Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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039738,000002: ## Copyright: Public domain.
039739,000003: ## Filename: P51-P53.agc
039740,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
039741,000005: ## This was the original program released for the Apollo 13 LM,
039742,000006: ## although several more revisions would follow. It has been
039743,000007: ## reconstructed from a listing of Luminary 131, from which it
039744,000008: ## differs on only two lines in P70-P71. The difference is
039745,000009: ## described in detail in Luminary memo #129, which was used
039746,000010: ## to perform the reconstruction. This file is intended to be a
039747,000011: ## faithful reconstruction, except that the code format has been
039748,000012: ## changed to conform to the requirements of the yaYUL assembler
039749,000013: ## rather than the original YUL assembler.
039750,000014: ## Reference: pp. 921-977
039751,000015: ## Contact: Ron Burkey <info@sandroid.org>.
039752,000016: ## Website: www.ibiblio.org/apollo
039753,000017: ## Mod history: 05/29/03 RSB. Began transcribing.
039754,000018: ## 2010-10-25 JL Indentation fixes.
039755,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
039756,000020: ## original hardcopy, as opposed to the PDF page
039757,000021: ## numbers in 1701.pdf.
039758,000022: ## 2017-02-26 RSB Proofed comment text using octopus/ProoferComments.
039759,000023: ## 2017-03-01 RSB Fixed lingering typos.
039760,000024: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
039761,000025: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039762,000026: ## side-by-side diff of Luminary 69/99/116/131/210.
039763,000027: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
039764,000028:
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Page 921
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039766,000030: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039767,000031: # MOD NO - 0 LOG SECTION - P51-P53
039768,000032: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039769,000033:
039770,000034: # FUNCTIONAL DESCRIPTION -
039771,000035:
039772,000036: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039773,000037: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039774,000038:
039775,000039: # (A) PREFERRED ORIENTATION
039776,000040:
039777,000041: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039778,000042: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039779,000043:
039780,000044: # (B) NOMINAL ORIENTATION
039781,000045:
039782,000046: # X = UNIT ( R )
039783,000047: # -SM
039784,000048:
039785,000049: # Y = UNIT (V X R)
039786,000050: # SM
039787,000051:
039788,000052: # Z = UNIT (X X Y )
039789,000053: # SM SM SM
039790,000054:
039791,000055: # WHERE_
039792,000056: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039793,000057: # -
039794,000058:
039795,000059: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039796,000060: # -
039797,000061:
039798,000062: # (C) REFSMMAT ORIENTATION
039799,000063:
039800,000064: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039801,000065:
039802,000066: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039803,000067: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039804,000068: # SINCE THE LAST ALIGNMENT).
039805,000069:
039806,000070: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039807,000071: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039808,000072: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039809,000073: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039810,000074: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039811,000075: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039812,000076: # REQUESTED.
039813,000077:
039814,000078: # CALLING SEQUENCE -
039815,000079:
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Page 922
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039817,000081: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039818,000082:
039819,000083: # SUBROUTINES CALLED -
039820,000084:
039821,000085: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039822,000086: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039823,000087: # 3. GOPERF4 9. FLAGUP
039824,000088: # 4. MATMOVE 10. R56
039825,000089: # 5. GOFLASH 11. R51
039826,000090: # 6. S52.3 12. GOPERF3
039827,000091:
039828,000092: # NORMAL EXIT MODES -
039829,000093:
039830,000094: # EXITS TO ENDOFJOB
039831,000095:
039832,000096: # ALARM OR ABORT EXIT MODES -
039833,000097:
039834,000098: # NONE
039835,000099:
039836,000100: # OUTPUT -
039837,000101:
039838,000102: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039839,000103: # 1. IMU ORIENTATION CODE
039840,000104: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039841,000105: # 3. TIME OF NEXT IGNITION
039842,000106: # 4. GIMBAL ANGLES
039843,000107: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039844,000108: # 6. PLEASE PERFORM P00
039845,000109: # THE MODE DISPLAY MAY BE CHANGED TO 20
039846,000110:
039847,000111: # ERASABLE INITIALIZATION REQUIRED -
039848,000112:
039849,000113: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039850,000114: # XSMD, YSMD, ZSMD.
039851,000115:
039852,000116: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039853,000117:
039854,000118: # DEBRIS -
039855,000119:
039856,000120: # WORKAREA
039857,000121:
039858,000122: 33,3760 BANK 33
039859,000123: 15,2000 SETLOC P50S
039860,000124: 15,2000 BANK
039861,000125:
039862,000126: 15,2050 E5,1755 EBANK= BESTI
039863,000127: 15,2050 COUNT* $$/P52
039864,000128: 15,2050 04616 PROG52 TC BANKCALL
039865,000129: 15,2051 11233 CADR R02BOTH # IMU STATUS CHECK
039866,000130: 15,2052 34750 CAF PFRATBIT
039867,000131: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039868,000132: 15,2054 10000 CCS A
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Page 923
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039870,000134: 15,2055 02060 TC P52A # YES
039871,000135: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039872,000136: 15,2057 02061 TC P52A +1
039873,000137: 15,2060 34753 P52A CAF BIT1
039874,000138: 15,2061 55144 TS OPTION2
039875,000139: 15,2062 34753 P52B CAF BIT1
039876,000140: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039877,000141: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039878,000142: 15,2065 06001 TC GOTOPOOH
039879,000143: 15,2066 12073 TCF +5 # V33 - PROCEED
039880,000144: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039881,000145: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039882,000146: 15,2071 00014 OCT 00014
039883,000147: 15,2072 05155 TC ENDOFJOB
039884,000148:
039885,000149: 15,2073 31144 CA OPTION2
039886,000150: 15,2074 76250 MASK THREE
039887,000151: 15,2075 50000 INDEX A
039888,000152: 15,2076 02077 TC +1
039889,000153: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039890,000154: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039891,000155: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039892,000156: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039893,000157: 15,2103 77650 GOTO
039894,000158: 15,2104 32164 P52F # GO DO R51
039895,000159:
039896,000160: 15,2105 00006 OPT4 EXTEND
039897,000161: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039898,000162: 15,2107 12112 TCF P52T +2
039899,000163:
039900,000164: 15,2110 00006 P52T EXTEND
039901,000165: 15,2111 34755 DCA NEG0
039902,000166: 15,2112 53045 DXCH DSPTEM1
039903,000167: 15,2113 32170 CAF V06N34*
039904,000168: 15,2114 04616 TC BANKCALL
039905,000169: 15,2115 20477 CADR GOFLASH
039906,000170: 15,2116 06001 TC GOTOPOOH
039907,000171: 15,2117 02121 TC +2
039908,000172: 15,2120 02113 TC -5
039909,000173: 15,2121 53045 DXCH DSPTEM1
039910,000174: 15,2122 00006 EXTEND
039911,000175: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039912,000176: 15,2124 12127 TCF +3
039913,000177: 15,2125 00006 EXTEND
039914,000178: 15,2126 30025 DCA TIME2
039915,000179: 15,2127 53775 DXCH TALIGN
039916,000180: 15,2130 31144 P52V CA OPTION2
039917,000181: 15,2131 74752 MASK BIT2
039918,000182: 15,2132 10000 CCS A
039919,000183: 15,2133 02137 TC P52W
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Page 924
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039921,000185: 15,2134 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039922,000186: 15,2135 77650 GOTO
039923,000187: 15,2136 32220 P52LS
039924,000188:
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Page 925
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039926,000190: # START ALIGNMENT
039927,000191:
039928,000192: 15,2137 06042 P52W TC INTPRET
039929,000193: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039930,000194: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039931,000195: 15,2142 31651 S52.3 # ORIENTATION
039932,000196: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039933,000197: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039934,000198: 15,2145 77776 EXIT
039935,000199: 15,2146 35010 CAF V06N22
039936,000200: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039937,000201: 15,2150 20477 CADR GOFLASH
039938,000202: 15,2151 06001 TC GOTOPOOH
039939,000203: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039940,000204: 15,2153 06042 P52H TC INTPRET
039941,000205: 15,2154 77650 GOTO
039942,000206: 15,2155 32143 P52D
039943,000207: 15,2156 06042 REGCOARS TC INTPRET
039944,000208: 15,2157 77624 CALL # DO COARSE ALIGN
039945,000209: 15,2160 31321 CAL53A # ROUTINE
039946,000210: 15,2161 43014 COARSRET SET CLEAR
039947,000211: 15,2162 01462 REFSMFLG
039948,000212: 15,2163 01273 PFRATFLG
039949,000213: 15,2164 77624 P52F CALL
039950,000214: 15,2165 31007 R51
039951,000215: 15,2166 77776 P52OUT EXIT
039952,000216: 15,2167 06001 TC GOTOPOOH
039953,000217: 15,2170 5006 VB05N09 = V05N09
039954,000218: 15,2170 01442 V06N34* VN 634
039955,000219:
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Page 926
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039957,000221: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039958,000222:
039959,000223: 15,2171 32217 COARSTYP CAF OCT13
039960,000224: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039961,000225: 15,2173 20624 CADR GOPERF1
039962,000226: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039963,000227: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039964,000228: 15,2176 06042 TC INTPRET # V32 - GYRO TORQUE COARSE
039965,000229: 15,2177 64375 VLOAD MXV
039966,000230: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039967,000231: 15,2201 01734 REFSMMAT
039968,000232: 15,2202 77656 UNIT
039969,000233: 15,2203 26665 STOVL XDC
039970,000234: 15,2204 03615 YSMD
039971,000235: 15,2205 53521 MXV UNIT
039972,000236: 15,2206 01734 REFSMMAT
039973,000237: 15,2207 26673 STOVL YDC
039974,000238: 15,2210 03623 ZSMD
039975,000239: 15,2211 53521 MXV UNIT
039976,000240: 15,2212 01734 REFSMMAT
039977,000241: 15,2213 36701 STCALL ZDC
039978,000242: 15,2214 31156 GYCOARS
039979,000243: 15,2215 77650 GOTO
039980,000244: 15,2216 32166 P52OUT
039981,000245: 15,2217 00013 OCT13 OCT 13
039982,000246:
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Page 927
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039984,000248: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039985,000249:
039986,000250: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039987,000251: 15,2221 01463 LUNAFLAG
039988,000252: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039989,000253: 15,2223 77201 SETPD VLOAD
039990,000254: 15,2224 00001 0
039991,000255: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039992,000256: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039993,000257: 15,2227 02775 TALIGN
039994,000258: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039995,000259: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039996,000260: 15,2232 77742 VSR2
039997,000261: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039998,000262: 15,2234 02775 TALIGN
039999,000263: 15,2235 77624 CALL
040000,000264: 15,2236 30440 N89DISP
040001,000265: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040002,000266: 15,2240 02032 ALPHAV
040003,000267: 15,2241 37607 STCALL XSMD
040004,000268: 15,2242 10757 LSORIENT
040005,000269: 15,2243 77650 GOTO
040006,000270: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040007,000271:
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Page 928
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040009,000273: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040010,000274:
040011,000275: 14,2000 SETLOC P50S1
040012,000276: 14,2000 BANK
040013,000277: 14,2440 E5,1642 EBANK= XSM
040014,000278:
040015,000279: 14,2440 77620 N89DISP STQ
040016,000280: 14,2441 02746 QMAJ
040017,000281: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040018,000282: 14,2443 26347 LAT-LONG
040019,000283: 14,2444 70545 DLOAD SR1
040020,000284: 14,2445 01122 LONG
040021,000285: 14,2446 16711 STODL LANDLONG
040022,000286: 14,2447 01124 ALT
040023,000287: 14,2450 16713 STODL LANDALT
040024,000288: 14,2451 01120 LAT
040025,000289: 14,2452 02707 STORE LANDLAT
040026,000290: 14,2453 77776 EXIT
040027,000291:
040028,000292: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040029,000293: 14,2455 04616 TC BANKCALL
040030,000294: 14,2456 20477 CADR GOFLASH
040031,000295: 14,2457 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040032,000296: 14,2460 12462 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040033,000297: 14,2461 12454 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040034,000298:
040035,000299: 14,2462 06042 TC INTPRET
040036,000300: 14,2463 72545 DLOAD SL1
040037,000301: 14,2464 02711 LANDLONG
040038,000302: 14,2465 15122 STODL LONG
040039,000303: 14,2466 02713 LANDALT
040040,000304: 14,2467 15124 STODL ALT
040041,000305: 14,2470 02707 LANDLAT
040042,000306: 14,2471 15120 STODL LAT
040043,000307: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040044,000308: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040045,000309: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040046,000310: 14,2475 77650 GOTO
040047,000311: 14,2476 02746 QMAJ
040048,000312: 14,2477 01531 V06N89* VN 689
040049,000313:
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Page 929
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040051,000315: # NAME - S50 ALIAS LOCSAM
040052,000316: # BY
040053,000317: # VINCENT
040054,000318:
040055,000319: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040056,000320:
040057,000321: # DEFINE
040058,000322:
040059,000323: # U = UNIT( SUN WRT EARTH )
040060,000324: # ES
040061,000325:
040062,000326: # U = UNIT( MOON WRT EARTH )
040063,000327: # EM
040064,000328:
040065,000329: # R = POSITION VECTOR OF LEM
040066,000330: # L
040067,000331:
040068,000332: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040069,000333: # EM
040070,000334:
040071,000335: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040072,000336: # EM
040073,000337:
040074,000338: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040075,000339: # E
040076,000340:
040077,000341: # LOCSAM COMPUTES IN EARTH INFLUENCE
040078,000342:
040079,000343: # VSUN = U
040080,000344: # ES
040081,000345:
040082,000346: # VEARTH = -UNIT( R )
040083,000347: # L
040084,000348:
040085,000349: # VMOON = UNIT(R .U - R )
040086,000350: # EM EM L
040087,000351:
040088,000352: # CSUN = COS 90
040089,000353:
040090,000354: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040091,000355: # E L
040092,000356:
040093,000357: # CMOON = COS 5
040094,000358:
040095,000359: # INPUT - TIME IN MPAC
040096,000360:
040097,000361: # OUTPUT - LISTED ABOVE
040098,000362:
040099,000363: # SUBROUTINES - LSPOS, LEMPREC
040100,000364:
040101,000365: # DEBRIS - VAC AREA, TSIGHT
040102,000366:
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Page 930
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040104,000368: 14,2500 COUNT* $$/LOSAM
040105,000369:
040106,000370: 14,2500 14,2500 S50 = LOCSAM
040107,000371: 14,2500 77620 LOCSAM STQ
040108,000372: 14,2501 02745 QMIN
040109,000373: 14,2502 37562 STCALL TSIGHT
040110,000374: 14,2503 33647 LSPOS
040111,000375: 14,2504 77745 DLOAD
040112,000376: 14,2505 03562 TSIGHT
040113,000377: 14,2506 34041 STCALL TDEC1
040114,000378: 14,2507 27056 LEMPREC
040115,000379: 14,2510 61131 SSP TIX,2
040116,000380: 14,2511 00052 S2
040117,000381: 14,2512 00000 0
040118,000382: 14,2513 30535 MOONCNTR
040119,000383: 14,2514 74375 EARTCNTR VLOAD VXSC
040120,000384: 14,2515 02723 VMOON
040121,000385: 14,2516 30001 RSUBEM
040122,000386: 14,2517 52372 VSL1 VSU
040123,000387: 14,2520 00001 RATT
040124,000388: 14,2521 77656 UNIT
040125,000389: 14,2522 26723 STOVL VMOON
040126,000390: 14,2523 00001 RATT
040127,000391: 14,2524 57456 UNIT VCOMP
040128,000392: 14,2525 16707 STODL VEARTH
040129,000393: 14,2526 30005 RSUBE
040130,000394: 14,2527 77624 CALL
040131,000395: 14,2530 30567 OCCOS
040132,000396: 14,2531 14017 STODL CEARTH
040133,000397: 14,2532 30576 CSS5
040134,000398: 14,2533 34023 STCALL CMOON
040135,000399: 14,2534 30562 ENDSAM
040136,000400: 14,2535 74375 MOONCNTR VLOAD VXSC
040137,000401: 14,2536 02723 VMOON
040138,000402: 14,2537 30007 ROE
040139,000403: 14,2540 53445 BVSU UNIT
040140,000404: 14,2541 02715 VSUN
040141,000405: 14,2542 26715 STOVL VSUN
040142,000406: 14,2543 02723 VMOON
040143,000407: 14,2544 53361 VXSC VAD
040144,000408: 14,2545 30001 RSUBEM
040145,000409: 14,2546 00001 RATT
040146,000410: 14,2547 57456 UNIT VCOMP
040147,000411: 14,2550 26707 STOVL VEARTH
040148,000412: 14,2551 00001 RATT
040149,000413: 14,2552 57456 UNIT VCOMP
040150,000414: 14,2553 16723 STODL VMOON
040151,000415: 14,2554 30003 RSUBM
040152,000416: 14,2555 77624 CALL
040153,000417: 14,2556 30567 OCCOS
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|
Page 931
|
040155,000419: 14,2557 14023 STODL CMOON
040156,000420: 14,2560 30576 CSS5
040157,000421: 14,2561 00017 STORE CEARTH
040158,000422: 14,2562 77745 ENDSAM DLOAD
040159,000423: 14,2563 30600 CSSUN
040160,000424: 14,2564 00021 STORE CSUN
040161,000425: 14,2565 77650 GOTO
040162,000426: 14,2566 02745 QMIN
040163,000427: 14,2567 70471 OCCOS DDV SR1
040164,000428: 14,2570 00045 36D
040165,000429: 14,2571 43336 ASIN DAD
040166,000430: 14,2572 30602 5DEGREES
040167,000431: 14,2573 70546 COS SR1
040168,000432: 14,2574 77616 RVQ
040169,000433: 14,2575 CEARTH = 14D
040170,000434: 14,2575 CSUN = 16D
040171,000435: 14,2575 CMOON = 18D
040172,000436: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040173,000437: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040174,000438: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040175,000439:
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|
Page 932
|
040177,000441: # PROGRAM NAME - R56 DATE DEC 20 66
040178,000442: # MOD 1 LOG SECTION P51-P53
040179,000443: # ASSEMBLY SUNDISK REV40
040180,000444: # BY KEN VINCENT
040181,000445:
040182,000446: # FUNCTION
040183,000447: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040184,000448: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040185,000449: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040186,000450: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040187,000451: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040188,000452: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040189,000453: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040190,000454: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040191,000455: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040192,000456: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040193,000457: # 50 DEGREESOF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040194,000458: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040195,000459:
040196,000460: # CALLING SEQUENCE
040197,000461: # L TC BANKCALL
040198,000462: # L+1 CADR R56
040199,000463: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040200,000464: # L+3 NORMAL RETURN
040201,000465:
040202,000466: # OUTPUT
040203,000467: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040204,000468: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040205,000469:
040206,000470: # INITIALIZATION
040207,000471: # 1) A CALL TO LOCSAM MUST BE MADE
040208,000472:
040209,000473: # DEBRIS
040210,000474: # WORKAREA
040211,000475: # X,Y,ZNB
040212,000476: # SINCDU, COSCDU
040213,000477: # STARAD - STAR +5
040214,000478:
040215,000479: 14,2603 14,2603 R56 = PICAPAR
040216,000480: 14,2603 COUNT* $$/R56
040217,000481: 14,2603 04645 PICAPAR TC MAKECADR
040218,000482: 14,2604 55745 TS QMIN
040219,000483: 14,2605 06042 TC INTPRET
040220,000484: 14,2606 77624 CALL
040221,000485: 14,2607 47541 CDUTRIG
040222,000486: 14,2610 77624 CALL
040223,000487: 14,2611 20030 CALCSMSC
040224,000488: 14,2612 77601 SETPD
040225,000489: 14,2613 00001 0
040226,000490: 14,2614 71214 SET DLOAD # VFLAG = 1
040227,000491: 14,2615 01465 VFLAG
|
|
Page 933
|
040229,000493: 14,2616 24007 DPZERO
040230,000494: 14,2617 26756 STOVL BESTI
040231,000495: 14,2620 02665 XNB
040232,000496: 14,2621 63361 VXSC PDVL
040233,000497: 14,2622 24005 HALFDP
040234,000498: 14,2623 02701 ZNB
040235,000499: 14,2624 74370 AXT,1 VXSC
040236,000500: 14,2625 00344 228D # X1 = 37 X 6 + 6
040237,000501: 14,2626 24005 HALFDP
040238,000502: 14,2627 77655 VAD
040239,000503: 14,2630 53505 VXM UNIT
040240,000504: 14,2631 01734 REFSMMAT
040241,000505: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040242,000506: 14,2633 66331 SSP SSP # S1 = S2 = 6
040243,000507: 14,2634 00051 S1
040244,000508: 14,2635 00006 6
040245,000509: 14,2636 00052 S2
040246,000510: 14,2637 00006 6
040247,000511: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040248,000512: 14,2641 30643 PIC2
040249,000513: 14,2642 30760 PICEND
040250,000514: 14,2643 50373 PIC2 VLOAD* DOT
040251,000515: 14,2644 30347 CATLOG,1
040252,000516: 14,2645 02731 SAX
040253,000517: 14,2646 50025 DSU BMN
040254,000518: 14,2647 30757 CSS33
040255,000519: 14,2650 30640 PIC1
040256,000520: 14,2651 77754 LXA,2
040257,000521: 14,2652 00046 X1
040258,000522: 14,2653 52104 PIC3 TIX,2 GOTO
040259,000523: 14,2654 30656 PIC4
040260,000524: 14,2655 30640 PIC1
040261,000525: 14,2656 50373 PIC4 VLOAD* DOT
040262,000526: 14,2657 47430 CATLOG,2
040263,000527: 14,2660 02731 SAX
040264,000528: 14,2661 50025 DSU BMN
040265,000529: 14,2662 30757 CSS33
040266,000530: 14,2663 30653 PIC3
040267,000531: 14,2664 47773 VLOAD* DOT*
040268,000532: 14,2665 30347 CATLOG,1
040269,000533: 14,2666 47430 CATLOG,2
040270,000534: 14,2667 51025 DSU BPL
040271,000535: 14,2670 30755 CSS40
040272,000536: 14,2671 30653 PIC3
040273,000537: 14,2672 45173 VLOAD* CALL
040274,000538: 14,2673 30347 CATLOG,1
040275,000539: 14,2674 30732 OCCULT
040276,000540: 14,2675 77614 BON
040277,000541: 14,2676 01710 CULTFLAG
040278,000542: 14,2677 30640 PIC1
|
|
Page 934
|
040280,000544: 14,2700 45173 VLOAD* CALL
040281,000545: 14,2701 47430 CATLOG,2
040282,000546: 14,2702 30732 OCCULT
040283,000547: 14,2703 77614 BON
040284,000548: 14,2704 01710 CULTFLAG
040285,000549: 14,2705 30653 PIC3
040286,000550: 14,2706 77614 STRATGY BONCLR
040287,000551: 14,2707 01605 VFLAG
040288,000552: 14,2710 30725 NEWPAR
040289,000553: 14,2711 65120 XCHX,1 XCHX,2
040290,000554: 14,2712 02755 BESTI
040291,000555: 14,2713 02756 BESTJ
040292,000556: 14,2714 47773 STRAT VLOAD* DOT*
040293,000557: 14,2715 30347 CATLOG,1
040294,000558: 14,2716 47430 CATLOG,2
040295,000559: 14,2717 43006 PUSH BOFINV
040296,000560: 14,2720 01545 VFLAG
040297,000561: 14,2721 30711 STRAT -3
040298,000562: 14,2722 45345 DLOAD DSU
040299,000563: 14,2723 77644 BPL
040300,000564: 14,2724 30653 PIC3
040301,000565: 14,2725 67130 NEWPAR SXA,1 SXA,2
040302,000566: 14,2726 02755 BESTI
040303,000567: 14,2727 02756 BESTJ
040304,000568: 14,2730 77650 GOTO
040305,000569: 14,2731 30653 PIC3
040306,000570: 14,2732 51321 OCCULT MXV BVSU
040307,000571: 14,2733 02707 CULTRIX
040308,000572: 14,2734 00017 CSS
040309,000573: 14,2735 77654 BZE
040310,000574: 14,2736 30751 CULTED
040311,000575: 14,2737 75240 BMN SIGN
040312,000576: 14,2740 30751 CULTED
040313,000577: 14,2741 00160 MPAC +3
040314,000578: 14,2742 75240 BMN SIGN
040315,000579: 14,2743 30751 CULTED
040316,000580: 14,2744 00162 MPAC +5
040317,000581: 14,2745 43040 BMN CLRGO
040318,000582: 14,2746 30751 CULTED
040319,000583: 14,2747 01630 CULTFLAG
040320,000584: 14,2750 00052 QPRET
040321,000585: 14,2751 77614 CULTED SETGO
040322,000586: 14,2752 01430 CULTFLAG
040323,000587: 14,2753 00052 QPRET
040324,000588: 14,2754 0000016 CSS = CEARTH
040325,000589: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040326,000590: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040327,000591: 14,2760 77414 PICEND BOFF EXIT
040328,000592:
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|
Page 935
|
040330,000594: 14,2761 01745 VFLAG
040331,000595: 14,2762 30764 PICGXT
040332,000596: 14,2763 03005 TC PICBXT
040333,000597: 14,2764 73150 PICGXT LXA,1 LXA,2
040334,000598: 14,2765 02755 BESTI
040335,000599: 14,2766 02756 BESTJ
040336,000600: 14,2767 47775 VLOAD DOT*
040337,000601: 14,2770 02731 SAX
040338,000602: 14,2771 30347 CATLOG,1
040339,000603: 14,2772 47715 PDVL DOT*
040340,000604: 14,2773 02731 SAX
040341,000605: 14,2774 47430 CATLOG,2
040342,000606: 14,2775 77625 DSU
040343,000607: 14,2776 66044 BPL SXA,1
040344,000608: 14,2777 31003 PICNSWP
040345,000609: 14,3000 02756 BESTJ
040346,000610: 14,3001 77734 SXA,2
040347,000611: 14,3002 02755 BESTI
040348,000612: 14,3003 77776 PICNSWP EXIT
040349,000613: 14,3004 25745 INCR QMIN
040350,000614: 14,3005 31745 PICBXT CA QMIN
040351,000615: 14,3006 04622 TC SWCALL
040352,000616: 14,3007 VPD = 0D
040353,000617: 14,3007 V0 = 6D
040354,000618: 14,3007 V1 = 12D
040355,000619: 14,3007 V2 = 18D
040356,000620: 14,3007 V3 = 24D
040357,000621: 14,3007 DP0 = 30D
040358,000622: 14,3007 DP1 = 32D
040359,000623:
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|
Page 936
|
040361,000625: # NAME - R51 FINE ALIGN
040362,000626: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040363,000627: # CALLING SEQ - CALL R51
040364,000628: # INPUT - REFSMMAT
040365,000629: # OUTPUT - GYRO TORQUE PULSES
040366,000630: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040367,000631:
040368,000632: 14,3007 COUNT* $$/R51
040369,000633: 14,3007 77620 R51 STQ
040370,000634: 14,3010 02746 QMAJ
040371,000635: 14,3011 77776 R51.1 EXIT
040372,000636: 14,3012 05353 TC PHASCHNG
040373,000637: 14,3013 04024 OCT 04024
040374,000638:
040375,000639: 14,3014 34761 R51C CAF OCT15
040376,000640: 14,3015 04616 TC BANKCALL
040377,000641: 14,3016 20624 CADR GOPERF1
040378,000642: 14,3017 06001 TC GOTOPOOH
040379,000643: 14,3020 03022 TC +2 # V33E
040380,000644: 14,3021 03045 TC R51E # ENTER
040381,000645: 14,3022 06042 TC INTPRET
040382,000646: 14,3023 43234 RTB DAD
040383,000647: 14,3024 21574 LOADTIME
040384,000648: 14,3025 31155 TSIGHT1
040385,000649: 14,3026 77624 CALL
040386,000650: 14,3027 30500 LOCSAM
040387,000651: 14,3030 77776 EXIT
040388,000652: 14,3031 04616 TC BANKCALL
040389,000653: 14,3032 30603 CADR R56
040390,000654: 14,3033 03035 TC R51I
040391,000655: 14,3034 03045 R51F TC R51E
040392,000656: 14,3035 05567 R51I TC ALARM
040393,000657: 14,3036 00405 OCT 405
040394,000658: 14,3037 35006 CAF VB05N09
040395,000659: 14,3040 04616 TC BANKCALL
040396,000660: 14,3041 20477 CADR GOFLASH
040397,000661: 14,3042 06001 TC GOTOPOOH
040398,000662: 14,3043 03045 TC R51E
040399,000663: 14,3044 03014 TC R51C
040400,000664: 14,3045 34755 R51E CAF ZERO
040401,000665: 14,3046 55757 TS STARIND
040402,000666: 14,3047 06042 R51.2 TC INTPRET
040403,000667: 14,3050 77776 R51.3 EXIT
040404,000668: 14,3051 05353 TC PHASCHNG
040405,000669: 14,3052 04024 OCT 04024
040406,000670:
040407,000671: 14,3053 06042 TC INTPRET
040408,000672: 14,3054 77624 CALL
040409,000673: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040410,000674: 14,3056 77776 EXIT
040411,000675: 14,3057 04616 TC BANKCALL
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|
Page 937
|
040413,000677: 14,3060 16000 CADR AOTMARK
040414,000678: 14,3061 04616 TC BANKCALL
040415,000679: 14,3062 17703 CADR OPTSTALL
040416,000680: 14,3063 05701 TC CURTAINS
040417,000681: 14,3064 11757 CCS STARIND
040418,000682: 14,3065 13067 TCF +2
040419,000683: 14,3066 03137 TC R51.4
040420,000684: 14,3067 06042 TC INTPRET
040421,000685: 14,3070 77775 VLOAD
040422,000686: 14,3071 02715 STARAD +6
040423,000687: 14,3072 02767 STORE STARSAV2
040424,000688: 14,3073 77776 EXIT
040425,000689: 14,3074 05353 TC PHASCHNG
040426,000690: 14,3075 04024 OCT 04024
040427,000691:
040428,000692: 14,3076 06042 TC INTPRET
040429,000693: 14,3077 45145 DLOAD CALL
040430,000694: 14,3100 03562 TSIGHT
040431,000695: 14,3101 32472 PLANET
040432,000696: 14,3102 53521 MXV UNIT
040433,000697: 14,3103 01734 REFSMMAT
040434,000698: 14,3104 26715 STOVL STARAD +6
040435,000699: 14,3105 03554 PLANVEC
040436,000700: 14,3106 53521 MXV UNIT
040437,000701: 14,3107 01734 REFSMMAT
040438,000702: 14,3110 26707 STOVL STARAD
040439,000703: 14,3111 02761 STARSAV1
040440,000704: 14,3112 24007 STOVL 6D
040441,000705: 14,3113 02767 STARSAV2
040442,000706: 14,3114 34015 STCALL 12D
040443,000707: 14,3115 31250 R54 # STAR DATA TEST
040444,000708: 14,3116 45014 BOFF CALL
040445,000709: 14,3117 00354 FREEFLAG
040446,000710: 14,3120 31126 R51K
040447,000711: 14,3121 47443 AXISGEN
040448,000712: 14,3122 77624 CALL
040449,000713: 14,3123 31216 R55 # GYRO TORQUE
040450,000714: 14,3124 77614 CLEAR
040451,000715: 14,3125 01273 PFRATFLG
040452,000716: 14,3126 77776 R51K EXIT
040453,000717: 14,3127 35741 R51P63 CAF OCT14
040454,000718: 14,3130 04616 TC BANKCALL
040455,000719: 14,3131 20624 CADR GOPERF1
040456,000720: 14,3132 06001 TC GOTOPOOH
040457,000721: 14,3133 03014 TC R51C
040458,000722: 14,3134 06042 TC INTPRET
040459,000723: 14,3135 77650 GOTO
040460,000724: 14,3136 02746 QMAJ
040461,000725: 14,3137 06042 R51.4 TC INTPRET
040462,000726: 14,3140 77775 VLOAD
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|
Page 938
|
040464,000728: 14,3141 02715 STARAD +6
040465,000729: 14,3142 02761 STORE STARSAV1
040466,000730: 14,3143 45145 DLOAD CALL
040467,000731: 14,3144 03562 TSIGHT
040468,000732: 14,3145 32472 PLANET
040469,000733: 14,3146 03554 STORE PLANVEC
040470,000734: 14,3147 77731 SSP
040471,000735: 14,3150 02760 STARIND
040472,000736: 14,3151 00001 1
040473,000737: 14,3152 77650 GOTO
040474,000738: 14,3153 31050 R51.3
040475,000739: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040476,000740:
|
|
Page 939
|
040478,000742: # GYRO TORQUE COARSE ALIGNMENT
040479,000743:
040480,000744: 14,3156 45020 GYCOARS STQ CALL
040481,000745: 14,3157 02746 QMAJ
040482,000746: 14,3160 47251 CALCGTA
040483,000747: 14,3161 43014 CLEAR CLEAR
040484,000748: 14,3162 01260 DRIFTFLG
040485,000749: 14,3163 01662 REFSMFLG
040486,000750: 14,3164 77776 EXIT
040487,000751: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040488,000752: 14,3166 04616 TC BANKCALL
040489,000753: 14,3167 20452 CADR GODSPR
040490,000754: 14,3170 33247 CA R55CDR
040491,000755: 14,3171 04616 TC BANKCALL
040492,000756: 14,3172 17314 CADR IMUPULSE
040493,000757: 14,3173 04616 TC BANKCALL
040494,000758: 14,3174 17707 CADR IMUSTALL
040495,000759: 14,3175 05701 TC CURTAINS
040496,000760: 14,3176 05353 TC PHASCHNG
040497,000761: 14,3177 04024 OCT 04024
040498,000762:
040499,000763: 14,3200 06042 TC INTPRET
040500,000764: 14,3201 75160 AXC,1 AXC,2
040501,000765: 14,3202 03606 XSMD
040502,000766: 14,3203 01733 REFSMMAT
040503,000767: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040504,000768: 14,3205 31371 MATMOVE
040505,000769: 14,3206 43014 CLEAR SET
040506,000770: 14,3207 01273 PFRATFLG
040507,000771: 14,3210 01462 REFSMFLG
040508,000772: 14,3211 77624 CALL
040509,000773: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040510,000774: 14,3213 77650 GOTO
040511,000775: 14,3214 31126 R51K
040512,000776: 14,3215 04024 V16N20 VN 1620
040513,000777:
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|
Page 940
|
040515,000779: # R55 GYROTORQUE
040516,000780: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040517,000781: # CALLING SEQ - CALL R55
040518,000782: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040519,000783: # OUTPUT - GYRO PULSES
040520,000784: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040521,000785:
040522,000786: 14,3216 COUNT* $$/R55
040523,000787: 14,3216 77620 R55 STQ
040524,000788: 14,3217 02745 QMIN
040525,000789: 14,3220 77624 CALL
040526,000790: 14,3221 47251 CALCGTA
040527,000791: 14,3222 77776 PULSEM EXIT
040528,000792: 14,3223 33246 R55.1 CAF V06N93
040529,000793: 14,3224 04616 TC BANKCALL
040530,000794: 14,3225 20477 CADR GOFLASH
040531,000795: 14,3226 06001 TC GOTOPOOH
040532,000796: 14,3227 03231 TC R55.2
040533,000797: 14,3230 03243 TC R55RET
040534,000798: 14,3231 05353 R55.2 TC PHASCHNG
040535,000799: 14,3232 00214 OCT 00214
040536,000800: 14,3233 33247 CA R55CDR
040537,000801: 14,3234 04616 TC BANKCALL
040538,000802: 14,3235 17314 CADR IMUPULSE
040539,000803: 14,3236 04616 TC BANKCALL
040540,000804: 14,3237 17707 CADR IMUSTALL
040541,000805: 14,3240 05701 TC CURTAINS
040542,000806: 14,3241 05353 TC PHASCHNG
040543,000807: 14,3242 04024 OCT 04024
040544,000808:
040545,000809: 14,3243 06042 R55RET TC INTPRET
040546,000810: 14,3244 77650 GOTO
040547,000811: 14,3245 02745 QMIN
040548,000812: 14,3246 01535 V06N93 VN 0693
040549,000813: 14,3247 02737 R55CDR ECADR OGC
040550,000814: 14,3250 14,3250 R54 = CHKSDATA
040551,000815:
040552,000816: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040553,000817: # MOD NO - 0 LOG SECTION - P51-P53
040554,000818: # MODIFICATION BY - LONSKE ASSEMBLY -
040555,000819:
040556,000820: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040557,000821: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040558,000822: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040559,000823: # OS1 = OBSERVED STAR 1 VECTOR
040560,000824: # OS2 = OBSERVED STAR 2 VECTOR
040561,000825: # SS1 = STORED STAR 1 VECTOR
040562,000826: # SS2 = STORED STAR 2 VECTOR
040563,000827: # A1 = ARCCOS(OS1 - OS2)
040564,000828: # A2 = ARCCOS(SS1 - SS2)
040565,000829: # A = ABS(2(A1 - A2))
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|
Page 941
|
040567,000831: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040568,000832:
040569,000833: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040570,000834: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040571,000835: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040572,000836: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040573,000837:
040574,000838: # ERASABLE INITIALIZATION REQUIRED -
040575,000839: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040576,000840: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040577,000841:
040578,000842: # DEBRIS -
040579,000843:
040580,000844: 14,3250 COUNT* $$/R54
040581,000845: 14,3250 43020 CHKSDATA STQ SET
040582,000846: 14,3251 02745 QMIN
040583,000847: 14,3252 00074 FREEFLAG
040584,000848: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040585,000849: 14,3254 02706 STARAD
040586,000850:
040587,000851: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040588,000852: 14,3256 00001 0,1
040589,000853: 14,3257 00007 6,1
040590,000854: 14,3260 65552 SL1 ACOS
040591,000855: 14,3261 00025 STORE THETA
040592,000856: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040593,000857: 14,3263 00354 FREEFLAG
040594,000858: 14,3264 31274 CHKSD
040595,000859: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040596,000860: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040597,000861: 14,3267 00006 6D
040598,000862: 14,3270 00025 THETA
040599,000863: 14,3271 00023 STORE 18D
040600,000864: 14,3272 77650 GOTO
040601,000865: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040602,000866: 14,3274 45345 CHKSD DLOAD DSU
040603,000867: 14,3275 00025 THETA
040604,000868: 14,3276 00023 18D
040605,000869: 14,3277 77634 RTB # COMPUTE POS DIFF
040606,000870: 14,3300 21613 SGNAGREE
040607,000871: 14,3301 01045 STORE NORMTEM1
040608,000872: 14,3302 77414 SET EXIT
040609,000873: 14,3303 00074 FREEFLAG
040610,000874: 14,3304 33320 CAF VB6N5
040611,000875: 14,3305 04616 TC BANKCALL
040612,000876: 14,3306 20477 CADR GOFLASH
040613,000877: 14,3307 16001 TCF GOTOPOOH
040614,000878: 14,3310 03315 TC CHKSDA # PROCEED
040615,000879: 14,3311 06042 TC INTPRET
040616,000880: 14,3312 52014 CLEAR GOTO
040617,000881: 14,3313 00274 FREEFLAG
040618,000882: 14,3314 02745 QMIN
040619,000883: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 942
|
040621,000885: 14,3316 77650 GOTO
040622,000886: 14,3317 02745 QMIN
040623,000887: 14,3320 01405 VB6N5 VN 605
040624,000888:
040625,000889: # NAME - CAL53A
040626,000890: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040627,000891: # CALLING SEQUENCE - CALL CAL53A
040628,000892: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040629,000893: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040630,000894: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
|
|
The printout appears to say "IMUGOARSE" in the line below, but many other
AGC versions have an identical card reading "IMUCOARSE", so I believe there
is a smudge on the paper that merely makes the 'C' appear to be a 'G'
— RSB 2017.
|
040635,000899: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040636,000900:
040637,000901: 14,3321 COUNT* $$/R50
040638,000902: 14,3321 77624 CAL53A CALL
040639,000903: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040640,000904: 14,3323 66234 RTB SSP
040641,000905: 14,3324 31405 RDCDUS # READ CDUS
040642,000906: 14,3325 00051 S1
040643,000907: 14,3326 00001 1
040644,000908: 14,3327 40370 AXT,1 SETPD
040645,000909: 14,3330 00003 3
040646,000910: 14,3331 00005 4
040647,000911: 14,3332 70543 CALOOP DLOAD* SR1
040648,000912: 14,3333 00325 THETAD +3D,1
040649,000913: 14,3334 70523 PDDL* SR1
040650,000914: 14,3335 00005 4,1
040651,000915: 14,3336 51425 DSU ABS
040652,000916: 14,3337 45206 PUSH DSU
040653,000917: 14,3340 31404 DEGREE1
040654,000918: 14,3341 71240 BMN DLOAD
040655,000919: 14,3342 31360 CALOOP1
040656,000920: 14,3343 51025 DSU BPL
040657,000921: 14,3344 31405 DEG359
040658,000922: 14,3345 31360 CALOOP1
040659,000923: 14,3346 77776 EXIT
040660,000924: 14,3347 05353 TC PHASCHNG
040661,000925: 14,3350 04024 OCT 04024
040662,000926:
040663,000927: 14,3351 06042 TC INTPRET
040664,000928: 14,3352 77624 COARFINE CALL
040665,000929: 14,3353 31557 COARSE
040666,000930: 14,3354 77624 CALL
040667,000931: 14,3355 31603 NCOARSE
040668,000932: 14,3356 77650 GOTO
040669,000933: 14,3357 31362 FINEONLY
040670,000934: 14,3360 77700 CALOOP1 TIX,1
040671,000935: 14,3361 31332 CALOOP
040672,000936: 14,3362 75160 FINEONLY AXC,1 AXC,2
040673,000937: 14,3363 02642 XSM
040674,000938: 14,3364 01733 REFSMMAT
040675,000939: 14,3365 77624 CALL
040676,000940: 14,3366 31371 MATMOVE
|
|
Page 943
|
040678,000942: 14,3367 77650 GOTO
040679,000943: 14,3370 32161 COARSRET
040680,000944: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040681,000945: 14,3372 00001 0,1
040682,000946: 14,3373 10001 STORE 0,2
040683,000947: 14,3374 77773 VLOAD*
040684,000948: 14,3375 00007 6D,1
040685,000949: 14,3376 10007 STORE 6D,2
040686,000950: 14,3377 77773 VLOAD*
040687,000951: 14,3400 00015 12D,1
040688,000952: 14,3401 10015 STORE 12D,2
040689,000953: 14,3402 77616 RVQ
040690,000954: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040691,000955: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040692,000956: 14,3405 00004 RDCDUS INHINT # READ CDUS
040693,000957: 14,3406 30032 CA CDUX
040694,000958: 14,3407 50120 INDEX FIXLOC
040695,000959: 14,3410 54001 TS 1
040696,000960: 14,3411 30033 CA CDUY
040697,000961: 14,3412 50120 INDEX FIXLOC
040698,000962: 14,3413 54002 TS 2
040699,000963: 14,3414 30034 CA CDUZ
040700,000964: 14,3415 50120 INDEX FIXLOC
040701,000965: 14,3416 54003 TS 3
040702,000966: 14,3417 00003 RELINT
040703,000967: 14,3420 06064 TC DANZIG # +
040704,000968: 14,3421 COUNT* $$/INFLT
040705,000969:
|
|
Page 944
|
040707,000971: # NAME - P51 - IMU ORIENTATION DETERMINATION
040708,000972: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040709,000973: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040710,000974:
040711,000975: # FUNCTIONAL DESCRIPTION
040712,000976: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040713,000977: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040714,000978: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040715,000979: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040716,000980:
040717,000981: # CALLING SEQUENCE
040718,000982: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040719,000983:
040720,000984: # SUBROUTINES CALLED.
040721,000985: # GOPERF3
040722,000986: # GOPERF1
040723,000987: # GODSPR
040724,000988: # IMUCOARS
040725,000989: # IMUFIN20
040726,000990: # AOTMARK (R53)
040727,000991: # CHKSDATA (R54)
040728,000992: # MKRELEAS
040729,000993: # AXISGEN
040730,000994: # MATMOVE
040731,000995:
040732,000996: # ALARMS
040733,000997: # NONE.
040734,000998:
040735,000999: # ERASABLE INITIALIZATION
040736,001000: # IMU ZERO FLAG SHOULD BE SET.
040737,001001:
040738,001002: # OUTPUT
040739,001003: # REFSMMAT
040740,001004: # REFSMFLG
040741,001005:
040742,001006: # DEBRIS
040743,001007: # WORK AREA
040744,001008: # STARAD
040745,001009: # STARIND
040746,001010: # BESTI
040747,001011: # BESTJ
040748,001012:
040749,001013: 14,3421 COUNT* $$/P51
|
|
Page 945
|
040751,001015: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040752,001016: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040753,001017:
040754,001018: 14,3423 34761 CAF OCT15
040755,001019: 14,3424 04616 TC BANKCALL
040756,001020: 14,3425 20624 CADR GOPERF1
040757,001021: 14,3426 06001 TC GOTOPOOH # TERM.
040758,001022: 14,3427 13453 TCF P51B # V33
040759,001023: 14,3430 05353 TC PHASCHNG
040760,001024: 14,3431 04024 OCT 04024
040761,001025:
040762,001026: 14,3432 34755 CAF ZERO
040763,001027: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040764,001028: 14,3434 54322 TS THETAD +1
040765,001029: 14,3435 54323 TS THETAD +2
040766,001030: 14,3436 35010 CAF V06N22
040767,001031: 14,3437 04616 TC BANKCALL
040768,001032: 14,3440 20447 CADR GODSPRET
040769,001033: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040770,001034: 14,3442 04616 TC BANKCALL
040771,001035: 14,3443 20447 CADR GODSPRET
040772,001036: 14,3444 06042 TC INTPRET
040773,001037: 14,3445 77624 CALL
040774,001038: 14,3446 31557 COARSE
040775,001039: 14,3447 77776 EXIT
040776,001040: 14,3450 05353 TC PHASCHNG
040777,001041: 14,3451 04024 OCT 04024
040778,001042: 14,3452 13423 TCF P51 +2
040779,001043:
040780,001044: 14,3453 05353 P51B TC PHASCHNG
040781,001045: 14,3454 00014 OCT 00014
040782,001046: 14,3455 06042 TC INTPRET
040783,001047: 14,3456 77624 CALL
040784,001048: 14,3457 31603 NCOARSE
040785,001049: 14,3460 40331 SSP SETPD
040786,001050: 14,3461 02760 STARIND # INDEX - STAR 1 OR 2
040787,001051: 14,3462 00000 0
040788,001052: 14,3463 00001 0
040789,001053: 14,3464 77776 P51C EXIT
040790,001054: 14,3465 05353 TC PHASCHNG
040791,001055: 14,3466 04024 OCT 04024
040792,001056:
040793,001057: 14,3467 04616 TC BANKCALL
040794,001058: 14,3470 16000 CADR AOTMARK # R53
040795,001059: 14,3471 04616 TC BANKCALL
040796,001060: 14,3472 17703 CADR AOTSTALL
040797,001061: 14,3473 05701 TC CURTAINS
040798,001062: 14,3474 11757 CCS STARIND
040799,001063: 14,3475 13503 TCF P51D +1
040800,001064: 14,3476 06042 TC INTPRET
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|
Page 946
|
040802,001066: 14,3477 77775 VLOAD
040803,001067: 14,3500 02715 STARAD +6
040804,001068: 14,3501 02761 STORE STARSAV1
040805,001069: 14,3502 77776 P51D EXIT
040806,001070: 14,3503 05353 TC PHASCHNG
040807,001071: 14,3504 04024 OCT 04024
040808,001072:
040809,001073: 14,3505 11757 CCS STARIND
040810,001074: 14,3506 13522 TCF P51E
040811,001075: 14,3507 05353 TC PHASCHNG
040812,001076: 14,3510 04024 OCT 04024
040813,001077:
040814,001078: 14,3511 06042 TC INTPRET
040815,001079: 14,3512 45145 DLOAD CALL
040816,001080: 14,3513 03562 TSIGHT
040817,001081: 14,3514 32472 PLANET
040818,001082: 14,3515 03554 STORE PLANVEC
040819,001083: 14,3516 77776 EXIT
040820,001084: 14,3517 34753 CAF BIT1
040821,001085: 14,3520 55757 TS STARIND
040822,001086: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040823,001087: 14,3522 05353 P51E TC PHASCHNG
040824,001088: 14,3523 04024 OCT 04024
040825,001089:
040826,001090: 14,3524 06042 TC INTPRET
040827,001091: 14,3525 45145 DLOAD CALL
040828,001092: 14,3526 03562 TSIGHT
040829,001093: 14,3527 32472 PLANET
040830,001094: 14,3530 24015 STOVL 12D
040831,001095: 14,3531 03554 PLANVEC
040832,001096: 14,3532 24007 STOVL 6D
040833,001097: 14,3533 02761 STARSAV1
040834,001098: 14,3534 26707 STOVL STARAD
040835,001099: 14,3535 02767 STARSAV2
040836,001100: 14,3536 36715 STCALL STARAD +6
040837,001101: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040838,001102: 14,3540 77414 BON EXIT
040839,001103: 14,3541 00314 FREEFLAG
040840,001104: 14,3542 31544 P51G
040841,001105: 14,3543 03423 TC P51 +2
040842,001106: 14,3544 77624 P51G CALL
040843,001107: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040844,001108: 14,3546 75160 AXC,1 AXC,2
040845,001109: 14,3547 02664 XDC
040846,001110: 14,3550 01733 REFSMMAT
040847,001111: 14,3551 77624 CALL
040848,001112: 14,3552 31371 MATMOVE
040849,001113: 14,3553 77414 SET EXIT
040850,001114: 14,3554 01462 REFSMFLG
040851,001115: 14,3555 06001 TC GOTOPOOH # FINIS
|
|
Page 947
|
040853,001117: 14,3556 12200 V41K VN 4100
040854,001118: 14,3557 77776 COARSE EXIT
040855,001119: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040856,001120: 14,3561 00006 EXTEND
040857,001121: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040858,001122: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040859,001123: 14,3564 04616 TC BANKCALL
040860,001124: 14,3565 01736 CADR DELAYJOB
040861,001125: 14,3566 13560 TCF COARSE +1
040862,001126: 14,3567 04616 DOCORS TC BANKCALL
040863,001127: 14,3570 16771 CADR IMUCOARS
040864,001128: 14,3571 04616 TC BANKCALL
040865,001129: 14,3572 17707 CADR IMUSTALL
040866,001130: 14,3573 05701 TC CURTAINS
040867,001131: 14,3574 04616 TC BANKCALL
040868,001132: 14,3575 17201 CADR IMUFINE
040869,001133: 14,3576 04616 TC BANKCALL
040870,001134: 14,3577 17707 CADR IMUSTALL
040871,001135: 14,3600 05701 TC CURTAINS
040872,001136: 14,3601 06042 TC INTPRET
040873,001137: 14,3602 77616 RVQ
040874,001138: 14,3603 77776 NCOARSE EXIT
040875,001139: 14,3604 30025 CA TIME1
040876,001140: 14,3605 55074 TS 1/PIPADT
040877,001141: 14,3606 44755 CS ZERO
040878,001142: 14,3607 54037 TS PIPAX
040879,001143: 14,3610 54040 TS PIPAY
040880,001144: 14,3611 54041 TS PIPAZ
040881,001145: 14,3612 06042 TC INTPRET
040882,001146: 14,3613 77775 VLOAD
040883,001147: 14,3614 24007 ZEROVEC
040884,001148: 14,3615 01472 STORE GCOMP
040885,001149: 14,3616 43414 SET RVQ
040886,001150: 14,3617 01060 DRIFTFLG
040887,001151:
|
|
Page 948
|
040889,001153: # NAME - S52.2
040890,001154: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040891,001155: # CALL - CALL S52.2
040892,001156: # INPUT - X,Y,ZSMD
040893,001157: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040894,001158: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040895,001159:
040896,001160: 14,3620 COUNT* $$/S52.1
040897,001161: 14,3620 45020 S52.2 STQ CALL
040898,001162: 14,3621 02746 QMAJ
040899,001163: 14,3622 47541 CDUTRIG
040900,001164: 14,3623 77624 CALL
040901,001165: 14,3624 20030 CALCSMSC
040902,001166: 14,3625 66370 AXT,1 SSP
040903,001167: 14,3626 00022 18D
040904,001168: 14,3627 00051 S1
040905,001169: 14,3630 00006 6D
040906,001170: 14,3631 61373 S52.2A VLOAD* VXM
040907,001171: 14,3632 02707 XNB +18D,1
040908,001172: 14,3633 01734 REFSMMAT
040909,001173: 14,3634 77656 UNIT
040910,001174: 14,3635 06707 STORE XNB +18D,1
040911,001175: 14,3636 77700 TIX,1
040912,001176: 14,3637 31631 S52.2A
040913,001177: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040914,001178: 14,3641 03606 XSMD
040915,001179: 14,3642 02642 XSM
040916,001180: 14,3643 77624 CALL
040917,001181: 14,3644 31371 MATMOVE
040918,001182: 14,3645 77624 CALL
040919,001183: 14,3646 47355 CALCGA
040920,001184: 14,3647 77650 GOTO
040921,001185: 14,3650 02746 QMAJ
040922,001186:
|
|
Page 949
|
040924,001188: # NAME - S52.3
040925,001189: # FUNCTION XSMD= UNIT R
040926,001190: # YSMD= UNIT(V X R)
040927,001191: # ZSMD= UNIT(XSMD X YSMD)
040928,001192: # CALL DLOAD CALL
040929,001193: # TALIGN
040930,001194: # S52.3
040931,001195: # INPUT - TIME OF ALIGNMENT IN MPAC
040932,001196: # OUTPUT - X,Y,ZSMD
040933,001197: # SUBROUTINES - CSMCONIC
040934,001198:
040935,001199: 14,3651 COUNT* $$/S52.3
040936,001200: 14,3651 77620 S52.3 STQ
040937,001201: 14,3652 02746 QMAJ
040938,001202: 14,3653 34041 STCALL TDEC1
040939,001203: 14,3654 27077 LEMCONIC
040940,001204: 14,3655 53575 VLOAD UNIT
040941,001205: 14,3656 00001 RATT
040942,001206: 14,3657 27607 STOVL XSMD
040943,001207: 14,3660 00007 VATT
040944,001208: 14,3661 53435 VXV UNIT
040945,001209: 14,3662 00001 RATT
040946,001210: 14,3663 27615 STOVL YSMD
040947,001211: 14,3664 03607 XSMD
040948,001212: 14,3665 53435 VXV UNIT
040949,001213: 14,3666 03615 YSMD
040950,001214: 14,3667 37623 STCALL ZSMD
040951,001215: 14,3670 02746 QMAJ
040952,001216:
|
|
Page 950
|
040954,001218: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040955,001219:
040956,001220: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040957,001221: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040958,001222:
040959,001223: # CALLING - CALL R52
040960,001224:
040961,001225: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040962,001226:
040963,001227: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040964,001228: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040965,001229: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040966,001230: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040967,001231:
040968,001232: # SUBROUT - R60LEM
040969,001233:
040970,001234: 14,3671 COUNT* $$/R52
040971,001235: 14,3671 77420 R52 STQ EXIT
040972,001236: 14,3672 03665 SAVQR52
040973,001237: 14,3673 51757 INDEX STARIND
040974,001238: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040975,001239: 14,3675 00006 EXTEND
040976,001240: 14,3676 73772 MP 1/6TH
040977,001241: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
040978,001242: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
040979,001243:
040980,001244: 14,3701 33773 R52A CAF V01N70
040981,001245: 14,3702 04616 TC BANKCALL
040982,001246: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040983,001247: 14,3704 06001 TC GOTOPOOH # V34 - TERMINATE
040984,001248: 14,3705 13707 TCF R52B # V33 - PROCEED TO ORIENT LEM
040985,001249: 14,3706 13701 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040986,001250:
040987,001251: 14,3707 05516 R52B TC DOWNFLAG
040988,001252: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040989,001253: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
040990,001254: 14,3712 77747 MASK HIGH9
040991,001255: 14,3713 00006 EXTEND
040992,001256: 14,3714 74743 MP BIT9
040993,001257: 14,3715 54001 TS L # TEMP STORE DETENT
040994,001258:
040995,001259: 14,3716 00006 EXTEND
040996,001260: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040997,001261:
040998,001262: 14,3720 65650 AD NEG7
040999,001263: 14,3721 00006 EXTEND
041000,001264: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041001,001265:
041002,001266: 14,3723 E7,1551 EBANK= XYMARK
041003,001267: 14,3723 35016 CA EBANK7
041004,001268: 14,3724 54003 TS EBANK
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|
Page 951
|
041006,001270: 14,3725 50001 INDEX L
041007,001271: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041008,001272: 14,3727 54001 TS L
041009,001273: 14,3730 E5,1642 EBANK= XSM
041010,001274: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041011,001275: 14,3731 54003 TS EBANK
041012,001276: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041013,001277: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041014,001278: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041015,001279:
041016,001280: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041017,001281: 14,3736 04616 TC BANKCALL
041018,001282: 14,3737 20477 CADR GOFLASH
041019,001283: 14,3740 06001 TC GOTOPOOH # V34 - TERMINATE
041020,001284: 14,3741 13743 TCF +2 # PROCEED - CALC OPTIC AXIS
041021,001285: 14,3742 13735 TCF GETAZEL # ENTER - RECYCLE
041022,001286:
041023,001287: 14,3743 00006 EXTEND
041024,001288: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041025,001289: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041026,001290: 14,3746 52011 DXCH 8D
041027,001291: 14,3747 06042 TC INTPRET
041028,001292: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041029,001293: 14,3751 10522 OANB # SCAXIS IN NB COORDS
041030,001294: 14,3752 45034 RTB CALL
041031,001295: 14,3753 21574 LOADTIME
041032,001296: 14,3754 32472 PLANET
041033,001297: 14,3755 53521 MXV UNIT
041034,001298: 14,3756 01734 REFSMMAT
041035,001299: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041036,001300:
041037,001301: 14,3760 77776 EXIT
041038,001302: 14,3761 04616 TC BANKCALL
041039,001303: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041040,001304:
041041,001305: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041042,001306: 14,3764 70734 MASK STARCODE
041043,001307: 14,3765 00006 EXTEND
041044,001308: 14,3766 13701 BZF R52A
041045,001309:
041046,001310: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041047,001311: 14,3770 77650 GOTO
041048,001312: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041049,001313:
041050,001314: 14,3772 05253 1/6TH DEC .1666667
041051,001315: 14,3773 00306 V01N70 VN 0170
041052,001316: 14,3774 01527 V06N87 VN 687
041053,001317:
|
|
Page 952
|
041055,001319: # LUNAR SURFACE STAR AQUISITION
041056,001320:
041057,001321: 15,2245 BANK 15
041058,001322: 15,2000 SETLOC P50S
041059,001323: 15,2000 BANK
041060,001324: 15,2245 COUNT* $$/R59
041061,001325:
041062,001326: 15,2245 40077 R59 CS FLAGWRD3
041063,001327: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041064,001328: 15,2247 10000 CCS A
041065,001329: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041066,001330:
041067,001331: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041068,001332: 15,2252 04616 TC BANKCALL
041069,001333: 15,2253 20477 CADR GOFLASH
041070,001334: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041071,001335: 15,2255 12257 TCF R59A # V33 - PROCEED
041072,001336: 15,2256 12245 TCF R59 # V32 - RECYCLE
041073,001337:
041074,001338: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041075,001339: 15,2260 70734 MASK AOTCODE
041076,001340: 15,2261 00006 EXTEND
041077,001341: 15,2262 76245 MP REVCNT # JUST 6
041078,001342: 15,2263 56001 XCH L
041079,001343: 15,2264 51757 INDEX STARIND
041080,001344: 15,2265 55755 TS BESTI
041081,001345: 15,2266 50120 INDEX FIXLOC
041082,001346: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041083,001347: 15,2270 00006 EXTEND
041084,001348: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041085,001349: 15,2272 40000 COM
041086,001350: 15,2273 62557 AD DEC227
041087,001351: 15,2274 00006 EXTEND
041088,001352: 15,2275 62455 BZMF R59OUT
041089,001353:
041090,001354: 15,2276 06042 TC INTPRET
041091,001355: 15,2277 64373 VLOAD* MXV
041092,001356: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041093,001357: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041094,001358: 15,2302 45056 UNIT CALL
041095,001359: 15,2303 47650 CDU*SMNB
041096,001360: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041097,001361: 15,2305 77776 EXIT
041098,001362:
041099,001363: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041100,001364: 15,2307 55241 TS POSCODE
041101,001365:
041102,001366: 15,2310 E7,1551 EBANK= XYMARK
041103,001367: 15,2310 35016 INCAZ CA EBANK7
041104,001368: 15,2311 54003 TS EBANK
041105,001369:
|
|
Page 953
|
041107,001371: 15,2312 51241 INDEX POSCODE
041108,001372: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041109,001373: 15,2314 54001 TS L
041110,001374:
041111,001375: 15,2315 E5,1642 EBANK= XSM
041112,001376: 15,2315 35014 CA EBANK5
041113,001377: 15,2316 54003 TS EBANK
041114,001378:
041115,001379: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041116,001380: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041117,001381: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041118,001382: 15,2322 50120 INDEX FIXLOC
041119,001383: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041120,001384:
041121,001385: 15,2324 06042 TC INTPRET
041122,001386: 15,2325 77624 CALL
041123,001387: 15,2326 10522 OANB # GO CALC OPTIC AXIS WRT NB
041124,001388: 15,2327 50375 VLOAD DOT
041125,001389: 15,2330 02731 STAR # DOT STAR WITH OA
041126,001390: 15,2331 03765 SCAXIS
041127,001391: 15,2332 65552 SL1 ARCCOS
041128,001392: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041129,001393:
041130,001394: 15,2334 51025 DSU BPL
041131,001395: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041132,001396: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041133,001397: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041134,001398: 15,2340 00031 24D
041135,001399: 15,2341 32470 DEG.5
041136,001400: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041137,001401: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041138,001402: 15,2344 00031 24D # GET SPIRAL
041139,001403: 15,2345 42405 DMP SL4
041140,001404: 15,2346 11220 3/4 # 12 SCALED AT 16
041141,001405: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041142,001406:
041143,001407: 15,2350 03765 SCAXIS # OA
041144,001408: 15,2351 53435 VXV UNIT
041145,001409: 15,2352 24005 XUNIT
041146,001410: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041147,001411: 15,2354 03765 SCAXIS
041148,001412: 15,2355 77676 VCOMP
041149,001413: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041150,001414: 15,2357 03765 SCAXIS
041151,001415: 15,2360 53435 VXV UNIT
041152,001416: 15,2361 02731 STAR
041153,001417: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041154,001418: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041155,001419: 15,2364 65552 SL1 ARCCOS
041156,001420: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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|
Page 954
|
041158,001422: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041159,001423: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041160,001424: 15,2370 32375 R59D
041161,001425: 15,2371 32047 ABOUTONE
041162,001426: 15,2372 77625 DSU
041163,001427: 15,2373 00033 26D
041164,001428: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041165,001429:
041166,001430: 15,2375 70535 R59D SLOAD SR1
041167,001431: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041168,001432: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041169,001433: 15,2400 00033 26D
041170,001434: 15,2401 77634 RTB
041171,001435: 15,2402 21615 1STO2S
041172,001436: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
041173,001437: 15,2404 00031 24D # LOAD SROT IN REVS
041174,001438: 15,2405 77615 DAD # 12(SEP) + YROT
041175,001439: 15,2406 77634 RTB
041176,001440: 15,2407 21615 1STO2S
041177,001441: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
041178,001442: 15,2411 77776 EXIT
041179,001443: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041180,001444:
041181,001445: 15,2413 77776 ZSPCR EXIT
041182,001446: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041183,001447: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
041184,001448: 15,2416 55237 TS SPIRAL
041185,001449: 15,2417 12437 TCF 79DISP
041186,001450:
041187,001451: 15,2420 77776 NXAX EXIT
041188,001452: 15,2421 25241 INCR POSCODE
041189,001453: 15,2422 41241 CS POSCODE
041190,001454: 15,2423 64757 AD SEVEN
041191,001455: 15,2424 00006 EXTEND
041192,001456: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041193,001457: 15,2426 12310 TCF INCAZ
041194,001458:
041195,001459: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041196,001460: 15,2430 00404 OCT 404
041197,001461: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041198,001462: 15,2432 04616 TC BANKCALL
041199,001463: 15,2433 20477 CADR GOFLASH
041200,001464: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041201,001465: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041202,001466: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041203,001467:
041204,001468: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041205,001469: 15,2440 04616 TC BANKCALL
041206,001470: 15,2441 20477 CADR GOFLASH
041207,001471: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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|
Page 955
|
041209,001473: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041210,001474: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041211,001475:
041212,001476: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041213,001477: 15,2446 71241 MASK POSCODE
041214,001478: 15,2447 00006 EXTEND
041215,001479: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041216,001480: 15,2451 47747 CS HIGH9
041217,001481: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041218,001482: 15,2453 60001 AD L
041219,001483: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
041220,001484:
041221,001485: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041222,001486: 15,2456 16000 CADR AOTMARK
041223,001487: 15,2457 04616 TC BANKCALL
041224,001488: 15,2460 17703 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041225,001489: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
041226,001490: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041227,001491:
041228,001492: 15,2463 00306 V01N70* VN 170
041229,001493: 15,2464 01517 V06N79 VN 679
041230,001494: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041231,001495: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041232,001496: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041233,001497: 15,2472 1235 CURSOR EQUALS GDT/2
041234,001498: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
041235,001499: 15,2472 1241 POSCODE EQUALS GDT/2 +4
041236,001500:
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|
Page 956
|
041238,001502: # NAME - PLANET
041239,001503: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041240,001504: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041241,001505: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041242,001506: # BY DSDY INPUT
041243,001507: # CALL - CALL
041244,001508: # PLANET
041245,001509: # INPUT - TIME IN MPAC
041246,001510: # OUTPUT - VECTOR IN MPAC
041247,001511: # SUBROUTINES - LOCSAM
041248,001512: # DEBRIS - VAC, STARAD - STARAD +17
041249,001513:
041250,001514: 15,2000 SETLOC P50S
041251,001515: 15,2000 BANK
041252,001516: 15,2472 COUNT* $$/P51
041253,001517:
041254,001518: 15,2472 03562 PLANET STORE TSIGHT
041255,001519: 15,2473 77420 STQ EXIT
041256,001520: 15,2474 02736 GCTR
041257,001521: 15,2475 47747 CS HIGH9
041258,001522: 15,2476 70734 MASK AOTCODE
041259,001523: 15,2477 00006 EXTEND
041260,001524: 15,2500 76245 MP REVCNT
041261,001525: 15,2501 56001 XCH L
041262,001526: 15,2502 51757 INDEX STARIND
041263,001527: 15,2503 55755 TS BESTI
041264,001528: 15,2504 10000 CCS A
041265,001529: 15,2505 12521 TCF NOTPLAN
041266,001530: 15,2506 32560 CAF VNPLANV
041267,001531: 15,2507 04616 TC BANKCALL
041268,001532: 15,2510 20477 CADR GOFLASH
041269,001533: 15,2511 02506 TC -3
041270,001534: 15,2512 02514 TC +2
041271,001535: 15,2513 02506 TC -5
041272,001536: 15,2514 06042 TC INTPRET
041273,001537: 15,2515 53575 VLOAD UNIT
041274,001538: 15,2516 02707 STARAD
041275,001539: 15,2517 77650 GOTO
041276,001540: 15,2520 02736 GCTR
041277,001541: 15,2521 40000 NOTPLAN CS A
041278,001542: 15,2522 62557 AD DEC227
041279,001543: 15,2523 00006 EXTEND
041280,001544: 15,2524 62535 BZMF CALSAM1
041281,001545: 15,2525 51757 INDEX STARIND
041282,001546: 15,2526 31755 CA BESTI
041283,001547: 15,2527 50120 INDEX FIXLOC
041284,001548: 15,2530 54046 TS X1
041285,001549: 15,2531 06042 TC INTPRET
041286,001550: 15,2532 52173 VLOAD* GOTO
041287,001551: 15,2533 30347 CATLOG,1
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|
Page 957
|
041289,001553: 15,2534 02736 GCTR
041290,001554: 15,2535 06042 CALSAM1 TC INTPRET
041291,001555: 15,2536 45145 CALSAM DLOAD CALL
041292,001556: 15,2537 03562 TSIGHT
041293,001557: 15,2540 30500 LOCSAM
041294,001558: 15,2541 77340 LXC,1 VLOAD
041295,001559: 15,2542 02757 STARIND
041296,001560: 15,2543 02707 VEARTH
041297,001561: 15,2544 24001 STOVL 0D
041298,001562: 15,2545 02715 VSUN
041299,001563: 15,2546 26707 STOVL VEARTH
041300,001564: 15,2547 00001 0D
041301,001565: 15,2550 02715 STORE VSUN
041302,001566: 15,2551 70143 DLOAD* LXC,1
041303,001567: 15,2552 02756 BESTI,1
041304,001568: 15,2553 00154 MPAC
041305,001569: 15,2554 52173 VLOAD* GOTO
041306,001570: 15,2555 02343 STARAD -228D,1
041307,001571: 15,2556 02736 GCTR
041308,001572: 15,2557 00343 DEC227 DEC 227 B-14
041309,001573: 15,2560 01530 VNPLANV VN 0688
041310,001574: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041311,001575:
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Page 958
|
041313,001577: # GRAVITY VECTOR DETERMINATION ROUTINE
041314,001578: # BY KEN VINCENT
041315,001579:
041316,001580: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041317,001581: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041318,001582: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041319,001583: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041320,001584: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041321,001585: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041322,001586: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041323,001587: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041324,001588: # READINGS.
041325,001589:
041326,001590: # CALL -
041327,001591: # TC BANKCALL
041328,001592: # CADR GVDETER
041329,001593:
041330,001594: # INPUTS -
041331,001595: # PIPAS, CDUS
041332,001596:
041333,001597: # OUTPUTS -
041334,001598: # STARSAV1 = UNIT GRAVITY
041335,001599: # GSAV = DITTO
041336,001600: # GRAVBIT = 1
041337,001601:
041338,001602: # SUBROUTINES -
041339,001603: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041340,001604: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041341,001605:
041342,001606: # DEBRIS -
041343,001607: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041344,001608:
041345,001609: 15,2561 32762 GVDETER CAF 42DEG
041346,001610: 15,2562 54321 TS THETAD
041347,001611: 15,2563 40000 COM
041348,001612: 15,2564 54322 TS THETAD +1
041349,001613: 15,2565 32763 CAF 35DEG
041350,001614: 15,2566 54323 TS THETAD +2
041351,001615: 15,2567 06042 TC INTPRET
041352,001616: 15,2570 45014 CLEAR CALL
041353,001617: 15,2571 01662 REFSMFLG
041354,001618: 15,2572 32666 LUNG
041355,001619:
041356,001620: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041357,001621:
041358,001622: # DEFINE G COOR SYS
041359,001623: # -
041360,001624: # X UNIT G
041361,001625: # * - -
041362,001626: # M = Y = UNITEZSM * X )
041363,001627: # - - -
041364,001628: # Z UNIT( X * Y )
041365,001629:
041366,001630: # THEN ROTATED SM WRT PRESENT IS
041367,001631:
041368,001632: # 1, 0 , 0
041369,001633: # * *T * * *
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|
Page 959
|
041371,001635: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041372,001636: # I J
041373,001637: # 0 , 0 ,-1
041374,001638:
041375,001639: # ALSO NB WRT PRES SM IS
041376,001640:
041377,001641: # * * *
041378,001642: # XNB = NBSM I
041379,001643:
041380,001644: # * *
041381,001645: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041382,001646:
041383,001647: 15,2000 SETLOC P50S
041384,001648: 15,2000 BANK
041385,001649: 15,2573 COUNT* $$/P57
041386,001650: 15,2573 66370 AXT,1 SSP # X1=18
041387,001651: 15,2574 00022 18D # S1=6
041388,001652: 15,2575 00051 S1 # X2, -2
041389,001653: 15,2576 00006 6D
041390,001654: 15,2577 77744 LXC,2
041391,001655: 15,2600 00050 S1
041392,001656: 15,2601 45173 GRAVEL VLOAD* CALL
041393,001657: 15,2602 54000 XUNIT -6,2
041394,001658: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
041395,001659: 15,2604 06707 STORE XNB +18D,1
041396,001660: 15,2605 77775 VLOAD
041397,001661: 15,2606 02731 STAR
041398,001662: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041399,001663: 15,2610 00047 X2
041400,001664: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
041401,001665: 15,2612 71152 VSL2 LXC,2
041402,001666: 15,2613 00047 X2
041403,001667: 15,2614 63047 VSU* INCR,2
041404,001668: 15,2615 54000 XUNIT -6,2
041405,001669: 15,2616 00002 2D
041406,001670: 15,2617 06665 STORE XSM +18D,1
041407,001671: 15,2620 45100 TIX,1 CALL
041408,001672: 15,2621 32601 GRAVEL
041409,001673: 15,2622 47355 CALCGA
041410,001674: 15,2623 74575 VLOAD VSR1
041411,001675: 15,2624 02715 GOUT
041412,001676: 15,2625 36723 STCALL STARAD +12D
041413,001677: 15,2626 32666 LUNG
041414,001678: 15,2627 74575 VLOAD VSR1
041415,001679: 15,2630 02715 GOUT
041416,001680: 15,2631 53455 VAD UNIT
041417,001681: 15,2632 02723 STARAD +12D
041418,001682: 15,2633 02761 STORE STARSAV1
041419,001683: 15,2634 77641 DOT
041420,001684: 15,2635 02231 GSAV
041421,001685: 15,2636 65552 SL1 ACOS
|
|
Page 960
|
041423,001687: 15,2637 01045 STORE DSPTEM1
041424,001688: 15,2640 77776 EXIT
041425,001689: 15,2641 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041426,001690: 15,2642 00014 ADRES FREEFLAG
041427,001691:
041428,001692: 15,2643 32761 CA DISGRVER
041429,001693: 15,2644 04616 TC BANKCALL
041430,001694: 15,2645 20477 CADR GOFLASH
041431,001695: 15,2646 06001 TC GOTOPOOH
041432,001696: 15,2647 12652 TCF PROGRAV # VB33 - PROCEED
041433,001697: 15,2650 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041434,001698: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041435,001699:
041436,001700: 15,2652 05353 PROGRAV TC PHASCHNG
041437,001701: 15,2653 04024 OCT 04024
041438,001702:
041439,001703: 15,2654 06042 TC INTPRET
041440,001704: 15,2655 77775 VLOAD
041441,001705: 15,2656 02761 STARSAV1
041442,001706: 15,2657 02231 STORE GSAV
041443,001707: 15,2660 77776 EXIT
041444,001708: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041445,001709: 15,2662 70074 MASK FLAGWRD0
041446,001710: 15,2663 10000 CCS A
041447,001711: 15,2664 12561 TCF GVDETER # SET
041448,001712: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
041449,001713:
041450,001714: 15,2666 77220 LUNG STQ VLOAD
041451,001715: 15,2667 02745 QMIN
041452,001716: 15,2670 24007 ZEROVEC
041453,001717: 15,2671 02707 STORE GACC
041454,001718: 15,2672 77776 EXIT
041455,001719: 15,2673 05353 TC PHASCHNG
041456,001720: 15,2674 04024 OCT 04024
041457,001721:
041458,001722: 15,2675 06042 TC INTPRET
041459,001723: 15,2676 77624 CALL
041460,001724: 15,2677 31557 COARSE
041461,001725: 15,2700 77776 EXIT
041462,001726: 15,2701 32760 CA T/2SEC
041463,001727: 15,2702 55736 TS GCTR
041464,001728: 15,2703 37721 CA PRIO31
041465,001729: 15,2704 55074 TS 1/PIPADT
041466,001730: 15,2705 04616 TC BANKCALL
041467,001731: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041468,001732: 15,2707 05353 TC PHASCHNG
041469,001733: 15,2710 04024 OCT 04024
041470,001734:
041471,001735: 15,2711 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041472,001736: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 961
|
041474,001738: 15,2713 06042 TC INTPRET
041475,001739: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041476,001740: 15,2715 35000 CAF 2SECS
041477,001741: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041478,001742: 15,2717 02721 ADRES GRABGRAV
041479,001743:
041480,001744: 15,2720 05155 TC ENDOFJOB
041481,001745:
041482,001746: 15,2721 04674 GRABGRAV TC IBNKCALL
041483,001747: 15,2722 77541 CADR PIPSRINE
041484,001748: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041485,001749: 15,2724 05105 TC FINDVAC
041486,001750: 15,2725 E5,1706 EBANK= STARAD
041487,001751: 15,2725 02730 32065 2CADR ADDGRAV
041488,001752:
041489,001753: 15,2727 05261 TC TASKOVER
041490,001754:
041491,001755: 15,2730 04616 ADDGRAV TC BANKCALL
041492,001756: 15,2731 15271 CADR 1/PIPA
041493,001757: 15,2732 25736 INCR GCTR
041494,001758: 15,2733 06042 TC INTPRET
041495,001759: 15,2734 53375 VLOAD VAD
041496,001760: 15,2735 00325 DELV
041497,001761: 15,2736 02707 GACC
041498,001762: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
041499,001763: 15,2740 50135 SLOAD BMN
041500,001764: 15,2741 02737 GCTR
041501,001765: 15,2742 32714 GREED
041502,001766: 15,2743 53575 VLOAD UNIT
041503,001767: 15,2744 02707 GACC
041504,001768: 15,2745 36731 STCALL STAR
041505,001769: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041506,001770: 15,2747 77624 CALL # IN OUTPUT
041507,001771: 15,2750 47673 *SMNB*
041508,001772: 15,2751 02715 STORE GOUT
041509,001773: 15,2752 77776 EXIT
041510,001774: 15,2753 05353 TC PHASCHNG
041511,001775: 15,2754 04024 OCT 04024
041512,001776:
041513,001777: 15,2755 06042 QMINEXIT TC INTPRET
041514,001778: 15,2756 77650 GOTO
041515,001779: 15,2757 02745 QMIN
041516,001780: 15,2760 77753 T/2SEC DEC -20 B-14
041517,001781: 15,2761 01404 DISGRVER VN 0604
041518,001782: 15,2762 07357 42DEG OCT 07357
041519,001783: 15,2763 06211 35DEG OCT 06211
041520,001784:
|
|
Page 962
|
041522,001786: # NAME GYROTRIM
041523,001787:
041524,001788: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041525,001789: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041526,001790: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041527,001791:
041528,001792: # CALL CALL
041529,001793: # GYROTRIM
041530,001794:
041531,001795: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041532,001796: # CDUX,CDUY,CDUZ
041533,001797:
041534,001798: # OUTPUT - GYRO TORQUE PULSES
041535,001799:
041536,001800: # SUBROUTINES- TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041537,001801: # IMPULSE, IMUSTALL
041538,001802: # - - - * * -
041539,001803: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041540,001804:
041541,001805: 15,2764 COUNT* $$/P57
041542,001806: 15,2764 71220 GYROTRIM STQ DLOAD
041543,001807: 15,2765 02745 QMIN
041544,001808: 15,2766 00322 THETAD
041545,001809: 15,2767 65325 PDDL PDDL
041546,001810: 15,2770 00324 THETAD +2
041547,001811: 15,2771 00323 THETAD +1
041548,001812: 15,2772 77666 VDEF
041549,001813: 15,2773 24766 STOVL CDUSPOT
041550,001814: 15,2774 24005 XUNIT
041551,001815: 15,2775 77624 CALL
041552,001816: 15,2776 47666 TRG*NBSM
041553,001817: 15,2777 26707 STOVL STARAD
041554,001818: 15,3000 24003 YUNIT
041555,001819: 15,3001 77624 CALL
041556,001820: 15,3002 47675 *NBSM*
041557,001821: 15,3003 36715 STCALL STARAD +6
041558,001822: 15,3004 47541 CDUTRIG
041559,001823: 15,3005 77624 CALL
041560,001824: 15,3006 20030 CALCSMSC
041561,001825: 15,3007 77775 VLOAD
041562,001826: 15,3010 02665 XNB
041563,001827: 15,3011 24007 STOVL 6D
041564,001828: 15,3012 02673 YNB
041565,001829: 15,3013 34015 STCALL 12D
041566,001830: 15,3014 47443 AXISGEN
041567,001831: 15,3015 77624 CALL
041568,001832: 15,3016 47251 CALCGTA
041569,001833: 15,3017 77776 JUSTTRIM EXIT
041570,001834: 15,3020 33027 CA GYRCDR
041571,001835: 15,3021 04616 TC BANKCALL
041572,001836: 15,3022 17314 CADR IMUPULSE
|
|
Page 963
|
041574,001838: 15,3023 04616 TC BANKCALL
041575,001839: 15,3024 17707 CADR IMUSTALL
041576,001840: 15,3025 05701 TC CURTAINS
041577,001841: 15,3026 12755 TCF QMINEXIT
041578,001842:
041579,001843: 15,3027 02737 GYRCDR ECADR OGC
041580,001844:
|
|
Page 964
|
041582,001846: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041583,001847:
041584,001848: 15,3030 34755 2STARS CAF ZERO # INITALIZE STARIND
041585,001849: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041586,001850: 15,3032 34753 1STAR CAF BIT1
041587,001851: 15,3033 55757 TS STARIND
041588,001852:
041589,001853: 15,3034 05353 TC PHASCHNG
041590,001854: 15,3035 04024 OCT 04024
041591,001855:
041592,001856: 15,3036 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041593,001857:
041594,001858: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041595,001859: 15,3040 00006 EXTEND
041596,001860: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
041597,001861:
041598,001862: 15,3042 05353 TC PHASCHNG
041599,001863: 15,3043 04024 OCT 04024
041600,001864:
041601,001865: 15,3044 06042 TC INTPRET
041602,001866: 15,3045 45145 DLOAD CALL
041603,001867: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
041604,001868: 15,3047 32472 PLANET
041605,001869: 15,3050 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041606,001870: 15,3051 33064 SURFLINE
041607,001871:
041608,001872: 15,3052 06042 ASTAR TC INTPRET
041609,001873: 15,3053 77775 VLOAD
041610,001874: 15,3054 02715 STARAD +6
041611,001875: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041612,001876: 15,3056 45145 DLOAD CALL
041613,001877: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
041614,001878: 15,3060 32472 PLANET
041615,001879: 15,3061 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041616,001880: 15,3062 77776 EXIT
041617,001881: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
041618,001882:
|
|
Page 965
|
041620,001884: # DO FINE OR COARSE ALIGNMENT OF IMU
041621,001885:
041622,001886: 15,3064 77131 SURFLINE SSP AXT,2
041623,001887: 15,3065 00052 S2
041624,001888: 15,3066 00006 6
041625,001889: 15,3067 00014 12D
041626,001890: 15,3070 64373 WRTDESIR VLOAD* MXV
041627,001891: 15,3071 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041628,001892: 15,3072 03607 XSMD
041629,001893: 15,3073 77656 UNIT
041630,001894: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
041631,001895: 15,3075 77773 VLOAD*
041632,001896: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041633,001897: 15,3077 10023 STORE 18D,2
041634,001898: 15,3100 43104 TIX,2 BON
041635,001899: 15,3101 33070 WRTDESIR
041636,001900: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041637,001901: 15,3103 33111 INITBY
041638,001902: 15,3104 77624 DOALIGN CALL
041639,001903: 15,3105 31250 R54 # DO CHKSDATA
041640,001904: 15,3106 77614 BOFF
041641,001905: 15,3107 00354 FREEFLAG
041642,001906: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041643,001907: 15,3111 77624 INITBY CALL
041644,001908: 15,3112 47443 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041645,001909: 15,3113 77624 CALL
041646,001910: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041647,001911: 15,3115 77776 EXIT
041648,001912: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041649,001913: 15,3117 70104 MASK FLAGWRD8
041650,001914: 15,3120 10000 CCS A
041651,001915: 15,3121 13130 TCF 5DEGTEST
041652,001916: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041653,001917: 15,3123 04616 TC BANKCALL
041654,001918: 15,3124 20477 CADR GOFLASH
041655,001919: 15,3125 06001 TC GOTOPOOH # V34 - TERMINATE
041656,001920: 15,3126 13130 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041657,001921: 15,3127 13172 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041658,001922:
041659,001923: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041660,001924: 15,3131 40175 VLOAD BOV
041661,001925: 15,3132 02740 OGC
041662,001926: 15,3133 33134 SURFSUP
041663,001927: 15,3134 02750 SURFSUP STORE OGCT
041664,001928: 15,3135 40141 V/SC BOV
041665,001929: 15,3136 30602 5DEGREES
041666,001930: 15,3137 33237 COATRIM
041667,001931: 15,3140 52131 SSP GOTO
041668,001932: 15,3141 02746 QMIN
041669,001933: 15,3142 33144 SURFDISP
|
|
Page 966
|
041671,001935: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041672,001936:
041673,001937: 15,3144 77776 SURFDISP EXIT
041674,001938: 15,3145 05353 TC PHASCHNG
041675,001939: 15,3146 04024 OCT 04024
041676,001940:
041677,001941: 15,3147 06042 TC INTPRET
041678,001942: 15,3150 75160 AXC,1 AXC,2
041679,001943: 15,3151 03606 XSMD
041680,001944: 15,3152 01733 REFSMMAT
041681,001945: 15,3153 45014 SET CALL
041682,001946: 15,3154 01462 REFSMFLG
041683,001947: 15,3155 31371 MATMOVE
041684,001948: 15,3156 77776 EXIT
041685,001949: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041686,001950: 15,3160 13162 TCF B2F8
041687,001951: 15,3161 13172 TCF P57POST +1
041688,001952:
041689,001953: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041690,001954: 15,3163 70104 MASK FLAGWRD8
041691,001955: 15,3164 10000 CCS A
041692,001956: 15,3165 13544 TCF P57JUMP # ITS SET
041693,001957: 15,3166 06042 TC INTPRET
041694,001958: 15,3167 77624 CALL
041695,001959: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041696,001960: 15,3171 77776 P57POST EXIT
041697,001961: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041698,001962: 15,3173 04616 TC BANKCALL
041699,001963: 15,3174 20624 CADR GOPERF1
041700,001964: 15,3175 16001 TCF GOTOPOOH # VB34 - TERMINATE
041701,001965: 15,3176 13544 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041702,001966: 15,3177 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041703,001967: 15,3200 61144 AD OPTION2
041704,001968: 15,3201 00006 EXTEND
041705,001969: 15,3202 13204 BZF +2 # YES - GO CALCULATE LANDING SITE
041706,001970: 15,3203 16001 TCF GOTOPOOH # NO - EXIT P57
041707,001971: 15,3204 05353 TC PHASCHNG # RESTART PLACE
041708,001972: 15,3205 04024 OCT 04024
041709,001973: 15,3206 06042 TC INTPRET
041710,001974: 15,3207 45175 VLOAD CALL # USE GNB
041711,001975: 15,3210 02231 GSAV
041712,001976: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
041713,001977: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
041714,001978: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041715,001979: 15,3214 01463 LUNAFLAG
041716,001980: 15,3215 51515 PDVL ABVAL
041717,001981: 15,3216 02023 RLS
041718,001982: 15,3217 45561 VXSC STADR
041719,001983: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041720,001984: 15,3221 47014 CLEAR RTB
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|
Page 967
|
041722,001986: 15,3222 00662 ERADFLAG
041723,001987: 15,3223 21574 LOADTIME
041724,001988: 15,3224 77624 CALL
041725,001989: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041726,001990: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
041727,001991: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041728,001992: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041729,001993: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
041730,001994: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041731,001995: 15,3233 51700 R-TO-RP
041732,001996: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041733,001997: 15,3235 77776 EXIT
041734,001998: 15,3236 16001 TCF GOTOPOOH # EXIT P57
041735,001999:
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|
Page 968
|
041737,002001: # COARSE AND FINE ALIGN IMU
041738,002002:
041739,002003: 15,3237 75160 COATRIM AXC,1 AXC,2
041740,002004: 15,3240 02664 XDC
041741,002005: 15,3241 02642 XSM
041742,002006: 15,3242 77624 CALL
041743,002007: 15,3243 31371 MATMOVE
041744,002008: 15,3244 77624 CALL
041745,002009: 15,3245 47541 CDUTRIG
041746,002010: 15,3246 77624 CALL
041747,002011: 15,3247 20030 CALCSMSC
041748,002012: 15,3250 77624 CALL
041749,002013: 15,3251 47355 CALCGA
041750,002014: 15,3252 77414 BOFF EXIT
041751,002015: 15,3253 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041752,002016: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041753,002017: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041754,002018: 15,3256 04616 TC BANKCALL
041755,002019: 15,3257 20477 CADR GOFLASH
041756,002020: 15,3260 06001 TC GOTOPOOH
041757,002021: 15,3261 13263 TCF +2
041758,002022: 15,3262 13255 TCF -5
041759,002023: 15,3263 05353 TC PHASCHNG
041760,002024: 15,3264 04024 OCT 04024
041761,002025:
041762,002026: 15,3265 06042 TC INTPRET
041763,002027: 15,3266 77624 CORSIT CALL
041764,002028: 15,3267 31557 COARSE
041765,002029: 15,3270 77624 CALL
041766,002030: 15,3271 31603 NCOARSE
041767,002031: 15,3272 77624 CALL
041768,002032: 15,3273 32764 GYROTRIM
041769,002033: 15,3274 77650 GOTO
041770,002034: 15,3275 33144 SURFDISP
041771,002035: 15,3276 01535 DISPGYRO VN 0693
041772,002036:
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|
Page 969
|
041774,002038: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041775,002039:
041776,002040: 15,3277 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041777,002041: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041778,002042:
041779,002043: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041780,002044: 15,3302 55144 TS OPTION2
041781,002045: 15,3303 34753 P57OPT CAF BIT1
041782,002046: 15,3304 04616 TC BANKCALL
041783,002047: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041784,002048: 15,3306 06001 TC GOTOPOOH # V34 TERMINATE
041785,002049: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041786,002050: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041787,002051:
041788,002052: 15,3311 05353 TC PHASCHNG
041789,002053: 15,3312 00014 OCT 00014
041790,002054: 15,3313 05155 TC ENDOFJOB
041791,002055:
041792,002056: 15,3314 31144 ALIGNOPT CA OPTION2
041793,002057: 15,3315 76250 MASK THREE
041794,002058: 15,3316 50000 INDEX A
041795,002059: 15,3317 13320 TCF +1
041796,002060: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041797,002061: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041798,002062: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041799,002063: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041800,002064: 15,3324 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041801,002065: 15,3325 01733 REFSMMAT
041802,002066: 15,3326 03606 XSMD
041803,002067: 15,3327 77624 CALL
041804,002068: 15,3330 31371 MATMOVE
041805,002069: 15,3331 77650 GOTO
041806,002070: 15,3332 33373 PACKOPTN -1
041807,002071:
041808,002072: 15,3333 06042 TDISP TC INTPRET
041809,002073: 15,3334 77745 DLOAD
041810,002074: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041811,002075: 15,3336 01045 P57A STORE DSPTEM1
041812,002076: 15,3337 77776 EXIT
041813,002077: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041814,002078: 15,3341 04616 TC BANKCALL
041815,002079: 15,3342 20477 CADR GOFLASH
041816,002080: 15,3343 16001 TCF GOTOPOOH # V34 - TERMINATE
041817,002081: 15,3344 13346 TCF +2
041818,002082: 15,3345 13340 TCF P57AA # VB32 - RECYCLE
041819,002083:
041820,002084: 15,3346 06042 TC INTPRET
041821,002085: 15,3347 65234 RTB PDDL
041822,002086: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041823,002087: 15,3351 01045 DSPTEM1
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|
Page 970
|
041825,002089: 15,3352 65254 BZE PDDL
041826,002090: 15,3353 33363 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041827,002091: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041828,002092: 15,3355 01045 DSPTEM1
041829,002093: 15,3356 33363 P57C
041830,002094: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041831,002095: 15,3360 74335 STORE TIG # STORE IT IN TIG
041832,002096: 15,3361 36775 STCALL TALIGN
041833,002097: 15,3362 33365 P57D
041834,002098: 15,3363 45545 P57C DLOAD STADR
041835,002099: 15,3364 75002 STORE TALIGN
041836,002100: 15,3365 34041 P57D STCALL TDEC1
041837,002101: 15,3366 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041838,002102: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041839,002103: 15,3370 00001 RATT
041840,002104: 15,3371 37607 STCALL XSMD
041841,002105: 15,3372 10757 LSORIENT
041842,002106: 15,3373 77776 EXIT
041843,002107: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041844,002108: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041845,002109: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041846,002110: 15,3377 34737 CAF REFSMBIT
041847,002111: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041848,002112: 15,3401 10000 CCS A
041849,002113: 15,3402 34745 CAF BIT7 # SET
041850,002114: 15,3403 27145 ADS OPTION1 +2 # CLEAR - JUST ZERO
041851,002115: 15,3404 34753 CAF ATTFLBIT
041852,002116: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041853,002117: 15,3406 10000 CCS A
041854,002118: 15,3407 34750 CAF BIT4 # SET
041855,002119: 15,3410 27145 ADS OPTION1 +2 # CLEAR - ZERO IN A
041856,002120: 15,3411 34750 CAF BIT4
041857,002121: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041858,002122:
041859,002123: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041860,002124: 15,3414 04616 TC BANKCALL
041861,002125: 15,3415 20477 CADR GOFLASH
041862,002126: 15,3416 16001 TCF GOTOPOOH # VB34 - TERMINATE
041863,002127: 15,3417 13421 TCF +2 # V33 - PROCEED
041864,002128: 15,3420 13413 TCF DSPOPTN # V32 - RECYCLE
041865,002129:
041866,002130: 15,3421 34737 CAF REFSMBIT
041867,002131: 15,3422 70077 MASK FLAGWRD3
041868,002132: 15,3423 10000 CCS A
041869,002133: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041870,002134: 15,3425 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041871,002135: 15,3426 70102 MASK FLAGWRD6
041872,002136: 15,3427 10000 CCS A
041873,002137: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041874,002138: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 971
|
041876,002140: 15,3432 71144 MASK OPTION2
041877,002141: 15,3433 10000 CCS A
041878,002142: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041879,002143: 15,3435 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041880,002144: 15,3436 00701 OCT 701
041881,002145: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041882,002146: 15,3440 04616 TC BANKCALL
041883,002147: 15,3441 20477 CADR GOFLASH
041884,002148: 15,3442 16001 TCF GOTOPOOH # VB34-TERMINATE
041885,002149: 15,3443 13413 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
041886,002150: 15,3444 13413 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
041887,002151:
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|
Page 972
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041889,002153: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041890,002154:
041891,002155: 15,3445 40220 MFREF STQ SETPD
041892,002156: 15,3446 02746 QMAJ
041893,002157: 15,3447 00001 0
041894,002158: 15,3450 77634 RTB
041895,002159: 15,3451 21574 LOADTIME
041896,002160: 15,3452 27562 STOVL TSIGHT
041897,002161: 15,3453 03246 VEC1
041898,002162: 15,3454 41525 PDDL PUSH
041899,002163: 15,3455 03562 TSIGHT
041900,002164: 15,3456 77624 CALL
041901,002165: 15,3457 55716 RP-TO-R
041902,002166: 15,3460 27246 STOVL VEC1
041903,002167: 15,3461 03254 VEC2
041904,002168: 15,3462 65201 SETPD PDDL
041905,002169: 15,3463 00001 0
041906,002170: 15,3464 03562 TSIGHT
041907,002171: 15,3465 45006 PUSH CALL
041908,002172: 15,3466 55716 RP-TO-R
041909,002173: 15,3467 37254 STCALL VEC2
041910,002174: 15,3470 02746 QMAJ
041911,002175:
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|
Page 973
|
041913,002177: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041914,002178: # STORE IN YNBSAV AND ZNBSAV
041915,002179:
041916,002180: 15,3471 45020 REFMF STQ CALL
041917,002181: 15,3472 02746 QMAJ
041918,002182: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041919,002183: 15,3474 40234 RTB SETPD
041920,002184: 15,3475 21574 LOADTIME
041921,002185: 15,3476 00001 0
041922,002186: 15,3477 37562 STCALL TSIGHT
041923,002187: 15,3500 20030 CALCSMSC # GET YNB IN SM
041924,002188: 15,3501 61375 VLOAD VXM
041925,002189: 15,3502 02673 YNB
041926,002190: 15,3503 01734 REFSMMAT # YNB TO REF
041927,002191: 15,3504 65256 UNIT PDDL
041928,002192: 15,3505 03562 TSIGHT
041929,002193: 15,3506 45006 PUSH CALL
041930,002194: 15,3507 51700 R-TO-RP
041931,002195: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041932,002196: 15,3511 02701 ZNB
041933,002197: 15,3512 53505 VXM UNIT
041934,002198: 15,3513 01734 REFSMMAT # ZNB TO REF
041935,002199: 15,3514 41525 PDDL PUSH
041936,002200: 15,3515 03562 TSIGHT
041937,002201: 15,3516 77624 CALL
041938,002202: 15,3517 51700 R-TO-RP # ZNB TO MF
041939,002203: 15,3520 02245 STORE ZNBSAV
041940,002204: 15,3521 77614 SETGO
041941,002205: 15,3522 03036 ATTFLAG
041942,002206: 15,3523 02746 QMAJ
041943,002207:
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|
Page 974
|
041945,002209: # BRANCH TO ALIGNMENT OPTION
041946,002210:
041947,002211: 15,3524 06042 GETLMATT TC INTPRET
041948,002212: 15,3525 77624 CALL
041949,002213: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041950,002214: 15,3527 77776 EXIT
041951,002215:
041952,002216: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041953,002217: 15,3531 00205 ADRES INITALGN
041954,002218: 15,3532 34753 CAF BIT1
041955,002219: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041956,002220: 15,3534 10000 CCS A
041957,002221: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041958,002222:
041959,002223: 15,3536 05353 ATTCHK TC PHASCHNG
041960,002224: 15,3537 04024 OCT 04024
041961,002225:
041962,002226: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041963,002227: 15,3541 70102 MASK FLAGWRD6
041964,002228: 15,3542 10000 CCS A
041965,002229: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041966,002230: 15,3544 05353 P57JUMP TC PHASCHNG
041967,002231: 15,3545 04024 OCT 04024
041968,002232:
041969,002233: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041970,002234: 15,3547 00205 ADRES INITALGN
041971,002235: 15,3550 36250 CAF THREE
041972,002236: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
041973,002237: 15,3552 50000 INDEX A
041974,002238: 15,3553 13554 TCF +1
041975,002239: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
041976,002240: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
041977,002241: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
041978,002242: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
041979,002243:
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Page 975
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041981,002245: # OPTION 0, GET TWO ATTITUDE VECS
041982,002246:
041983,002247: 15,3560 06042 P57OPT0 TC INTPRET
041984,002248: 15,3561 77775 VLOAD
041985,002249: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041986,002250: 15,3563 27246 STOVL VEC1
041987,002251: 15,3564 02245 ZNBSAV
041988,002252: 15,3565 37254 STCALL VEC2
041989,002253: 15,3566 47541 CDUTRIG
041990,002254: 15,3567 77624 CALL
041991,002255: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041992,002256: 15,3571 77775 VLOAD
041993,002257: 15,3572 02673 YNB
041994,002258: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041995,002259: 15,3574 02701 ZNB
041996,002260: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041997,002261: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041998,002262: 15,3577 77650 GOTO
041999,002263: 15,3600 33064 SURFLINE
042000,002264:
042001,002265: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042002,002266:
042003,002267: 15,3601 06042 P57OPT1 TC INTPRET
042004,002268: 15,3602 53575 VLOAD UNIT
042005,002269: 15,3603 02023 RLS # LANDING SITE VEC
042006,002270: 15,3604 27246 STOVL VEC1
042007,002271: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
042008,002272: 15,3606 37254 STCALL VEC2
042009,002273: 15,3607 47541 CDUTRIG
042010,002274: 15,3610 77624 CALL
042011,002275: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042012,002276: 15,3612 45175 VLOAD CALL
042013,002277: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042014,002278: 15,3614 47663 CDU*NBSM
042015,002279: 15,3615 77650 GOTO
042016,002280: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
042017,002281:
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|
Page 976
|
042019,002283: # OPTION 2, GET TWO STAR SIGHTINGS
042020,002284:
042021,002285: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042022,002286:
042023,002287: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042024,002288:
042025,002289: 15,3620 06042 P57OPT3 TC INTPRET
042026,002290: 15,3621 53575 VLOAD UNIT
042027,002291: 15,3622 02023 RLS # LANDING SITE VEC
042028,002292: 15,3623 03246 STORE VEC1
042029,002293: 15,3624 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042030,002294: 15,3625 02231 GSAV # GRAVITY VEC NB
042031,002295: 15,3626 77624 CALL
042032,002296: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042033,002297: 15,3630 36761 STCALL STARSAV1
042034,002298: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042035,002299: 15,3632 77776 EXIT
042036,002300: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042037,002301:
042038,002302: 15,3634 01206 VB05N06 VN 506
042039,002303:
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|
Page 977
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042041,002305: # CHECK IMODES30 TO VARIFY IMU IS ON
042042,002306:
042043,002307: 15,3635 41277 IMUCHK CS IMODES30
042044,002308: 15,3636 74743 MASK BIT9
042045,002309: 15,3637 10000 CCS A # IS IMU ON
042046,002310: 15,3640 13644 TCF +4 # YES
042047,002311:
042048,002312: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
042049,002313: 15,3642 00210 OCT 210
042050,002314: 15,3643 06001 TC GOTOPOOH
042051,002315:
042052,002316: 15,3644 05504 TC UPFLAG
042053,002317: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
042054,002318:
042055,002319: 15,3646 04631 TC SWRETURN
042056,002320:
042057,002321: 04,2757 BANK 04
042058,002322: 04,2000 SETLOC AOTMARK2
042059,002323: 04,2000 BANK
042060,002324: 04,2757 COUNT* $$/P57
042061,002325:
042062,002326: 04,2757 77220 LSORIENT STQ VLOAD
042063,002327: 04,2760 02746 QMAJ
042064,002328: 04,2761 01555 RRECTCSM
042065,002329: 04,2762 47235 VXV VXV
042066,002330: 04,2763 01563 VRECTCSM
042067,002331: 04,2764 03607 XSMD
042068,002332: 04,2765 77656 UNIT
042069,002333: 04,2766 03623 STORE ZSMD
042070,002334: 04,2767 53435 VXV UNIT
042071,002335: 04,2770 03607 XSMD
042072,002336: 04,2771 37615 STCALL YSMD
042073,002337: 04,2772 02746 QMAJ
042074,002338:
End of include-file P51-P53.agc. Parent file is MAIN.agc