Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version 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 memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 98 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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039529,000002: ## Copyright: Public domain.
039530,000003: ## Filename: P51-P53.agc
039531,000004: ## Purpose: A section of Luminary revision 98.
039532,000005: ## It is part of the reconstructed source code for the a
039533,000006: ## development version of the flight software for the Lunar
039534,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
039535,000008: ## The code has been recreated from a copy of Luminary 99
039536,000009: ## revision 001, using asterisks indicating changed lines in
039537,000010: ## the listing and Luminary Memo #85, which lists changes between
039538,000011: ## Luminary 98 and 99.
039539,000012: ## Reference: pp. 926-983
039540,000013: ## Assembler: yaYUL
039541,000014: ## Contact: Ron Burkey <info@sandroid.org>.
039542,000015: ## Website: www.ibiblio.org/apollo/index.html
039543,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
039544,000017:
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Page 926
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039546,000019: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039547,000020: # MOD NO - 0 LOG SECTION - P51-P53
039548,000021: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039549,000022:
039550,000023: # FUNCTIONAL DESCRIPTION -
039551,000024:
039552,000025: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039553,000026: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039554,000027:
039555,000028: # (A) PREFERRED ORIENTATION
039556,000029:
039557,000030: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039558,000031: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039559,000032:
039560,000033: # (B) NOMINAL ORIENTATION
039561,000034:
039562,000035: # X = UNIT ( R )
039563,000036: # -SM
039564,000037:
039565,000038: # Y = UNIT (V X R)
039566,000039: # SM
039567,000040:
039568,000041: # Z = UNIT (X X Y )
039569,000042: # SM SM SM
039570,000043:
039571,000044: # WHERE_
039572,000045:
039573,000046: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039574,000047: # -
039575,000048:
039576,000049: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039577,000050: # -
039578,000051:
039579,000052: # (C) REFSMMAT ORIENTATION
039580,000053:
039581,000054: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039582,000055:
039583,000056: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039584,000057: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039585,000058: # SINCE THE LAST ALIGNMENT).
039586,000059:
039587,000060: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039588,000061: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039589,000062: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039590,000063: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039591,000064: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039592,000065: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039593,000066: # REQUESTED.
039594,000067:
039595,000068: # CALLING SEQUENCE -
039596,000069:
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Page 927
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039598,000071: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039599,000072:
039600,000073: # SUBROUTINES CALLED -
039601,000074:
039602,000075: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039603,000076: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039604,000077: # 3. GOPERF4 9. FLAGUP
039605,000078: # 4. MATMOVE 10. R56
039606,000079: # 5. GOFLASH 11. R51
039607,000080: # 6. S52.3 12. GOPERF3
039608,000081:
039609,000082: # NORMAL EXIT MODES -
039610,000083:
039611,000084: # EXITS TO ENDOFJOB
039612,000085:
039613,000086: # ALARM OR ABORT EXIT MODES -
039614,000087:
039615,000088: # NONE
039616,000089:
039617,000090: # OUTPUT -
039618,000091:
039619,000092: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039620,000093: # 1. IMU ORIENTATION CODE
039621,000094: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039622,000095: # 3. TIME OF NEXT IGNITION
039623,000096: # 4. GIMBAL ANGLES
039624,000097: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039625,000098: # 6. PLEASE PERFORM P00
039626,000099: # THE MODE DISPLAY MAY BE CHANGED TO 20
039627,000100:
039628,000101: # ERASABLE INITIALIZATION REQUIRED -
039629,000102:
039630,000103: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039631,000104: # XSMD, YSMD, ZSMD.
039632,000105:
039633,000106: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039634,000107:
039635,000108: # DEBRIS -
039636,000109:
039637,000110: # WORK AREA
039638,000111:
039639,000112: 33,3757 BANK 33
039640,000113: 15,2000 SETLOC P50S
039641,000114: 15,2000 BANK
039642,000115:
039643,000116: 15,2050 E5,1755 EBANK= BESTI
039644,000117: 15,2050 COUNT* $$/P52
039645,000118: 15,2050 04616 PROG52 TC BANKCALL
039646,000119: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
039647,000120: 15,2052 34750 CAF PFRATBIT
039648,000121: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039649,000122: 15,2054 10000 CCS A
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Page 928
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039651,000124: 15,2055 02060 TC P52A # YES
039652,000125: 15,2056 34752 CAF BIT2 # NO
039653,000126: 15,2057 02061 TC P52A +1
039654,000127: 15,2060 34753 P52A CAF BIT1
039655,000128: 15,2061 55145 TS OPTION2
039656,000129: 15,2062 34753 P52B CAF BIT1
039657,000130: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039658,000131: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
039659,000132: 15,2065 06001 TC GOTOPOOH
039660,000133: 15,2066 12073 TCF +5 # V33 - PROCEED
039661,000134: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039662,000135: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039663,000136: 15,2071 00014 OCT 00014
039664,000137: 15,2072 05155 TC ENDOFJOB
039665,000138:
039666,000139: 15,2073 31145 CA OPTION2
039667,000140: 15,2074 76245 MASK THREE
039668,000141: 15,2075 50000 INDEX A
039669,000142: 15,2076 02077 TC +1
039670,000143: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039671,000144: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039672,000145: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039673,000146: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
039674,000147: 15,2103 77650 GOTO
039675,000148: 15,2104 32164 P52F # GO DO R51
039676,000149:
039677,000150: 15,2105 00006 OPT4 EXTEND
039678,000151: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039679,000152: 15,2107 12112 TCF P52T +2
039680,000153:
039681,000154: 15,2110 00006 P52T EXTEND
039682,000155: 15,2111 34755 DCA NEG0
039683,000156: 15,2112 53046 DXCH DSPTEM1
039684,000157: 15,2113 32170 CAF V06N34*
039685,000158: 15,2114 04616 TC BANKCALL
039686,000159: 15,2115 20476 CADR GOFLASH
039687,000160: 15,2116 06001 TC GOTOPOOH
039688,000161: 15,2117 02121 TC +2
039689,000162: 15,2120 02113 TC -5
039690,000163: 15,2121 53046 DXCH DSPTEM1
039691,000164: 15,2122 00006 EXTEND
039692,000165: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039693,000166: 15,2124 12127 TCF +3
039694,000167: 15,2125 00006 EXTEND
039695,000168: 15,2126 30025 DCA TIME2
039696,000169: 15,2127 53775 DXCH TALIGN
039697,000170: 15,2130 31145 P52V CA OPTION2
039698,000171: 15,2131 74752 MASK BIT2
039699,000172: 15,2132 10000 CCS A
039700,000173: 15,2133 02137 TC P52W
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Page 929
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039702,000175: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039703,000176: 15,2135 77650 GOTO
039704,000177: 15,2136 32220 P52LS
039705,000178:
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Page 930
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039707,000180: # START ALIGNMENT
039708,000181:
039709,000182: 15,2137 06037 P52W TC INTPRET
039710,000183: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039711,000184: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039712,000185: 15,2142 31650 S52.3 # ORIENTATION
039713,000186: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039714,000187: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
039715,000188: 15,2145 77776 EXIT
039716,000189: 15,2146 35010 CAF V06N22
039717,000190: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039718,000191: 15,2150 20476 CADR GOFLASH
039719,000192: 15,2151 06001 TC GOTOPOOH
039720,000193: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039721,000194: 15,2153 06037 P52H TC INTPRET
039722,000195: 15,2154 77650 GOTO
039723,000196: 15,2155 32143 P52D
039724,000197: 15,2156 06037 REGCOARS TC INTPRET
039725,000198: 15,2157 77624 CALL # DO COARSE ALIGN
039726,000199: 15,2160 31327 CAL53A # ROUTINE
039727,000200: 15,2161 43014 COARSRET SET CLEAR
039728,000201: 15,2162 01462 REFSMFLG
039729,000202: 15,2163 01273 PFRATFLG
039730,000203: 15,2164 77624 P52F CALL
039731,000204: 15,2165 31015 R51
039732,000205: 15,2166 77776 P52OUT EXIT
039733,000206: 15,2167 06001 TC GOTOPOOH
039734,000207: 15,2170 5006 VB05N09 = V05N09
039735,000208: 15,2170 01442 V06N34* VN 634
039736,000209:
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Page 931
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039738,000211: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039739,000212:
039740,000213: 15,2171 32217 COARSTYP CAF OCT13
039741,000214: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039742,000215: 15,2173 20623 CADR GOPERF1
039743,000216: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039744,000217: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039745,000218: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
039746,000219: 15,2177 64375 VLOAD MXV
039747,000220: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039748,000221: 15,2201 01734 REFSMMAT
039749,000222: 15,2202 77656 UNIT
039750,000223: 15,2203 26665 STOVL XDC
039751,000224: 15,2204 03615 YSMD
039752,000225: 15,2205 53521 MXV UNIT
039753,000226: 15,2206 01734 REFSMMAT
039754,000227: 15,2207 26673 STOVL YDC
039755,000228: 15,2210 03623 ZSMD
039756,000229: 15,2211 53521 MXV UNIT
039757,000230: 15,2212 01734 REFSMMAT
039758,000231: 15,2213 36701 STCALL ZDC
039759,000232: 15,2214 31164 GYCOARS
039760,000233: 15,2215 77650 GOTO
039761,000234: 15,2216 32166 P52OUT
039762,000235: 15,2217 00013 OCT13 OCT 13
039763,000236:
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Page 932
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039765,000238: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039766,000239:
039767,000240: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039768,000241: 15,2221 01463 LUNAFLAG
039769,000242: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039770,000243: 15,2223 77201 SETPD VLOAD
039771,000244: 15,2224 00001 0
039772,000245: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039773,000246: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039774,000247: 15,2227 02775 TALIGN
039775,000248: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039776,000249: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039777,000250: 15,2232 77742 VSR2
039778,000251: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039779,000252: 15,2234 02775 TALIGN
039780,000253: 15,2235 77624 CALL
039781,000254: 15,2236 30446 N89DISP
039782,000255: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
039783,000256: 15,2240 02032 ALPHAV
039784,000257: 15,2241 37607 STCALL XSMD
039785,000258: 15,2242 11013 LSORIENT
039786,000259: 15,2243 77650 GOTO
039787,000260: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
039788,000261:
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Page 933
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039790,000263: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039791,000264:
039792,000265: 14,2000 SETLOC P50S1
039793,000266: 14,2000 BANK
039794,000267: 14,2446 E5,1642 EBANK= XSM
039795,000268:
039796,000269: 14,2446 77620 N89DISP STQ
039797,000270: 14,2447 02746 QMAJ
039798,000271: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
039799,000272: 14,2451 26351 LAT-LONG
039800,000273: 14,2452 70545 DLOAD SR1
039801,000274: 14,2453 01123 LONG
039802,000275: 14,2454 16711 STODL LANDLONG
039803,000276: 14,2455 01125 ALT
039804,000277: 14,2456 16713 STODL LANDALT
039805,000278: 14,2457 01121 LAT
039806,000279: 14,2460 16707 STODL LANDLAT
039807,000280: 14,2461 77776 EXIT
039808,000281:
039809,000282: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
039810,000283: 14,2463 04616 TC BANKCALL
039811,000284: 14,2464 20476 CADR GOFLASH
039812,000285: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
039813,000286: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
039814,000287: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
039815,000288:
039816,000289: 14,2470 06037 TC INTPRET
039817,000290: 14,2471 72545 DLOAD SL1
039818,000291: 14,2472 02711 LANDLONG
039819,000292: 14,2473 15123 STODL LONG
039820,000293: 14,2474 02713 LANDALT
039821,000294: 14,2475 15125 STODL ALT
039822,000295: 14,2476 02707 LANDLAT
039823,000296: 14,2477 15121 STODL LAT
039824,000297: 14,2500 01243 GDT/2 +4 # PICK UP TIME
039825,000298: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
039826,000299: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
039827,000300: 14,2503 77650 GOTO
039828,000301: 14,2504 02746 QMAJ
039829,000302: 14,2505 01531 V06N89* VN 689
039830,000303:
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Page 934
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039832,000305: # NAME - S50 ALIAS LOCSAM
039833,000306: # BY
039834,000307: # VINCENT
039835,000308:
039836,000309: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
039837,000310:
039838,000311: # DEFINE
039839,000312:
039840,000313: # U = UNIT( SUN WRT EARTH )
039841,000314: # ES
039842,000315:
039843,000316: # U = UNIT( MOON WRT EARTH )
039844,000317: # EM
039845,000318:
039846,000319: # R = POSITION VECTOR OF LEM
039847,000320: # L
039848,000321:
039849,000322: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039850,000323: # EM
039851,000324:
039852,000325: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
039853,000326: # EM
039854,000327:
039855,000328: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
039856,000329: # E
039857,000330:
039858,000331: # LOCSAM COMPUTES IN EARTH INFLUENCE
039859,000332:
039860,000333: # VSUN = U
039861,000334: # ES
039862,000335:
039863,000336: # VEARTH = -UNIT( R )
039864,000337: # L
039865,000338:
039866,000339: # VMOON = UNIT(R .U - R )
039867,000340: # EM EM L
039868,000341:
039869,000342: # CSUN = COS 90
039870,000343:
039871,000344: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039872,000345: # E L
039873,000346:
039874,000347: # CMOON = COS 5
039875,000348:
039876,000349: # INPUT - TIME IN MPAC
039877,000350:
039878,000351: # OUTPUT - LISTED ABOVE
039879,000352:
039880,000353: # SUBROUTINES - LSPOS, LEMPREC
039881,000354:
039882,000355: # DEBRIS - VAC AREA, TSIGHT
039883,000356:
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Page 935
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039885,000358: 14,2506 COUNT* $$/LOSAM
039886,000359:
039887,000360: 14,2506 14,2506 S50 = LOCSAM
039888,000361: 14,2506 77620 LOCSAM STQ
039889,000362: 14,2507 02745 QMIN
039890,000363: 14,2510 37562 STCALL TSIGHT
039891,000364: 14,2511 33664 LSPOS
039892,000365: 14,2512 77745 DLOAD
039893,000366: 14,2513 03562 TSIGHT
039894,000367: 14,2514 34041 STCALL TDEC1
039895,000368: 14,2515 27057 LEMPREC
039896,000369: 14,2516 61131 SSP TIX,2
039897,000370: 14,2517 00052 S2
039898,000371: 14,2520 00000 0
039899,000372: 14,2521 30543 MOONCNTR
039900,000373: 14,2522 74375 EARTCNTR VLOAD VXSC
039901,000374: 14,2523 02723 VMOON
039902,000375: 14,2524 30001 RSUBEM
039903,000376: 14,2525 52372 VSL1 VSU
039904,000377: 14,2526 00001 RATT
039905,000378: 14,2527 77656 UNIT
039906,000379: 14,2530 26723 STOVL VMOON
039907,000380: 14,2531 00001 RATT
039908,000381: 14,2532 57456 UNIT VCOMP
039909,000382: 14,2533 16707 STODL VEARTH
039910,000383: 14,2534 30005 RSUBE
039911,000384: 14,2535 77624 CALL
039912,000385: 14,2536 30575 OCCOS
039913,000386: 14,2537 14017 STODL CEARTH
039914,000387: 14,2540 30604 CSS5
039915,000388: 14,2541 34023 STCALL CMOON
039916,000389: 14,2542 30570 ENDSAM
039917,000390: 14,2543 74375 MOONCNTR VLOAD VXSC
039918,000391: 14,2544 02723 VMOON
039919,000392: 14,2545 30007 ROE
039920,000393: 14,2546 53445 BVSU UNIT
039921,000394: 14,2547 02715 VSUN
039922,000395: 14,2550 26715 STOVL VSUN
039923,000396: 14,2551 02723 VMOON
039924,000397: 14,2552 53361 VXSC VAD
039925,000398: 14,2553 30001 RSUBEM
039926,000399: 14,2554 00001 RATT
039927,000400: 14,2555 57456 UNIT VCOMP
039928,000401: 14,2556 26707 STOVL VEARTH
039929,000402: 14,2557 00001 RATT
039930,000403: 14,2560 57456 UNIT VCOMP
039931,000404: 14,2561 16723 STODL VMOON
039932,000405: 14,2562 30003 RSUBM
039933,000406: 14,2563 77624 CALL
039934,000407: 14,2564 30575 OCCOS
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Page 936
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039936,000409: 14,2565 14023 STODL CMOON
039937,000410: 14,2566 30604 CSS5
039938,000411: 14,2567 00017 STORE CEARTH
039939,000412: 14,2570 77745 ENDSAM DLOAD
039940,000413: 14,2571 30606 CSSUN
039941,000414: 14,2572 00021 STORE CSUN
039942,000415: 14,2573 77650 GOTO
039943,000416: 14,2574 02745 QMIN
039944,000417: 14,2575 70471 OCCOS DDV SR1
039945,000418: 14,2576 00045 36D
039946,000419: 14,2577 43336 ASIN DAD
039947,000420: 14,2600 30610 5DEGREES
039948,000421: 14,2601 70546 COS SR1
039949,000422: 14,2602 77616 RVQ
039950,000423: 14,2603 CEARTH = 14D
039951,000424: 14,2603 CSUN = 16D
039952,000425: 14,2603 CMOON = 18D
039953,000426: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
039954,000427: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
039955,000428: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
039956,000429:
|
|
Page 937
|
039958,000431: # PROGRAM NAME - R56 DATE DEC 20 66
039959,000432: # MOD 1 LOG SECTION P51-P53
039960,000433: # ASSEMBLY SUNDISK REV40
039961,000434: # BY KEN VINCENT
039962,000435:
039963,000436: # FUNCTION
039964,000437: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
039965,000438: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
039966,000439: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
039967,000440: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
039968,000441: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
039969,000442: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
039970,000443: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
039971,000444: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
039972,000445: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
039973,000446: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
039974,000447: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
039975,000448: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
039976,000449:
039977,000450: # CALLING SEQUENCE
039978,000451: # L TC BANKCALL
039979,000452: # L+1 CADR R56
039980,000453: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
039981,000454: # L+3 NORMAL RETURN
039982,000455:
039983,000456: # OUTPUT
039984,000457: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
039985,000458: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
039986,000459:
039987,000460: # INITIALIZATION
039988,000461: # 1) A CALL TO LOCSAM MUST BE MADE
039989,000462:
039990,000463: # DEBRIS
039991,000464: # WORKAREA
039992,000465: # X,Y,ZNB
039993,000466: # SINCDU, COSCDU
039994,000467: # STARAD - STAR +5
039995,000468:
039996,000469: 14,2611 14,2611 R56 = PICAPAR
039997,000470: 14,2611 COUNT* $$/R56
039998,000471: 14,2611 04645 PICAPAR TC MAKECADR
039999,000472: 14,2612 55745 TS QMIN
040000,000473: 14,2613 06037 TC INTPRET
040001,000474: 14,2614 77624 CALL
040002,000475: 14,2615 47537 CDUTRIG
040003,000476: 14,2616 77624 CALL
040004,000477: 14,2617 20030 CALCSMSC
040005,000478: 14,2620 77601 SETPD
040006,000479: 14,2621 00001 0
040007,000480: 14,2622 71214 SET DLOAD # VFLAG = 1
040008,000481: 14,2623 01465 VFLAG
|
|
Page 938
|
040010,000483: 14,2624 24007 DPZERO
040011,000484: 14,2625 26756 STOVL BESTI
040012,000485: 14,2626 02665 XNB
040013,000486: 14,2627 63361 VXSC PDVL
040014,000487: 14,2630 24005 HALFDP
040015,000488: 14,2631 02701 ZNB
040016,000489: 14,2632 74370 AXT,1 VXSC
040017,000490: 14,2633 00344 228D # X1 = 37 X 6 + 6
040018,000491: 14,2634 24005 HALFDP
040019,000492: 14,2635 77655 VAD
040020,000493: 14,2636 53505 VXM UNIT
040021,000494: 14,2637 01734 REFSMMAT
040022,000495: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
040023,000496: 14,2641 66331 SSP SSP # S1 = S2 = 6
040024,000497: 14,2642 00051 S1
040025,000498: 14,2643 00006 6
040026,000499: 14,2644 00052 S2
040027,000500: 14,2645 00006 6
040028,000501: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040029,000502: 14,2647 30651 PIC2
040030,000503: 14,2650 30766 PICEND
040031,000504: 14,2651 50373 PIC2 VLOAD* DOT
040032,000505: 14,2652 30347 CATLOG,1
040033,000506: 14,2653 02731 SAX
040034,000507: 14,2654 50025 DSU BMN
040035,000508: 14,2655 30765 CSS33
040036,000509: 14,2656 30646 PIC1
040037,000510: 14,2657 77754 LXA,2
040038,000511: 14,2660 00046 X1
040039,000512: 14,2661 52104 PIC3 TIX,2 GOTO
040040,000513: 14,2662 30664 PIC4
040041,000514: 14,2663 30646 PIC1
040042,000515: 14,2664 50373 PIC4 VLOAD* DOT
040043,000516: 14,2665 47430 CATLOG,2
040044,000517: 14,2666 02731 SAX
040045,000518: 14,2667 50025 DSU BMN
040046,000519: 14,2670 30765 CSS33
040047,000520: 14,2671 30661 PIC3
040048,000521: 14,2672 47773 VLOAD* DOT*
040049,000522: 14,2673 30347 CATLOG,1
040050,000523: 14,2674 47430 CATLOG,2
040051,000524: 14,2675 51025 DSU BPL
040052,000525: 14,2676 30763 CSS40
040053,000526: 14,2677 30661 PIC3
040054,000527: 14,2700 45173 VLOAD* CALL
040055,000528: 14,2701 30347 CATLOG,1
040056,000529: 14,2702 30740 OCCULT
040057,000530: 14,2703 77614 BON
040058,000531: 14,2704 01710 CULTFLAG
040059,000532: 14,2705 30646 PIC1
|
|
Page 939
|
040061,000534: 14,2706 45173 VLOAD* CALL
040062,000535: 14,2707 47430 CATLOG,2
040063,000536: 14,2710 30740 OCCULT
040064,000537: 14,2711 77614 BON
040065,000538: 14,2712 01710 CULTFLAG
040066,000539: 14,2713 30661 PIC3
040067,000540: 14,2714 77614 STRATGY BONCLR
040068,000541: 14,2715 01605 VFLAG
040069,000542: 14,2716 30733 NEWPAR
040070,000543: 14,2717 65120 XCHX,1 XCHX,2
040071,000544: 14,2720 02755 BESTI
040072,000545: 14,2721 02756 BESTJ
040073,000546: 14,2722 47773 STRAT VLOAD* DOT*
040074,000547: 14,2723 30347 CATLOG,1
040075,000548: 14,2724 47430 CATLOG,2
040076,000549: 14,2725 43006 PUSH BOFINV
040077,000550: 14,2726 01545 VFLAG
040078,000551: 14,2727 30717 STRAT -3
040079,000552: 14,2730 45345 DLOAD DSU
040080,000553: 14,2731 77644 BPL
040081,000554: 14,2732 30661 PIC3
040082,000555: 14,2733 67130 NEWPAR SXA,1 SXA,2
040083,000556: 14,2734 02755 BESTI
040084,000557: 14,2735 02756 BESTJ
040085,000558: 14,2736 77650 GOTO
040086,000559: 14,2737 30661 PIC3
040087,000560: 14,2740 51321 OCCULT MXV BVSU
040088,000561: 14,2741 02707 CULTRIX
040089,000562: 14,2742 00017 CSS
040090,000563: 14,2743 77654 BZE
040091,000564: 14,2744 30757 CULTED
040092,000565: 14,2745 75240 BMN SIGN
040093,000566: 14,2746 30757 CULTED
040094,000567: 14,2747 00160 MPAC +3
040095,000568: 14,2750 75240 BMN SIGN
040096,000569: 14,2751 30757 CULTED
040097,000570: 14,2752 00162 MPAC +5
040098,000571: 14,2753 43040 BMN CLRGO
040099,000572: 14,2754 30757 CULTED
040100,000573: 14,2755 01630 CULTFLAG
040101,000574: 14,2756 00052 QPRET
040102,000575: 14,2757 77614 CULTED SETGO
040103,000576: 14,2760 01430 CULTFLAG
040104,000577: 14,2761 00052 QPRET
040105,000578: 14,2762 0000016 CSS = CEARTH
040106,000579: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040107,000580: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040108,000581: 14,2766 77414 PICEND BOFF EXIT
040109,000582:
|
|
Page 940
|
040111,000584: 14,2767 01745 VFLAG
040112,000585: 14,2770 30772 PICGXT
040113,000586: 14,2771 03013 TC PICBXT
040114,000587: 14,2772 73150 PICGXT LXA,1 LXA,2
040115,000588: 14,2773 02755 BESTI
040116,000589: 14,2774 02756 BESTJ
040117,000590: 14,2775 47775 VLOAD DOT*
040118,000591: 14,2776 02731 SAX
040119,000592: 14,2777 30347 CATLOG,1
040120,000593: 14,3000 47715 PDVL DOT*
040121,000594: 14,3001 02731 SAX
040122,000595: 14,3002 47430 CATLOG,2
040123,000596: 14,3003 77625 DSU
040124,000597: 14,3004 66044 BPL SXA,1
040125,000598: 14,3005 31011 PICNSWP
040126,000599: 14,3006 02756 BESTJ
040127,000600: 14,3007 77734 SXA,2
040128,000601: 14,3010 02755 BESTI
040129,000602: 14,3011 77776 PICNSWP EXIT
040130,000603: 14,3012 25745 INCR QMIN
040131,000604: 14,3013 31745 PICBXT CA QMIN
040132,000605: 14,3014 04622 TC SWCALL
040133,000606: 14,3015 VPD = 0D
040134,000607: 14,3015 V0 = 6D
040135,000608: 14,3015 V1 = 12D
040136,000609: 14,3015 V2 = 18D
040137,000610: 14,3015 V3 = 24D
040138,000611: 14,3015 DP0 = 30D
040139,000612: 14,3015 DP1 = 32D
040140,000613:
|
|
Page 941
|
040142,000615: # NAME - R51 FINE ALIGN
040143,000616: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040144,000617: # CALLING SEQ - CALL R51
040145,000618: # INPUT - REFSMMAT
040146,000619: # OUTPUT - GYRO TORQUE PULSES
040147,000620: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040148,000621:
040149,000622: 14,3015 COUNT* $$/R51
040150,000623: 14,3015 77620 R51 STQ
040151,000624: 14,3016 02746 QMAJ
040152,000625: 14,3017 77776 R51.1 EXIT
040153,000626: 14,3020 05353 TC PHASCHNG
040154,000627: 14,3021 04024 OCT 04024
040155,000628:
040156,000629: 14,3022 34761 R51C CAF OCT15
040157,000630: 14,3023 04616 TC BANKCALL
040158,000631: 14,3024 20623 CADR GOPERF1
040159,000632: 14,3025 06001 TC GOTOPOOH
040160,000633: 14,3026 03030 TC +2 # V33E
040161,000634: 14,3027 03053 TC R51E # ENTER
040162,000635: 14,3030 06037 TC INTPRET
040163,000636: 14,3031 43234 RTB DAD
040164,000637: 14,3032 21573 LOADTIME
040165,000638: 14,3033 31163 TSIGHT1
040166,000639: 14,3034 77624 CALL
040167,000640: 14,3035 30506 LOCSAM
040168,000641: 14,3036 77776 EXIT
040169,000642: 14,3037 04616 TC BANKCALL
040170,000643: 14,3040 30611 CADR R56
040171,000644: 14,3041 03043 TC R51I
040172,000645: 14,3042 03053 R51F TC R51E
040173,000646: 14,3043 05567 R51I TC ALARM
040174,000647: 14,3044 00405 OCT 405
040175,000648: 14,3045 35006 CAF VB05N09
040176,000649: 14,3046 04616 TC BANKCALL
040177,000650: 14,3047 20476 CADR GOFLASH
040178,000651: 14,3050 06001 TC GOTOPOOH
040179,000652: 14,3051 03053 TC R51E
040180,000653: 14,3052 03022 TC R51C
040181,000654: 14,3053 34755 R51E CAF ZERO
040182,000655: 14,3054 55757 TS STARIND
040183,000656: 14,3055 06037 R51.2 TC INTPRET
040184,000657: 14,3056 77776 R51.3 EXIT
040185,000658: 14,3057 05353 TC PHASCHNG
040186,000659: 14,3060 04024 OCT 04024
040187,000660:
040188,000661: 14,3061 06037 TC INTPRET
040189,000662: 14,3062 77624 CALL
040190,000663: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
040191,000664: 14,3064 77776 EXIT
040192,000665: 14,3065 04616 TC BANKCALL
|
|
Page 942
|
040194,000667: 14,3066 16000 CADR AOTMARK
040195,000668: 14,3067 04616 TC BANKCALL
040196,000669: 14,3070 17712 CADR OPTSTALL
040197,000670: 14,3071 05711 TC CURTAINS
040198,000671: 14,3072 11757 CCS STARIND
040199,000672: 14,3073 13075 TCF +2
040200,000673: 14,3074 03145 TC R51.4
040201,000674: 14,3075 06037 TC INTPRET
040202,000675: 14,3076 77775 VLOAD
040203,000676: 14,3077 02715 STARAD +6
040204,000677: 14,3100 02767 STORE STARSAV2
040205,000678: 14,3101 77776 EXIT
040206,000679: 14,3102 05353 TC PHASCHNG
040207,000680: 14,3103 04024 OCT 04024
040208,000681:
040209,000682: 14,3104 06037 TC INTPRET
040210,000683: 14,3105 45145 DLOAD CALL
040211,000684: 14,3106 03562 TSIGHT
040212,000685: 14,3107 32472 PLANET
040213,000686: 14,3110 53521 MXV UNIT
040214,000687: 14,3111 01734 REFSMMAT
040215,000688: 14,3112 26715 STOVL STARAD +6
040216,000689: 14,3113 03554 PLANVEC
040217,000690: 14,3114 53521 MXV UNIT
040218,000691: 14,3115 01734 REFSMMAT
040219,000692: 14,3116 26707 STOVL STARAD
040220,000693: 14,3117 02761 STARSAV1
040221,000694: 14,3120 24007 STOVL 6D
040222,000695: 14,3121 02767 STARSAV2
040223,000696: 14,3122 34015 STCALL 12D
040224,000697: 14,3123 31256 R54 # STAR DATA TEST
040225,000698: 14,3124 45014 BOFF CALL
040226,000699: 14,3125 00354 FREEFLAG
040227,000700: 14,3126 31134 R51K
040228,000701: 14,3127 47441 AXISGEN
040229,000702: 14,3130 77624 CALL
040230,000703: 14,3131 31224 R55 # GYRO TORQUE
040231,000704: 14,3132 77614 CLEAR
040232,000705: 14,3133 01273 PFRATFLG
040233,000706: 14,3134 77776 R51K EXIT
040234,000707: 14,3135 35751 R51P63 CAF OCT14
040235,000708: 14,3136 04616 TC BANKCALL
040236,000709: 14,3137 20623 CADR GOPERF1
040237,000710: 14,3140 06001 TC GOTOPOOH
040238,000711: 14,3141 03022 TC R51C
040239,000712: 14,3142 06037 TC INTPRET
040240,000713: 14,3143 77650 GOTO
040241,000714: 14,3144 02746 QMAJ
040242,000715: 14,3145 06037 R51.4 TC INTPRET
040243,000716: 14,3146 77775 VLOAD
|
|
Page 943
|
040245,000718: 14,3147 02715 STARAD +6
040246,000719: 14,3150 02761 STORE STARSAV1
040247,000720: 14,3151 45145 DLOAD CALL
040248,000721: 14,3152 03562 TSIGHT
040249,000722: 14,3153 32472 PLANET
040250,000723: 14,3154 03554 STORE PLANVEC
040251,000724: 14,3155 77731 SSP
040252,000725: 14,3156 02760 STARIND
040253,000726: 14,3157 00001 1
040254,000727: 14,3160 77650 GOTO
040255,000728: 14,3161 31056 R51.3
040256,000729: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040257,000730:
|
|
Page 944
|
040259,000732: # GYRO TORQUE COARSE ALIGNMENT
040260,000733:
040261,000734: 14,3164 45020 GYCOARS STQ CALL
040262,000735: 14,3165 02746 QMAJ
040263,000736: 14,3166 47247 CALCGTA
040264,000737: 14,3167 43014 CLEAR CLEAR
040265,000738: 14,3170 01260 DRIFTFLG
040266,000739: 14,3171 01662 REFSMFLG
040267,000740: 14,3172 77776 EXIT
040268,000741: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
040269,000742: 14,3174 04616 TC BANKCALL
040270,000743: 14,3175 20451 CADR GODSPR
040271,000744: 14,3176 33255 CA R55CDR
040272,000745: 14,3177 04616 TC BANKCALL
040273,000746: 14,3200 17323 CADR IMUPULSE
040274,000747: 14,3201 04616 TC BANKCALL
040275,000748: 14,3202 17716 CADR IMUSTALL
040276,000749: 14,3203 05711 TC CURTAINS
040277,000750: 14,3204 05353 TC PHASCHNG
040278,000751: 14,3205 04024 OCT 04024
040279,000752:
040280,000753: 14,3206 06037 TC INTPRET
040281,000754: 14,3207 75160 AXC,1 AXC,2
040282,000755: 14,3210 03606 XSMD
040283,000756: 14,3211 01733 REFSMMAT
040284,000757: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
040285,000758: 14,3213 31377 MATMOVE
040286,000759: 14,3214 43014 CLEAR SET
040287,000760: 14,3215 01273 PFRATFLG
040288,000761: 14,3216 01462 REFSMFLG
040289,000762: 14,3217 77624 CALL
040290,000763: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040291,000764: 14,3221 77650 GOTO
040292,000765: 14,3222 31134 R51K
040293,000766: 14,3223 04024 V16N20 VN 1620
040294,000767:
|
|
Page 945
|
040296,000769: # R55 GYRO TORQUE
040297,000770: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040298,000771: # CALLING SEQ - CALL R55
040299,000772: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040300,000773: # OUTPUT - GYRO PULSES
040301,000774: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040302,000775:
040303,000776: 14,3224 COUNT* $$/R55
040304,000777: 14,3224 77620 R55 STQ
040305,000778: 14,3225 02745 QMIN
040306,000779: 14,3226 77624 CALL
040307,000780: 14,3227 47247 CALCGTA
040308,000781: 14,3230 77776 PULSEM EXIT
040309,000782: 14,3231 33254 R55.1 CAF V06N93
040310,000783: 14,3232 04616 TC BANKCALL
040311,000784: 14,3233 20476 CADR GOFLASH
040312,000785: 14,3234 06001 TC GOTOPOOH
040313,000786: 14,3235 03237 TC R55.2
040314,000787: 14,3236 03251 TC R55RET
040315,000788: 14,3237 05353 R55.2 TC PHASCHNG
040316,000789: 14,3240 00214 OCT 00214
040317,000790: 14,3241 33255 CA R55CDR
040318,000791: 14,3242 04616 TC BANKCALL
040319,000792: 14,3243 17323 CADR IMUPULSE
040320,000793: 14,3244 04616 TC BANKCALL
040321,000794: 14,3245 17716 CADR IMUSTALL
040322,000795: 14,3246 05711 TC CURTAINS
040323,000796: 14,3247 05353 TC PHASCHNG
040324,000797: 14,3250 04024 OCT 04024
040325,000798:
040326,000799: 14,3251 06037 R55RET TC INTPRET
040327,000800: 14,3252 77650 GOTO
040328,000801: 14,3253 02745 QMIN
040329,000802: 14,3254 01535 V06N93 VN 0693
040330,000803: 14,3255 02737 R55CDR ECADR OGC
040331,000804: 14,3256 14,3256 R54 = CHKSDATA
040332,000805:
040333,000806: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040334,000807: # MOD NO - 0 LOG SECTION - P51-P53
040335,000808: # MODIFICATION BY - LONSKE ASSEMBLY -
040336,000809:
040337,000810: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040338,000811: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040339,000812: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040340,000813: # OS1 = OBSERVED STAR 1 VECTOR
040341,000814: # OS2 = OBSERVED STAR 2 VECTOR
040342,000815: # SS1 = STORED STAR 1 VECTOR
040343,000816: # SS2 = STORED STAR 2 VECTOR
040344,000817: # A1 = ARCCOS(OS1 - OS2)
040345,000818: # A2 = ARCCOS(SS1 - SS2)
040346,000819: # A = ABS(2(A1 - A2))
|
|
Page 946
|
040348,000821: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040349,000822:
040350,000823: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040351,000824: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040352,000825:
040353,000826: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040354,000827: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040355,000828:
040356,000829: # ERASABLE INITIALIZATION REQUIRED -
040357,000830: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040358,000831: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040359,000832:
040360,000833: # DEBRIS -
040361,000834:
040362,000835: 14,3256 COUNT* $$/R54
040363,000836: 14,3256 43020 CHKSDATA STQ SET
040364,000837: 14,3257 02745 QMIN
040365,000838: 14,3260 00074 FREEFLAG
040366,000839: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040367,000840: 14,3262 02706 STARAD
040368,000841:
040369,000842: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040370,000843: 14,3264 00001 0,1
040371,000844: 14,3265 00007 6,1
040372,000845: 14,3266 65552 SL1 ACOS
040373,000846: 14,3267 00025 STORE THETA
040374,000847: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040375,000848: 14,3271 00354 FREEFLAG
040376,000849: 14,3272 31302 CHKSD
040377,000850: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
040378,000851: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040379,000852: 14,3275 00006 6D
040380,000853: 14,3276 00025 THETA
040381,000854: 14,3277 00023 STORE 18D
040382,000855: 14,3300 77650 GOTO
040383,000856: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
040384,000857: 14,3302 45345 CHKSD DLOAD DSU
040385,000858: 14,3303 00025 THETA
040386,000859: 14,3304 00023 18D
040387,000860: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
040388,000861: 14,3306 21612 SGNAGREE
040389,000862: 14,3307 01046 STORE NORMTEM1
040390,000863: 14,3310 77414 SET EXIT
040391,000864: 14,3311 00074 FREEFLAG
040392,000865: 14,3312 33326 CAF VB6N5
040393,000866: 14,3313 04616 TC BANKCALL
040394,000867: 14,3314 20476 CADR GOFLASH
040395,000868: 14,3315 16001 TCF GOTOPOOH
040396,000869: 14,3316 03323 TC CHKSDA # PROCEED
040397,000870: 14,3317 06037 TC INTPRET
040398,000871: 14,3320 52014 CLEAR GOTO
040399,000872: 14,3321 00274 FREEFLAG
040400,000873: 14,3322 02745 QMIN
040401,000874: 14,3323 06037 CHKSDA TC INTPRET
|
|
Page 947
|
040403,000876: 14,3324 77650 GOTO
040404,000877: 14,3325 02745 QMIN
040405,000878: 14,3326 01405 VB6N5 VN 605
040406,000879:
040407,000880: # NAME - CAL53A
040408,000881: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040409,000882: # CALLING SEQUENCE - CALL CAL53A
040410,000883: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040411,000884: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040412,000885: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040413,000886: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040414,000887:
040415,000888: 14,3327 COUNT* $$/R50
040416,000889: 14,3327 77624 CAL53A CALL
040417,000890: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040418,000891: 14,3331 66234 RTB SSP
040419,000892: 14,3332 31413 RDCDUS # READ CDUS
040420,000893: 14,3333 00051 S1
040421,000894: 14,3334 00001 1
040422,000895: 14,3335 40370 AXT,1 SETPD
040423,000896: 14,3336 00003 3
040424,000897: 14,3337 00005 4
040425,000898: 14,3340 70543 CALOOP DLOAD* SR1
040426,000899: 14,3341 00325 THETAD +3D,1
040427,000900: 14,3342 70523 PDDL* SR1
040428,000901: 14,3343 00005 4,1
040429,000902: 14,3344 51425 DSU ABS
040430,000903: 14,3345 45206 PUSH DSU
040431,000904: 14,3346 31412 DEGREE1
040432,000905: 14,3347 71240 BMN DLOAD
040433,000906: 14,3350 31366 CALOOP1
040434,000907: 14,3351 51025 DSU BPL
040435,000908: 14,3352 31413 DEG359
040436,000909: 14,3353 31366 CALOOP1
040437,000910: 14,3354 77776 EXIT
040438,000911: 14,3355 05353 TC PHASCHNG
040439,000912: 14,3356 04024 OCT 04024
040440,000913:
040441,000914: 14,3357 06037 TC INTPRET
040442,000915: 14,3360 77624 COARFINE CALL
040443,000916: 14,3361 31565 COARSE
040444,000917: 14,3362 77624 CALL
040445,000918: 14,3363 31602 NCOARSE
040446,000919: 14,3364 77650 GOTO
040447,000920: 14,3365 31370 FINEONLY
040448,000921: 14,3366 77700 CALOOP1 TIX,1
040449,000922: 14,3367 31340 CALOOP
040450,000923: 14,3370 75160 FINEONLY AXC,1 AXC,2
040451,000924: 14,3371 02642 XSM
040452,000925: 14,3372 01733 REFSMMAT
040453,000926: 14,3373 77624 CALL
040454,000927: 14,3374 31377 MATMOVE
|
|
Page 948
|
040456,000929: 14,3375 77650 GOTO
040457,000930: 14,3376 32161 COARSRET
040458,000931: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040459,000932: 14,3400 00001 0,1
040460,000933: 14,3401 10001 STORE 0,2
040461,000934: 14,3402 77773 VLOAD*
040462,000935: 14,3403 00007 6D,1
040463,000936: 14,3404 10007 STORE 6D,2
040464,000937: 14,3405 77773 VLOAD*
040465,000938: 14,3406 00015 12D,1
040466,000939: 14,3407 10015 STORE 12D,2
040467,000940: 14,3410 77616 RVQ
040468,000941: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040469,000942: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040470,000943: 14,3413 00004 RDCDUS INHINT # READ CDUS
040471,000944: 14,3414 30032 CA CDUX
040472,000945: 14,3415 50120 INDEX FIXLOC
040473,000946: 14,3416 54001 TS 1
040474,000947: 14,3417 30033 CA CDUY
040475,000948: 14,3420 50120 INDEX FIXLOC
040476,000949: 14,3421 54002 TS 2
040477,000950: 14,3422 30034 CA CDUZ
040478,000951: 14,3423 50120 INDEX FIXLOC
040479,000952: 14,3424 54003 TS 3
040480,000953: 14,3425 00003 RELINT
040481,000954: 14,3426 06061 TC DANZIG # +
040482,000955: 14,3427 COUNT* $$/INFLT
040483,000956:
|
|
Page 949
|
040485,000958: # NAME - P51 - IMU ORIENTATION DETERMINATION
040486,000959: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040487,000960: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040488,000961:
040489,000962: # FUNCTIONAL DESCRIPTION
040490,000963: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040491,000964: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040492,000965: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040493,000966: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040494,000967:
040495,000968: # CALLING SEQUENCE
040496,000969: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040497,000970:
040498,000971: # SUBROUTINES CALLED.
040499,000972: # GOPERF3
040500,000973: # GOPERF1
040501,000974: # GODSPR
040502,000975: # IMUCOARS
040503,000976: # IMUFIN20
040504,000977: # AOTMARK (R53)
040505,000978: # CHKSDATA (R54)
040506,000979: # MKRELEAS
040507,000980: # AXISGEN
040508,000981: # MATMOVE
040509,000982:
040510,000983: # ALARMS
040511,000984: # NONE.
040512,000985:
040513,000986: # ERASABLE INITIALIZATION
040514,000987: # IMU ZERO FLAG SHOULD BE SET.
040515,000988:
040516,000989: # OUTPUT
040517,000990: # REFSMMAT
040518,000991: # REFSMFLG
040519,000992:
040520,000993: # DEBRIS
040521,000994: # WORK AREA
040522,000995: # STARAD
040523,000996: # STARIND
040524,000997: # BESTI
040525,000998: # BESTJ
040526,000999:
040527,001000: 14,3427 COUNT* $$/P51
|
|
Page 950
|
040529,001002: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040530,001003: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040531,001004:
040532,001005: 14,3431 34761 CAF OCT15
040533,001006: 14,3432 04616 TC BANKCALL
040534,001007: 14,3433 20623 CADR GOPERF1
040535,001008: 14,3434 06001 TC GOTOPOOH # TERM.
040536,001009: 14,3435 13461 TCF P51B # V33
040537,001010: 14,3436 05353 TC PHASCHNG
040538,001011: 14,3437 04024 OCT 04024
040539,001012:
040540,001013: 14,3440 34755 CAF ZERO
040541,001014: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
040542,001015: 14,3442 54322 TS THETAD +1
040543,001016: 14,3443 54323 TS THETAD +2
040544,001017: 14,3444 35010 CAF V06N22
040545,001018: 14,3445 04616 TC BANKCALL
040546,001019: 14,3446 20446 CADR GODSPRET
040547,001020: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040548,001021: 14,3450 04616 TC BANKCALL
040549,001022: 14,3451 20446 CADR GODSPRET
040550,001023: 14,3452 06037 TC INTPRET
040551,001024: 14,3453 77624 CALL
040552,001025: 14,3454 31565 COARSE
040553,001026: 14,3455 77776 EXIT
040554,001027: 14,3456 05353 TC PHASCHNG
040555,001028: 14,3457 04024 OCT 04024
040556,001029: 14,3460 13431 TCF P51 +2
040557,001030:
040558,001031: 14,3461 05353 P51B TC PHASCHNG
040559,001032: 14,3462 00014 OCT 00014
040560,001033: 14,3463 06037 TC INTPRET
040561,001034: 14,3464 77624 CALL
040562,001035: 14,3465 31602 NCOARSE
040563,001036: 14,3466 40331 SSP SETPD
040564,001037: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
040565,001038: 14,3470 00000 0
040566,001039: 14,3471 00001 0
040567,001040: 14,3472 77776 P51C EXIT
040568,001041: 14,3473 05353 TC PHASCHNG
040569,001042: 14,3474 04024 OCT 04024
040570,001043:
040571,001044: 14,3475 04616 TC BANKCALL
040572,001045: 14,3476 16000 CADR AOTMARK # R53
040573,001046: 14,3477 04616 TC BANKCALL
040574,001047: 14,3500 17712 CADR AOTSTALL
040575,001048: 14,3501 05711 TC CURTAINS
040576,001049: 14,3502 11757 CCS STARIND
040577,001050: 14,3503 13511 TCF P51D +1
040578,001051: 14,3504 06037 TC INTPRET
|
|
Page 951
|
040580,001053: 14,3505 77775 VLOAD
040581,001054: 14,3506 02715 STARAD +6
040582,001055: 14,3507 02761 STORE STARSAV1
040583,001056: 14,3510 77776 P51D EXIT
040584,001057: 14,3511 05353 TC PHASCHNG
040585,001058: 14,3512 04024 OCT 04024
040586,001059:
040587,001060: 14,3513 11757 CCS STARIND
040588,001061: 14,3514 13530 TCF P51E
040589,001062: 14,3515 05353 TC PHASCHNG
040590,001063: 14,3516 04024 OCT 04024
040591,001064:
040592,001065: 14,3517 06037 TC INTPRET
040593,001066: 14,3520 45145 DLOAD CALL
040594,001067: 14,3521 03562 TSIGHT
040595,001068: 14,3522 32472 PLANET
040596,001069: 14,3523 03554 STORE PLANVEC
040597,001070: 14,3524 77776 EXIT
040598,001071: 14,3525 34753 CAF BIT1
040599,001072: 14,3526 55757 TS STARIND
040600,001073: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
040601,001074: 14,3530 05353 P51E TC PHASCHNG
040602,001075: 14,3531 04024 OCT 04024
040603,001076:
040604,001077: 14,3532 06037 TC INTPRET
040605,001078: 14,3533 45145 DLOAD CALL
040606,001079: 14,3534 03562 TSIGHT
040607,001080: 14,3535 32472 PLANET
040608,001081: 14,3536 24015 STOVL 12D
040609,001082: 14,3537 03554 PLANVEC
040610,001083: 14,3540 24007 STOVL 6D
040611,001084: 14,3541 02761 STARSAV1
040612,001085: 14,3542 26707 STOVL STARAD
040613,001086: 14,3543 02767 STARSAV2
040614,001087: 14,3544 36715 STCALL STARAD +6
040615,001088: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040616,001089: 14,3546 77414 BON EXIT
040617,001090: 14,3547 00314 FREEFLAG
040618,001091: 14,3550 31552 P51G
040619,001092: 14,3551 03431 TC P51 +2
040620,001093: 14,3552 77624 P51G CALL
040621,001094: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040622,001095: 14,3554 75160 AXC,1 AXC,2
040623,001096: 14,3555 02664 XDC
040624,001097: 14,3556 01733 REFSMMAT
040625,001098: 14,3557 77624 CALL
040626,001099: 14,3560 31377 MATMOVE
040627,001100: 14,3561 77414 SET EXIT
040628,001101: 14,3562 01462 REFSMFLG
040629,001102: 14,3563 06001 TC GOTOPOOH # FINIS
|
|
Page 952
|
040631,001104: 14,3564 12200 V41K VN 4100
040632,001105: 14,3565 77776 COARSE EXIT
040633,001106: 14,3566 04616 TC BANKCALL
040634,001107: 14,3567 17000 CADR IMUCOARS
040635,001108: 14,3570 04616 TC BANKCALL
040636,001109: 14,3571 17716 CADR IMUSTALL
040637,001110: 14,3572 05711 TC CURTAINS
040638,001111: 14,3573 04616 TC BANKCALL
040639,001112: 14,3574 17210 CADR IMUFINE
040640,001113: 14,3575 04616 TC BANKCALL
040641,001114: 14,3576 17716 CADR IMUSTALL
040642,001115: 14,3577 05711 TC CURTAINS
040643,001116: 14,3600 06037 TC INTPRET
040644,001117: 14,3601 77616 RVQ
040645,001118: 14,3602 77776 NCOARSE EXIT
040646,001119: 14,3603 30025 CA TIME1
040647,001120: 14,3604 55075 TS 1/PIPADT
040648,001121: 14,3605 44755 CS ZERO
040649,001122: 14,3606 54037 TS PIPAX
040650,001123: 14,3607 54040 TS PIPAY
040651,001124: 14,3610 54041 TS PIPAZ
040652,001125: 14,3611 06037 TC INTPRET
040653,001126: 14,3612 77775 VLOAD
040654,001127: 14,3613 24007 ZEROVEC
040655,001128: 14,3614 01472 STORE GCOMP
040656,001129: 14,3615 43414 SET RVQ
040657,001130: 14,3616 01060 DRIFTFLG
040658,001131:
|
|
Page 953
|
040660,001133: # NAME - S52.2
040661,001134: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040662,001135: # CALL - CALL S52.2
040663,001136: # INPUT - X,Y,ZSMD
040664,001137: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040665,001138: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040666,001139:
040667,001140: 14,3617 COUNT* $$/S52.1
040668,001141: 14,3617 45020 S52.2 STQ CALL
040669,001142: 14,3620 02746 QMAJ
040670,001143: 14,3621 47537 CDUTRIG
040671,001144: 14,3622 77624 CALL
040672,001145: 14,3623 20030 CALCSMSC
040673,001146: 14,3624 66370 AXT,1 SSP
040674,001147: 14,3625 00022 18D
040675,001148: 14,3626 00051 S1
040676,001149: 14,3627 00006 6D
040677,001150: 14,3630 61373 S52.2A VLOAD* VXM
040678,001151: 14,3631 02707 XNB +18D,1
040679,001152: 14,3632 01734 REFSMMAT
040680,001153: 14,3633 77656 UNIT
040681,001154: 14,3634 06707 STORE XNB +18D,1
040682,001155: 14,3635 77700 TIX,1
040683,001156: 14,3636 31630 S52.2A
040684,001157: 14,3637 75160 S52.2.1 AXC,1 AXC,2
040685,001158: 14,3640 03606 XSMD
040686,001159: 14,3641 02642 XSM
040687,001160: 14,3642 77624 CALL
040688,001161: 14,3643 31377 MATMOVE
040689,001162: 14,3644 77624 CALL
040690,001163: 14,3645 47353 CALCGA
040691,001164: 14,3646 77650 GOTO
040692,001165: 14,3647 02746 QMAJ
040693,001166:
|
|
Page 954
|
040695,001168: # NAME - S52.3
040696,001169: # FUNCTION XSMD= UNIT R
040697,001170: # YSMD= UNIT(V X R)
040698,001171: # ZSMD= UNIT(XSMD X YSMD)
040699,001172: # CALL DLOAD CALL
040700,001173: # TALIGN
040701,001174: # S52.3
040702,001175: # INPUT - TIME OF ALIGNMENT IN MPAC
040703,001176: # OUTPUT - X,Y,ZSMD
040704,001177: # SUBROUTINES - CSMCONIC
040705,001178:
040706,001179: 14,3650 COUNT* $$/S52.3
040707,001180: 14,3650 77620 S52.3 STQ
040708,001181: 14,3651 02746 QMAJ
040709,001182: 14,3652 34041 STCALL TDEC1
040710,001183: 14,3653 27100 LEMCONIC
040711,001184: 14,3654 53575 VLOAD UNIT
040712,001185: 14,3655 00001 RATT
040713,001186: 14,3656 27607 STOVL XSMD
040714,001187: 14,3657 00007 VATT
040715,001188: 14,3660 53435 VXV UNIT
040716,001189: 14,3661 00001 RATT
040717,001190: 14,3662 27615 STOVL YSMD
040718,001191: 14,3663 03607 XSMD
040719,001192: 14,3664 53435 VXV UNIT
040720,001193: 14,3665 03615 YSMD
040721,001194: 14,3666 37623 STCALL ZSMD
040722,001195: 14,3667 02746 QMAJ
040723,001196:
|
|
Page 955
|
040725,001198: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040726,001199:
040727,001200: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040728,001201: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040729,001202:
040730,001203: # CALLING - CALL R52
040731,001204:
040732,001205: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040733,001206:
040734,001207: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040735,001208: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040736,001209: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040737,001210: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040738,001211:
040739,001212: # SUBROUT - R60LEM
040740,001213:
040741,001214: 14,3670 COUNT* $$/R52
040742,001215: 14,3670 77420 R52 STQ EXIT
040743,001216: 14,3671 03665 SAVQR52
040744,001217: 14,3672 51757 INDEX STARIND
040745,001218: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040746,001219: 14,3674 00006 EXTEND
040747,001220: 14,3675 73771 MP 1/6TH
040748,001221: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
040749,001222: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
040750,001223:
040751,001224: 14,3700 33772 R52A CAF V01N70
040752,001225: 14,3701 04616 TC BANKCALL
040753,001226: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040754,001227: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
040755,001228: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
040756,001229: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040757,001230:
040758,001231: 14,3706 05516 R52B TC DOWNFLAG
040759,001232: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040760,001233: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
040761,001234: 14,3711 77744 MASK HIGH9
040762,001235: 14,3712 00006 EXTEND
040763,001236: 14,3713 74743 MP BIT9
040764,001237: 14,3714 54001 TS L # TEMP STORE DETENT
040765,001238:
040766,001239: 14,3715 00006 EXTEND
040767,001240: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040768,001241:
040769,001242: 14,3717 65660 AD NEG7
040770,001243: 14,3720 00006 EXTEND
040771,001244: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
040772,001245:
040773,001246: 14,3722 E7,1551 EBANK= XYMARK
040774,001247: 14,3722 35016 CA EBANK7
040775,001248: 14,3723 54003 TS EBANK
|
|
Page 956
|
040777,001250: 14,3724 50001 INDEX L
040778,001251: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
040779,001252: 14,3726 54001 TS L
040780,001253: 14,3727 E5,1642 EBANK= XSM
040781,001254: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
040782,001255: 14,3730 54003 TS EBANK
040783,001256: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
040784,001257: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040785,001258: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
040786,001259:
040787,001260: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
040788,001261: 14,3735 04616 TC BANKCALL
040789,001262: 14,3736 20476 CADR GOFLASH
040790,001263: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
040791,001264: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
040792,001265: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
040793,001266:
040794,001267: 14,3742 00006 EXTEND
040795,001268: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
040796,001269: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
040797,001270: 14,3745 52011 DXCH 8D
040798,001271: 14,3746 06037 TC INTPRET
040799,001272: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
040800,001273: 14,3750 10536 OANB # SCAXIS IN NB COORDS
040801,001274: 14,3751 45034 RTB CALL
040802,001275: 14,3752 21573 LOADTIME
040803,001276: 14,3753 32472 PLANET
040804,001277: 14,3754 53521 MXV UNIT
040805,001278: 14,3755 01734 REFSMMAT
040806,001279: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
040807,001280:
040808,001281: 14,3757 77776 EXIT
040809,001282: 14,3760 04616 TC BANKCALL
040810,001283: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
040811,001284:
040812,001285: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
040813,001286: 14,3763 70735 MASK STARCODE
040814,001287: 14,3764 00006 EXTEND
040815,001288: 14,3765 13700 BZF R52A
040816,001289:
040817,001290: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
040818,001291: 14,3767 77650 GOTO
040819,001292: 14,3770 03665 SAVQR52 # RETURN TO CALLER
040820,001293:
040821,001294: 14,3771 05253 1/6TH DEC .1666667
040822,001295: 14,3772 00306 V01N70 VN 0170
040823,001296: 14,3773 01527 V06N87 VN 687
040824,001297:
|
|
Page 957
|
040826,001299: # LUNAR SURFACE STAR AQUISITION
040827,001300:
040828,001301: 15,2245 BANK 15
040829,001302: 15,2000 SETLOC P50S
040830,001303: 15,2000 BANK
040831,001304: 15,2245 COUNT* $$/R59
040832,001305:
040833,001306: 15,2245 40077 R59 CS FLAGWRD3
040834,001307: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
040835,001308: 15,2247 10000 CCS A
040836,001309: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
040837,001310:
040838,001311: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
040839,001312: 15,2252 04616 TC BANKCALL
040840,001313: 15,2253 20476 CADR GOFLASH
040841,001314: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
040842,001315: 15,2255 12257 TCF R59A # V33 - PROCEED
040843,001316: 15,2256 12245 TCF R59 # V32 - RECYCLE
040844,001317:
040845,001318: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
040846,001319: 15,2260 70735 MASK AOTCODE
040847,001320: 15,2261 00006 EXTEND
040848,001321: 15,2262 76242 MP REVCNT # JUST 6
040849,001322: 15,2263 56001 XCH L
040850,001323: 15,2264 51757 INDEX STARIND
040851,001324: 15,2265 55755 TS BESTI
040852,001325: 15,2266 50120 INDEX FIXLOC
040853,001326: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
040854,001327: 15,2270 00006 EXTEND
040855,001328: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
040856,001329: 15,2272 40000 COM
040857,001330: 15,2273 62561 AD DEC227
040858,001331: 15,2274 00006 EXTEND
040859,001332: 15,2275 62455 BZMF R59OUT
040860,001333:
040861,001334: 15,2276 06037 TC INTPRET
040862,001335: 15,2277 64373 VLOAD* MXV
040863,001336: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
040864,001337: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
040865,001338: 15,2302 45056 UNIT CALL
040866,001339: 15,2303 47646 CDU*SMNB
040867,001340: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
040868,001341: 15,2305 77776 EXIT
040869,001342:
040870,001343: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
040871,001344: 15,2307 55242 TS POSCODE
040872,001345:
040873,001346: 15,2310 E7,1551 EBANK= XYMARK
040874,001347: 15,2310 35016 INCAZ CA EBANK7
040875,001348: 15,2311 54003 TS EBANK
040876,001349:
|
|
Page 958
|
040878,001351: 15,2312 51242 INDEX POSCODE
040879,001352: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
040880,001353: 15,2314 54001 TS L
040881,001354:
040882,001355: 15,2315 E5,1642 EBANK= XSM
040883,001356: 15,2315 35014 CA EBANK5
040884,001357: 15,2316 54003 TS EBANK
040885,001358:
040886,001359: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
040887,001360: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040888,001361: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
040889,001362: 15,2322 50120 INDEX FIXLOC
040890,001363: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
040891,001364:
040892,001365: 15,2324 06037 TC INTPRET
040893,001366: 15,2325 77624 CALL
040894,001367: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
040895,001368: 15,2327 50375 VLOAD DOT
040896,001369: 15,2330 02731 STAR # DOT STAR WITH OA
040897,001370: 15,2331 03765 SCAXIS
040898,001371: 15,2332 65552 SL1 ARCCOS
040899,001372: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
040900,001373:
040901,001374: 15,2334 51025 DSU BPL
040902,001375: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
040903,001376: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
040904,001377: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
040905,001378: 15,2340 00031 24D
040906,001379: 15,2341 32470 DEG.5
040907,001380: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
040908,001381: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
040909,001382: 15,2344 00031 24D # GET SPIRAL
040910,001383: 15,2345 42405 DMP SL4
040911,001384: 15,2346 25764 3/4 # 12 SCALED AT 16
040912,001385: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
040913,001386:
040914,001387: 15,2350 03765 SCAXIS # OA
040915,001388: 15,2351 53435 VXV UNIT
040916,001389: 15,2352 24005 XUNIT
040917,001390: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
040918,001391: 15,2354 03765 SCAXIS
040919,001392: 15,2355 77676 VCOMP
040920,001393: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
040921,001394: 15,2357 03765 SCAXIS
040922,001395: 15,2360 53435 VXV UNIT
040923,001396: 15,2361 02731 STAR
040924,001397: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
040925,001398: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
040926,001399: 15,2364 65552 SL1 ARCCOS
040927,001400: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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|
Page 959
|
040929,001402: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
040930,001403: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
040931,001404: 15,2370 32375 R59D
040932,001405: 15,2371 32047 ABOUTONE
040933,001406: 15,2372 77625 DSU
040934,001407: 15,2373 00033 26D
040935,001408: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
040936,001409:
040937,001410: 15,2375 70535 R59D SLOAD SR1
040938,001411: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
040939,001412: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
040940,001413: 15,2400 00033 26D
040941,001414: 15,2401 77634 RTB
040942,001415: 15,2402 21614 1STO2S
040943,001416: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
040944,001417: 15,2404 00031 24D # LOAD SROT IN REVS
040945,001418: 15,2405 77615 DAD # 12(SEP) + YROT
040946,001419: 15,2406 77634 RTB
040947,001420: 15,2407 21614 1STO2S
040948,001421: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
040949,001422: 15,2411 77776 EXIT
040950,001423: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
040951,001424:
040952,001425: 15,2413 77776 ZSPCR EXIT
040953,001426: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
040954,001427: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
040955,001428: 15,2416 55240 TS SPIRAL
040956,001429: 15,2417 12437 TCF 79DISP
040957,001430:
040958,001431: 15,2420 77776 NXAX EXIT
040959,001432: 15,2421 25242 INCR POSCODE
040960,001433: 15,2422 41242 CS POSCODE
040961,001434: 15,2423 64757 AD SEVEN
040962,001435: 15,2424 00006 EXTEND
040963,001436: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
040964,001437: 15,2426 12310 TCF INCAZ
040965,001438:
040966,001439: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
040967,001440: 15,2430 00404 OCT 404
040968,001441: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
040969,001442: 15,2432 04616 TC BANKCALL
040970,001443: 15,2433 20476 CADR GOFLASH
040971,001444: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
040972,001445: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
040973,001446: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
040974,001447:
040975,001448: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
040976,001449: 15,2440 04616 TC BANKCALL
040977,001450: 15,2441 20476 CADR GOFLASH
040978,001451: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 960
|
040980,001453: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
040981,001454: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
040982,001455:
040983,001456: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
040984,001457: 15,2446 71242 MASK POSCODE
040985,001458: 15,2447 00006 EXTEND
040986,001459: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
040987,001460: 15,2451 47744 CS HIGH9
040988,001461: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
040989,001462: 15,2453 60001 AD L
040990,001463: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
040991,001464:
040992,001465: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
040993,001466: 15,2456 16000 CADR AOTMARK
040994,001467: 15,2457 04616 TC BANKCALL
040995,001468: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
040996,001469: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
040997,001470: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
040998,001471:
040999,001472: 15,2463 00306 V01N70* VN 170
041000,001473: 15,2464 01517 V06N79 VN 679
041001,001474: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041002,001475: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041003,001476: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041004,001477: 15,2472 1236 CURSOR EQUALS GDT/2
041005,001478: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041006,001479: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041007,001480:
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|
Page 961
|
041009,001482: # NAME - PLANET
041010,001483: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041011,001484: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041012,001485: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041013,001486: # BY DSDY INPUT
041014,001487: # CALL - CALL
041015,001488: # PLANET
041016,001489: # INPUT - TIME IN MPAC
041017,001490: # OUTPUT - VECTOR IN MPAC
041018,001491: # SUBROUTINES - LOCSAM
041019,001492: # DEBRIS - VAC, STARAD - STARAD +17
041020,001493:
041021,001494: 15,2000 SETLOC P50S
041022,001495: 15,2000 BANK
041023,001496: 15,2472 COUNT* $$/P51
041024,001497:
041025,001498: 15,2472 27562 PLANET STOVL TSIGHT
041026,001499: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
041027,001500: 15,2474 02707 STORE STARAD
041028,001501: 15,2475 77420 STQ EXIT
041029,001502: 15,2476 02736 GCTR
041030,001503: 15,2477 47744 CS HIGH9
041031,001504: 15,2500 70735 MASK AOTCODE
041032,001505: 15,2501 00006 EXTEND
041033,001506: 15,2502 76242 MP REVCNT
041034,001507: 15,2503 56001 XCH L
041035,001508: 15,2504 51757 INDEX STARIND
041036,001509: 15,2505 55755 TS BESTI
041037,001510: 15,2506 10000 CCS A
041038,001511: 15,2507 12523 TCF NOTPLAN
041039,001512: 15,2510 32562 CAF VNPLANV
041040,001513: 15,2511 04616 TC BANKCALL
041041,001514: 15,2512 20476 CADR GOFLASH
041042,001515: 15,2513 02510 TC -3
041043,001516: 15,2514 02516 TC +2
041044,001517: 15,2515 02510 TC -5
041045,001518: 15,2516 06037 TC INTPRET
041046,001519: 15,2517 53575 VLOAD UNIT
041047,001520: 15,2520 02707 STARAD
041048,001521: 15,2521 77650 GOTO
041049,001522: 15,2522 02736 GCTR
041050,001523: 15,2523 40000 NOTPLAN CS A
041051,001524: 15,2524 62561 AD DEC227
041052,001525: 15,2525 00006 EXTEND
041053,001526: 15,2526 62537 BZMF CALSAM1
041054,001527: 15,2527 51757 INDEX STARIND
041055,001528: 15,2530 31755 CA BESTI
041056,001529: 15,2531 50120 INDEX FIXLOC
041057,001530: 15,2532 54046 TS X1
041058,001531: 15,2533 06037 TC INTPRET
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|
Page 962
|
041060,001533: 15,2534 52173 VLOAD* GOTO
041061,001534: 15,2535 30347 CATLOG,1
041062,001535: 15,2536 02736 GCTR
041063,001536: 15,2537 06037 CALSAM1 TC INTPRET
041064,001537: 15,2540 45145 CALSAM DLOAD CALL
041065,001538: 15,2541 03562 TSIGHT
041066,001539: 15,2542 30506 LOCSAM
041067,001540: 15,2543 77340 LXC,1 VLOAD
041068,001541: 15,2544 02757 STARIND
041069,001542: 15,2545 02707 VEARTH
041070,001543: 15,2546 24001 STOVL 0D
041071,001544: 15,2547 02715 VSUN
041072,001545: 15,2550 26707 STOVL VEARTH
041073,001546: 15,2551 00001 0D
041074,001547: 15,2552 02715 STORE VSUN
041075,001548: 15,2553 70143 DLOAD* LXC,1
041076,001549: 15,2554 02756 BESTI,1
041077,001550: 15,2555 00154 MPAC
041078,001551: 15,2556 52173 VLOAD* GOTO
041079,001552: 15,2557 02343 STARAD -228D,1
041080,001553: 15,2560 02736 GCTR
041081,001554: 15,2561 00343 DEC227 DEC 227 B-14
041082,001555: 15,2562 01530 VNPLANV VN 0688
041083,001556: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041084,001557:
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|
Page 963
|
041086,001559: # GRAVITY VECTOR DETERMINATION ROUTINE
041087,001560: # BY KEN VINCENT
041088,001561:
041089,001562: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041090,001563:
041091,001564: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041092,001565: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041093,001566: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041094,001567: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041095,001568: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041096,001569: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041097,001570: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041098,001571: # READINGS.
041099,001572:
041100,001573: # CALL -
041101,001574: # TC BANKCALL
041102,001575: # CADR GVDETER
041103,001576:
041104,001577: # INPUTS -
041105,001578: # PIPAS, CDUS
041106,001579:
041107,001580: # OUTPUTS -
041108,001581: # STARSAV1 = UNIT GRAVITY
041109,001582: # GSAV = DITTO
041110,001583: # GRAVBIT = 1
041111,001584:
041112,001585: # SUBROUTINES -
041113,001586: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041114,001587: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041115,001588:
041116,001589: # DEBRIS -
041117,001590: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041118,001591:
041119,001592: 15,2563 32772 GVDETER CAF 42DEG
041120,001593: 15,2564 54321 TS THETAD
041121,001594: 15,2565 40000 COM
041122,001595: 15,2566 54322 TS THETAD +1
041123,001596: 15,2567 32773 CAF 35DEG
041124,001597: 15,2570 54323 TS THETAD +2
041125,001598: 15,2571 06037 TC INTPRET
041126,001599: 15,2572 45014 CLEAR CALL
041127,001600: 15,2573 01662 REFSMFLG
041128,001601: 15,2574 32670 LUNG
041129,001602:
041130,001603: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041131,001604:
041132,001605: # DEFINE G COOR SYS
041133,001606: # -
041134,001607: # X UNIT G
041135,001608: # * - -
041136,001609: # M = Y = UNITEZSM * X )
041137,001610: # - - -
041138,001611: # Z UNIT(X * Y )
041139,001612:
041140,001613: # THEN ROTATED SM WRT PRESENT IS
041141,001614:
041142,001615: # 1, 0, 0
041143,001616: # * *T * * *
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|
Page 964
|
041145,001618: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041146,001619: # I J
041147,001620: # 0, 0, -1
041148,001621:
041149,001622: # ALSO NB WRT PRES SM IS
041150,001623:
041151,001624: # * * *
041152,001625: # XNB = NBSM I
041153,001626: # * *
041154,001627: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041155,001628:
041156,001629: 15,2000 SETLOC P50S
041157,001630: 15,2000 BANK
041158,001631: 15,2575 COUNT* $$/P57
041159,001632: 15,2575 66370 AXT,1 SSP # X1=18
041160,001633: 15,2576 00022 18D # S1=6
041161,001634: 15,2577 00051 S1 # X2, -2
041162,001635: 15,2600 00006 6D
041163,001636: 15,2601 77744 LXC,2
041164,001637: 15,2602 00050 S1
041165,001638: 15,2603 45173 GRAVEL VLOAD* CALL
041166,001639: 15,2604 54000 XUNIT -6,2
041167,001640: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
041168,001641: 15,2606 06707 STORE XNB +18D,1
041169,001642: 15,2607 77775 VLOAD
041170,001643: 15,2610 02731 STAR
041171,001644: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041172,001645: 15,2612 00047 X2
041173,001646: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
041174,001647: 15,2614 71152 VSL2 LXC,2
041175,001648: 15,2615 00047 X2
041176,001649: 15,2616 63047 VSU* INCR,2
041177,001650: 15,2617 54000 XUNIT -6,2
041178,001651: 15,2620 00002 2D
041179,001652: 15,2621 06665 STORE XSM +18D,1
041180,001653: 15,2622 45100 TIX,1 CALL
041181,001654: 15,2623 32603 GRAVEL
041182,001655: 15,2624 47353 CALCGA
041183,001656: 15,2625 74575 VLOAD VSR1
041184,001657: 15,2626 02715 GOUT
041185,001658: 15,2627 36723 STCALL STARAD +12D
041186,001659: 15,2630 32670 LUNG
041187,001660: 15,2631 74575 VLOAD VSR1
041188,001661: 15,2632 02715 GOUT
041189,001662: 15,2633 53455 VAD UNIT
041190,001663: 15,2634 02723 STARAD +12D
041191,001664: 15,2635 02761 STORE STARSAV1
041192,001665: 15,2636 77641 DOT
041193,001666: 15,2637 02231 GSAV
041194,001667: 15,2640 65552 SL1 ACOS
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|
Page 965
|
041196,001669: 15,2641 01046 STORE DSPTEM1
041197,001670: 15,2642 77776 EXIT
041198,001671: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041199,001672: 15,2644 00014 ADRES FREEFLAG
041200,001673:
041201,001674: 15,2645 32771 CA DISGRVER
041202,001675: 15,2646 04616 TC BANKCALL
041203,001676: 15,2647 20476 CADR GOFLASH
041204,001677: 15,2650 06001 TC GOTOPOOH
041205,001678: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
041206,001679: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041207,001680: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041208,001681:
041209,001682: 15,2654 05353 PROGRAV TC PHASCHNG
041210,001683: 15,2655 04024 OCT 04024
041211,001684:
041212,001685: 15,2656 06037 TC INTPRET
041213,001686: 15,2657 77775 VLOAD
041214,001687: 15,2660 02761 STARSAV1
041215,001688: 15,2661 02231 STORE GSAV
041216,001689: 15,2662 77776 EXIT
041217,001690: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041218,001691: 15,2664 70074 MASK FLAGWRD0
041219,001692: 15,2665 10000 CCS A
041220,001693: 15,2666 12563 TCF GVDETER # SET
041221,001694: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
041222,001695:
041223,001696: 15,2670 77220 LUNG STQ VLOAD
041224,001697: 15,2671 02745 QMIN
041225,001698: 15,2672 24007 ZEROVEC
041226,001699: 15,2673 02707 STORE GACC
041227,001700: 15,2674 77776 EXIT
041228,001701: 15,2675 05353 TC PHASCHNG
041229,001702: 15,2676 04024 OCT 04024
041230,001703:
041231,001704: 15,2677 04616 TC BANKCALL
041232,001705: 15,2700 17000 CADR IMUCOARS
041233,001706: 15,2701 04616 TC BANKCALL
041234,001707: 15,2702 17716 CADR IMUSTALL
041235,001708: 15,2703 05711 TC CURTAINS
041236,001709: 15,2704 04616 TC BANKCALL
041237,001710: 15,2705 17210 CADR IMUFINE
041238,001711: 15,2706 04616 TC BANKCALL
041239,001712: 15,2707 17716 CADR IMUSTALL
041240,001713: 15,2710 05711 TC CURTAINS
041241,001714: 15,2711 32770 CA T/2SEC
041242,001715: 15,2712 55736 TS GCTR
041243,001716: 15,2713 37716 CA PRIO31
041244,001717: 15,2714 55075 TS 1/PIPADT
041245,001718: 15,2715 04616 TC BANKCALL
|
|
Page 966
|
041247,001720: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
041248,001721: 15,2717 05353 TC PHASCHNG
041249,001722: 15,2720 04024 OCT 04024
041250,001723:
041251,001724: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041252,001725: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041253,001726: 15,2723 06037 TC INTPRET
041254,001727: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041255,001728: 15,2725 35000 CAF 2SECS
041256,001729: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041257,001730: 15,2727 02731 ADRES GRABGRAV
041258,001731:
041259,001732: 15,2730 05155 TC ENDOFJOB
041260,001733:
041261,001734: 15,2731 04674 GRABGRAV TC IBNKCALL
041262,001735: 15,2732 77544 CADR PIPSRINE
041263,001736: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041264,001737: 15,2734 05105 TC FINDVAC
041265,001738: 15,2735 E5,1706 EBANK= STARAD
041266,001739: 15,2735 02740 32065 2CADR ADDGRAV
041267,001740:
041268,001741: 15,2737 05261 TC TASKOVER
041269,001742:
041270,001743: 15,2740 04616 ADDGRAV TC BANKCALL
041271,001744: 15,2741 15263 CADR 1/PIPA
041272,001745: 15,2742 25736 INCR GCTR
041273,001746: 15,2743 06037 TC INTPRET
041274,001747: 15,2744 53375 VLOAD VAD
041275,001748: 15,2745 00325 DELV
041276,001749: 15,2746 02707 GACC
041277,001750: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
041278,001751: 15,2750 50135 SLOAD BMN
041279,001752: 15,2751 02737 GCTR
041280,001753: 15,2752 32724 GREED
041281,001754: 15,2753 53575 VLOAD UNIT
041282,001755: 15,2754 02707 GACC
041283,001756: 15,2755 36731 STCALL STAR
041284,001757: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041285,001758: 15,2757 77624 CALL # IN OUTPUT
041286,001759: 15,2760 47671 *SMNB*
041287,001760: 15,2761 02715 STORE GOUT
041288,001761: 15,2762 77776 EXIT
041289,001762: 15,2763 05353 TC PHASCHNG
041290,001763: 15,2764 04024 OCT 04024
041291,001764:
041292,001765: 15,2765 06037 QMINEXIT TC INTPRET
041293,001766: 15,2766 77650 GOTO
041294,001767: 15,2767 02745 QMIN
041295,001768: 15,2770 77753 T/2SEC DEC -20 B-14
|
|
Page 967
|
041297,001770: 15,2771 01404 DISGRVER VN 0604
041298,001771: 15,2772 07357 42DEG OCT 07357
041299,001772: 15,2773 06211 35DEG OCT 06211
041300,001773:
|
|
Page 968
|
041302,001775: # NAME GYROTRIM
041303,001776:
041304,001777: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041305,001778: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041306,001779: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041307,001780:
041308,001781: # CALL CALL
041309,001782: # GYROTRIM
041310,001783:
041311,001784: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041312,001785: # CDUX,CDUY,CDUZ
041313,001786:
041314,001787: # OUTPUT - GYRO TORQUE PULSES
041315,001788:
041316,001789: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041317,001790: # IMPULSE, IMUSTALL
041318,001791: # - - - * * -
041319,001792: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041320,001793:
041321,001794: 15,2774 COUNT* $$/P57
041322,001795: 15,2774 71220 GYROTRIM STQ DLOAD
041323,001796: 15,2775 02745 QMIN
041324,001797: 15,2776 00322 THETAD
041325,001798: 15,2777 65325 PDDL PDDL
041326,001799: 15,3000 00324 THETAD +2
041327,001800: 15,3001 00323 THETAD +1
041328,001801: 15,3002 77666 VDEF
041329,001802: 15,3003 24767 STOVL CDUSPOT
041330,001803: 15,3004 24005 XUNIT
041331,001804: 15,3005 77624 CALL
041332,001805: 15,3006 47664 TRG*NBSM
041333,001806: 15,3007 26707 STOVL STARAD
041334,001807: 15,3010 24003 YUNIT
041335,001808: 15,3011 77624 CALL
041336,001809: 15,3012 47673 *NBSM*
041337,001810: 15,3013 36715 STCALL STARAD +6
041338,001811: 15,3014 47537 CDUTRIG
041339,001812: 15,3015 77624 CALL
041340,001813: 15,3016 20030 CALCSMSC
041341,001814: 15,3017 77775 VLOAD
041342,001815: 15,3020 02665 XNB
041343,001816: 15,3021 24007 STOVL 6D
041344,001817: 15,3022 02673 YNB
041345,001818: 15,3023 34015 STCALL 12D
041346,001819: 15,3024 47441 AXISGEN
041347,001820: 15,3025 77624 CALL
041348,001821: 15,3026 47247 CALCGTA
041349,001822: 15,3027 77776 JUSTTRIM EXIT
041350,001823: 15,3030 04616 TC BANKCALL
041351,001824: 15,3031 17210 CADR IMUFINE
041352,001825: 15,3032 04616 TC BANKCALL
|
|
Page 969
|
041354,001827: 15,3033 17716 CADR IMUSTALL
041355,001828: 15,3034 05711 TC CURTAINS
041356,001829: 15,3035 33044 CA GYRCDR
041357,001830: 15,3036 04616 TC BANKCALL
041358,001831: 15,3037 17323 CADR IMUPULSE
041359,001832: 15,3040 04616 TC BANKCALL
041360,001833: 15,3041 17716 CADR IMUSTALL
041361,001834: 15,3042 05711 TC CURTAINS
041362,001835: 15,3043 12765 TCF QMINEXIT
041363,001836:
041364,001837: 15,3044 02737 GYRCDR ECADR OGC
041365,001838:
|
|
Page 970
|
041367,001840: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041368,001841:
041369,001842: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
041370,001843: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041371,001844: 15,3047 34753 1STAR CAF BIT1
041372,001845: 15,3050 55757 TS STARIND
041373,001846:
041374,001847: 15,3051 05353 TC PHASCHNG
041375,001848: 15,3052 04024 OCT 04024
041376,001849:
041377,001850: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041378,001851:
041379,001852: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041380,001853: 15,3055 00006 EXTEND
041381,001854: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
041382,001855:
041383,001856: 15,3057 05353 TC PHASCHNG
041384,001857: 15,3060 04024 OCT 04024
041385,001858:
041386,001859: 15,3061 06037 TC INTPRET
041387,001860: 15,3062 45145 DLOAD CALL
041388,001861: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
041389,001862: 15,3064 32472 PLANET
041390,001863: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041391,001864: 15,3066 33101 SURFLINE
041392,001865:
041393,001866: 15,3067 06037 ASTAR TC INTPRET
041394,001867: 15,3070 77775 VLOAD
041395,001868: 15,3071 02715 STARAD +6
041396,001869: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041397,001870: 15,3073 45145 DLOAD CALL
041398,001871: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
041399,001872: 15,3075 32472 PLANET
041400,001873: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041401,001874: 15,3077 77776 EXIT
041402,001875: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
041403,001876:
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|
Page 971
|
041405,001878: # DO FINE OR COARSE ALIGNMENT OF IMU
041406,001879:
041407,001880: 15,3101 77131 SURFLINE SSP AXT,2
041408,001881: 15,3102 00052 S2
041409,001882: 15,3103 00006 6
041410,001883: 15,3104 00014 12D
041411,001884: 15,3105 64373 WRTDESIR VLOAD* MXV
041412,001885: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041413,001886: 15,3107 03607 XSMD
041414,001887: 15,3110 77656 UNIT
041415,001888: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
041416,001889: 15,3112 77773 VLOAD*
041417,001890: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041418,001891: 15,3114 10023 STORE 18D,2
041419,001892: 15,3115 43104 TIX,2 BON
041420,001893: 15,3116 33105 WRTDESIR
041421,001894: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041422,001895: 15,3120 33126 INITBY
041423,001896: 15,3121 77624 DOALIGN CALL
041424,001897: 15,3122 31256 R54 # DO CHKSDATA
041425,001898: 15,3123 77614 BOFF
041426,001899: 15,3124 00354 FREEFLAG
041427,001900: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041428,001901: 15,3126 77624 INITBY CALL
041429,001902: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041430,001903: 15,3130 77624 CALL
041431,001904: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041432,001905: 15,3132 77776 EXIT
041433,001906: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041434,001907: 15,3134 70104 MASK FLAGWRD8
041435,001908: 15,3135 10000 CCS A
041436,001909: 15,3136 13145 TCF 5DEGTEST
041437,001910: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041438,001911: 15,3140 04616 TC BANKCALL
041439,001912: 15,3141 20476 CADR GOFLASH
041440,001913: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
041441,001914: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041442,001915: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041443,001916:
041444,001917: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041445,001918: 15,3146 40175 VLOAD BOV
041446,001919: 15,3147 02740 OGC
041447,001920: 15,3150 33151 SURFSUP
041448,001921: 15,3151 02750 SURFSUP STORE OGCT
041449,001922: 15,3152 40141 V/SC BOV
041450,001923: 15,3153 30610 5DEGREES
041451,001924: 15,3154 33254 COATRIM
041452,001925: 15,3155 52131 SSP GOTO
041453,001926: 15,3156 02746 QMIN
041454,001927: 15,3157 33161 SURFDISP
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|
Page 972
|
041456,001929: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041457,001930:
041458,001931: 15,3161 77776 SURFDISP EXIT
041459,001932: 15,3162 05353 TC PHASCHNG
041460,001933: 15,3163 04024 OCT 04024
041461,001934:
041462,001935: 15,3164 06037 TC INTPRET
041463,001936: 15,3165 75160 AXC,1 AXC,2
041464,001937: 15,3166 03606 XSMD
041465,001938: 15,3167 01733 REFSMMAT
041466,001939: 15,3170 45014 SET CALL
041467,001940: 15,3171 01462 REFSMFLG
041468,001941: 15,3172 31377 MATMOVE
041469,001942: 15,3173 77776 EXIT
041470,001943: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
041471,001944: 15,3175 13177 TCF B2F8
041472,001945: 15,3176 13207 TCF P57POST +1
041473,001946:
041474,001947: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041475,001948: 15,3200 70104 MASK FLAGWRD8
041476,001949: 15,3201 10000 CCS A
041477,001950: 15,3202 13561 TCF P57JUMP # ITS SET
041478,001951: 15,3203 06037 TC INTPRET
041479,001952: 15,3204 77624 CALL
041480,001953: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041481,001954: 15,3206 77776 P57POST EXIT
041482,001955: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041483,001956: 15,3210 04616 TC BANKCALL
041484,001957: 15,3211 20623 CADR GOPERF1
041485,001958: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
041486,001959: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041487,001960: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041488,001961: 15,3215 61145 AD OPTION2
041489,001962: 15,3216 00006 EXTEND
041490,001963: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
041491,001964: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
041492,001965: 15,3221 05353 TC PHASCHNG # RESTART PLACE
041493,001966: 15,3222 04024 OCT 04024
041494,001967: 15,3223 06037 TC INTPRET
041495,001968: 15,3224 45175 VLOAD CALL # USE GNB
041496,001969: 15,3225 02231 GSAV
041497,001970: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
041498,001971: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
041499,001972: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041500,001973: 15,3231 01463 LUNAFLAG
041501,001974: 15,3232 51515 PDVL ABVAL
041502,001975: 15,3233 02023 RLS
041503,001976: 15,3234 45561 VXSC STADR
041504,001977: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041505,001978: 15,3236 47014 CLEAR RTB
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|
Page 973
|
041507,001980: 15,3237 00662 ERADFLAG
041508,001981: 15,3240 21573 LOADTIME
041509,001982: 15,3241 77624 CALL
041510,001983: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041511,001984: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
041512,001985: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041513,001986: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041514,001987: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
041515,001988: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
041516,001989: 15,3250 51670 R-TO-RP
041517,001990: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041518,001991: 15,3252 77776 EXIT
041519,001992: 15,3253 16001 TCF GOTOPOOH # EXIT P57
041520,001993:
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|
Page 974
|
041522,001995: # COARSE AND FINE ALIGN IMU
041523,001996:
041524,001997: 15,3254 75160 COATRIM AXC,1 AXC,2
041525,001998: 15,3255 02664 XDC
041526,001999: 15,3256 02642 XSM
041527,002000: 15,3257 77624 CALL
041528,002001: 15,3260 31377 MATMOVE
041529,002002: 15,3261 77624 CALL
041530,002003: 15,3262 47537 CDUTRIG
041531,002004: 15,3263 77624 CALL
041532,002005: 15,3264 20030 CALCSMSC
041533,002006: 15,3265 77624 CALL
041534,002007: 15,3266 47353 CALCGA
041535,002008: 15,3267 77414 BOFF EXIT
041536,002009: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041537,002010: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041538,002011: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
041539,002012: 15,3273 04616 TC BANKCALL
041540,002013: 15,3274 20476 CADR GOFLASH
041541,002014: 15,3275 06001 TC GOTOPOOH
041542,002015: 15,3276 13300 TCF +2
041543,002016: 15,3277 13272 TCF -5
041544,002017: 15,3300 05353 TC PHASCHNG
041545,002018: 15,3301 04024 OCT 04024
041546,002019:
041547,002020: 15,3302 06037 TC INTPRET
041548,002021: 15,3303 77624 CORSIT CALL
041549,002022: 15,3304 31565 COARSE
041550,002023: 15,3305 77624 CALL
041551,002024: 15,3306 31602 NCOARSE
041552,002025: 15,3307 77624 CALL
041553,002026: 15,3310 32774 GYROTRIM
041554,002027: 15,3311 77650 GOTO
041555,002028: 15,3312 33161 SURFDISP
041556,002029: 15,3313 01535 DISPGYRO VN 0693
041557,002030:
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|
Page 975
|
041559,002032: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041560,002033:
041561,002034: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041562,002035: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041563,002036:
041564,002037: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041565,002038: 15,3317 55145 TS OPTION2
041566,002039: 15,3320 34753 P57OPT CAF BIT1
041567,002040: 15,3321 04616 TC BANKCALL
041568,002041: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041569,002042: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
041570,002043: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
041571,002044: 15,3325 13320 TCF P57OPT # V32 RECYCLE
041572,002045:
041573,002046: 15,3326 05353 TC PHASCHNG
041574,002047: 15,3327 00014 OCT 00014
041575,002048: 15,3330 05155 TC ENDOFJOB
041576,002049:
041577,002050: 15,3331 31145 ALIGNOPT CA OPTION2
041578,002051: 15,3332 76245 MASK THREE
041579,002052: 15,3333 50000 INDEX A
041580,002053: 15,3334 13335 TCF +1
041581,002054: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
041582,002055: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
041583,002056: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041584,002057: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
041585,002058: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041586,002059: 15,3342 01733 REFSMMAT
041587,002060: 15,3343 03606 XSMD
041588,002061: 15,3344 77624 CALL
041589,002062: 15,3345 31377 MATMOVE
041590,002063: 15,3346 77650 GOTO
041591,002064: 15,3347 33410 PACKOPTN -1
041592,002065:
041593,002066: 15,3350 06037 TDISP TC INTPRET
041594,002067: 15,3351 77745 DLOAD
041595,002068: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041596,002069: 15,3353 01046 P57A STORE DSPTEM1
041597,002070: 15,3354 77776 EXIT
041598,002071: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041599,002072: 15,3356 04616 TC BANKCALL
041600,002073: 15,3357 20476 CADR GOFLASH
041601,002074: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
041602,002075: 15,3361 13363 TCF +2
041603,002076: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
041604,002077:
041605,002078: 15,3363 06037 TC INTPRET
041606,002079: 15,3364 65234 RTB PDDL
041607,002080: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041608,002081: 15,3366 01046 DSPTEM1
|
|
Page 976
|
041610,002083: 15,3367 65254 BZE PDDL
041611,002084: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041612,002085: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041613,002086: 15,3372 01046 DSPTEM1
041614,002087: 15,3373 33400 P57C
041615,002088: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041616,002089: 15,3375 74335 STORE TIG # STORE IT IN TIG
041617,002090: 15,3376 36775 STCALL TALIGN
041618,002091: 15,3377 33402 P57D
041619,002092: 15,3400 45545 P57C DLOAD STADR
041620,002093: 15,3401 75002 STORE TALIGN
041621,002094: 15,3402 34041 P57D STCALL TDEC1
041622,002095: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041623,002096: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
041624,002097: 15,3405 00001 RATT
041625,002098: 15,3406 37607 STCALL XSMD
041626,002099: 15,3407 11013 LSORIENT
041627,002100: 15,3410 77776 EXIT
041628,002101: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041629,002102: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041630,002103: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041631,002104: 15,3414 34737 CAF REFSMBIT
041632,002105: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
041633,002106: 15,3416 10000 CCS A
041634,002107: 15,3417 34745 CAF BIT7 # SET
041635,002108: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
041636,002109: 15,3421 34753 CAF ATTFLBIT
041637,002110: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
041638,002111: 15,3423 10000 CCS A
041639,002112: 15,3424 34750 CAF BIT4 # SET
041640,002113: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
041641,002114: 15,3426 34750 CAF BIT4
041642,002115: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041643,002116:
041644,002117: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041645,002118: 15,3431 04616 TC BANKCALL
041646,002119: 15,3432 20476 CADR GOFLASH
041647,002120: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
041648,002121: 15,3434 13436 TCF +2 # V33 - PROCEED
041649,002122: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
041650,002123:
041651,002124: 15,3436 34737 CAF REFSMBIT
041652,002125: 15,3437 70077 MASK FLAGWRD3
041653,002126: 15,3440 10000 CCS A
041654,002127: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041655,002128: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041656,002129: 15,3443 70102 MASK FLAGWRD6
041657,002130: 15,3444 10000 CCS A
041658,002131: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041659,002132: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 977
|
041661,002134: 15,3447 71145 MASK OPTION2
041662,002135: 15,3450 10000 CCS A
041663,002136: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041664,002137: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041665,002138: 15,3453 00701 OCT 701
041666,002139: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041667,002140: 15,3455 04616 TC BANKCALL
041668,002141: 15,3456 20476 CADR GOFLASH
041669,002142: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
041670,002143: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
041671,002144: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041672,002145:
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|
Page 978
|
041674,002147: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041675,002148:
041676,002149: 15,3462 40220 MFREF STQ SETPD
041677,002150: 15,3463 02746 QMAJ
041678,002151: 15,3464 00001 0
041679,002152: 15,3465 77634 RTB
041680,002153: 15,3466 21573 LOADTIME
041681,002154: 15,3467 27562 STOVL TSIGHT
041682,002155: 15,3470 02723 VEC1
041683,002156: 15,3471 41525 PDDL PUSH
041684,002157: 15,3472 03562 TSIGHT
041685,002158: 15,3473 77624 CALL
041686,002159: 15,3474 55716 RP-TO-R
041687,002160: 15,3475 26723 STOVL VEC1
041688,002161: 15,3476 02731 VEC2
041689,002162: 15,3477 65201 SETPD PDDL
041690,002163: 15,3500 00001 0
041691,002164: 15,3501 03562 TSIGHT
041692,002165: 15,3502 45006 PUSH CALL
041693,002166: 15,3503 55716 RP-TO-R
041694,002167: 15,3504 36731 STCALL VEC2
041695,002168: 15,3505 02746 QMAJ
041696,002169:
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|
Page 979
|
041698,002171: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041699,002172: # STORE IN YNBSAV AND ZNBSAV
041700,002173:
041701,002174: 15,3506 45020 REFMF STQ CALL
041702,002175: 15,3507 02746 QMAJ
041703,002176: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
041704,002177: 15,3511 40234 RTB SETPD
041705,002178: 15,3512 21573 LOADTIME
041706,002179: 15,3513 00001 0
041707,002180: 15,3514 37562 STCALL TSIGHT
041708,002181: 15,3515 20030 CALCSMSC # GET YNB IN SM
041709,002182: 15,3516 61375 VLOAD VXM
041710,002183: 15,3517 02673 YNB
041711,002184: 15,3520 01734 REFSMMAT # YNB TO REF
041712,002185: 15,3521 65256 UNIT PDDL
041713,002186: 15,3522 03562 TSIGHT
041714,002187: 15,3523 45006 PUSH CALL
041715,002188: 15,3524 51670 R-TO-RP
041716,002189: 15,3525 26237 STOVL YNBSAV # YNB TO MF
041717,002190: 15,3526 02701 ZNB
041718,002191: 15,3527 53505 VXM UNIT
041719,002192: 15,3530 01734 REFSMMAT # ZNB TO REF
041720,002193: 15,3531 41525 PDDL PUSH
041721,002194: 15,3532 03562 TSIGHT
041722,002195: 15,3533 77624 CALL
041723,002196: 15,3534 51670 R-TO-RP # ZNB TO MF
041724,002197: 15,3535 02245 STORE ZNBSAV
041725,002198: 15,3536 77614 SETGO
041726,002199: 15,3537 03036 ATTFLAG
041727,002200: 15,3540 02746 QMAJ
041728,002201:
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|
Page 980
|
041730,002203: # BRANCH TO ALIGNMENT OPTION
041731,002204:
041732,002205: 15,3541 06037 GETLMATT TC INTPRET
041733,002206: 15,3542 77624 CALL
041734,002207: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041735,002208: 15,3544 77776 EXIT
041736,002209:
041737,002210: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041738,002211: 15,3546 00205 ADRES INITALGN
041739,002212: 15,3547 34753 CAF BIT1
041740,002213: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
041741,002214: 15,3551 10000 CCS A
041742,002215: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041743,002216:
041744,002217: 15,3553 05353 ATTCHK TC PHASCHNG
041745,002218: 15,3554 04024 OCT 04024
041746,002219:
041747,002220: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041748,002221: 15,3556 70102 MASK FLAGWRD6
041749,002222: 15,3557 10000 CCS A
041750,002223: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041751,002224: 15,3561 05353 P57JUMP TC PHASCHNG
041752,002225: 15,3562 04024 OCT 04024
041753,002226:
041754,002227: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041755,002228: 15,3564 00205 ADRES INITALGN
041756,002229: 15,3565 36245 CAF THREE
041757,002230: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
041758,002231: 15,3567 50000 INDEX A
041759,002232: 15,3570 13571 TCF +1
041760,002233: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
041761,002234: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
041762,002235: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
041763,002236: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
041764,002237:
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|
Page 981
|
041766,002239: # OPTION 0, GET TWO ATTITUDE VECS
041767,002240:
041768,002241: 15,3575 06037 P57OPT0 TC INTPRET
041769,002242: 15,3576 77775 VLOAD
041770,002243: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041771,002244: 15,3600 26723 STOVL VEC1
041772,002245: 15,3601 02245 ZNBSAV
041773,002246: 15,3602 36731 STCALL VEC2
041774,002247: 15,3603 47537 CDUTRIG
041775,002248: 15,3604 77624 CALL
041776,002249: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041777,002250: 15,3606 77775 VLOAD
041778,002251: 15,3607 02673 YNB
041779,002252: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041780,002253: 15,3611 02701 ZNB
041781,002254: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041782,002255: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041783,002256: 15,3614 77650 GOTO
041784,002257: 15,3615 33101 SURFLINE
041785,002258:
041786,002259: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041787,002260:
041788,002261: 15,3616 06037 P57OPT1 TC INTPRET
041789,002262: 15,3617 53575 VLOAD UNIT
041790,002263: 15,3620 02023 RLS # LANDING SITE VEC
041791,002264: 15,3621 26723 STOVL VEC1
041792,002265: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
041793,002266: 15,3623 36731 STCALL VEC2
041794,002267: 15,3624 47537 CDUTRIG
041795,002268: 15,3625 77624 CALL
041796,002269: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
041797,002270: 15,3627 45175 VLOAD CALL
041798,002271: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
041799,002272: 15,3631 47661 CDU*NBSM
041800,002273: 15,3632 77650 GOTO
041801,002274: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
041802,002275:
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|
Page 982
|
041804,002277: # OPTION 2, GET TWO STAR SIGHTINGS
041805,002278:
041806,002279: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
041807,002280:
041808,002281: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041809,002282:
041810,002283: 15,3635 06037 P57OPT3 TC INTPRET
041811,002284: 15,3636 53575 VLOAD UNIT
041812,002285: 15,3637 02023 RLS # LANDING SITE VEC
041813,002286: 15,3640 02723 STORE VEC1
041814,002287: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
041815,002288: 15,3642 02231 GSAV # GRAVITY VEC NB
041816,002289: 15,3643 77624 CALL
041817,002290: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
041818,002291: 15,3645 36761 STCALL STARSAV1
041819,002292: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
041820,002293: 15,3647 77776 EXIT
041821,002294: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
041822,002295:
041823,002296: 15,3651 01206 VB05N06 VN 506
041824,002297:
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|
Page 983
|
041826,002299: # CHECK IMODES30 TO VARIFY IMU IS ON
041827,002300:
041828,002301: 15,3652 41302 IMUCHK CS IMODES30
041829,002302: 15,3653 74743 MASK BIT9
041830,002303: 15,3654 10000 CCS A # IS IMU ON
041831,002304: 15,3655 13661 TCF +4 # YES
041832,002305:
041833,002306: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
041834,002307: 15,3657 00210 OCT 210
041835,002308: 15,3660 06001 TC GOTOPOOH
041836,002309:
041837,002310: 15,3661 05504 TC UPFLAG
041838,002311: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
041839,002312:
041840,002313: 15,3663 04631 TC SWRETURN
041841,002314:
041842,002315: 04,3013 BANK 04
041843,002316: 04,2000 SETLOC AOTMARK2
041844,002317: 04,2000 BANK
041845,002318: 04,3013 COUNT* $$/P57
041846,002319:
041847,002320: 04,3013 77220 LSORIENT STQ VLOAD
041848,002321: 04,3014 02746 QMAJ
041849,002322: 04,3015 01555 RRECTCSM
041850,002323: 04,3016 47235 VXV VXV
041851,002324: 04,3017 01563 VRECTCSM
041852,002325: 04,3020 03607 XSMD
041853,002326: 04,3021 77656 UNIT
041854,002327: 04,3022 03623 STORE ZSMD
041855,002328: 04,3023 53435 VXV UNIT
041856,002329: 04,3024 03607 XSMD
041857,002330: 04,3025 37615 STCALL YSMD
041858,002331: 04,3026 02746 QMAJ
041859,002332:
End of include-file P51-P53.agc. Parent file is MAIN.agc