922,000196: 15,2151 06001 TC GOTOPOOH
039923,000197: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039924,000198: 15,2153 06037 P52H TC INTPRET
039925,000199: 15,2154 77650 GOTO
039926,000200: 15,2155 32143 P52D
039927,000201: 15,2156 06037 REGCOARS TC INTPRET
039928,000202: 15,2157 77624 CALL # DO COARSE ALIGN
039929,000203: 15,2160 31327 CAL53A # ROUTINE
039930,000204: 15,2161 43014 COARSRET SET CLEAR
039931,000205: 15,2162 01462 REFSMFLG
039932,000206: 15,2163 01273 PFRATFLG
039933,000207: 15,2164 77624 P52F CALL
039934,000208: 15,2165 31015 R51
039935,000209: 15,2166 77776 P52OUT EXIT
039936,000210: 15,2167 06001 TC GOTOPOOH
039937,000211: 15,2170 5006 VB05N09 = V05N09
039938,000212: 15,2170 01442 V06N34* VN 634
039939,000213:
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Page 931
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039941,000215: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039942,000216:
039943,000217: 15,2171 32217 COARSTYP CAF OCT13
039944,000218: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039945,000219: 15,2173 20623 CADR GOPERF1
039946,000220: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039947,000221: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039948,000222: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
039949,000223: 15,2177 64375 VLOAD MXV
039950,000224: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039951,000225: 15,2201 01734 REFSMMAT
039952,000226: 15,2202 77656 UNIT
039953,000227: 15,2203 26665 STOVL XDC
039954,000228: 15,2204 03615 YSMD
039955,000229: 15,2205 53521 MXV UNIT
039956,000230: 15,2206 01734 REFSMMAT
039957,000231: 15,2207 26673 STOVL YDC
039958,000232: 15,2210 03623 ZSMD
039959,000233: 15,2211 53521 MXV UNIT
039960,000234: 15,2212 01734 REFSMMAT
039961,000235: 15,2213 36701 STCALL ZDC
039962,000236: 15,2214 31164 GYCOARS
039963,000237: 15,2215 77650 GOTO
039964,000238: 15,2216 32166 P52OUT
039965,000239: 15,2217 00013 OCT13 OCT 13
039966,000240:
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Page 932
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039968,000242: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039969,000243:
039970,000244: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039971,000245: 15,2221 01463 LUNAFLAG
039972,000246: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039973,000247: 15,2223 77201 SETPD VLOAD
039974,000248: 15,2224 00001 0
039975,000249: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039976,000250: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039977,000251: 15,2227 02775 TALIGN
039978,000252: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039979,000253: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039980,000254: 15,2232 77742 VSR2
039981,000255: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039982,000256: 15,2234 02775 TALIGN
039983,000257: 15,2235 77624 CALL
039984,000258: 15,2236 30446 N89DISP
039985,000259: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
039986,000260: 15,2240 02032 ALPHAV
039987,000261: 15,2241 37607 STCALL XSMD
039988,000262: 15,2242 11013 LSORIENT
039989,000263: 15,2243 77650 GOTO
039990,000264: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
039991,000265:
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Page 933
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039993,000267: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039994,000268:
039995,000269: 14,2000 SETLOC P50S1
039996,000270: 14,2000 BANK
039997,000271: 14,2446 E5,1642 EBANK= XSM
039998,000272:
039999,000273: 14,2446 77620 N89DISP STQ
040000,000274: 14,2447 02746 QMAJ
040001,000275: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040002,000276: 14,2451 26351 LAT-LONG
040003,000277: 14,2452 70545 DLOAD SR1
040004,000278: 14,2453 01123 LONG
040005,000279: 14,2454 16711 STODL LANDLONG
040006,000280: 14,2455 01125 ALT
040007,000281: 14,2456 16713 STODL LANDALT
040008,000282: 14,2457 01121 LAT
040009,000283: 14,2460 16707 STODL LANDLAT
040010,000284: 14,2461 77776 EXIT
040011,000285:
040012,000286: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040013,000287: 14,2463 04616 TC BANKCALL
040014,000288: 14,2464 20476 CADR GOFLASH
040015,000289: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040016,000290: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040017,000291: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040018,000292:
040019,000293: 14,2470 06037 TC INTPRET
040020,000294: 14,2471 72545 DLOAD SL1
040021,000295: 14,2472 02711 LANDLONG
040022,000296: 14,2473 15123 STODL LONG
040023,000297: 14,2474 02713 LANDALT
040024,000298: 14,2475 15125 STODL ALT
040025,000299: 14,2476 02707 LANDLAT
040026,000300: 14,2477 15121 STODL LAT
040027,000301: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040028,000302: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040029,000303: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040030,000304: 14,2503 77650 GOTO
040031,000305: 14,2504 02746 QMAJ
040032,000306: 14,2505 01531 V06N89* VN 689
040033,000307:
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Page 934
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040035,000309: # NAME - S50 ALIAS LOCSAM
040036,000310: # BY
040037,000311: # VINCENT
040038,000312:
040039,000313: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040040,000314:
040041,000315: # DEFINE
040042,000316:
040043,000317: # U = UNIT( SUN WRT EARTH )
040044,000318: # ES
040045,000319:
040046,000320: # U = UNIT( MOON WRT EARTH )
040047,000321: # EM
040048,000322:
040049,000323: # R = POSITION VECTOR OF LEM
040050,000324: # L
040051,000325:
040052,000326: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040053,000327: # EM
040054,000328:
040055,000329: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040056,000330: # EM
040057,000331:
040058,000332: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040059,000333: # E
040060,000334:
040061,000335: # LOCSAM COMPUTES IN EARTH INFLUENCE
040062,000336:
040063,000337: # VSUN = U
040064,000338: # ES
040065,000339:
040066,000340: # VEARTH = -UNIT( R )
040067,000341: # L
040068,000342:
040069,000343: # VMOON = UNIT(R .U - R )
040070,000344: # EM EM L
040071,000345:
040072,000346: # CSUN = COS 90
040073,000347:
040074,000348: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040075,000349: # E L
040076,000350:
040077,000351: # CMOON = COS 5
040078,000352:
040079,000353: # INPUT - TIME IN MPAC
040080,000354:
040081,000355: # OUTPUT - LISTED ABOVE
040082,000356:
040083,000357: # SUBROUTINES - LSPOS, LEMPREC
040084,000358:
040085,000359: # DEBRIS - VAC AREA, TSIGHT
040086,000360:
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Page 935
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040088,000362: 14,2506 COUNT* $$/LOSAM
040089,000363:
040090,000364: 14,2506 14,2506 S50 = LOCSAM
040091,000365: 14,2506 77620 LOCSAM STQ
040092,000366: 14,2507 02745 QMIN
040093,000367: 14,2510 37562 STCALL TSIGHT
040094,000368: 14,2511 33664 LSPOS
040095,000369: 14,2512 77745 DLOAD
040096,000370: 14,2513 03562 TSIGHT
040097,000371: 14,2514 34041 STCALL TDEC1
040098,000372: 14,2515 27057 LEMPREC
040099,000373: 14,2516 61131 SSP TIX,2
040100,000374: 14,2517 00052 S2
040101,000375: 14,2520 00000 0
040102,000376: 14,2521 30543 MOONCNTR
040103,000377: 14,2522 74375 EARTCNTR VLOAD VXSC
040104,000378: 14,2523 02723 VMOON
040105,000379: 14,2524 30001 RSUBEM
040106,000380: 14,2525 52372 VSL1 VSU
040107,000381: 14,2526 00001 RATT
040108,000382: 14,2527 77656 UNIT
040109,000383: 14,2530 26723 STOVL VMOON
040110,000384: 14,2531 00001 RATT
040111,000385: 14,2532 57456 UNIT VCOMP
040112,000386: 14,2533 16707 STODL VEARTH
040113,000387: 14,2534 30005 RSUBE
040114,000388: 14,2535 77624 CALL
040115,000389: 14,2536 30575 OCCOS
040116,000390: 14,2537 14017 STODL CEARTH
040117,000391: 14,2540 30604 CSS5
040118,000392: 14,2541 34023 STCALL CMOON
040119,000393: 14,2542 30570 ENDSAM
040120,000394: 14,2543 74375 MOONCNTR VLOAD VXSC
040121,000395: 14,2544 02723 VMOON
040122,000396: 14,2545 30007 ROE
040123,000397: 14,2546 53445 BVSU UNIT
040124,000398: 14,2547 02715 VSUN
040125,000399: 14,2550 26715 STOVL VSUN
040126,000400: 14,2551 02723 VMOON
040127,000401: 14,2552 53361 VXSC VAD
040128,000402: 14,2553 30001 RSUBEM
040129,000403: 14,2554 00001 RATT
040130,000404: 14,2555 57456 UNIT VCOMP
040131,000405: 14,2556 26707 STOVL VEARTH
040132,000406: 14,2557 00001 RATT
040133,000407: 14,2560 57456 UNIT VCOMP
040134,000408: 14,2561 16723 STODL VMOON
040135,000409: 14,2562 30003 RSUBM
040136,000410: 14,2563 77624 CALL
040137,000411: 14,2564 30575 OCCOS
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Page 936
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040139,000413: 14,2565 14023 STODL CMOON
040140,000414: 14,2566 30604 CSS5
040141,000415: 14,2567 00017 STORE CEARTH
040142,000416: 14,2570 77745 ENDSAM DLOAD
040143,000417: 14,2571 30606 CSSUN
040144,000418: 14,2572 00021 STORE CSUN
040145,000419: 14,2573 77650 GOTO
040146,000420: 14,2574 02745 QMIN
040147,000421: 14,2575 70471 OCCOS DDV SR1
040148,000422: 14,2576 00045 36D
040149,000423: 14,2577 43336 ASIN DAD
040150,000424: 14,2600 30610 5DEGREES
040151,000425: 14,2601 70546 COS SR1
040152,000426: 14,2602 77616 RVQ
040153,000427: 14,2603 CEARTH = 14D
040154,000428: 14,2603 CSUN = 16D
040155,000429: 14,2603 CMOON = 18D
040156,000430: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040157,000431: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040158,000432: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040159,000433:
|
|
Page 937
|
040161,000435: # PROGRAM NAME - R56 DATE DEC 20 66
040162,000436: # MOD 1 LOG SECTION P51-P53
040163,000437: # ASSEMBLY SUNDISK REV40
040164,000438: # BY KEN VINCENT
040165,000439:
040166,000440: # FUNCTION
040167,000441: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040168,000442: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040169,000443: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040170,000444: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040171,000445: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040172,000446: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040173,000447: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040174,000448: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040175,000449: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040176,000450: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040177,000451: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040178,000452: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040179,000453:
040180,000454: # CALLING SEQUENCE
040181,000455: # L TC BANKCALL
040182,000456: # L+1 CADR R56
040183,000457: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040184,000458: # L+3 NORMAL RETURN
040185,000459:
040186,000460: # OUTPUT
040187,000461: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040188,000462: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040189,000463:
040190,000464: # INITIALIZATION
040191,000465: # 1) A CALL TO LOCSAM MUST BE MADE
040192,000466:
040193,000467: # DEBRIS
040194,000468: # WORKAREA
040195,000469: # X,Y,ZNB
040196,000470: # SINCDU, COSCDU
040197,000471: # STARAD - STAR +5
040198,000472:
040199,000473: 14,2611 14,2611 R56 = PICAPAR
040200,000474: 14,2611 COUNT* $$/R56
040201,000475: 14,2611 04645 PICAPAR TC MAKECADR
040202,000476: 14,2612 55745 TS QMIN
040203,000477: 14,2613 06037 TC INTPRET
040204,000478: 14,2614 77624 CALL
040205,000479: 14,2615 47537 CDUTRIG
040206,000480: 14,2616 77624 CALL
040207,000481: 14,2617 20030 CALCSMSC
040208,000482: 14,2620 77601 SETPD
040209,000483: 14,2621 00001 0
040210,000484: 14,2622 71214 SET DLOAD # VFLAG = 1
040211,000485: 14,2623 01465 VFLAG
|
|
Page 938
|
040213,000487: 14,2624 24007 DPZERO
040214,000488: 14,2625 26756 STOVL BESTI
040215,000489: 14,2626 02665 XNB
040216,000490: 14,2627 63361 VXSC PDVL
040217,000491: 14,2630 24005 HALFDP
040218,000492: 14,2631 02701 ZNB
040219,000493: 14,2632 74370 AXT,1 VXSC
040220,000494: 14,2633 00344 228D # X1 = 37 X 6 + 6
040221,000495: 14,2634 24005 HALFDP
040222,000496: 14,2635 77655 VAD
040223,000497: 14,2636 53505 VXM UNIT
040224,000498: 14,2637 01734 REFSMMAT
040225,000499: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
040226,000500: 14,2641 66331 SSP SSP # S1 = S2 = 6
040227,000501: 14,2642 00051 S1
040228,000502: 14,2643 00006 6
040229,000503: 14,2644 00052 S2
040230,000504: 14,2645 00006 6
040231,000505: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040232,000506: 14,2647 30651 PIC2
040233,000507: 14,2650 30766 PICEND
040234,000508: 14,2651 50373 PIC2 VLOAD* DOT
040235,000509: 14,2652 30347 CATLOG,1
040236,000510: 14,2653 02731 SAX
040237,000511: 14,2654 50025 DSU BMN
040238,000512: 14,2655 30765 CSS33
040239,000513: 14,2656 30646 PIC1
040240,000514: 14,2657 77754 LXA,2
040241,000515: 14,2660 00046 X1
040242,000516: 14,2661 52104 PIC3 TIX,2 GOTO
040243,000517: 14,2662 30664 PIC4
040244,000518: 14,2663 30646 PIC1
040245,000519: 14,2664 50373 PIC4 VLOAD* DOT
040246,000520: 14,2665 47430 CATLOG,2
040247,000521: 14,2666 02731 SAX
040248,000522: 14,2667 50025 DSU BMN
040249,000523: 14,2670 30765 CSS33
040250,000524: 14,2671 30661 PIC3
040251,000525: 14,2672 47773 VLOAD* DOT*
040252,000526: 14,2673 30347 CATLOG,1
040253,000527: 14,2674 47430 CATLOG,2
040254,000528: 14,2675 51025 DSU BPL
040255,000529: 14,2676 30763 CSS40
040256,000530: 14,2677 30661 PIC3
040257,000531: 14,2700 45173 VLOAD* CALL
040258,000532: 14,2701 30347 CATLOG,1
040259,000533: 14,2702 30740 OCCULT
040260,000534: 14,2703 77614 BON
040261,000535: 14,2704 01710 CULTFLAG
040262,000536: 14,2705 30646 PIC1
|
|
Page 939
|
040264,000538: 14,2706 45173 VLOAD* CALL
040265,000539: 14,2707 47430 CATLOG,2
040266,000540: 14,2710 30740 OCCULT
040267,000541: 14,2711 77614 BON
040268,000542: 14,2712 01710 CULTFLAG
040269,000543: 14,2713 30661 PIC3
040270,000544: 14,2714 77614 STRATGY BONCLR
040271,000545: 14,2715 01605 VFLAG
040272,000546: 14,2716 30733 NEWPAR
040273,000547: 14,2717 65120 XCHX,1 XCHX,2
040274,000548: 14,2720 02755 BESTI
040275,000549: 14,2721 02756 BESTJ
040276,000550: 14,2722 47773 STRAT VLOAD* DOT*
040277,000551: 14,2723 30347 CATLOG,1
040278,000552: 14,2724 47430 CATLOG,2
040279,000553: 14,2725 43006 PUSH BOFINV
040280,000554: 14,2726 01545 VFLAG
040281,000555: 14,2727 30717 STRAT -3
040282,000556: 14,2730 45345 DLOAD DSU
040283,000557: 14,2731 77644 BPL
040284,000558: 14,2732 30661 PIC3
040285,000559: 14,2733 67130 NEWPAR SXA,1 SXA,2
040286,000560: 14,2734 02755 BESTI
040287,000561: 14,2735 02756 BESTJ
040288,000562: 14,2736 77650 GOTO
040289,000563: 14,2737 30661 PIC3
040290,000564: 14,2740 51321 OCCULT MXV BVSU
040291,000565: 14,2741 02707 CULTRIX
040292,000566: 14,2742 00017 CSS
040293,000567: 14,2743 77654 BZE
040294,000568: 14,2744 30757 CULTED
040295,000569: 14,2745 75240 BMN SIGN
040296,000570: 14,2746 30757 CULTED
040297,000571: 14,2747 00160 MPAC +3
040298,000572: 14,2750 75240 BMN SIGN
040299,000573: 14,2751 30757 CULTED
040300,000574: 14,2752 00162 MPAC +5
040301,000575: 14,2753 43040 BMN CLRGO
040302,000576: 14,2754 30757 CULTED
040303,000577: 14,2755 01630 CULTFLAG
040304,000578: 14,2756 00052 QPRET
040305,000579: 14,2757 77614 CULTED SETGO
040306,000580: 14,2760 01430 CULTFLAG
040307,000581: 14,2761 00052 QPRET
040308,000582: 14,2762 0000016 CSS = CEARTH
040309,000583: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040310,000584: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040311,000585: 14,2766 77414 PICEND BOFF EXIT
040312,000586:
|
|
Page 940
|
040314,000588: 14,2767 01745 VFLAG
040315,000589: 14,2770 30772 PICGXT
040316,000590: 14,2771 03013 TC PICBXT
040317,000591: 14,2772 73150 PICGXT LXA,1 LXA,2
040318,000592: 14,2773 02755 BESTI
040319,000593: 14,2774 02756 BESTJ
040320,000594: 14,2775 47775 VLOAD DOT*
040321,000595: 14,2776 02731 SAX
040322,000596: 14,2777 30347 CATLOG,1
040323,000597: 14,3000 47715 PDVL DOT*
040324,000598: 14,3001 02731 SAX
040325,000599: 14,3002 47430 CATLOG,2
040326,000600: 14,3003 77625 DSU
040327,000601: 14,3004 66044 BPL SXA,1
040328,000602: 14,3005 31011 PICNSWP
040329,000603: 14,3006 02756 BESTJ
040330,000604: 14,3007 77734 SXA,2
040331,000605: 14,3010 02755 BESTI
040332,000606: 14,3011 77776 PICNSWP EXIT
040333,000607: 14,3012 25745 INCR QMIN
040334,000608: 14,3013 31745 PICBXT CA QMIN
040335,000609: 14,3014 04622 TC SWCALL
040336,000610: 14,3015 VPD = 0D
040337,000611: 14,3015 V0 = 6D
040338,000612: 14,3015 V1 = 12D
040339,000613: 14,3015 V2 = 18D
040340,000614: 14,3015 V3 = 24D
040341,000615: 14,3015 DP0 = 30D
040342,000616: 14,3015 DP1 = 32D
040343,000617:
|
|
Page 941
|
040345,000619: # NAME - R51 FINE ALIGN
040346,000620: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040347,000621: # CALLING SEQ - CALL R51
040348,000622: # INPUT - REFSMMAT
040349,000623: # OUTPUT - GYRO TORQUE PULSES
040350,000624: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040351,000625:
040352,000626: 14,3015 COUNT* $$/R51
040353,000627: 14,3015 77620 R51 STQ
040354,000628: 14,3016 02746 QMAJ
040355,000629: 14,3017 77776 R51.1 EXIT
040356,000630: 14,3020 05353 TC PHASCHNG
040357,000631: 14,3021 04024 OCT 04024
040358,000632:
040359,000633: 14,3022 34761 R51C CAF OCT15
040360,000634: 14,3023 04616 TC BANKCALL
040361,000635: 14,3024 20623 CADR GOPERF1
040362,000636: 14,3025 06001 TC GOTOPOOH
040363,000637: 14,3026 03030 TC +2 # V33E
040364,000638: 14,3027 03053 TC R51E # ENTER
040365,000639: 14,3030 06037 TC INTPRET
040366,000640: 14,3031 43234 RTB DAD
040367,000641: 14,3032 21573 LOADTIME
040368,000642: 14,3033 31163 TSIGHT1
040369,000643: 14,3034 77624 CALL
040370,000644: 14,3035 30506 LOCSAM
040371,000645: 14,3036 77776 EXIT
040372,000646: 14,3037 04616 TC BANKCALL
040373,000647: 14,3040 30611 CADR R56
040374,000648: 14,3041 03043 TC R51I
040375,000649: 14,3042 03053 R51F TC R51E
040376,000650: 14,3043 05567 R51I TC ALARM
040377,000651: 14,3044 00405 OCT 405
040378,000652: 14,3045 35006 CAF VB05N09
040379,000653: 14,3046 04616 TC BANKCALL
040380,000654: 14,3047 20476 CADR GOFLASH
040381,000655: 14,3050 06001 TC GOTOPOOH
040382,000656: 14,3051 03053 TC R51E
040383,000657: 14,3052 03022 TC R51C
040384,000658: 14,3053 34755 R51E CAF ZERO
040385,000659: 14,3054 55757 TS STARIND
040386,000660: 14,3055 06037 R51.2 TC INTPRET
040387,000661: 14,3056 77776 R51.3 EXIT
040388,000662: 14,3057 05353 TC PHASCHNG
040389,000663: 14,3060 04024 OCT 04024
040390,000664:
040391,000665: 14,3061 06037 TC INTPRET
040392,000666: 14,3062 77624 CALL
040393,000667: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
040394,000668: 14,3064 77776 EXIT
040395,000669: 14,3065 04616 TC BANKCALL
|
|
Page 942
|
040397,000671: 14,3066 16000 CADR AOTMARK
040398,000672: 14,3067 04616 TC BANKCALL
040399,000673: 14,3070 17712 CADR OPTSTALL
040400,000674: 14,3071 05711 TC CURTAINS
040401,000675: 14,3072 11757 CCS STARIND
040402,000676: 14,3073 13075 TCF +2
040403,000677: 14,3074 03145 TC R51.4
040404,000678: 14,3075 06037 TC INTPRET
040405,000679: 14,3076 77775 VLOAD
040406,000680: 14,3077 02715 STARAD +6
040407,000681: 14,3100 02767 STORE STARSAV2
040408,000682: 14,3101 77776 EXIT
040409,000683: 14,3102 05353 TC PHASCHNG
040410,000684: 14,3103 04024 OCT 04024
040411,000685:
040412,000686: 14,3104 06037 TC INTPRET
040413,000687: 14,3105 45145 DLOAD CALL
040414,000688: 14,3106 03562 TSIGHT
040415,000689: 14,3107 32472 PLANET
040416,000690: 14,3110 53521 MXV UNIT
040417,000691: 14,3111 01734 REFSMMAT
040418,000692: 14,3112 26715 STOVL STARAD +6
040419,000693: 14,3113 03554 PLANVEC
040420,000694: 14,3114 53521 MXV UNIT
040421,000695: 14,3115 01734 REFSMMAT
040422,000696: 14,3116 26707 STOVL STARAD
040423,000697: 14,3117 02761 STARSAV1
040424,000698: 14,3120 24007 STOVL 6D
040425,000699: 14,3121 02767 STARSAV2
040426,000700: 14,3122 34015 STCALL 12D
040427,000701: 14,3123 31256 R54 # STAR DATA TEST
040428,000702: 14,3124 45014 BOFF CALL
040429,000703: 14,3125 00354 FREEFLAG
040430,000704: 14,3126 31134 R51K
040431,000705: 14,3127 47441 AXISGEN
040432,000706: 14,3130 77624 CALL
040433,000707: 14,3131 31224 R55 # GYRO TORQUE
040434,000708: 14,3132 77614 CLEAR
040435,000709: 14,3133 01273 PFRATFLG
040436,000710: 14,3134 77776 R51K EXIT
040437,000711: 14,3135 35751 R51P63 CAF OCT14
040438,000712: 14,3136 04616 TC BANKCALL
040439,000713: 14,3137 20623 CADR GOPERF1
040440,000714: 14,3140 06001 TC GOTOPOOH
040441,000715: 14,3141 03022 TC R51C
040442,000716: 14,3142 06037 TC INTPRET
040443,000717: 14,3143 77650 GOTO
040444,000718: 14,3144 02746 QMAJ
040445,000719: 14,3145 06037 R51.4 TC INTPRET
040446,000720: 14,3146 77775 VLOAD
|
|
Page 943
|
040448,000722: 14,3147 02715 STARAD +6
040449,000723: 14,3150 02761 STORE STARSAV1
040450,000724: 14,3151 45145 DLOAD CALL
040451,000725: 14,3152 03562 TSIGHT
040452,000726: 14,3153 32472 PLANET
040453,000727: 14,3154 03554 STORE PLANVEC
040454,000728: 14,3155 77731 SSP
040455,000729: 14,3156 02760 STARIND
040456,000730: 14,3157 00001 1
040457,000731: 14,3160 77650 GOTO
040458,000732: 14,3161 31056 R51.3
040459,000733: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040460,000734:
|
|
Page 944
|
040462,000736: # GYRO TORQUE COARSE ALIGNMENT
040463,000737:
040464,000738: 14,3164 45020 GYCOARS STQ CALL
040465,000739: 14,3165 02746 QMAJ
040466,000740: 14,3166 47247 CALCGTA
040467,000741: 14,3167 43014 CLEAR CLEAR
040468,000742: 14,3170 01260 DRIFTFLG
040469,000743: 14,3171 01662 REFSMFLG
040470,000744: 14,3172 77776 EXIT
040471,000745: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
040472,000746: 14,3174 04616 TC BANKCALL
040473,000747: 14,3175 20451 CADR GODSPR
040474,000748: 14,3176 33255 CA R55CDR
040475,000749: 14,3177 04616 TC BANKCALL
040476,000750: 14,3200 17323 CADR IMUPULSE
040477,000751: 14,3201 04616 TC BANKCALL
040478,000752: 14,3202 17716 CADR IMUSTALL
040479,000753: 14,3203 05711 TC CURTAINS
040480,000754: 14,3204 05353 TC PHASCHNG
040481,000755: 14,3205 04024 OCT 04024
040482,000756:
040483,000757: 14,3206 06037 TC INTPRET
040484,000758: 14,3207 75160 AXC,1 AXC,2
040485,000759: 14,3210 03606 XSMD
040486,000760: 14,3211 01733 REFSMMAT
040487,000761: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
040488,000762: 14,3213 31377 MATMOVE
040489,000763: 14,3214 43014 CLEAR SET
040490,000764: 14,3215 01273 PFRATFLG
040491,000765: 14,3216 01462 REFSMFLG
040492,000766: 14,3217 77624 CALL
040493,000767: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040494,000768: 14,3221 77650 GOTO
040495,000769: 14,3222 31134 R51K
040496,000770: 14,3223 04024 V16N20 VN 1620
040497,000771:
|
|
Page 945
|
040499,000773: # R55 GYRO TORQUE
040500,000774: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040501,000775: # CALLING SEQ - CALL R55
040502,000776: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040503,000777: # OUTPUT - GYRO PULSES
040504,000778: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040505,000779:
040506,000780: 14,3224 COUNT* $$/R55
040507,000781: 14,3224 77620 R55 STQ
040508,000782: 14,3225 02745 QMIN
040509,000783: 14,3226 77624 CALL
040510,000784: 14,3227 47247 CALCGTA
040511,000785: 14,3230 77776 PULSEM EXIT
040512,000786: 14,3231 33254 R55.1 CAF V06N93
040513,000787: 14,3232 04616 TC BANKCALL
040514,000788: 14,3233 20476 CADR GOFLASH
040515,000789: 14,3234 06001 TC GOTOPOOH
040516,000790: 14,3235 03237 TC R55.2
040517,000791: 14,3236 03251 TC R55RET
040518,000792: 14,3237 05353 R55.2 TC PHASCHNG
040519,000793: 14,3240 00214 OCT 00214
040520,000794: 14,3241 33255 CA R55CDR
040521,000795: 14,3242 04616 TC BANKCALL
040522,000796: 14,3243 17323 CADR IMUPULSE
040523,000797: 14,3244 04616 TC BANKCALL
040524,000798: 14,3245 17716 CADR IMUSTALL
040525,000799: 14,3246 05711 TC CURTAINS
040526,000800: 14,3247 05353 TC PHASCHNG
040527,000801: 14,3250 04024 OCT 04024
040528,000802:
040529,000803: 14,3251 06037 R55RET TC INTPRET
040530,000804: 14,3252 77650 GOTO
040531,000805: 14,3253 02745 QMIN
040532,000806: 14,3254 01535 V06N93 VN 0693
040533,000807: 14,3255 02737 R55CDR ECADR OGC
040534,000808: 14,3256 14,3256 R54 = CHKSDATA
040535,000809:
040536,000810: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040537,000811: # MOD NO - 0 LOG SECTION - P51-P53
040538,000812: # MODIFICATION BY - LONSKE ASSEMBLY -
040539,000813:
040540,000814: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040541,000815: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040542,000816: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040543,000817: # OS1 = OBSERVED STAR 1 VECTOR
040544,000818: # OS2 = OBSERVED STAR 2 VECTOR
040545,000819: # SS1 = STORED STAR 1 VECTOR
040546,000820: # SS2 = STORED STAR 2 VECTOR
040547,000821: # A1 = ARCCOS(OS1 - OS2)
040548,000822: # A2 = ARCCOS(SS1 - SS2)
040549,000823: # A = ABS(2(A1 - A2))
|
|
Page 946
|
040551,000825: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040552,000826:
040553,000827: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040554,000828: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040555,000829:
040556,000830: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040557,000831: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040558,000832:
040559,000833: # ERASABLE INITIALIZATION REQUIRED -
040560,000834: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040561,000835: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040562,000836:
040563,000837: # DEBRIS -
040564,000838:
040565,000839: 14,3256 COUNT* $$/R54
040566,000840: 14,3256 43020 CHKSDATA STQ SET
040567,000841: 14,3257 02745 QMIN
040568,000842: 14,3260 00074 FREEFLAG
040569,000843: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040570,000844: 14,3262 02706 STARAD
040571,000845:
040572,000846: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040573,000847: 14,3264 00001 0,1
040574,000848: 14,3265 00007 6,1
040575,000849: 14,3266 65552 SL1 ACOS
040576,000850: 14,3267 00025 STORE THETA
040577,000851: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040578,000852: 14,3271 00354 FREEFLAG
040579,000853: 14,3272 31302 CHKSD
040580,000854: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
040581,000855: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040582,000856: 14,3275 00006 6D
040583,000857: 14,3276 00025 THETA
040584,000858: 14,3277 00023 STORE 18D
040585,000859: 14,3300 77650 GOTO
040586,000860: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
040587,000861: 14,3302 45345 CHKSD DLOAD DSU
040588,000862: 14,3303 00025 THETA
040589,000863: 14,3304 00023 18D
040590,000864: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
040591,000865: 14,3306 21612 SGNAGREE
040592,000866: 14,3307 01046 STORE NORMTEM1
040593,000867: 14,3310 77414 SET EXIT
040594,000868: 14,3311 00074 FREEFLAG
040595,000869: 14,3312 33326 CAF VB6N5
040596,000870: 14,3313 04616 TC BANKCALL
040597,000871: 14,3314 20476 CADR GOFLASH
040598,000872: 14,3315 16001 TCF GOTOPOOH
040599,000873: 14,3316 03323 TC CHKSDA # PROCEED
040600,000874: 14,3317 06037 TC INTPRET
040601,000875: 14,3320 52014 CLEAR GOTO
040602,000876: 14,3321 00274 FREEFLAG
040603,000877: 14,3322 02745 QMIN
040604,000878: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947
|
040606,000880: 14,3324 77650 GOTO
040607,000881: 14,3325 02745 QMIN
040608,000882: 14,3326 01405 VB6N5 VN 605
040609,000883:
040610,000884: # NAME - CAL53A
040611,000885: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040612,000886: # CALLING SEQUENCE - CALL CAL53A
040613,000887: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040614,000888: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040615,000889: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040616,000890: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040617,000891:
040618,000892: 14,3327 COUNT* $$/R50
040619,000893: 14,3327 77624 CAL53A CALL
040620,000894: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040621,000895: 14,3331 66234 RTB SSP
040622,000896: 14,3332 31413 RDCDUS # READ CDUS
040623,000897: 14,3333 00051 S1
040624,000898: 14,3334 00001 1
040625,000899: 14,3335 40370 AXT,1 SETPD
040626,000900: 14,3336 00003 3
040627,000901: 14,3337 00005 4
040628,000902: 14,3340 70543 CALOOP DLOAD* SR1
040629,000903: 14,3341 00325 THETAD +3D,1
040630,000904: 14,3342 70523 PDDL* SR1
040631,000905: 14,3343 00005 4,1
040632,000906: 14,3344 51425 DSU ABS
040633,000907: 14,3345 45206 PUSH DSU
040634,000908: 14,3346 31412 DEGREE1
040635,000909: 14,3347 71240 BMN DLOAD
040636,000910: 14,3350 31366 CALOOP1
040637,000911: 14,3351 51025 DSU BPL
040638,000912: 14,3352 31413 DEG359
040639,000913: 14,3353 31366 CALOOP1
040640,000914: 14,3354 77776 EXIT
040641,000915: 14,3355 05353 TC PHASCHNG
040642,000916: 14,3356 04024 OCT 04024
040643,000917:
040644,000918: 14,3357 06037 TC INTPRET
040645,000919: 14,3360 77624 COARFINE CALL
040646,000920: 14,3361 31565 COARSE
040647,000921: 14,3362 77624 CALL
040648,000922: 14,3363 31602 NCOARSE
040649,000923: 14,3364 77650 GOTO
040650,000924: 14,3365 31370 FINEONLY
040651,000925: 14,3366 77700 CALOOP1 TIX,1
040652,000926: 14,3367 31340 CALOOP
040653,000927: 14,3370 75160 FINEONLY AXC,1 AXC,2
040654,000928: 14,3371 02642 XSM
040655,000929: 14,3372 01733 REFSMMAT
040656,000930: 14,3373 77624 CALL
040657,000931: 14,3374 31377 MATMOVE
|
|
Page 948
|
040659,000933: 14,3375 77650 GOTO
040660,000934: 14,3376 32161 COARSRET
040661,000935: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040662,000936: 14,3400 00001 0,1
040663,000937: 14,3401 10001 STORE 0,2
040664,000938: 14,3402 77773 VLOAD*
040665,000939: 14,3403 00007 6D,1
040666,000940: 14,3404 10007 STORE 6D,2
040667,000941: 14,3405 77773 VLOAD*
040668,000942: 14,3406 00015 12D,1
040669,000943: 14,3407 10015 STORE 12D,2
040670,000944: 14,3410 77616 RVQ
040671,000945: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040672,000946: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040673,000947: 14,3413 00004 RDCDUS INHINT # READ CDUS
040674,000948: 14,3414 30032 CA CDUX
040675,000949: 14,3415 50120 INDEX FIXLOC
040676,000950: 14,3416 54001 TS 1
040677,000951: 14,3417 30033 CA CDUY
040678,000952: 14,3420 50120 INDEX FIXLOC
040679,000953: 14,3421 54002 TS 2
040680,000954: 14,3422 30034 CA CDUZ
040681,000955: 14,3423 50120 INDEX FIXLOC
040682,000956: 14,3424 54003 TS 3
040683,000957: 14,3425 00003 RELINT
040684,000958: 14,3426 06061 TC DANZIG # +
040685,000959: 14,3427 COUNT* $$/INFLT
040686,000960:
|
|
Page 949
|
040688,000962: # NAME - P51 - IMU ORIENTATION DETERMINATION
040689,000963: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040690,000964: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040691,000965:
040692,000966: # FUNCTIONAL DESCRIPTION
040693,000967: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040694,000968: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040695,000969: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040696,000970: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040697,000971:
040698,000972: # CALLING SEQUENCE
040699,000973: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040700,000974:
040701,000975: # SUBROUTINES CALLED.
040702,000976: # GOPERF3
040703,000977: # GOPERF1
040704,000978: # GODSPR
040705,000979: # IMUCOARS
040706,000980: # IMUFIN20
040707,000981: # AOTMARK (R53)
040708,000982: # CHKSDATA (R54)
040709,000983: # MKRELEAS
040710,000984: # AXISGEN
040711,000985: # MATMOVE
040712,000986:
040713,000987: # ALARMS
040714,000988: # NONE.
040715,000989:
040716,000990: # ERASABLE INITIALIZATION
040717,000991: # IMU ZERO FLAG SHOULD BE SET.
040718,000992:
040719,000993: # OUTPUT
040720,000994: # REFSMMAT
040721,000995: # REFSMFLG
040722,000996:
040723,000997: # DEBRIS
040724,000998: # WORK AREA
040725,000999: # STARAD
040726,001000: # STARIND
040727,001001: # BESTI
040728,001002: # BESTJ
040729,001003:
040730,001004: 14,3427 COUNT* $$/P51
|
|
Page 950
|
040732,001006: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040733,001007: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040734,001008:
040735,001009: 14,3431 34761 CAF OCT15
040736,001010: 14,3432 04616 TC BANKCALL
040737,001011: 14,3433 20623 CADR GOPERF1
040738,001012: 14,3434 06001 TC GOTOPOOH # TERM.
040739,001013: 14,3435 13461 TCF P51B # V33
040740,001014: 14,3436 05353 TC PHASCHNG
040741,001015: 14,3437 04024 OCT 04024
040742,001016:
040743,001017: 14,3440 34755 CAF ZERO
040744,001018: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
040745,001019: 14,3442 54322 TS THETAD +1
040746,001020: 14,3443 54323 TS THETAD +2
040747,001021: 14,3444 35010 CAF V06N22
040748,001022: 14,3445 04616 TC BANKCALL
040749,001023: 14,3446 20446 CADR GODSPRET
040750,001024: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040751,001025: 14,3450 04616 TC BANKCALL
040752,001026: 14,3451 20446 CADR GODSPRET
040753,001027: 14,3452 06037 TC INTPRET
040754,001028: 14,3453 77624 CALL
040755,001029: 14,3454 31565 COARSE
040756,001030: 14,3455 77776 EXIT
040757,001031: 14,3456 05353 TC PHASCHNG
040758,001032: 14,3457 04024 OCT 04024
040759,001033: 14,3460 13431 TCF P51 +2
040760,001034:
040761,001035: 14,3461 05353 P51B TC PHASCHNG
040762,001036: 14,3462 00014 OCT 00014
040763,001037: 14,3463 06037 TC INTPRET
040764,001038: 14,3464 77624 CALL
040765,001039: 14,3465 31602 NCOARSE
040766,001040: 14,3466 40331 SSP SETPD
040767,001041: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
040768,001042: 14,3470 00000 0
040769,001043: 14,3471 00001 0
040770,001044: 14,3472 77776 P51C EXIT
040771,001045: 14,3473 05353 TC PHASCHNG
040772,001046: 14,3474 04024 OCT 04024
040773,001047:
040774,001048: 14,3475 04616 TC BANKCALL
040775,001049: 14,3476 16000 CADR AOTMARK # R53
040776,001050: 14,3477 04616 TC BANKCALL
040777,001051: 14,3500 17712 CADR AOTSTALL
040778,001052: 14,3501 05711 TC CURTAINS
040779,001053: 14,3502 11757 CCS STARIND
040780,001054: 14,3503 13511 TCF P51D +1
040781,001055: 14,3504 06037 TC INTPRET
|
|
Page 951
|
040783,001057: 14,3505 77775 VLOAD
040784,001058: 14,3506 02715 STARAD +6
040785,001059: 14,3507 02761 STORE STARSAV1
040786,001060: 14,3510 77776 P51D EXIT
040787,001061: 14,3511 05353 TC PHASCHNG
040788,001062: 14,3512 04024 OCT 04024
040789,001063:
040790,001064: 14,3513 11757 CCS STARIND
040791,001065: 14,3514 13530 TCF P51E
040792,001066: 14,3515 05353 TC PHASCHNG
040793,001067: 14,3516 04024 OCT 04024
040794,001068:
040795,001069: 14,3517 06037 TC INTPRET
040796,001070: 14,3520 45145 DLOAD CALL
040797,001071: 14,3521 03562 TSIGHT
040798,001072: 14,3522 32472 PLANET
040799,001073: 14,3523 03554 STORE PLANVEC
040800,001074: 14,3524 77776 EXIT
040801,001075: 14,3525 34753 CAF BIT1
040802,001076: 14,3526 55757 TS STARIND
040803,001077: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
040804,001078: 14,3530 05353 P51E TC PHASCHNG
040805,001079: 14,3531 04024 OCT 04024
040806,001080:
040807,001081: 14,3532 06037 TC INTPRET
040808,001082: 14,3533 45145 DLOAD CALL
040809,001083: 14,3534 03562 TSIGHT
040810,001084: 14,3535 32472 PLANET
040811,001085: 14,3536 24015 STOVL 12D
040812,001086: 14,3537 03554 PLANVEC
040813,001087: 14,3540 24007 STOVL 6D
040814,001088: 14,3541 02761 STARSAV1
040815,001089: 14,3542 26707 STOVL STARAD
040816,001090: 14,3543 02767 STARSAV2
040817,001091: 14,3544 36715 STCALL STARAD +6
040818,001092: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040819,001093: 14,3546 77414 BON EXIT
040820,001094: 14,3547 00314 FREEFLAG
040821,001095: 14,3550 31552 P51G
040822,001096: 14,3551 03431 TC P51 +2
040823,001097: 14,3552 77624 P51G CALL
040824,001098: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040825,001099: 14,3554 75160 AXC,1 AXC,2
040826,001100: 14,3555 02664 XDC
040827,001101: 14,3556 01733 REFSMMAT
040828,001102: 14,3557 77624 CALL
040829,001103: 14,3560 31377 MATMOVE
040830,001104: 14,3561 77414 SET EXIT
040831,001105: 14,3562 01462 REFSMFLG
040832,001106: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952
|
040834,001108: 14,3564 12200 V41K VN 4100
040835,001109: 14,3565 77776 COARSE EXIT
040836,001110: 14,3566 04616 TC BANKCALL
040837,001111: 14,3567 17000 CADR IMUCOARS
040838,001112: 14,3570 04616 TC BANKCALL
040839,001113: 14,3571 17716 CADR IMUSTALL
040840,001114: 14,3572 05711 TC CURTAINS
040841,001115: 14,3573 04616 TC BANKCALL
040842,001116: 14,3574 17210 CADR IMUFINE
040843,001117: 14,3575 04616 TC BANKCALL
040844,001118: 14,3576 17716 CADR IMUSTALL
040845,001119: 14,3577 05711 TC CURTAINS
040846,001120: 14,3600 06037 TC INTPRET
040847,001121: 14,3601 77616 RVQ
040848,001122: 14,3602 77776 NCOARSE EXIT
040849,001123: 14,3603 30025 CA TIME1
040850,001124: 14,3604 55075 TS 1/PIPADT
040851,001125: 14,3605 44755 CS ZERO
040852,001126: 14,3606 54037 TS PIPAX
040853,001127: 14,3607 54040 TS PIPAY
040854,001128: 14,3610 54041 TS PIPAZ
040855,001129: 14,3611 06037 TC INTPRET
040856,001130: 14,3612 77775 VLOAD
040857,001131: 14,3613 24007 ZEROVEC
040858,001132: 14,3614 01472 STORE GCOMP
040859,001133: 14,3615 43414 SET RVQ
040860,001134: 14,3616 01060 DRIFTFLG
040861,001135:
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|
Page 953
|
040863,001137: # NAME - S52.2
040864,001138: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040865,001139: # CALL - CALL S52.2
040866,001140: # INPUT - X,Y,ZSMD
040867,001141: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040868,001142: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040869,001143:
040870,001144: 14,3617 COUNT* $$/S52.1
040871,001145: 14,3617 45020 S52.2 STQ CALL
040872,001146: 14,3620 02746 QMAJ
040873,001147: 14,3621 47537 CDUTRIG
040874,001148: 14,3622 77624 CALL
040875,001149: 14,3623 20030 CALCSMSC
040876,001150: 14,3624 66370 AXT,1 SSP
040877,001151: 14,3625 00022 18D
040878,001152: 14,3626 00051 S1
040879,001153: 14,3627 00006 6D
040880,001154: 14,3630 61373 S52.2A VLOAD* VXM
040881,001155: 14,3631 02707 XNB +18D,1
040882,001156: 14,3632 01734 REFSMMAT
040883,001157: 14,3633 77656 UNIT
040884,001158: 14,3634 06707 STORE XNB +18D,1
040885,001159: 14,3635 77700 TIX,1
040886,001160: 14,3636 31630 S52.2A
040887,001161: 14,3637 75160 S52.2.1 AXC,1 AXC,2
040888,001162: 14,3640 03606 XSMD
040889,001163: 14,3641 02642 XSM
040890,001164: 14,3642 77624 CALL
040891,001165: 14,3643 31377 MATMOVE
040892,001166: 14,3644 77624 CALL
040893,001167: 14,3645 47353 CALCGA
040894,001168: 14,3646 77650 GOTO
040895,001169: 14,3647 02746 QMAJ
040896,001170:
|
|
Page 954
|
040898,001172: # NAME - S52.3
040899,001173: # FUNCTION XSMD= UNIT R
040900,001174: # YSMD= UNIT(V X R)
040901,001175: # ZSMD= UNIT(XSMD X YSMD)
040902,001176: # CALL DLOAD CALL
040903,001177: # TALIGN
040904,001178: # S52.3
040905,001179: # INPUT - TIME OF ALIGNMENT IN MPAC
040906,001180: # OUTPUT - X,Y,ZSMD
040907,001181: # SUBROUTINES - CSMCONIC
040908,001182:
040909,001183: 14,3650 COUNT* $$/S52.3
040910,001184: 14,3650 77620 S52.3 STQ
040911,001185: 14,3651 02746 QMAJ
040912,001186: 14,3652 34041 STCALL TDEC1
040913,001187: 14,3653 27100 LEMCONIC
040914,001188: 14,3654 53575 VLOAD UNIT
040915,001189: 14,3655 00001 RATT
040916,001190: 14,3656 27607 STOVL XSMD
040917,001191: 14,3657 00007 VATT
040918,001192: 14,3660 53435 VXV UNIT
040919,001193: 14,3661 00001 RATT
040920,001194: 14,3662 27615 STOVL YSMD
040921,001195: 14,3663 03607 XSMD
040922,001196: 14,3664 53435 VXV UNIT
040923,001197: 14,3665 03615 YSMD
040924,001198: 14,3666 37623 STCALL ZSMD
040925,001199: 14,3667 02746 QMAJ
040926,001200:
|
|
Page 955
|
040928,001202: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040929,001203:
040930,001204: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040931,001205: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040932,001206:
040933,001207: # CALLING - CALL R52
040934,001208:
040935,001209: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040936,001210:
040937,001211: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040938,001212: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040939,001213: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040940,001214: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040941,001215:
040942,001216: # SUBROUT - R60LEM
040943,001217:
040944,001218: 14,3670 COUNT* $$/R52
040945,001219: 14,3670 77420 R52 STQ EXIT
040946,001220: 14,3671 03665 SAVQR52
040947,001221: 14,3672 51757 INDEX STARIND
040948,001222: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040949,001223: 14,3674 00006 EXTEND
040950,001224: 14,3675 73771 MP 1/6TH
040951,001225: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
040952,001226: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
040953,001227:
040954,001228: 14,3700 33772 R52A CAF V01N70
040955,001229: 14,3701 04616 TC BANKCALL
040956,001230: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040957,001231: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
040958,001232: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
040959,001233: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040960,001234:
040961,001235: 14,3706 05516 R52B TC DOWNFLAG
040962,001236: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040963,001237: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
040964,001238: 14,3711 77744 MASK HIGH9
040965,001239: 14,3712 00006 EXTEND
040966,001240: 14,3713 74743 MP BIT9
040967,001241: 14,3714 54001 TS L # TEMP STORE DETENT
040968,001242:
040969,001243: 14,3715 00006 EXTEND
040970,001244: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040971,001245:
040972,001246: 14,3717 65660 AD NEG7
040973,001247: 14,3720 00006 EXTEND
040974,001248: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
040975,001249:
040976,001250: 14,3722 E7,1551 EBANK= XYMARK
040977,001251: 14,3722 35016 CA EBANK7
040978,001252: 14,3723 54003 TS EBANK
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|
Page 956
|
040980,001254: 14,3724 50001 INDEX L
040981,001255: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
040982,001256: 14,3726 54001 TS L
040983,001257: 14,3727 E5,1642 EBANK= XSM
040984,001258: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
040985,001259: 14,3730 54003 TS EBANK
040986,001260: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
040987,001261: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040988,001262: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
040989,001263:
040990,001264: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
040991,001265: 14,3735 04616 TC BANKCALL
040992,001266: 14,3736 20476 CADR GOFLASH
040993,001267: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
040994,001268: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
040995,001269: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
040996,001270:
040997,001271: 14,3742 00006 EXTEND
040998,001272: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
040999,001273: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041000,001274: 14,3745 52011 DXCH 8D
041001,001275: 14,3746 06037 TC INTPRET
041002,001276: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041003,001277: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041004,001278: 14,3751 45034 RTB CALL
041005,001279: 14,3752 21573 LOADTIME
041006,001280: 14,3753 32472 PLANET
041007,001281: 14,3754 53521 MXV UNIT
041008,001282: 14,3755 01734 REFSMMAT
041009,001283: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041010,001284:
041011,001285: 14,3757 77776 EXIT
041012,001286: 14,3760 04616 TC BANKCALL
041013,001287: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041014,001288:
041015,001289: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041016,001290: 14,3763 70735 MASK STARCODE
041017,001291: 14,3764 00006 EXTEND
041018,001292: 14,3765 13700 BZF R52A
041019,001293:
041020,001294: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041021,001295: 14,3767 77650 GOTO
041022,001296: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041023,001297:
041024,001298: 14,3771 05253 1/6TH DEC .1666667
041025,001299: 14,3772 00306 V01N70 VN 0170
041026,001300: 14,3773 01527 V06N87 VN 687
041027,001301:
|
|
Page 957
|
041029,001303: # LUNAR SURFACE STAR AQUISITION
041030,001304:
041031,001305: 15,2245 BANK 15
041032,001306: 15,2000 SETLOC P50S
041033,001307: 15,2000 BANK
041034,001308: 15,2245 COUNT* $$/R59
041035,001309:
041036,001310: 15,2245 40077 R59 CS FLAGWRD3
041037,001311: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041038,001312: 15,2247 10000 CCS A
041039,001313: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041040,001314:
041041,001315: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041042,001316: 15,2252 04616 TC BANKCALL
041043,001317: 15,2253 20476 CADR GOFLASH
041044,001318: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041045,001319: 15,2255 12257 TCF R59A # V33 - PROCEED
041046,001320: 15,2256 12245 TCF R59 # V32 - RECYCLE
041047,001321:
041048,001322: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041049,001323: 15,2260 70735 MASK AOTCODE
041050,001324: 15,2261 00006 EXTEND
041051,001325: 15,2262 76242 MP REVCNT # JUST 6
041052,001326: 15,2263 56001 XCH L
041053,001327: 15,2264 51757 INDEX STARIND
041054,001328: 15,2265 55755 TS BESTI
041055,001329: 15,2266 50120 INDEX FIXLOC
041056,001330: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041057,001331: 15,2270 00006 EXTEND
041058,001332: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041059,001333: 15,2272 40000 COM
041060,001334: 15,2273 62561 AD DEC227
041061,001335: 15,2274 00006 EXTEND
041062,001336: 15,2275 62455 BZMF R59OUT
041063,001337:
041064,001338: 15,2276 06037 TC INTPRET
041065,001339: 15,2277 64373 VLOAD* MXV
041066,001340: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041067,001341: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041068,001342: 15,2302 45056 UNIT CALL
041069,001343: 15,2303 47646 CDU*SMNB
041070,001344: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041071,001345: 15,2305 77776 EXIT
041072,001346:
041073,001347: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041074,001348: 15,2307 55242 TS POSCODE
041075,001349:
041076,001350: 15,2310 E7,1551 EBANK= XYMARK
041077,001351: 15,2310 35016 INCAZ CA EBANK7
041078,001352: 15,2311 54003 TS EBANK
041079,001353:
|
|
Page 958
|
041081,001355: 15,2312 51242 INDEX POSCODE
041082,001356: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041083,001357: 15,2314 54001 TS L
041084,001358:
041085,001359: 15,2315 E5,1642 EBANK= XSM
041086,001360: 15,2315 35014 CA EBANK5
041087,001361: 15,2316 54003 TS EBANK
041088,001362:
041089,001363: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041090,001364: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041091,001365: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041092,001366: 15,2322 50120 INDEX FIXLOC
041093,001367: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041094,001368:
041095,001369: 15,2324 06037 TC INTPRET
041096,001370: 15,2325 77624 CALL
041097,001371: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041098,001372: 15,2327 50375 VLOAD DOT
041099,001373: 15,2330 02731 STAR # DOT STAR WITH OA
041100,001374: 15,2331 03765 SCAXIS
041101,001375: 15,2332 65552 SL1 ARCCOS
041102,001376: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041103,001377:
041104,001378: 15,2334 51025 DSU BPL
041105,001379: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041106,001380: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041107,001381: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041108,001382: 15,2340 00031 24D
041109,001383: 15,2341 32470 DEG.5
041110,001384: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041111,001385: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041112,001386: 15,2344 00031 24D # GET SPIRAL
041113,001387: 15,2345 42405 DMP SL4
041114,001388: 15,2346 25764 3/4 # 12 SCALED AT 16
041115,001389: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041116,001390:
041117,001391: 15,2350 03765 SCAXIS # OA
041118,001392: 15,2351 53435 VXV UNIT
041119,001393: 15,2352 24005 XUNIT
041120,001394: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041121,001395: 15,2354 03765 SCAXIS
041122,001396: 15,2355 77676 VCOMP
041123,001397: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041124,001398: 15,2357 03765 SCAXIS
041125,001399: 15,2360 53435 VXV UNIT
041126,001400: 15,2361 02731 STAR
041127,001401: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041128,001402: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041129,001403: 15,2364 65552 SL1 ARCCOS
041130,001404: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
|
|
Page 959
|
041132,001406: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041133,001407: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041134,001408: 15,2370 32375 R59D
041135,001409: 15,2371 32047 ABOUTONE
041136,001410: 15,2372 77625 DSU
041137,001411: 15,2373 00033 26D
041138,001412: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041139,001413:
041140,001414: 15,2375 70535 R59D SLOAD SR1
041141,001415: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041142,001416: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041143,001417: 15,2400 00033 26D
041144,001418: 15,2401 77634 RTB
041145,001419: 15,2402 21614 1STO2S
041146,001420: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041147,001421: 15,2404 00031 24D # LOAD SROT IN REVS
041148,001422: 15,2405 77615 DAD # 12(SEP) + YROT
041149,001423: 15,2406 77634 RTB
041150,001424: 15,2407 21614 1STO2S
041151,001425: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041152,001426: 15,2411 77776 EXIT
041153,001427: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041154,001428:
041155,001429: 15,2413 77776 ZSPCR EXIT
041156,001430: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041157,001431: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041158,001432: 15,2416 55240 TS SPIRAL
041159,001433: 15,2417 12437 TCF 79DISP
041160,001434:
041161,001435: 15,2420 77776 NXAX EXIT
041162,001436: 15,2421 25242 INCR POSCODE
041163,001437: 15,2422 41242 CS POSCODE
041164,001438: 15,2423 64757 AD SEVEN
041165,001439: 15,2424 00006 EXTEND
041166,001440: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041167,001441: 15,2426 12310 TCF INCAZ
041168,001442:
041169,001443: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041170,001444: 15,2430 00404 OCT 404
041171,001445: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041172,001446: 15,2432 04616 TC BANKCALL
041173,001447: 15,2433 20476 CADR GOFLASH
041174,001448: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041175,001449: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041176,001450: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041177,001451:
041178,001452: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041179,001453: 15,2440 04616 TC BANKCALL
041180,001454: 15,2441 20476 CADR GOFLASH
041181,001455: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 960
|
041183,001457: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041184,001458: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041185,001459:
041186,001460: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041187,001461: 15,2446 71242 MASK POSCODE
041188,001462: 15,2447 00006 EXTEND
041189,001463: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041190,001464: 15,2451 47744 CS HIGH9
041191,001465: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041192,001466: 15,2453 60001 AD L
041193,001467: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041194,001468:
041195,001469: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041196,001470: 15,2456 16000 CADR AOTMARK
041197,001471: 15,2457 04616 TC BANKCALL
041198,001472: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041199,001473: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041200,001474: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041201,001475:
041202,001476: 15,2463 00306 V01N70* VN 170
041203,001477: 15,2464 01517 V06N79 VN 679
041204,001478: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041205,001479: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041206,001480: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041207,001481: 15,2472 1236 CURSOR EQUALS GDT/2
041208,001482: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041209,001483: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041210,001484:
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|
Page 961
|
041212,001486: # NAME - PLANET
041213,001487: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041214,001488: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041215,001489: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041216,001490: # BY DSDY INPUT
041217,001491: # CALL - CALL
041218,001492: # PLANET
041219,001493: # INPUT - TIME IN MPAC
041220,001494: # OUTPUT - VECTOR IN MPAC
041221,001495: # SUBROUTINES - LOCSAM
041222,001496: # DEBRIS - VAC, STARAD - STARAD +17
041223,001497:
041224,001498: 15,2000 SETLOC P50S
041225,001499: 15,2000 BANK
041226,001500: 15,2472 COUNT* $$/P51
041227,001501:
041228,001502: 15,2472 27562 PLANET STOVL TSIGHT
041229,001503: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
041230,001504: 15,2474 02707 STORE STARAD
041231,001505: 15,2475 77420 STQ EXIT
041232,001506: 15,2476 02736 GCTR
041233,001507: 15,2477 47744 CS HIGH9
041234,001508: 15,2500 70735 MASK AOTCODE
041235,001509: 15,2501 00006 EXTEND
041236,001510: 15,2502 76242 MP REVCNT
041237,001511: 15,2503 56001 XCH L
041238,001512: 15,2504 51757 INDEX STARIND
041239,001513: 15,2505 55755 TS BESTI
041240,001514: 15,2506 10000 CCS A
041241,001515: 15,2507 12523 TCF NOTPLAN
041242,001516: 15,2510 32562 CAF VNPLANV
041243,001517: 15,2511 04616 TC BANKCALL
041244,001518: 15,2512 20476 CADR GOFLASH
041245,001519: 15,2513 02510 TC -3
041246,001520: 15,2514 02516 TC +2
041247,001521: 15,2515 02510 TC -5
041248,001522: 15,2516 06037 TC INTPRET
041249,001523: 15,2517 53575 VLOAD UNIT
041250,001524: 15,2520 02707 STARAD
041251,001525: 15,2521 77650 GOTO
041252,001526: 15,2522 02736 GCTR
041253,001527: 15,2523 40000 NOTPLAN CS A
041254,001528: 15,2524 62561 AD DEC227
041255,001529: 15,2525 00006 EXTEND
041256,001530: 15,2526 62537 BZMF CALSAM1
041257,001531: 15,2527 51757 INDEX STARIND
041258,001532: 15,2530 31755 CA BESTI
041259,001533: 15,2531 50120 INDEX FIXLOC
041260,001534: 15,2532 54046 TS X1
041261,001535: 15,2533 06037 TC INTPRET
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|
Page 962
|
041263,001537: 15,2534 52173 VLOAD* GOTO
041264,001538: 15,2535 30347 CATLOG,1
041265,001539: 15,2536 02736 GCTR
041266,001540: 15,2537 06037 CALSAM1 TC INTPRET
041267,001541: 15,2540 45145 CALSAM DLOAD CALL
041268,001542: 15,2541 03562 TSIGHT
041269,001543: 15,2542 30506 LOCSAM
041270,001544: 15,2543 77340 LXC,1 VLOAD
041271,001545: 15,2544 02757 STARIND
041272,001546: 15,2545 02707 VEARTH
041273,001547: 15,2546 24001 STOVL 0D
041274,001548: 15,2547 02715 VSUN
041275,001549: 15,2550 26707 STOVL VEARTH
041276,001550: 15,2551 00001 0D
041277,001551: 15,2552 02715 STORE VSUN
041278,001552: 15,2553 70143 DLOAD* LXC,1
041279,001553: 15,2554 02756 BESTI,1
041280,001554: 15,2555 00154 MPAC
041281,001555: 15,2556 52173 VLOAD* GOTO
041282,001556: 15,2557 02343 STARAD -228D,1
041283,001557: 15,2560 02736 GCTR
041284,001558: 15,2561 00343 DEC227 DEC 227 B-14
041285,001559: 15,2562 01530 VNPLANV VN 0688
041286,001560: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041287,001561:
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|
Page 963
|
041289,001563: # GRAVITY VECTOR DETERMINATION ROUTINE
041290,001564: # BY KEN VINCENT
041291,001565:
041292,001566: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041293,001567:
041294,001568: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041295,001569: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041296,001570: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041297,001571: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041298,001572: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041299,001573: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041300,001574: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041301,001575: # READINGS.
041302,001576:
041303,001577: # CALL -
041304,001578: # TC BANKCALL
041305,001579: # CADR GVDETER
041306,001580:
041307,001581: # INPUTS -
041308,001582: # PIPAS, CDUS
041309,001583:
041310,001584: # OUTPUTS -
041311,001585: # STARSAV1 = UNIT GRAVITY
041312,001586: # GSAV = DITTO
041313,001587: # GRAVBIT = 1
041314,001588:
041315,001589: # SUBROUTINES -
041316,001590: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041317,001591: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041318,001592:
041319,001593: # DEBRIS -
041320,001594: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041321,001595:
041322,001596: 15,2563 32772 GVDETER CAF 42DEG
041323,001597: 15,2564 54321 TS THETAD
041324,001598: 15,2565 40000 COM
041325,001599: 15,2566 54322 TS THETAD +1
041326,001600: 15,2567 32773 CAF 35DEG
041327,001601: 15,2570 54323 TS THETAD +2
041328,001602: 15,2571 06037 TC INTPRET
041329,001603: 15,2572 45014 CLEAR CALL
041330,001604: 15,2573 01662 REFSMFLG
041331,001605: 15,2574 32670 LUNG
041332,001606:
041333,001607: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041334,001608:
041335,001609: # DEFINE G COOR SYS
041336,001610: # -
041337,001611: # X UNIT G
041338,001612: # * - -
041339,001613: # M = Y = UNITEZSM * X )
041340,001614: # - - -
041341,001615: # Z UNIT(X * Y )
041342,001616:
041343,001617: # THEN ROTATED SM WRT PRESENT IS
041344,001618:
041345,001619: # 1, 0, 0
041346,001620: # * *T * * *
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|
Page 964
|
041348,001622: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041349,001623: # I J
041350,001624: # 0, 0, -1
041351,001625:
041352,001626: # ALSO NB WRT PRES SM IS
041353,001627:
041354,001628: # * * *
041355,001629: # XNB = NBSM I
041356,001630: # * *
041357,001631: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041358,001632:
041359,001633: 15,2000 SETLOC P50S
041360,001634: 15,2000 BANK
041361,001635: 15,2575 COUNT* $$/P57
041362,001636: 15,2575 66370 AXT,1 SSP # X1=18
041363,001637: 15,2576 00022 18D # S1=6
041364,001638: 15,2577 00051 S1 # X2, -2
041365,001639: 15,2600 00006 6D
041366,001640: 15,2601 77744 LXC,2
041367,001641: 15,2602 00050 S1
041368,001642: 15,2603 45173 GRAVEL VLOAD* CALL
041369,001643: 15,2604 54000 XUNIT -6,2
041370,001644: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
041371,001645: 15,2606 06707 STORE XNB +18D,1
041372,001646: 15,2607 77775 VLOAD
041373,001647: 15,2610 02731 STAR
041374,001648: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041375,001649: 15,2612 00047 X2
041376,001650: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
041377,001651: 15,2614 71152 VSL2 LXC,2
041378,001652: 15,2615 00047 X2
041379,001653: 15,2616 63047 VSU* INCR,2
041380,001654: 15,2617 54000 XUNIT -6,2
041381,001655: 15,2620 00002 2D
041382,001656: 15,2621 06665 STORE XSM +18D,1
041383,001657: 15,2622 45100 TIX,1 CALL
041384,001658: 15,2623 32603 GRAVEL
041385,001659: 15,2624 47353 CALCGA
041386,001660: 15,2625 74575 VLOAD VSR1
041387,001661: 15,2626 02715 GOUT
041388,001662: 15,2627 36723 STCALL STARAD +12D
041389,001663: 15,2630 32670 LUNG
041390,001664: 15,2631 74575 VLOAD VSR1
041391,001665: 15,2632 02715 GOUT
041392,001666: 15,2633 53455 VAD UNIT
041393,001667: 15,2634 02723 STARAD +12D
041394,001668: 15,2635 02761 STORE STARSAV1
041395,001669: 15,2636 77641 DOT
041396,001670: 15,2637 02231 GSAV
041397,001671: 15,2640 65552 SL1 ACOS
|
|
Page 965
|
041399,001673: 15,2641 01046 STORE DSPTEM1
041400,001674: 15,2642 77776 EXIT
041401,001675: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041402,001676: 15,2644 00014 ADRES FREEFLAG
041403,001677:
041404,001678: 15,2645 32771 CA DISGRVER
041405,001679: 15,2646 04616 TC BANKCALL
041406,001680: 15,2647 20476 CADR GOFLASH
041407,001681: 15,2650 06001 TC GOTOPOOH
041408,001682: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
041409,001683: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041410,001684: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041411,001685:
041412,001686: 15,2654 05353 PROGRAV TC PHASCHNG
041413,001687: 15,2655 04024 OCT 04024
041414,001688:
041415,001689: 15,2656 06037 TC INTPRET
041416,001690: 15,2657 77775 VLOAD
041417,001691: 15,2660 02761 STARSAV1
041418,001692: 15,2661 02231 STORE GSAV
041419,001693: 15,2662 77776 EXIT
041420,001694: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041421,001695: 15,2664 70074 MASK FLAGWRD0
041422,001696: 15,2665 10000 CCS A
041423,001697: 15,2666 12563 TCF GVDETER # SET
041424,001698: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
041425,001699:
041426,001700: 15,2670 77220 LUNG STQ VLOAD
041427,001701: 15,2671 02745 QMIN
041428,001702: 15,2672 24007 ZEROVEC
041429,001703: 15,2673 02707 STORE GACC
041430,001704: 15,2674 77776 EXIT
041431,001705: 15,2675 05353 TC PHASCHNG
041432,001706: 15,2676 04024 OCT 04024
041433,001707:
041434,001708: 15,2677 04616 TC BANKCALL
041435,001709: 15,2700 17000 CADR IMUCOARS
041436,001710: 15,2701 04616 TC BANKCALL
041437,001711: 15,2702 17716 CADR IMUSTALL
041438,001712: 15,2703 05711 TC CURTAINS
041439,001713: 15,2704 04616 TC BANKCALL
041440,001714: 15,2705 17210 CADR IMUFINE
041441,001715: 15,2706 04616 TC BANKCALL
041442,001716: 15,2707 17716 CADR IMUSTALL
041443,001717: 15,2710 05711 TC CURTAINS
041444,001718: 15,2711 32770 CA T/2SEC
041445,001719: 15,2712 55736 TS GCTR
041446,001720: 15,2713 37716 CA PRIO31
041447,001721: 15,2714 55075 TS 1/PIPADT
041448,001722: 15,2715 04616 TC BANKCALL
|
|
Page 966
|
041450,001724: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
041451,001725: 15,2717 05353 TC PHASCHNG
041452,001726: 15,2720 04024 OCT 04024
041453,001727:
041454,001728: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041455,001729: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041456,001730: 15,2723 06037 TC INTPRET
041457,001731: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041458,001732: 15,2725 35000 CAF 2SECS
041459,001733: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041460,001734: 15,2727 02731 ADRES GRABGRAV
041461,001735:
041462,001736: 15,2730 05155 TC ENDOFJOB
041463,001737:
041464,001738: 15,2731 04674 GRABGRAV TC IBNKCALL
041465,001739: 15,2732 77544 CADR PIPSRINE
041466,001740: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041467,001741: 15,2734 05105 TC FINDVAC
041468,001742: 15,2735 E5,1706 EBANK= STARAD
041469,001743: 15,2735 02740 32065 2CADR ADDGRAV
041470,001744:
041471,001745: 15,2737 05261 TC TASKOVER
041472,001746:
041473,001747: 15,2740 04616 ADDGRAV TC BANKCALL
041474,001748: 15,2741 15263 CADR 1/PIPA
041475,001749: 15,2742 25736 INCR GCTR
041476,001750: 15,2743 06037 TC INTPRET
041477,001751: 15,2744 53375 VLOAD VAD
041478,001752: 15,2745 00325 DELV
041479,001753: 15,2746 02707 GACC
041480,001754: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
041481,001755: 15,2750 50135 SLOAD BMN
041482,001756: 15,2751 02737 GCTR
041483,001757: 15,2752 32724 GREED
041484,001758: 15,2753 53575 VLOAD UNIT
041485,001759: 15,2754 02707 GACC
041486,001760: 15,2755 36731 STCALL STAR
041487,001761: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041488,001762: 15,2757 77624 CALL # IN OUTPUT
041489,001763: 15,2760 47671 *SMNB*
041490,001764: 15,2761 02715 STORE GOUT
041491,001765: 15,2762 77776 EXIT
041492,001766: 15,2763 05353 TC PHASCHNG
041493,001767: 15,2764 04024 OCT 04024
041494,001768:
041495,001769: 15,2765 06037 QMINEXIT TC INTPRET
041496,001770: 15,2766 77650 GOTO
041497,001771: 15,2767 02745 QMIN
041498,001772: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967
|
041500,001774: 15,2771 01404 DISGRVER VN 0604
041501,001775: 15,2772 07357 42DEG OCT 07357
041502,001776: 15,2773 06211 35DEG OCT 06211
041503,001777:
|
|
Page 968
|
041505,001779: # NAME GYROTRIM
041506,001780:
041507,001781: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041508,001782: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041509,001783: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041510,001784:
041511,001785: # CALL CALL
041512,001786: # GYROTRIM
041513,001787:
041514,001788: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041515,001789: # CDUX,CDUY,CDUZ
041516,001790:
041517,001791: # OUTPUT - GYRO TORQUE PULSES
041518,001792:
041519,001793: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041520,001794: # IMPULSE, IMUSTALL
041521,001795: # - - - * * -
041522,001796: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041523,001797:
041524,001798: 15,2774 COUNT* $$/P57
041525,001799: 15,2774 71220 GYROTRIM STQ DLOAD
041526,001800: 15,2775 02745 QMIN
041527,001801: 15,2776 00322 THETAD
041528,001802: 15,2777 65325 PDDL PDDL
041529,001803: 15,3000 00324 THETAD +2
041530,001804: 15,3001 00323 THETAD +1
041531,001805: 15,3002 77666 VDEF
041532,001806: 15,3003 24767 STOVL CDUSPOT
041533,001807: 15,3004 24005 XUNIT
041534,001808: 15,3005 77624 CALL
041535,001809: 15,3006 47664 TRG*NBSM
041536,001810: 15,3007 26707 STOVL STARAD
041537,001811: 15,3010 24003 YUNIT
041538,001812: 15,3011 77624 CALL
041539,001813: 15,3012 47673 *NBSM*
041540,001814: 15,3013 36715 STCALL STARAD +6
041541,001815: 15,3014 47537 CDUTRIG
041542,001816: 15,3015 77624 CALL
041543,001817: 15,3016 20030 CALCSMSC
041544,001818: 15,3017 77775 VLOAD
041545,001819: 15,3020 02665 XNB
041546,001820: 15,3021 24007 STOVL 6D
041547,001821: 15,3022 02673 YNB
041548,001822: 15,3023 34015 STCALL 12D
041549,001823: 15,3024 47441 AXISGEN
041550,001824: 15,3025 77624 CALL
041551,001825: 15,3026 47247 CALCGTA
041552,001826: 15,3027 77776 JUSTTRIM EXIT
041553,001827: 15,3030 04616 TC BANKCALL
041554,001828: 15,3031 17210 CADR IMUFINE
041555,001829: 15,3032 04616 TC BANKCALL
|
|
Page 969
|
041557,001831: 15,3033 17716 CADR IMUSTALL
041558,001832: 15,3034 05711 TC CURTAINS
041559,001833: 15,3035 33044 CA GYRCDR
041560,001834: 15,3036 04616 TC BANKCALL
041561,001835: 15,3037 17323 CADR IMUPULSE
041562,001836: 15,3040 04616 TC BANKCALL
041563,001837: 15,3041 17716 CADR IMUSTALL
041564,001838: 15,3042 05711 TC CURTAINS
041565,001839: 15,3043 12765 TCF QMINEXIT
041566,001840:
041567,001841: 15,3044 02737 GYRCDR ECADR OGC
041568,001842:
|
|
Page 970
|
041570,001844: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041571,001845:
041572,001846: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
041573,001847: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041574,001848: 15,3047 34753 1STAR CAF BIT1
041575,001849: 15,3050 55757 TS STARIND
041576,001850:
041577,001851: 15,3051 05353 TC PHASCHNG
041578,001852: 15,3052 04024 OCT 04024
041579,001853:
041580,001854: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041581,001855:
041582,001856: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041583,001857: 15,3055 00006 EXTEND
041584,001858: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
041585,001859:
041586,001860: 15,3057 05353 TC PHASCHNG
041587,001861: 15,3060 04024 OCT 04024
041588,001862:
041589,001863: 15,3061 06037 TC INTPRET
041590,001864: 15,3062 45145 DLOAD CALL
041591,001865: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
041592,001866: 15,3064 32472 PLANET
041593,001867: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041594,001868: 15,3066 33101 SURFLINE
041595,001869:
041596,001870: 15,3067 06037 ASTAR TC INTPRET
041597,001871: 15,3070 77775 VLOAD
041598,001872: 15,3071 02715 STARAD +6
041599,001873: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041600,001874: 15,3073 45145 DLOAD CALL
041601,001875: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
041602,001876: 15,3075 32472 PLANET
041603,001877: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041604,001878: 15,3077 77776 EXIT
041605,001879: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
041606,001880:
|
|
Page 971
|
041608,001882: # DO FINE OR COARSE ALIGNMENT OF IMU
041609,001883:
041610,001884: 15,3101 77131 SURFLINE SSP AXT,2
041611,001885: 15,3102 00052 S2
041612,001886: 15,3103 00006 6
041613,001887: 15,3104 00014 12D
041614,001888: 15,3105 64373 WRTDESIR VLOAD* MXV
041615,001889: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041616,001890: 15,3107 03607 XSMD
041617,001891: 15,3110 77656 UNIT
041618,001892: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
041619,001893: 15,3112 77773 VLOAD*
041620,001894: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041621,001895: 15,3114 10023 STORE 18D,2
041622,001896: 15,3115 43104 TIX,2 BON
041623,001897: 15,3116 33105 WRTDESIR
041624,001898: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041625,001899: 15,3120 33126 INITBY
041626,001900: 15,3121 77624 DOALIGN CALL
041627,001901: 15,3122 31256 R54 # DO CHKSDATA
041628,001902: 15,3123 77614 BOFF
041629,001903: 15,3124 00354 FREEFLAG
041630,001904: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041631,001905: 15,3126 77624 INITBY CALL
041632,001906: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041633,001907: 15,3130 77624 CALL
041634,001908: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041635,001909: 15,3132 77776 EXIT
041636,001910: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041637,001911: 15,3134 70104 MASK FLAGWRD8
041638,001912: 15,3135 10000 CCS A
041639,001913: 15,3136 13145 TCF 5DEGTEST
041640,001914: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041641,001915: 15,3140 04616 TC BANKCALL
041642,001916: 15,3141 20476 CADR GOFLASH
041643,001917: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
041644,001918: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041645,001919: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041646,001920:
041647,001921: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041648,001922: 15,3146 40175 VLOAD BOV
041649,001923: 15,3147 02740 OGC
041650,001924: 15,3150 33151 SURFSUP
041651,001925: 15,3151 02750 SURFSUP STORE OGCT
041652,001926: 15,3152 40141 V/SC BOV
041653,001927: 15,3153 30610 5DEGREES
041654,001928: 15,3154 33254 COATRIM
041655,001929: 15,3155 52131 SSP GOTO
041656,001930: 15,3156 02746 QMIN
041657,001931: 15,3157 33161 SURFDISP
|
|
Page 972
|
041659,001933: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041660,001934:
041661,001935: 15,3161 77776 SURFDISP EXIT
041662,001936: 15,3162 05353 TC PHASCHNG
041663,001937: 15,3163 04024 OCT 04024
041664,001938:
041665,001939: 15,3164 06037 TC INTPRET
041666,001940: 15,3165 75160 AXC,1 AXC,2
041667,001941: 15,3166 03606 XSMD
041668,001942: 15,3167 01733 REFSMMAT
041669,001943: 15,3170 45014 SET CALL
041670,001944: 15,3171 01462 REFSMFLG
041671,001945: 15,3172 31377 MATMOVE
041672,001946: 15,3173 77776 EXIT
041673,001947: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
041674,001948: 15,3175 13177 TCF B2F8
041675,001949: 15,3176 13207 TCF P57POST +1
041676,001950:
041677,001951: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041678,001952: 15,3200 70104 MASK FLAGWRD8
041679,001953: 15,3201 10000 CCS A
041680,001954: 15,3202 13561 TCF P57JUMP # ITS SET
041681,001955: 15,3203 06037 TC INTPRET
041682,001956: 15,3204 77624 CALL
041683,001957: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041684,001958: 15,3206 77776 P57POST EXIT
041685,001959: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041686,001960: 15,3210 04616 TC BANKCALL
041687,001961: 15,3211 20623 CADR GOPERF1
041688,001962: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
041689,001963: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041690,001964: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041691,001965: 15,3215 61145 AD OPTION2
041692,001966: 15,3216 00006 EXTEND
041693,001967: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
041694,001968: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
041695,001969: 15,3221 05353 TC PHASCHNG # RESTART PLACE
041696,001970: 15,3222 04024 OCT 04024
041697,001971: 15,3223 06037 TC INTPRET
041698,001972: 15,3224 45175 VLOAD CALL # USE GNB
041699,001973: 15,3225 02231 GSAV
041700,001974: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
041701,001975: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
041702,001976: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041703,001977: 15,3231 01463 LUNAFLAG
041704,001978: 15,3232 51515 PDVL ABVAL
041705,001979: 15,3233 02023 RLS
041706,001980: 15,3234 45561 VXSC STADR
041707,001981: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041708,001982: 15,3236 47014 CLEAR RTB
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|
Page 973
|
041710,001984: 15,3237 00662 ERADFLAG
041711,001985: 15,3240 21573 LOADTIME
041712,001986: 15,3241 77624 CALL
041713,001987: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041714,001988: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
041715,001989: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041716,001990: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041717,001991: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
041718,001992: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
041719,001993: 15,3250 51670 R-TO-RP
041720,001994: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041721,001995: 15,3252 77776 EXIT
041722,001996: 15,3253 16001 TCF GOTOPOOH # EXIT P57
041723,001997:
|
|
Page 974
|
041725,001999: # COARSE AND FINE ALIGN IMU
041726,002000:
041727,002001: 15,3254 75160 COATRIM AXC,1 AXC,2
041728,002002: 15,3255 02664 XDC
041729,002003: 15,3256 02642 XSM
041730,002004: 15,3257 77624 CALL
041731,002005: 15,3260 31377 MATMOVE
041732,002006: 15,3261 77624 CALL
041733,002007: 15,3262 47537 CDUTRIG
041734,002008: 15,3263 77624 CALL
041735,002009: 15,3264 20030 CALCSMSC
041736,002010: 15,3265 77624 CALL
041737,002011: 15,3266 47353 CALCGA
041738,002012: 15,3267 77414 BOFF EXIT
041739,002013: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041740,002014: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041741,002015: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
041742,002016: 15,3273 04616 TC BANKCALL
041743,002017: 15,3274 20476 CADR GOFLASH
041744,002018: 15,3275 06001 TC GOTOPOOH
041745,002019: 15,3276 13300 TCF +2
041746,002020: 15,3277 13272 TCF -5
041747,002021: 15,3300 05353 TC PHASCHNG
041748,002022: 15,3301 04024 OCT 04024
041749,002023:
041750,002024: 15,3302 06037 TC INTPRET
041751,002025: 15,3303 77624 CORSIT CALL
041752,002026: 15,3304 31565 COARSE
041753,002027: 15,3305 77624 CALL
041754,002028: 15,3306 31602 NCOARSE
041755,002029: 15,3307 77624 CALL
041756,002030: 15,3310 32774 GYROTRIM
041757,002031: 15,3311 77650 GOTO
041758,002032: 15,3312 33161 SURFDISP
041759,002033: 15,3313 01535 DISPGYRO VN 0693
041760,002034:
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|
Page 975
|
041762,002036: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041763,002037:
041764,002038: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041765,002039: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041766,002040:
041767,002041: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041768,002042: 15,3317 55145 TS OPTION2
041769,002043: 15,3320 34753 P57OPT CAF BIT1
041770,002044: 15,3321 04616 TC BANKCALL
041771,002045: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041772,002046: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
041773,002047: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
041774,002048: 15,3325 13320 TCF P57OPT # V32 RECYCLE
041775,002049:
041776,002050: 15,3326 05353 TC PHASCHNG
041777,002051: 15,3327 00014 OCT 00014
041778,002052: 15,3330 05155 TC ENDOFJOB
041779,002053:
041780,002054: 15,3331 31145 ALIGNOPT CA OPTION2
041781,002055: 15,3332 76245 MASK THREE
041782,002056: 15,3333 50000 INDEX A
041783,002057: 15,3334 13335 TCF +1
041784,002058: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
041785,002059: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
041786,002060: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041787,002061: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
041788,002062: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041789,002063: 15,3342 01733 REFSMMAT
041790,002064: 15,3343 03606 XSMD
041791,002065: 15,3344 77624 CALL
041792,002066: 15,3345 31377 MATMOVE
041793,002067: 15,3346 77650 GOTO
041794,002068: 15,3347 33410 PACKOPTN -1
041795,002069:
041796,002070: 15,3350 06037 TDISP TC INTPRET
041797,002071: 15,3351 77745 DLOAD
041798,002072: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041799,002073: 15,3353 01046 P57A STORE DSPTEM1
041800,002074: 15,3354 77776 EXIT
041801,002075: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041802,002076: 15,3356 04616 TC BANKCALL
041803,002077: 15,3357 20476 CADR GOFLASH
041804,002078: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
041805,002079: 15,3361 13363 TCF +2
041806,002080: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
041807,002081:
041808,002082: 15,3363 06037 TC INTPRET
041809,002083: 15,3364 65234 RTB PDDL
041810,002084: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041811,002085: 15,3366 01046 DSPTEM1
|
|
Page 976
|
041813,002087: 15,3367 65254 BZE PDDL
041814,002088: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041815,002089: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041816,002090: 15,3372 01046 DSPTEM1
041817,002091: 15,3373 33400 P57C
041818,002092: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041819,002093: 15,3375 74335 STORE TIG # STORE IT IN TIG
041820,002094: 15,3376 36775 STCALL TALIGN
041821,002095: 15,3377 33402 P57D
041822,002096: 15,3400 45545 P57C DLOAD STADR
041823,002097: 15,3401 75002 STORE TALIGN
041824,002098: 15,3402 34041 P57D STCALL TDEC1
041825,002099: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041826,002100: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
041827,002101: 15,3405 00001 RATT
041828,002102: 15,3406 37607 STCALL XSMD
041829,002103: 15,3407 11013 LSORIENT
041830,002104: 15,3410 77776 EXIT
041831,002105: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041832,002106: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041833,002107: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041834,002108: 15,3414 34737 CAF REFSMBIT
041835,002109: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
041836,002110: 15,3416 10000 CCS A
041837,002111: 15,3417 34745 CAF BIT7 # SET
041838,002112: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
041839,002113: 15,3421 34753 CAF ATTFLBIT
041840,002114: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
041841,002115: 15,3423 10000 CCS A
041842,002116: 15,3424 34750 CAF BIT4 # SET
041843,002117: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
041844,002118: 15,3426 34750 CAF BIT4
041845,002119: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041846,002120:
041847,002121: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041848,002122: 15,3431 04616 TC BANKCALL
041849,002123: 15,3432 20476 CADR GOFLASH
041850,002124: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
041851,002125: 15,3434 13436 TCF +2 # V33 - PROCEED
041852,002126: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
041853,002127:
041854,002128: 15,3436 34737 CAF REFSMBIT
041855,002129: 15,3437 70077 MASK FLAGWRD3
041856,002130: 15,3440 10000 CCS A
041857,002131: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041858,002132: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041859,002133: 15,3443 70102 MASK FLAGWRD6
041860,002134: 15,3444 10000 CCS A
041861,002135: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041862,002136: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 977
|
041864,002138: 15,3447 71145 MASK OPTION2
041865,002139: 15,3450 10000 CCS A
041866,002140: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041867,002141: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041868,002142: 15,3453 00701 OCT 701
041869,002143: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041870,002144: 15,3455 04616 TC BANKCALL
041871,002145: 15,3456 20476 CADR GOFLASH
041872,002146: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
041873,002147: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
041874,002148: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041875,002149:
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|
Page 978
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041877,002151: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041878,002152:
041879,002153: 15,3462 40220 MFREF STQ SETPD
041880,002154: 15,3463 02746 QMAJ
041881,002155: 15,3464 00001 0
041882,002156: 15,3465 77634 RTB
041883,002157: 15,3466 21573 LOADTIME
041884,002158: 15,3467 27562 STOVL TSIGHT
041885,002159: 15,3470 02723 VEC1
041886,002160: 15,3471 41525 PDDL PUSH
041887,002161: 15,3472 03562 TSIGHT
041888,002162: 15,3473 77624 CALL
041889,002163: 15,3474 55716 RP-TO-R
041890,002164: 15,3475 26723 STOVL VEC1
041891,002165: 15,3476 02731 VEC2
041892,002166: 15,3477 65201 SETPD PDDL
041893,002167: 15,3500 00001 0
041894,002168: 15,3501 03562 TSIGHT
041895,002169: 15,3502 45006 PUSH CALL
041896,002170: 15,3503 55716 RP-TO-R
041897,002171: 15,3504 36731 STCALL VEC2
041898,002172: 15,3505 02746 QMAJ
041899,002173:
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|
Page 979
|
041901,002175: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041902,002176: # STORE IN YNBSAV AND ZNBSAV
041903,002177:
041904,002178: 15,3506 45020 REFMF STQ CALL
041905,002179: 15,3507 02746 QMAJ
041906,002180: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
041907,002181: 15,3511 40234 RTB SETPD
041908,002182: 15,3512 21573 LOADTIME
041909,002183: 15,3513 00001 0
041910,002184: 15,3514 37562 STCALL TSIGHT
041911,002185: 15,3515 20030 CALCSMSC # GET YNB IN SM
041912,002186: 15,3516 61375 VLOAD VXM
041913,002187: 15,3517 02673 YNB
041914,002188: 15,3520 01734 REFSMMAT # YNB TO REF
041915,002189: 15,3521 65256 UNIT PDDL
041916,002190: 15,3522 03562 TSIGHT
041917,002191: 15,3523 45006 PUSH CALL
041918,002192: 15,3524 51670 R-TO-RP
041919,002193: 15,3525 26237 STOVL YNBSAV # YNB TO MF
041920,002194: 15,3526 02701 ZNB
041921,002195: 15,3527 53505 VXM UNIT
041922,002196: 15,3530 01734 REFSMMAT # ZNB TO REF
041923,002197: 15,3531 41525 PDDL PUSH
041924,002198: 15,3532 03562 TSIGHT
041925,002199: 15,3533 77624 CALL
041926,002200: 15,3534 51670 R-TO-RP # ZNB TO MF
041927,002201: 15,3535 02245 STORE ZNBSAV
041928,002202: 15,3536 77614 SETGO
041929,002203: 15,3537 03036 ATTFLAG
041930,002204: 15,3540 02746 QMAJ
041931,002205:
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|
Page 980
|
041933,002207: # BRANCH TO ALIGNMENT OPTION
041934,002208:
041935,002209: 15,3541 06037 GETLMATT TC INTPRET
041936,002210: 15,3542 77624 CALL
041937,002211: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041938,002212: 15,3544 77776 EXIT
041939,002213:
041940,002214: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041941,002215: 15,3546 00205 ADRES INITALGN
041942,002216: 15,3547 34753 CAF BIT1
041943,002217: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
041944,002218: 15,3551 10000 CCS A
041945,002219: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041946,002220:
041947,002221: 15,3553 05353 ATTCHK TC PHASCHNG
041948,002222: 15,3554 04024 OCT 04024
041949,002223:
041950,002224: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041951,002225: 15,3556 70102 MASK FLAGWRD6
041952,002226: 15,3557 10000 CCS A
041953,002227: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041954,002228: 15,3561 05353 P57JUMP TC PHASCHNG
041955,002229: 15,3562 04024 OCT 04024
041956,002230:
041957,002231: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041958,002232: 15,3564 00205 ADRES INITALGN
041959,002233: 15,3565 36245 CAF THREE
041960,002234: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
041961,002235: 15,3567 50000 INDEX A
041962,002236: 15,3570 13571 TCF +1
041963,002237: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
041964,002238: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
041965,002239: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
041966,002240: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
041967,002241:
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|
Page 981
|
041969,002243: # OPTION 0, GET TWO ATTITUDE VECS
041970,002244:
041971,002245: 15,3575 06037 P57OPT0 TC INTPRET
041972,002246: 15,3576 77775 VLOAD
041973,002247: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041974,002248: 15,3600 26723 STOVL VEC1
041975,002249: 15,3601 02245 ZNBSAV
041976,002250: 15,3602 36731 STCALL VEC2
041977,002251: 15,3603 47537 CDUTRIG
041978,002252: 15,3604 77624 CALL
041979,002253: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041980,002254: 15,3606 77775 VLOAD
041981,002255: 15,3607 02673 YNB
041982,002256: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041983,002257: 15,3611 02701 ZNB
041984,002258: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041985,002259: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041986,002260: 15,3614 77650 GOTO
041987,002261: 15,3615 33101 SURFLINE
041988,002262:
041989,002263: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041990,002264:
041991,002265: 15,3616 06037 P57OPT1 TC INTPRET
041992,002266: 15,3617 53575 VLOAD UNIT
041993,002267: 15,3620 02023 RLS # LANDING SITE VEC
041994,002268: 15,3621 26723 STOVL VEC1
041995,002269: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
041996,002270: 15,3623 36731 STCALL VEC2
041997,002271: 15,3624 47537 CDUTRIG
041998,002272: 15,3625 77624 CALL
041999,002273: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042000,002274: 15,3627 45175 VLOAD CALL
042001,002275: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042002,002276: 15,3631 47661 CDU*NBSM
042003,002277: 15,3632 77650 GOTO
042004,002278: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042005,002279:
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|
Page 982
|
042007,002281: # OPTION 2, GET TWO STAR SIGHTINGS
042008,002282:
042009,002283: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042010,002284:
042011,002285: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042012,002286:
042013,002287: 15,3635 06037 P57OPT3 TC INTPRET
042014,002288: 15,3636 53575 VLOAD UNIT
042015,002289: 15,3637 02023 RLS # LANDING SITE VEC
042016,002290: 15,3640 02723 STORE VEC1
042017,002291: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042018,002292: 15,3642 02231 GSAV # GRAVITY VEC NB
042019,002293: 15,3643 77624 CALL
042020,002294: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042021,002295: 15,3645 36761 STCALL STARSAV1
042022,002296: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042023,002297: 15,3647 77776 EXIT
042024,002298: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042025,002299:
042026,002300: 15,3651 01206 VB05N06 VN 506
042027,002301:
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|
Page 983
|
042029,002303: # CHECK IMODES30 TO VARIFY IMU IS ON
042030,002304:
042031,002305: 15,3652 41302 IMUCHK CS IMODES30
042032,002306: 15,3653 74743 MASK BIT9
042033,002307: 15,3654 10000 CCS A # IS IMU ON
042034,002308: 15,3655 13661 TCF +4 # YES
042035,002309:
042036,002310: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042037,002311: 15,3657 00210 OCT 210
042038,002312: 15,3660 06001 TC GOTOPOOH
042039,002313:
042040,002314: 15,3661 05504 TC UPFLAG
042041,002315: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042042,002316:
042043,002317: 15,3663 04631 TC SWRETURN
042044,002318:
042045,002319: 04,3013 BANK 04
042046,002320: 04,2000 SETLOC AOTMARK2
042047,002321: 04,2000 BANK
042048,002322: 04,3013 COUNT* $$/P57
042049,002323:
042050,002324: 04,3013 77220 LSORIENT STQ VLOAD
042051,002325: 04,3014 02746 QMAJ
042052,002326: 04,3015 01555 RRECTCSM
042053,002327: 04,3016 47235 VXV VXV
042054,002328: 04,3017 01563 VRECTCSM
042055,002329: 04,3020 03607 XSMD
042056,002330: 04,3021 77656 UNIT
042057,002331: 04,3022 03623 STORE ZSMD
042058,002332: 04,3023 53435 VXV UNIT
042059,002333: 04,3024 03607 XSMD
042060,002334: 04,3025 37615 STCALL YSMD
042061,002335: 04,3026 02746 QMAJ
042062,002336:
End of include-file P51-P53.agc. Parent file is MAIN.agc