Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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039882,000002: ## Copyright: Public domain.
039883,000003: ## Filename: P51-P53.agc
039884,000004: ## Purpose: A section of Luminary revision 163.
039885,000005: ## It is part of the reconstructed source code for the first
039886,000006: ## (unflown) release of the flight software for the Lunar
039887,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
039888,000008: ## The code has been recreated from a reconstructed copy of
039889,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
039890,000010: ## It has been adapted such that the resulting bugger words
039891,000011: ## exactly match those specified for Luminary 163 in NASA
039892,000012: ## drawing 2021152N, which gives relatively high confidence
039893,000013: ## that the reconstruction is correct.
039894,000014: ## Reference: pp. 918-974
039895,000015: ## Assembler: yaYUL
039896,000016: ## Contact: Ron Burkey <info@sandroid.org>.
039897,000017: ## Website: www.ibiblio.org/apollo/index.html
039898,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
039899,000019:
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Page 918
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039901,000021: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
039902,000022: # MOD NO- 0 LOG SECTION- P51-P53
039903,000023: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
039904,000024:
039905,000025: # FUNCTIONAL DESCRIPTION-
039906,000026:
039907,000027: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039908,000028: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039909,000029:
039910,000030: # (A) PREFERRED ORIENTATION
039911,000031:
039912,000032: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039913,000033: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039914,000034:
039915,000035: # (B) NOMINAL ORIENTATION
039916,000036:
039917,000037: # X = UNIT ( R )
039918,000038: # -SM
039919,000039:
039920,000040: # Y = UNIT (V X R)
039921,000041: # SM
039922,000042:
039923,000043: # Z = UNIT (X X Y )
039924,000044: # SM SM SM
039925,000045:
039926,000046: # WHERE_
039927,000047: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039928,000048: # -
039929,000049:
039930,000050: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039931,000051: # -
039932,000052:
039933,000053: # (C) REFSMMAT ORIENTATION
039934,000054:
039935,000055: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039936,000056:
039937,000057: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039938,000058: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039939,000059: # SINCE THE LAST ALIGNMENT).
039940,000060:
039941,000061: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039942,000062: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039943,000063: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039944,000064: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039945,000065: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039946,000066: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039947,000067: # REQUESTED.
039948,000068:
039949,000069: # CALLING SEQUENCE-
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Page 919
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039951,000071: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039952,000072:
039953,000073: # SUBROUTINES CALLED-
039954,000074:
039955,000075: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039956,000076: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039957,000077: # 3. GOPERF4 9. FLAGUP
039958,000078: # 4. MATMOVE 10. R56
039959,000079: # 5. GOFLASH 11. R51
039960,000080: # 6. S52.3 12. GOPERF3
039961,000081:
039962,000082: # NORMAL EXIT MODES-
039963,000083:
039964,000084: # EXITS TO ENDOFJOB
039965,000085:
039966,000086: # ALARM OR ABORT EXIT MODES-
039967,000087:
039968,000088: # NONE
039969,000089:
039970,000090: # OUTPUT-
039971,000091:
039972,000092: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039973,000093: # 1. IMU ORIENTATION CODE
039974,000094: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
039975,000095: # 3. TIME OF NEXT IGNITION
039976,000096: # 4. GIMBAL ANGLES
039977,000097: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
039978,000098: # 6. PLEASE PERFORM P00
039979,000099: # THE MODE DISPLAY MAY BE CHANGED TO 20
039980,000100:
039981,000101: # ERASABLE INITIALIZATION REQUIRED-
039982,000102:
039983,000103: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
039984,000104: # XSMD,YSMD,ZSMD.
039985,000105: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039986,000106:
039987,000107: # DEBRIS-
039988,000108:
039989,000109: # WORK AREA
039990,000110: 33,3521 BANK 33
039991,000111: 15,2000 SETLOC P50S
039992,000112: 15,2000 BANK
039993,000113:
039994,000114: 15,2050 E5,1755 EBANK= BESTI
039995,000115: 15,2050 COUNT* $$/P52
039996,000116: 15,2050 04616 PROG52 TC BANKCALL
039997,000117: 15,2051 11241 CADR R02BOTH # IMU STATUS CHECK
039998,000118: 15,2052 34750 CAF PFRATBIT
039999,000119: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040000,000120: 15,2054 10000 CCS A
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Page 920
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040002,000122: 15,2055 02060 TC P52A # YES
040003,000123: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
040004,000124: 15,2057 02061 TC P52A +1
040005,000125: 15,2060 34753 P52A CAF BIT1
040006,000126: 15,2061 55144 TS OPTION2
040007,000127: 15,2062 34753 P52B CAF BIT1
040008,000128: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040009,000129: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
040010,000130: 15,2065 06001 TC GOTOPOOH
040011,000131: 15,2066 12073 TCF +5 # V33-PROCEED
040012,000132: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040013,000133: 15,2070 05364 TC PHASCHNG # DISPLAY RETURN
040014,000134: 15,2071 00014 OCT 00014
040015,000135: 15,2072 05155 TC ENDOFJOB
040016,000136:
040017,000137: 15,2073 31144 CA OPTION2
040018,000138: 15,2074 76250 MASK THREE
040019,000139: 15,2075 50000 INDEX A
040020,000140: 15,2076 02077 TC +1
040021,000141: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
040022,000142: 15,2100 12157 TCF P52H # OPTION 1 PREFERRED
040023,000143: 15,2101 12112 TCF P52T # OPTION 2 NOMINAL
040024,000144: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
040025,000145: 15,2103 77650 GOTO
040026,000146: 15,2104 32170 P52F # GO DO R51
040027,000147:
040028,000148: 15,2105 34741 OPT4 CAF EBANK4 # SET EBANK TO USE TLAND
040029,000149: 15,2106 54003 TS EBANK
040030,000150: 15,2107 E4,1426 EBANK= TLAND
040031,000151: 15,2107 00006 EXTEND
040032,000152: 15,2110 31427 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040033,000153: 15,2111 12114 TCF P52T +2
040034,000154:
040035,000155: 15,2112 00006 P52T EXTEND
040036,000156: 15,2113 34755 DCA NEG0
040037,000157: 15,2114 53045 DXCH DSPTEM1
040038,000158: 15,2115 35014 CAF EBANK5 # RESTORE EBANK AFTER USE OF TLAND
040039,000159: 15,2116 54003 TS EBANK
040040,000160: 15,2117 E5,1774 EBANK= TALIGN
040041,000161: 15,2117 32174 CAF V06N34*
040042,000162: 15,2120 04616 TC BANKCALL
040043,000163: 15,2121 20477 CADR GOFLASH
040044,000164: 15,2122 06001 TC GOTOPOOH
040045,000165: 15,2123 02125 TC +2
040046,000166: 15,2124 02117 TC -5
040047,000167: 15,2125 53045 DXCH DSPTEM1
040048,000168: 15,2126 00006 EXTEND
040049,000169: 15,2127 62131 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040050,000170: 15,2130 12133 TCF +3
040051,000171: 15,2131 00006 EXTEND
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Page 921
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040053,000173: 15,2132 30025 DCA TIME2
040054,000174: 15,2133 53775 DXCH TALIGN
040055,000175: 15,2134 31144 P52V CA OPTION2
040056,000176: 15,2135 74752 MASK BIT2
040057,000177: 15,2136 10000 CCS A
040058,000178: 15,2137 02143 TC P52W
040059,000179: 15,2140 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040060,000180: 15,2141 77650 GOTO
040061,000181: 15,2142 32224 P52LS
040062,000182:
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Page 922
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040064,000184: # START ALIGNMENT
040065,000185:
040066,000186: 15,2143 06042 P52W TC INTPRET
040067,000187: 15,2144 45145 DLOAD CALL # PICK UP ALIGN TIME
040068,000188: 15,2145 02775 TALIGN # COMPUTE NOMINAL IMU
040069,000189: 15,2146 31651 S52.3 # ORIENTATION
040070,000190: 15,2147 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040071,000191: 15,2150 31620 S52.2 # COMPUTE GIMBAL ANGLES
040072,000192: 15,2151 77776 EXIT
040073,000193: 15,2152 35010 CAF V06N22
040074,000194: 15,2153 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040075,000195: 15,2154 20477 CADR GOFLASH
040076,000196: 15,2155 06001 TC GOTOPOOH
040077,000197: 15,2156 12175 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
040078,000198: 15,2157 06042 P52H TC INTPRET
040079,000199: 15,2160 77650 GOTO
040080,000200: 15,2161 32147 P52D
040081,000201: 15,2162 06042 REGCOARS TC INTPRET
040082,000202: 15,2163 77624 CALL # DO COARSE ALIGN
040083,000203: 15,2164 31321 CAL53A # ROUTINE
040084,000204: 15,2165 43014 COARSRET SET CLEAR
040085,000205: 15,2166 01462 REFSMFLG
040086,000206: 15,2167 01273 PFRATFLG
040087,000207: 15,2170 77624 P52F CALL
040088,000208: 15,2171 31007 R51
040089,000209: 15,2172 77776 P52OUT EXIT
040090,000210: 15,2173 06001 TC GOTOPOOH
040091,000211: 15,2174 5006 VB05N09 = V05N09
040092,000212: 15,2174 01442 V06N34* VN 634
040093,000213:
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Page 923
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040095,000215: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040096,000216: 15,2175 32223 COARSTYP CAF OCT13
040097,000217: 15,2176 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040098,000218: 15,2177 20624 CADR GOPERF1
040099,000219: 15,2200 16001 TCF GOTOPOOH # V34-TERMIN&OE
040100,000220: 15,2201 12162 TCF REGCOARS # V33-NORMAL COARSE
040101,000221: 15,2202 06042 TC INTPRET # V32-GYRO TORQUE COARSE
040102,000222: 15,2203 64375 VLOAD MXV
040103,000223: 15,2204 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040104,000224: 15,2205 01732 REFSMMAT
040105,000225: 15,2206 77656 UNIT
040106,000226: 15,2207 26665 STOVL XDC
040107,000227: 15,2210 03615 YSMD
040108,000228: 15,2211 53521 MXV UNIT
040109,000229: 15,2212 01732 REFSMMAT
040110,000230: 15,2213 26673 STOVL YDC
040111,000231: 15,2214 03623 ZSMD
040112,000232: 15,2215 53521 MXV UNIT
040113,000233: 15,2216 01732 REFSMMAT
040114,000234: 15,2217 36701 STCALL ZDC
040115,000235: 15,2220 31156 GYCOARS
040116,000236: 15,2221 77650 GOTO
040117,000237: 15,2222 32172 P52OUT
040118,000238: 15,2223 00013 OCT13 OCT 13
040119,000239:
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Page 924
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040121,000241: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040122,000242: 15,2224 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040123,000243: 15,2225 01463 LUNAFLAG
040124,000244: 15,2226 00662 ERADFLAG # TO PICK UP RLS
040125,000245: 15,2227 77201 SETPD VLOAD
040126,000246: 15,2230 00001 0
040127,000247: 15,2231 02021 RLS # PICK UP LANDING SITE VEC IN MF
040128,000248: 15,2232 41525 PDDL PUSH # RLS PD 0-5
040129,000249: 15,2233 02775 TALIGN
040130,000250: 15,2234 36027 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040131,000251:
040132,000252: 15,2235 55720 RP-TO-R # TRANS RLS TO REF
040133,000253: 15,2236 77742 VSR2
040134,000254: 15,2237 16032 STODL ALPHAV # INPUT TO LAT-LONG
040135,000255: 15,2240 02775 TALIGN
040136,000256: 15,2241 77624 CALL
040137,000257: 15,2242 30440 N89DISP
040138,000258: 15,2243 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040139,000259: 15,2244 02032 ALPHAV
040140,000260: 15,2245 37607 STCALL XSMD
040141,000261: 15,2246 10765 LSORIENT
040142,000262: 15,2247 77650 GOTO
040143,000263: 15,2250 32147 P52D # NOW GO COMPUTE GIMBAL ANGLES
040144,000264:
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Page 925
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040146,000266: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040147,000267:
040148,000268: 14,2000 SETLOC P50S1
040149,000269: 14,2000 BANK
040150,000270: 14,2440 E5,1642 EBANK= XSM
040151,000271:
040152,000272: 14,2440 77620 N89DISP STQ
040153,000273: 14,2441 02746 QMAJ
040154,000274: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040155,000275: 14,2443 26347 LAT-LONG
040156,000276: 14,2444 70545 DLOAD SR1
040157,000277: 14,2445 01122 LONG
040158,000278: 14,2446 16711 STODL LANDLONG
040159,000279: 14,2447 01124 ALT
040160,000280: 14,2450 16713 STODL LANDALT
040161,000281: 14,2451 01120 LAT
040162,000282: 14,2452 02707 STORE LANDLAT
040163,000283: 14,2453 77776 EXIT
040164,000284:
040165,000285: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040166,000286: 14,2455 04616 TC BANKCALL
040167,000287: 14,2456 20477 CADR GOFLASH
040168,000288: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
040169,000289: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
040170,000290: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040171,000291:
040172,000292: 14,2462 06042 TC INTPRET
040173,000293: 14,2463 72545 DLOAD SL1
040174,000294: 14,2464 02711 LANDLONG
040175,000295: 14,2465 15122 STODL LONG
040176,000296: 14,2466 02713 LANDALT
040177,000297: 14,2467 15124 STODL ALT
040178,000298: 14,2470 02707 LANDLAT
040179,000299: 14,2471 15120 STODL LAT
040180,000300: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040181,000301: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG, ALT
040182,000302: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040183,000303: 14,2475 77650 GOTO
040184,000304: 14,2476 02746 QMAJ
040185,000305: 14,2477 01531 V06N89* VN 689
040186,000306:
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Page 926
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040188,000308: # NAME -S50 ALIAS LOCSAM
040189,000309: # BY
040190,000310: # VINCENT
040191,000311: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040192,000312:
040193,000313: # DEFINE
040194,000314:
040195,000315:
040196,000316: # U = UNIT( SUN WRT EARTH)
040197,000317: # ES
040198,000318:
040199,000319: # U =UNIT( MOON WRT EARTH)
040200,000320: # EM
040201,000321:
040202,000322: # R =POSITION VECTOR OF LEM
040203,000323: # L
040204,000324:
040205,000325: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040206,000326: # EM
040207,000327:
040208,000328: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
040209,000329: # EM
040210,000330:
040211,000331: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040212,000332: # E
040213,000333:
040214,000334: # LOCSAM COMPUTES IN EARTH INFLUENCE
040215,000335:
040216,000336: # VSUN = U
040217,000337: # ES
040218,000338:
040219,000339: # VEARTH = -UNIT( R )
040220,000340: # L
040221,000341:
040222,000342: # VMOON = UNIT(R .U - R )
040223,000343: # EM EM L
040224,000344:
040225,000345: # CSUN = COS 90
040226,000346:
040227,000347: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040228,000348: # E L
040229,000349:
040230,000350: # CMOON = COS 5
040231,000351:
040232,000352:
040233,000353: # INPUT - TIME IN MPAC
040234,000354: # OUTPUT - LISTED ABOVE
040235,000355: # SUBROUTINES -LSPOS,LEMPREC
040236,000356: # DEBRIS - VAC AREA ,TSIGHT
040237,000357:
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Page 927
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040239,000359: 14,2500 COUNT* $$/LOSAM
040240,000360:
040241,000361: 14,2500 14,2500 S50 = LOCSAM
040242,000362: 14,2500 77620 LOCSAM STQ
040243,000363: 14,2501 02745 QMIN
040244,000364: 14,2502 37562 STCALL TSIGHT
040245,000365: 14,2503 33641 LSPOS
040246,000366: 14,2504 77745 DLOAD
040247,000367: 14,2505 03562 TSIGHT
040248,000368: 14,2506 34041 STCALL TDEC1
040249,000369: 14,2507 27056 LEMPREC
040250,000370: 14,2510 61131 SSP TIX,2
040251,000371: 14,2511 00052 S2
040252,000372: 14,2512 00000 0
040253,000373: 14,2513 30535 MOONCNTR
040254,000374: 14,2514 74375 EARTCNTR VLOAD VXSC
040255,000375: 14,2515 02723 VMOON
040256,000376: 14,2516 30001 RSUBEM
040257,000377: 14,2517 52372 VSL1 VSU
040258,000378: 14,2520 00001 RATT
040259,000379: 14,2521 77656 UNIT
040260,000380: 14,2522 26723 STOVL VMOON
040261,000381: 14,2523 00001 RATT
040262,000382: 14,2524 57456 UNIT VCOMP
040263,000383: 14,2525 16707 STODL VEARTH
040264,000384: 14,2526 30005 RSUBE
040265,000385: 14,2527 77624 CALL
040266,000386: 14,2530 30567 OCCOS
040267,000387: 14,2531 14017 STODL CEARTH
040268,000388: 14,2532 30576 CSS5
040269,000389: 14,2533 34023 STCALL CMOON
040270,000390: 14,2534 30562 ENDSAM
040271,000391: 14,2535 74375 MOONCNTR VLOAD VXSC
040272,000392: 14,2536 02723 VMOON
040273,000393: 14,2537 30007 ROE
040274,000394: 14,2540 53445 BVSU UNIT
040275,000395: 14,2541 02715 VSUN
040276,000396: 14,2542 26715 STOVL VSUN
040277,000397: 14,2543 02723 VMOON
040278,000398: 14,2544 53361 VXSC VAD
040279,000399: 14,2545 30001 RSUBEM
040280,000400: 14,2546 00001 RATT
040281,000401: 14,2547 57456 UNIT VCOMP
040282,000402: 14,2550 26707 STOVL VEARTH
040283,000403: 14,2551 00001 RATT
040284,000404: 14,2552 57456 UNIT VCOMP
040285,000405: 14,2553 16723 STODL VMOON
040286,000406: 14,2554 30003 RSUBM
040287,000407: 14,2555 77624 CALL
040288,000408: 14,2556 30567 OCCOS
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Page 928
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040290,000410: 14,2557 14023 STODL CMOON
040291,000411: 14,2560 30576 CSS5
040292,000412: 14,2561 00017 STORE CEARTH
040293,000413: 14,2562 77745 ENDSAM DLOAD
040294,000414: 14,2563 30600 CSSUN
040295,000415: 14,2564 00021 STORE CSUN
040296,000416: 14,2565 77650 GOTO
040297,000417: 14,2566 02745 QMIN
040298,000418: 14,2567 70471 OCCOS DDV SR1
040299,000419: 14,2570 00045 36D
040300,000420: 14,2571 43336 ASIN DAD
040301,000421: 14,2572 30602 5DEGREES
040302,000422: 14,2573 70546 COS SR1
040303,000423: 14,2574 77616 RVQ
040304,000424: 14,2575 CEARTH = 14D
040305,000425: 14,2575 CSUN = 16D
040306,000426: 14,2575 CMOON = 18D
040307,000427: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040308,000428:
040309,000429: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
040310,000430:
040311,000431: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040312,000432:
|
|
Page 929
|
040314,000434: # PROGRAM NAME - R56 DATE DEC 20 66
040315,000435: # MOD 1 LOG SECTION P51-P53
040316,000436: # ASSEMBLY SUNDISK REV40
040317,000437: # BY KEN VINCENT
040318,000438:
040319,000439: # FUNCTION
040320,000440: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040321,000441: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040322,000442: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040323,000443: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040324,000444: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040325,000445: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040326,000446: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040327,000447: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040328,000448: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040329,000449: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040330,000450: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040331,000451: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
040332,000452:
040333,000453: # CALLING SEQUENCE
040334,000454: # L TC BANKCALL
040335,000455: # L+1 CADR R56
040336,000456: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040337,000457: # L+3 NORMAL RETURN
040338,000458:
040339,000459: # OUTPUT
040340,000460: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040341,000461: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040342,000462:
040343,000463: # INITIALIZATION
040344,000464: # 1)A CALL TO LOCSAM MUST BE MADE
040345,000465:
040346,000466: # DEBRIS
040347,000467: # WORK AREA
040348,000468: # X,Y,ZNB
040349,000469: # SINCDU,COSCDU
040350,000470: # STARAD - STAR +5
040351,000471:
040352,000472: 14,2603 14,2603 R56 = PICAPAR
040353,000473: 14,2603 COUNT* $$/R56
040354,000474: 14,2603 04645 PICAPAR TC MAKECADR
040355,000475: 14,2604 55745 TS QMIN
040356,000476: 14,2605 06042 TC INTPRET
040357,000477: 14,2606 77624 CALL
040358,000478: 14,2607 47535 CDUTRIG
040359,000479: 14,2610 77624 CALL
040360,000480: 14,2611 20030 CALCSMSC
040361,000481: 14,2612 77601 SETPD
040362,000482: 14,2613 00001 0
040363,000483: 14,2614 71214 SET DLOAD # VFLAG = 1
040364,000484: 14,2615 01465 VFLAG
|
|
Page 930
|
040366,000486: 14,2616 24007 DPZERO
040367,000487: 14,2617 26756 STOVL BESTI
040368,000488: 14,2620 02665 XNB
040369,000489: 14,2621 63361 VXSC PDVL
040370,000490: 14,2622 24005 HALFDP
040371,000491: 14,2623 02701 ZNB
040372,000492: 14,2624 74370 AXT,1 VXSC
040373,000493: 14,2625 00344 228D # X1 = 37 X 6 +6
040374,000494: 14,2626 24005 HALFDP
040375,000495: 14,2627 77655 VAD
040376,000496: 14,2630 53505 VXM UNIT
040377,000497: 14,2631 01732 REFSMMAT
040378,000498: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040379,000499: 14,2633 66331 SSP SSP # S1=S2=6
040380,000500: 14,2634 00051 S1
040381,000501: 14,2635 00006 6
040382,000502: 14,2636 00052 S2
040383,000503: 14,2637 00006 6
040384,000504: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040385,000505: 14,2641 30643 PIC2
040386,000506: 14,2642 30760 PICEND
040387,000507: 14,2643 50373 PIC2 VLOAD* DOT
040388,000508: 14,2644 30347 CATLOG,1
040389,000509: 14,2645 02731 SAX
040390,000510: 14,2646 50025 DSU BMN
040391,000511: 14,2647 30757 CSS33
040392,000512: 14,2650 30640 PIC1
040393,000513: 14,2651 77754 LXA,2
040394,000514: 14,2652 00046 X1
040395,000515: 14,2653 52104 PIC3 TIX,2 GOTO
040396,000516: 14,2654 30656 PIC4
040397,000517: 14,2655 30640 PIC1
040398,000518: 14,2656 50373 PIC4 VLOAD* DOT
040399,000519: 14,2657 47430 CATLOG,2
040400,000520: 14,2660 02731 SAX
040401,000521: 14,2661 50025 DSU BMN
040402,000522: 14,2662 30757 CSS33
040403,000523: 14,2663 30653 PIC3
040404,000524: 14,2664 47773 VLOAD* DOT*
040405,000525: 14,2665 30347 CATLOG,1
040406,000526: 14,2666 47430 CATLOG,2
040407,000527: 14,2667 51025 DSU BPL
040408,000528: 14,2670 30755 CSS40
040409,000529: 14,2671 30653 PIC3
040410,000530: 14,2672 45173 VLOAD* CALL
040411,000531: 14,2673 30347 CATLOG,1
040412,000532: 14,2674 30732 OCCULT
040413,000533: 14,2675 77614 BON
040414,000534: 14,2676 01710 CULTFLAG
040415,000535: 14,2677 30640 PIC1
|
|
Page 931
|
040417,000537: 14,2700 45173 VLOAD* CALL
040418,000538: 14,2701 47430 CATLOG,2
040419,000539: 14,2702 30732 OCCULT
040420,000540: 14,2703 77614 BON
040421,000541: 14,2704 01710 CULTFLAG
040422,000542: 14,2705 30653 PIC3
040423,000543: 14,2706 77614 STRATGY BONCLR
040424,000544: 14,2707 01605 VFLAG
040425,000545: 14,2710 30725 NEWPAR
040426,000546: 14,2711 65120 XCHX,1 XCHX,2
040427,000547: 14,2712 02755 BESTI
040428,000548: 14,2713 02756 BESTJ
040429,000549: 14,2714 47773 STRAT VLOAD* DOT*
040430,000550: 14,2715 30347 CATLOG,1
040431,000551: 14,2716 47430 CATLOG,2
040432,000552: 14,2717 43006 PUSH BOFINV
040433,000553: 14,2720 01545 VFLAG
040434,000554: 14,2721 30711 STRAT -3
040435,000555: 14,2722 45345 DLOAD DSU
040436,000556: 14,2723 77644 BPL
040437,000557: 14,2724 30653 PIC3
040438,000558: 14,2725 67130 NEWPAR SXA,1 SXA,2
040439,000559: 14,2726 02755 BESTI
040440,000560: 14,2727 02756 BESTJ
040441,000561: 14,2730 77650 GOTO
040442,000562: 14,2731 30653 PIC3
040443,000563: 14,2732 51321 OCCULT MXV BVSU
040444,000564: 14,2733 02707 CULTRIX
040445,000565: 14,2734 00017 CSS
040446,000566: 14,2735 77654 BZE
040447,000567: 14,2736 30751 CULTED
040448,000568: 14,2737 75240 BMN SIGN
040449,000569: 14,2740 30751 CULTED
040450,000570: 14,2741 00160 MPAC +3
040451,000571: 14,2742 75240 BMN SIGN
040452,000572: 14,2743 30751 CULTED
040453,000573: 14,2744 00162 MPAC +5
040454,000574: 14,2745 43040 BMN CLRGO
040455,000575: 14,2746 30751 CULTED
040456,000576: 14,2747 01630 CULTFLAG
040457,000577: 14,2750 00052 QPRET
040458,000578: 14,2751 77614 CULTED SETGO
040459,000579: 14,2752 01430 CULTFLAG
040460,000580: 14,2753 00052 QPRET
040461,000581: 14,2754 0000016 CSS = CEARTH
040462,000582: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 /4
040463,000583:
040464,000584: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 /4
040465,000585:
040466,000586: 14,2760 77414 PICEND BOFF EXIT
|
|
Page 932
|
040468,000588: 14,2761 01745 VFLAG
040469,000589: 14,2762 30764 PICGXT
040470,000590: 14,2763 03005 TC PICBXT
040471,000591: 14,2764 73150 PICGXT LXA,1 LXA,2
040472,000592: 14,2765 02755 BESTI
040473,000593: 14,2766 02756 BESTJ
040474,000594: 14,2767 47775 VLOAD DOT*
040475,000595: 14,2770 02731 SAX
040476,000596: 14,2771 30347 CATLOG,1
040477,000597: 14,2772 47715 PDVL DOT*
040478,000598: 14,2773 02731 SAX
040479,000599: 14,2774 47430 CATLOG,2
040480,000600: 14,2775 77625 DSU
040481,000601: 14,2776 66044 BPL SXA,1
040482,000602: 14,2777 31003 PICNSWP
040483,000603: 14,3000 02756 BESTJ
040484,000604: 14,3001 77734 SXA,2
040485,000605: 14,3002 02755 BESTI
040486,000606: 14,3003 77776 PICNSWP EXIT
040487,000607: 14,3004 25745 INCR QMIN
040488,000608: 14,3005 31745 PICBXT CA QMIN
040489,000609: 14,3006 04622 TC SWCALL
040490,000610: 14,3007 VPD = 0D
040491,000611: 14,3007 V0 = 6D
040492,000612: 14,3007 V1 = 12D
040493,000613: 14,3007 V2 = 18D
040494,000614: 14,3007 V3 = 24D
040495,000615: 14,3007 DP0 = 30D
040496,000616: 14,3007 DP1 = 32D
040497,000617:
|
|
Page 933
|
040499,000619: # NAME-R51 FINE ALIGN
040500,000620: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040501,000621: # CALLING SEQ- CALL R51
040502,000622: # INPUT - REFSMMAT
040503,000623: # OUTPUT- GYRO TORQUE PULSES
040504,000624: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040505,000625: 14,3007 COUNT* $$/R51
040506,000626: 14,3007 77620 R51 STQ
040507,000627: 14,3010 02746 QMAJ
040508,000628: 14,3011 77776 R51.1 EXIT
040509,000629: 14,3012 05364 TC PHASCHNG
040510,000630: 14,3013 04024 OCT 04024
040511,000631:
040512,000632: 14,3014 34761 R51C CAF OCT15
040513,000633: 14,3015 04616 TC BANKCALL
040514,000634: 14,3016 20624 CADR GOPERF1
040515,000635: 14,3017 06001 TC GOTOPOOH
040516,000636: 14,3020 03022 TC +2 # V33E
040517,000637: 14,3021 03045 TC R51E # ENTER
040518,000638: 14,3022 06042 TC INTPRET
040519,000639: 14,3023 43234 RTB DAD
040520,000640: 14,3024 21574 LOADTIME
040521,000641: 14,3025 31155 TSIGHT1
040522,000642: 14,3026 77624 CALL
040523,000643: 14,3027 30500 LOCSAM
040524,000644: 14,3030 77776 EXIT
040525,000645: 14,3031 04616 TC BANKCALL
040526,000646: 14,3032 30603 CADR R56
040527,000647: 14,3033 03035 TC R51I
040528,000648: 14,3034 03045 R51F TC R51E
040529,000649: 14,3035 05600 R51I TC ALARM
040530,000650: 14,3036 00405 OCT 405
040531,000651: 14,3037 35006 CAF VB05N09
040532,000652: 14,3040 04616 TC BANKCALL
040533,000653: 14,3041 20477 CADR GOFLASH
040534,000654: 14,3042 06001 TC GOTOPOOH
040535,000655: 14,3043 03045 TC R51E
040536,000656: 14,3044 03014 TC R51C
040537,000657: 14,3045 34755 R51E CAF ZERO
040538,000658: 14,3046 55757 TS STARIND
040539,000659: 14,3047 06042 R51.2 TC INTPRET
040540,000660: 14,3050 77776 R51.3 EXIT
040541,000661: 14,3051 05364 TC PHASCHNG
040542,000662: 14,3052 04024 OCT 04024
040543,000663:
040544,000664: 14,3053 06042 TC INTPRET
040545,000665: 14,3054 77624 CALL
040546,000666: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040547,000667: 14,3056 77776 EXIT
040548,000668: 14,3057 04616 TC BANKCALL
|
|
Page 934
|
040550,000670: 14,3060 16000 CADR AOTMARK
040551,000671: 14,3061 04616 TC BANKCALL
040552,000672: 14,3062 17716 CADR OPTSTALL
040553,000673: 14,3063 05712 TC CURTAINS
040554,000674: 14,3064 11757 CCS STARIND
040555,000675: 14,3065 13067 TCF +2
040556,000676: 14,3066 03137 TC R51.4
040557,000677: 14,3067 06042 TC INTPRET
040558,000678: 14,3070 77775 VLOAD
040559,000679: 14,3071 02715 STARAD +6
040560,000680: 14,3072 02767 STORE STARSAV2
040561,000681: 14,3073 77776 EXIT
040562,000682: 14,3074 05364 TC PHASCHNG
040563,000683: 14,3075 04024 OCT 04024
040564,000684:
040565,000685: 14,3076 06042 TC INTPRET
040566,000686: 14,3077 45145 DLOAD CALL
040567,000687: 14,3100 03562 TSIGHT
040568,000688: 14,3101 32461 PLANET
040569,000689: 14,3102 53521 MXV UNIT
040570,000690: 14,3103 01732 REFSMMAT
040571,000691: 14,3104 26715 STOVL STARAD +6
040572,000692: 14,3105 03554 PLANVEC
040573,000693: 14,3106 53521 MXV UNIT
040574,000694: 14,3107 01732 REFSMMAT
040575,000695: 14,3110 26707 STOVL STARAD
040576,000696: 14,3111 02761 STARSAV1
040577,000697: 14,3112 24007 STOVL 6D
040578,000698: 14,3113 02767 STARSAV2
040579,000699: 14,3114 34015 STCALL 12D
040580,000700: 14,3115 31250 R54 # STAR DATA TEST
040581,000701: 14,3116 45014 BOFF CALL
040582,000702: 14,3117 00354 FREEFLAG
040583,000703: 14,3120 31126 R51K
040584,000704: 14,3121 47437 AXISGEN
040585,000705: 14,3122 77624 CALL
040586,000706: 14,3123 31216 R55 # GYRO TORQUE
040587,000707: 14,3124 77614 CLEAR
040588,000708: 14,3125 01273 PFRATFLG
040589,000709: 14,3126 77776 R51K EXIT
040590,000710: 14,3127 35752 R51P63 CAF OCT14
040591,000711: 14,3130 04616 TC BANKCALL
040592,000712: 14,3131 20624 CADR GOPERF1
040593,000713: 14,3132 06001 TC GOTOPOOH
040594,000714: 14,3133 03014 TC R51C
040595,000715: 14,3134 06042 TC INTPRET
040596,000716: 14,3135 77650 GOTO
040597,000717: 14,3136 02746 QMAJ
040598,000718: 14,3137 06042 R51.4 TC INTPRET
040599,000719: 14,3140 77775 VLOAD
|
|
Page 935
|
040601,000721: 14,3141 02715 STARAD +6
040602,000722: 14,3142 02761 STORE STARSAV1
040603,000723: 14,3143 45145 DLOAD CALL
040604,000724: 14,3144 03562 TSIGHT
040605,000725: 14,3145 32461 PLANET
040606,000726: 14,3146 03554 STORE PLANVEC
040607,000727: 14,3147 77731 SSP
040608,000728: 14,3150 02760 STARIND
040609,000729: 14,3151 00001 1
040610,000730: 14,3152 77650 GOTO
040611,000731: 14,3153 31050 R51.3
040612,000732: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040613,000733:
|
|
Page 936
|
040615,000735: # GYRO TORQUE COARSE ALIGNMENT
040616,000736: 14,3156 45020 GYCOARS STQ CALL
040617,000737: 14,3157 02746 QMAJ
040618,000738: 14,3160 47245 CALCGTA
040619,000739: 14,3161 43014 CLEAR CLEAR
040620,000740: 14,3162 01260 DRIFTFLG
040621,000741: 14,3163 01662 REFSMFLG
040622,000742: 14,3164 77776 EXIT
040623,000743: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040624,000744: 14,3166 04616 TC BANKCALL
040625,000745: 14,3167 20452 CADR GODSPR
040626,000746: 14,3170 33247 CA R55CDR
040627,000747: 14,3171 04616 TC BANKCALL
040628,000748: 14,3172 17307 CADR IMUPULSE
040629,000749: 14,3173 04616 TC BANKCALL
040630,000750: 14,3174 17722 CADR IMUSTALL
040631,000751: 14,3175 05712 TC CURTAINS
040632,000752: 14,3176 05364 TC PHASCHNG
040633,000753: 14,3177 04024 OCT 04024
040634,000754:
040635,000755: 14,3200 06042 TC INTPRET
040636,000756: 14,3201 75160 AXC,1 AXC,2
040637,000757: 14,3202 03606 XSMD
040638,000758: 14,3203 01731 REFSMMAT
040639,000759: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040640,000760: 14,3205 31371 MATMOVE
040641,000761: 14,3206 43014 CLEAR SET
040642,000762: 14,3207 01273 PFRATFLG
040643,000763: 14,3210 01462 REFSMFLG
040644,000764: 14,3211 77624 CALL
040645,000765: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040646,000766: 14,3213 77650 GOTO
040647,000767: 14,3214 31126 R51K
040648,000768: 14,3215 04024 V16N20 VN 1620
040649,000769:
|
|
Page 937
|
040651,000771: # R55 GYRO TORQUE
040652,000772: # FUNCTION-COMPUTE AND SEND GYRO PULSES
040653,000773: # CALLING SEQ- CALL R55
040654,000774: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040655,000775: # OUTPUT- GYRO PULSES
040656,000776: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040657,000777: 14,3216 COUNT* $$/R55
040658,000778: 14,3216 77620 R55 STQ
040659,000779: 14,3217 02745 QMIN
040660,000780: 14,3220 77624 CALL
040661,000781: 14,3221 47245 CALCGTA
040662,000782: 14,3222 77776 PULSEM EXIT
040663,000783: 14,3223 33246 R55.1 CAF V06N93
040664,000784: 14,3224 04616 TC BANKCALL
040665,000785: 14,3225 20477 CADR GOFLASH
040666,000786: 14,3226 06001 TC GOTOPOOH
040667,000787: 14,3227 03231 TC R55.2
040668,000788: 14,3230 03243 TC R55RET
040669,000789: 14,3231 05364 R55.2 TC PHASCHNG
040670,000790: 14,3232 00214 OCT 00214
040671,000791: 14,3233 33247 CA R55CDR
040672,000792: 14,3234 04616 TC BANKCALL
040673,000793: 14,3235 17307 CADR IMUPULSE
040674,000794: 14,3236 04616 TC BANKCALL
040675,000795: 14,3237 17722 CADR IMUSTALL
040676,000796: 14,3240 05712 TC CURTAINS
040677,000797: 14,3241 05364 TC PHASCHNG
040678,000798: 14,3242 04024 OCT 04024
040679,000799:
040680,000800: 14,3243 06042 R55RET TC INTPRET
040681,000801: 14,3244 77650 GOTO
040682,000802: 14,3245 02745 QMIN
040683,000803: 14,3246 01535 V06N93 VN 0693
040684,000804: 14,3247 02737 R55CDR ECADR OGC
040685,000805: 14,3250 14,3250 R54 = CHKSDATA
040686,000806: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
040687,000807: # MOD NO- 0 LOG SECTION- P51-P53
040688,000808: # MODIFICATION BY- LONSKE ASSEMBLY-
040689,000809:
040690,000810: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040691,000811: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040692,000812: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040693,000813:
040694,000814: # OS1 = OBSERVED STAR 1 VECTOR
040695,000815: # OS2 = OBSERVED STAR 2 VECTOR
040696,000816: # SS1 = STORED STAR 1 VECTOR
040697,000817: # SS2 = STORED STAR 2 VECTOR
040698,000818: # A1 = ARCCOS(OS1 - OS2)
040699,000819: # A2 = ARCCOS(SS1 - SS2)
040700,000820: # A = ABS(2(A1 - A2))
|
|
Page 938
|
040702,000822: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040703,000823: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040704,000824: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040705,000825: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040706,000826: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040707,000827:
040708,000828: # ERASABLE INITIALIZATION REQUIRED -
040709,000829: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040710,000830: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040711,000831: # DEBRIS -
040712,000832: 14,3250 COUNT* $$/R54
040713,000833: 14,3250 43020 CHKSDATA STQ SET
040714,000834: 14,3251 02745 QMIN
040715,000835: 14,3252 00074 FREEFLAG
040716,000836: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040717,000837: 14,3254 02706 STARAD
040718,000838:
040719,000839: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040720,000840: 14,3256 00001 0,1
040721,000841: 14,3257 00007 6,1
040722,000842: 14,3260 65552 SL1 ACOS
040723,000843: 14,3261 00025 STORE THETA
040724,000844: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040725,000845: 14,3263 00354 FREEFLAG
040726,000846: 14,3264 31274 CHKSD
040727,000847: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040728,000848: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040729,000849: 14,3267 00006 6D
040730,000850: 14,3270 00025 THETA
040731,000851: 14,3271 00023 STORE 18D
040732,000852: 14,3272 77650 GOTO
040733,000853: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040734,000854: 14,3274 45345 CHKSD DLOAD DSU
040735,000855: 14,3275 00025 THETA
040736,000856: 14,3276 00023 18D
040737,000857: 14,3277 77634 RTB # COMPUTE POS DIFF
040738,000858: 14,3300 21613 SGNAGREE
040739,000859: 14,3301 01045 STORE NORMTEM1
040740,000860: 14,3302 77414 SET EXIT
040741,000861: 14,3303 00074 FREEFLAG
040742,000862: 14,3304 33320 CAF VB6N5
040743,000863: 14,3305 04616 TC BANKCALL
040744,000864: 14,3306 20477 CADR GOFLASH
040745,000865: 14,3307 16001 TCF GOTOPOOH
040746,000866: 14,3310 03315 TC CHKSDA # PROCEED
040747,000867: 14,3311 06042 TC INTPRET
040748,000868: 14,3312 52014 CLEAR GOTO
040749,000869: 14,3313 00274 FREEFLAG
040750,000870: 14,3314 02745 QMIN
040751,000871: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 939
|
040753,000873: 14,3316 77650 GOTO
040754,000874: 14,3317 02745 QMIN
040755,000875: 14,3320 01405 VB6N5 VN 605
040756,000876: # NAME - CAL53A
040757,000877: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040758,000878: # CALLING SEQUENCE - CALL CAL53A
040759,000879: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
040760,000880: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040761,000881: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040762,000882: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040763,000883: 14,3321 COUNT* $$/R50
040764,000884: 14,3321 77624 CAL53A CALL
040765,000885: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040766,000886: 14,3323 66234 RTB SSP
040767,000887: 14,3324 31405 RDCDUS # READ CDUS
040768,000888: 14,3325 00051 S1
040769,000889: 14,3326 00001 1
040770,000890: 14,3327 40370 AXT,1 SETPD
040771,000891: 14,3330 00003 3
040772,000892: 14,3331 00005 4
040773,000893: 14,3332 70543 CALOOP DLOAD* SR1
040774,000894: 14,3333 00325 THETAD +3D,1
040775,000895: 14,3334 70523 PDDL* SR1
040776,000896: 14,3335 00005 4,1
040777,000897: 14,3336 51425 DSU ABS
040778,000898: 14,3337 45206 PUSH DSU
040779,000899: 14,3340 31404 DEGREE1
040780,000900: 14,3341 71240 BMN DLOAD
040781,000901: 14,3342 31360 CALOOP1
040782,000902: 14,3343 51025 DSU BPL
040783,000903: 14,3344 31405 DEG359
040784,000904: 14,3345 31360 CALOOP1
040785,000905: 14,3346 77776 EXIT
040786,000906: 14,3347 05364 TC PHASCHNG
040787,000907: 14,3350 04024 OCT 04024
040788,000908:
040789,000909: 14,3351 06042 TC INTPRET
040790,000910: 14,3352 77624 COARFINE CALL
040791,000911: 14,3353 31557 COARSE
040792,000912: 14,3354 77624 CALL
040793,000913: 14,3355 31603 NCOARSE
040794,000914: 14,3356 77650 GOTO
040795,000915: 14,3357 31362 FINEONLY
040796,000916: 14,3360 77700 CALOOP1 TIX,1
040797,000917: 14,3361 31332 CALOOP
040798,000918: 14,3362 75160 FINEONLY AXC,1 AXC,2
040799,000919: 14,3363 02642 XSM
040800,000920: 14,3364 01731 REFSMMAT
040801,000921: 14,3365 77624 CALL
040802,000922: 14,3366 31371 MATMOVE
|
|
Page 940
|
040804,000924: 14,3367 77650 GOTO
040805,000925: 14,3370 32165 COARSRET
040806,000926: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040807,000927: 14,3372 00001 0,1
040808,000928: 14,3373 10001 STORE 0,2
040809,000929: 14,3374 77773 VLOAD*
040810,000930: 14,3375 00007 6D,1
040811,000931: 14,3376 10007 STORE 6D,2
040812,000932: 14,3377 77773 VLOAD*
040813,000933: 14,3400 00015 12D,1
040814,000934: 14,3401 10015 STORE 12D,2
040815,000935: 14,3402 77616 RVQ
040816,000936: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040817,000937: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040818,000938: 14,3405 00004 RDCDUS INHINT # READ CDUS
040819,000939: 14,3406 30032 CA CDUX
040820,000940: 14,3407 50120 INDEX FIXLOC
040821,000941: 14,3410 54001 TS 1
040822,000942: 14,3411 30033 CA CDUY
040823,000943: 14,3412 50120 INDEX FIXLOC
040824,000944: 14,3413 54002 TS 2
040825,000945: 14,3414 30034 CA CDUZ
040826,000946: 14,3415 50120 INDEX FIXLOC
040827,000947: 14,3416 54003 TS 3
040828,000948: 14,3417 00003 RELINT
040829,000949: 14,3420 06064 TC DANZIG # +
040830,000950: 14,3421 COUNT* $$/INFLT
040831,000951:
|
|
Page 941
|
040833,000953: # NAME - P51 - IMU ORIENTATION DETERMINATION
040834,000954: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
040835,000955: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040836,000956:
040837,000957: # FUNCTIONAL DESCRIPTION
040838,000958:
040839,000959: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040840,000960: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
040841,000961: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040842,000962: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040843,000963:
040844,000964: # CALLING SEQUENCE
040845,000965:
040846,000966: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040847,000967:
040848,000968: # SUBROUTINES CALLED.
040849,000969:
040850,000970: # GOPERF3
040851,000971: # GOPERF1
040852,000972: # GODSPR
040853,000973: # IMUCOARS
040854,000974: # IMUFIN20
040855,000975: # AOTMARK(R53)
040856,000976: # CHKSDATA(R54)
040857,000977: # MKRELEAS
040858,000978: # AXISGEN
040859,000979: # MATMOVE
040860,000980:
040861,000981: # ALARMS
040862,000982:
040863,000983: # NONE.
040864,000984:
040865,000985: # ERASABLE INITIALIZATION
040866,000986:
040867,000987: # IMU ZERO FLAG SHOULD BE SET.
040868,000988:
040869,000989: # OUTPUT
040870,000990:
040871,000991: # REFSMMAT
040872,000992: # REFSMFLG
040873,000993:
040874,000994: # DEBRIS
040875,000995:
040876,000996: # WORK AREA
040877,000997: # STARAD
040878,000998: # STARIND
040879,000999: # BESTI
040880,001000: # BESTJ
040881,001001:
040882,001002: 14,3421 COUNT* $$/P51
|
|
Page 942
|
040884,001004: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040885,001005: 14,3422 33627 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040886,001006:
040887,001007: 14,3423 34761 CAF OCT15
040888,001008: 14,3424 04616 TC BANKCALL
040889,001009: 14,3425 20624 CADR GOPERF1
040890,001010: 14,3426 06001 TC GOTOPOOH # TERM.
040891,001011: 14,3427 13453 TCF P51B # V33
040892,001012: 14,3430 05364 TC PHASCHNG
040893,001013: 14,3431 04024 OCT 04024
040894,001014:
040895,001015: 14,3432 34755 CAF ZERO
040896,001016: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040897,001017: 14,3434 54322 TS THETAD +1
040898,001018: 14,3435 54323 TS THETAD +2
040899,001019: 14,3436 35010 CAF V06N22
040900,001020: 14,3437 04616 TC BANKCALL
040901,001021: 14,3440 20447 CADR GODSPRET
040902,001022: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040903,001023: 14,3442 04616 TC BANKCALL
040904,001024: 14,3443 20447 CADR GODSPRET
040905,001025: 14,3444 06042 TC INTPRET
040906,001026: 14,3445 77624 CALL
040907,001027: 14,3446 31557 COARSE
040908,001028: 14,3447 77776 EXIT
040909,001029: 14,3450 05364 TC PHASCHNG
040910,001030: 14,3451 04024 OCT 04024
040911,001031: 14,3452 13423 TCF P51 +2
040912,001032:
040913,001033: 14,3453 05364 P51B TC PHASCHNG
040914,001034: 14,3454 00014 OCT 00014
040915,001035: 14,3455 06042 TC INTPRET
040916,001036: 14,3456 77624 CALL
040917,001037: 14,3457 31603 NCOARSE
040918,001038: 14,3460 40331 SSP SETPD
040919,001039: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
040920,001040: 14,3462 00000 0
040921,001041: 14,3463 00001 0
040922,001042: 14,3464 77776 P51C EXIT
040923,001043: 14,3465 05364 TC PHASCHNG
040924,001044: 14,3466 04024 OCT 04024
040925,001045:
040926,001046: 14,3467 04616 TC BANKCALL
040927,001047: 14,3470 16000 CADR AOTMARK # R53
040928,001048: 14,3471 04616 TC BANKCALL
040929,001049: 14,3472 17716 CADR AOTSTALL
040930,001050: 14,3473 05712 TC CURTAINS
040931,001051: 14,3474 11757 CCS STARIND
040932,001052: 14,3475 13503 TCF P51D +1
040933,001053: 14,3476 06042 TC INTPRET
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|
Page 943
|
040935,001055: 14,3477 77775 VLOAD
040936,001056: 14,3500 02715 STARAD +6
040937,001057: 14,3501 02761 STORE STARSAV1
040938,001058: 14,3502 77776 P51D EXIT
040939,001059: 14,3503 05364 TC PHASCHNG
040940,001060: 14,3504 04024 OCT 04024
040941,001061:
040942,001062: 14,3505 11757 CCS STARIND
040943,001063: 14,3506 13522 TCF P51E
040944,001064: 14,3507 05364 TC PHASCHNG
040945,001065: 14,3510 04024 OCT 04024
040946,001066:
040947,001067: 14,3511 06042 TC INTPRET
040948,001068: 14,3512 45145 DLOAD CALL
040949,001069: 14,3513 03562 TSIGHT
040950,001070: 14,3514 32461 PLANET
040951,001071: 14,3515 03554 STORE PLANVEC
040952,001072: 14,3516 77776 EXIT
040953,001073: 14,3517 34753 CAF BIT1
040954,001074: 14,3520 55757 TS STARIND
040955,001075: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040956,001076: 14,3522 05364 P51E TC PHASCHNG
040957,001077: 14,3523 04024 OCT 04024
040958,001078:
040959,001079: 14,3524 06042 TC INTPRET
040960,001080: 14,3525 45145 DLOAD CALL
040961,001081: 14,3526 03562 TSIGHT
040962,001082: 14,3527 32461 PLANET
040963,001083: 14,3530 24015 STOVL 12D
040964,001084: 14,3531 03554 PLANVEC
040965,001085: 14,3532 24007 STOVL 6D
040966,001086: 14,3533 02761 STARSAV1
040967,001087: 14,3534 26707 STOVL STARAD
040968,001088: 14,3535 02767 STARSAV2
040969,001089: 14,3536 36715 STCALL STARAD +6
040970,001090: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040971,001091: 14,3540 77414 BON EXIT
040972,001092: 14,3541 00314 FREEFLAG
040973,001093: 14,3542 31544 P51G
040974,001094: 14,3543 03423 TC P51 +2
040975,001095: 14,3544 77624 P51G CALL
040976,001096: 14,3545 47437 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040977,001097: 14,3546 75160 AXC,1 AXC,2
040978,001098: 14,3547 02664 XDC
040979,001099: 14,3550 01731 REFSMMAT
040980,001100: 14,3551 77624 CALL
040981,001101: 14,3552 31371 MATMOVE
040982,001102: 14,3553 77414 SET EXIT
040983,001103: 14,3554 01462 REFSMFLG
040984,001104: 14,3555 06001 TC GOTOPOOH # FINIS
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|
Page 944
|
040986,001106: 14,3556 12200 V41K VN 4100
040987,001107: 14,3557 77776 COARSE EXIT
040988,001108: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040989,001109: 14,3561 00006 EXTEND
040990,001110: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040991,001111: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040992,001112: 14,3564 04616 TC BANKCALL
040993,001113: 14,3565 01736 CADR DELAYJOB
040994,001114: 14,3566 13560 TCF COARSE +1
040995,001115: 14,3567 04616 DOCORS TC BANKCALL
040996,001116: 14,3570 16764 CADR IMUCOARS
040997,001117: 14,3571 04616 TC BANKCALL
040998,001118: 14,3572 17722 CADR IMUSTALL
040999,001119: 14,3573 05712 TC CURTAINS
041000,001120: 14,3574 04616 TC BANKCALL
041001,001121: 14,3575 17174 CADR IMUFINE
041002,001122: 14,3576 04616 TC BANKCALL
041003,001123: 14,3577 17722 CADR IMUSTALL
041004,001124: 14,3600 05712 TC CURTAINS
041005,001125: 14,3601 06042 TC INTPRET
041006,001126: 14,3602 77616 RVQ
041007,001127: 14,3603 77776 NCOARSE EXIT
041008,001128: 14,3604 30025 CA TIME1
041009,001129: 14,3605 55074 TS 1/PIPADT
041010,001130: 14,3606 44755 CS ZERO
041011,001131: 14,3607 54037 TS PIPAX
041012,001132: 14,3610 54040 TS PIPAY
041013,001133: 14,3611 54041 TS PIPAZ
041014,001134: 14,3612 06042 TC INTPRET
041015,001135: 14,3613 77775 VLOAD
041016,001136: 14,3614 24007 ZEROVEC
041017,001137: 14,3615 01472 STORE GCOMP
041018,001138: 14,3616 43414 SET RVQ
041019,001139: 14,3617 01060 DRIFTFLG
041020,001140:
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|
Page 945
|
041022,001142: # NAME-S52.2
041023,001143: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041024,001144: # CALL- CALL S52.2
041025,001145: # INPUT- X,Y,ZSMD
041026,001146: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
041027,001147: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
041028,001148: 14,3620 COUNT* $$/S52.1
041029,001149: 14,3620 45020 S52.2 STQ CALL
041030,001150: 14,3621 02746 QMAJ
041031,001151: 14,3622 47535 CDUTRIG
041032,001152: 14,3623 77624 CALL
041033,001153: 14,3624 20030 CALCSMSC
041034,001154: 14,3625 66370 AXT,1 SSP
041035,001155: 14,3626 00022 18D
041036,001156: 14,3627 00051 S1
041037,001157: 14,3630 00006 6D
041038,001158: 14,3631 61373 S52.2A VLOAD* VXM
041039,001159: 14,3632 02707 XNB +18D,1
041040,001160: 14,3633 01732 REFSMMAT
041041,001161: 14,3634 77656 UNIT
041042,001162: 14,3635 06707 STORE XNB +18D,1
041043,001163: 14,3636 77700 TIX,1
041044,001164: 14,3637 31631 S52.2A
041045,001165: 14,3640 75160 S52.2.1 AXC,1 AXC,2
041046,001166: 14,3641 03606 XSMD
041047,001167: 14,3642 02642 XSM
041048,001168: 14,3643 77624 CALL
041049,001169: 14,3644 31371 MATMOVE
041050,001170: 14,3645 77624 CALL
041051,001171: 14,3646 47351 CALCGA
041052,001172: 14,3647 77650 GOTO
041053,001173: 14,3650 02746 QMAJ
041054,001174:
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|
Page 946
|
041056,001176: # NAME-S52.3
041057,001177: # FUNCTION XSMD= UNIT R
041058,001178: # YSMD= UNIT(V X R)
041059,001179: # ZSMD= UNIT(XSMD X YSMD)
041060,001180: # CALL DLOAD CALL
041061,001181: # TALIGN
041062,001182: # S52.3
041063,001183: # INPUT- TIME OF ALIGNMENT IN MPAC
041064,001184: # OUTPUT- X,Y,ZSMD
041065,001185: # SUBROUTINES- CSMCONIC
041066,001186: 14,3651 COUNT* $$/S52.3
041067,001187: 14,3651 77620 S52.3 STQ
041068,001188: 14,3652 02746 QMAJ
041069,001189: 14,3653 34041 STCALL TDEC1
041070,001190: 14,3654 27077 LEMCONIC
041071,001191: 14,3655 53575 VLOAD UNIT
041072,001192: 14,3656 00001 RATT
041073,001193: 14,3657 27607 STOVL XSMD
041074,001194: 14,3660 00007 VATT
041075,001195: 14,3661 53435 VXV UNIT
041076,001196: 14,3662 00001 RATT
041077,001197: 14,3663 27615 STOVL YSMD
041078,001198: 14,3664 03607 XSMD
041079,001199: 14,3665 53435 VXV UNIT
041080,001200: 14,3666 03615 YSMD
041081,001201: 14,3667 37623 STCALL ZSMD
041082,001202: 14,3670 02746 QMAJ
041083,001203:
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|
Page 947
|
041085,001205: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041086,001206:
041087,001207: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041088,001208: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041089,001209:
041090,001210: # CALLING -CALL R52
041091,001211:
041092,001212: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
041093,001213: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
041094,001214: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041095,001215: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041096,001216: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041097,001217:
041098,001218: # SUBROUT -R60LEM
041099,001219:
041100,001220: 14,3671 COUNT* $$/R52
041101,001221: 14,3671 77420 R52 STQ EXIT
041102,001222: 14,3672 03665 SAVQR52
041103,001223: 14,3673 51757 INDEX STARIND
041104,001224: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041105,001225: 14,3675 00006 EXTEND
041106,001226: 14,3676 73772 MP 1/6TH
041107,001227: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
041108,001228: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
041109,001229:
041110,001230: 14,3701 33773 R52A CAF V01N70
041111,001231: 14,3702 04616 TC BANKCALL
041112,001232: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041113,001233: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
041114,001234: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
041115,001235: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041116,001236:
041117,001237: 14,3707 05527 R52B TC DOWNFLAG
041118,001238: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041119,001239: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041120,001240: 14,3712 77747 MASK HIGH9
041121,001241: 14,3713 00006 EXTEND
041122,001242: 14,3714 74743 MP BIT9
041123,001243: 14,3715 54001 TS L # TEMP STORE DETENT
041124,001244:
041125,001245: 14,3716 00006 EXTEND
041126,001246: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041127,001247:
041128,001248: 14,3720 65661 AD NEG7
041129,001249: 14,3721 00006 EXTEND
041130,001250: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041131,001251:
041132,001252: 14,3723 E7,1551 EBANK= XYMARK
041133,001253: 14,3723 35016 CA EBANK7
041134,001254: 14,3724 54003 TS EBANK
041135,001255:
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|
Page 948
|
041137,001257: 14,3725 50001 INDEX L
041138,001258: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041139,001259: 14,3727 54001 TS L
041140,001260: 14,3730 E5,1642 EBANK= XSM
041141,001261: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041142,001262: 14,3731 54003 TS EBANK
041143,001263: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041144,001264: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041145,001265: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041146,001266:
041147,001267: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041148,001268: 14,3736 04616 TC BANKCALL
041149,001269: 14,3737 20477 CADR GOFLASH
041150,001270: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
041151,001271: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
041152,001272: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
041153,001273:
041154,001274: 14,3743 00006 EXTEND
041155,001275: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041156,001276: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041157,001277: 14,3746 52011 DXCH 8D
041158,001278: 14,3747 06042 TC INTPRET
041159,001279: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041160,001280: 14,3751 10530 OANB # SCAXIS IN NB COORDS
041161,001281: 14,3752 45034 RTB CALL
041162,001282: 14,3753 21574 LOADTIME
041163,001283: 14,3754 32461 PLANET
041164,001284: 14,3755 53521 MXV UNIT
041165,001285: 14,3756 01732 REFSMMAT
041166,001286: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041167,001287:
041168,001288: 14,3760 77776 EXIT
041169,001289: 14,3761 04616 TC BANKCALL
041170,001290: 14,3762 54125 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041171,001291:
041172,001292: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041173,001293: 14,3764 70734 MASK STARCODE
041174,001294: 14,3765 00006 EXTEND
041175,001295: 14,3766 13701 BZF R52A
041176,001296:
041177,001297: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041178,001298: 14,3770 77650 GOTO
041179,001299: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041180,001300:
041181,001301: 14,3772 05253 1/6TH DEC .1666667
041182,001302: 14,3773 00306 V01N70 VN 0170
041183,001303: 14,3774 01527 V06N87 VN 687
041184,001304:
|
|
Page 949
|
041186,001306: # LUNAR SURFACE STAR AQUISITION
041187,001307:
041188,001308: 15,2251 BANK 15
041189,001309: 15,2000 SETLOC P50S
041190,001310: 15,2000 BANK
041191,001311: 15,2251 COUNT* $$/R59
041192,001312:
041193,001313: 15,2251 40077 R59 CS FLAGWRD3
041194,001314: 15,2252 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041195,001315: 15,2253 10000 CCS A
041196,001316: 15,2254 12444 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041197,001317:
041198,001318: 15,2255 32452 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041199,001319: 15,2256 04616 TC BANKCALL
041200,001320: 15,2257 20477 CADR GOFLASH
041201,001321: 15,2260 06001 TC GOTOPOOH # V34-TERMINATE
041202,001322: 15,2261 12263 TCF R59A # V33-PROCEED
041203,001323: 15,2262 12251 TCF R59 # V32-RECYCLE
041204,001324:
041205,001325: 15,2263 06042 R59A TC INTPRET
041206,001326: 15,2264 45034 RTB CALL
041207,001327: 15,2265 21574 LOADTIME
041208,001328: 15,2266 32461 PLANET # GO GET CELESTRIAL BODY IN REF COORDS.
041209,001329: 15,2267 53521 MXV UNIT
041210,001330: 15,2270 01732 REFSMMAT # TRANSFORM TO NB COORDS.
041211,001331: 15,2271 77624 CALL
041212,001332: 15,2272 47653 CDU*SMNB
041213,001333: 15,2273 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041214,001334: 15,2274 77776 EXIT
041215,001335:
041216,001336: 15,2275 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041217,001337: 15,2276 55241 TS POSCODE
041218,001338:
041219,001339: 15,2277 E7,1551 EBANK= XYMARK
041220,001340: 15,2277 35016 INCAZ CA EBANK7
041221,001341: 15,2300 54003 TS EBANK
041222,001342:
041223,001343: 15,2301 51241 INDEX POSCODE
041224,001344: 15,2302 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041225,001345: 15,2303 54001 TS L
041226,001346:
041227,001347: 15,2304 E5,1642 EBANK= XSM
041228,001348: 15,2304 35014 CA EBANK5
041229,001349: 15,2305 54003 TS EBANK
041230,001350:
041231,001351: 15,2306 34737 CA BIT13 # SET ELV TO 45 DEG
041232,001352: 15,2307 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041233,001353: 15,2310 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041234,001354: 15,2311 50120 INDEX FIXLOC
041235,001355: 15,2312 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041236,001356:
|
|
Page 950
|
041238,001358: 15,2313 06042 TC INTPRET
041239,001359: 15,2314 77624 CALL
041240,001360: 15,2315 10530 OANB # GO CALC OPTIC AXIS WRT NB
041241,001361: 15,2316 50375 VLOAD DOT
041242,001362: 15,2317 02731 STAR # DOT STAR WITH OA
041243,001363: 15,2320 03765 SCAXIS
041244,001364: 15,2321 65552 SL1 ARCCOS
041245,001365: 15,2322 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041246,001366:
041247,001367: 15,2323 51025 DSU BPL
041248,001368: 15,2324 32455 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041249,001369: 15,2325 32407 NXAX # NOT IN FIELD - TRY NEXT POSITION
041250,001370: 15,2326 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041251,001371: 15,2327 00031 24D
041252,001372: 15,2330 32457 DEG.5
041253,001373: 15,2331 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041254,001374: 15,2332 32402 ZSPCR # GO ZERO CURSOR AND SPIRAL
041255,001375: 15,2333 00031 24D # GET SPIRAL
041256,001376: 15,2334 42405 DMP SL4
041257,001377: 15,2335 11226 3/4 # 12 SCALED AT 16
041258,001378: 15,2336 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041259,001379:
041260,001380: 15,2337 03765 SCAXIS # OA
041261,001381: 15,2340 53435 VXV UNIT
041262,001382: 15,2341 24005 XUNIT
041263,001383: 15,2342 47206 PUSH VXV # OA X UNITX PD 0-5
041264,001384: 15,2343 03765 SCAXIS
041265,001385: 15,2344 77676 VCOMP
041266,001386: 15,2345 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
041267,001387: 15,2346 03765 SCAXIS
041268,001388: 15,2347 53435 VXV UNIT
041269,001389: 15,2350 02731 STAR
041270,001390: 15,2351 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041271,001391: 15,2352 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041272,001392: 15,2353 65552 SL1 ARCCOS
041273,001393: 15,2354 24033 STOVL 26D # STORE THET SCALED IN REVS
041274,001394:
041275,001395: 15,2355 77641 DOT # UP 12-17, UP 6-11 FOR C2
041276,001396: 15,2356 71244 BPL DLOAD # IF THET NEG-GET 360-THET
041277,001397: 15,2357 32364 R59D
041278,001398: 15,2360 32047 ABOUTONE
041279,001399: 15,2361 77625 DSU
041280,001400: 15,2362 00033 26D
041281,001401: 15,2363 00033 STORE 26D # 360-THET SCALED IN REVS
041282,001402:
041283,001403: 15,2364 70535 R59D SLOAD SR1
041284,001404: 15,2365 02746 QMIN # RESCALE AZ(N) TO REVS
041285,001405: 15,2366 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041286,001406: 15,2367 00033 26D
041287,001407: 15,2370 77634 RTB
|
|
Page 951
|
041289,001409: 15,2371 21615 1STO2S
041290,001410: 15,2372 15236 STODL CURSOR # YROT IN 1/2 REVS
041291,001411: 15,2373 00031 24D # LOAD SROT IN REVS
041292,001412: 15,2374 77615 DAD # 12(SEP) + YROT
041293,001413: 15,2375 77634 RTB
041294,001414: 15,2376 21615 1STO2S
041295,001415: 15,2377 01237 STORE SPIRAL # SROT IN 1/2 REVS
041296,001416: 15,2400 77776 EXIT
041297,001417: 15,2401 12426 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041298,001418:
041299,001419: 15,2402 77776 ZSPCR EXIT
041300,001420: 15,2403 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
041301,001421: 15,2404 55235 TS CURSOR # AND SPIRAL ANGLES
041302,001422: 15,2405 55236 TS SPIRAL
041303,001423: 15,2406 12426 TCF 79DISP
041304,001424:
041305,001425: 15,2407 77776 NXAX EXIT
041306,001426: 15,2410 25241 INCR POSCODE
041307,001427: 15,2411 41241 CS POSCODE
041308,001428: 15,2412 64757 AD SEVEN
041309,001429: 15,2413 00006 EXTEND
041310,001430: 15,2414 62416 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041311,001431: 15,2415 12277 TCF INCAZ
041312,001432:
041313,001433: 15,2416 05600 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041314,001434: 15,2417 00404 OCT 404
041315,001435: 15,2420 35006 CAF VB05N09 # DISPLAY ALARM
041316,001436: 15,2421 04616 TC BANKCALL
041317,001437: 15,2422 20477 CADR GOFLASH
041318,001438: 15,2423 16001 TCF GOTOPOOH # VB34-TERMINATE
041319,001439: 15,2424 12444 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
041320,001440: 15,2425 12251 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
041321,001441:
041322,001442: 15,2426 32453 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041323,001443: 15,2427 04616 TC BANKCALL
041324,001444: 15,2430 20477 CADR GOFLASH
041325,001445: 15,2431 16001 TCF GOTOPOOH # V34-TERMINATE
041326,001446: 15,2432 12434 TCF R59E # V33-PROCEED TO MARK ROUTINE
041327,001447: 15,2433 12251 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
041328,001448:
041329,001449: 15,2434 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041330,001450: 15,2435 71241 MASK POSCODE
041331,001451: 15,2436 00006 EXTEND
041332,001452: 15,2437 74745 MP BIT7 # DETENT CODE NOW IN L
041333,001453: 15,2440 47747 CS HIGH9
041334,001454: 15,2441 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041335,001455: 15,2442 60001 AD L
041336,001456: 15,2443 54734 TS AOTCODE # STORE DETENT 7-9
041337,001457:
041338,001458: 15,2444 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
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|
Page 952
|
041340,001460: 15,2445 16000 CADR AOTMARK
041341,001461: 15,2446 04616 TC BANKCALL
041342,001462: 15,2447 17716 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041343,001463: 15,2450 05712 TC CURTAINS # BADEND RETURN FROM AOTMARK
041344,001464: 15,2451 13031 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041345,001465:
041346,001466: 15,2452 00306 V01N70* VN 170
041347,001467: 15,2453 01517 V06N79 VN 679
041348,001468: 15,2454 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041349,001469:
041350,001470: 15,2456 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041351,001471:
041352,001472: 15,2460 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041353,001473:
041354,001474: 15,2461 1235 CURSOR EQUALS GDT/2
041355,001475: 15,2461 1236 SPIRAL EQUALS GDT/2 +1
041356,001476: 15,2461 1241 POSCODE EQUALS GDT/2 +4
041357,001477:
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|
Page 953
|
041359,001479: # NAME - PLANET
041360,001480: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041361,001481: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041362,001482: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041363,001483: # BY DSDY INPUT
041364,001484: # CALL - CALL
041365,001485: # PLANET
041366,001486: # INPUT - TIME IN MPAC
041367,001487: # OUTPUT - VECTOR IN MPAC
041368,001488: # SUBROUTINES - LOCSAM
041369,001489: # DEBRIS - VAC ,STARAD - STARAD +17
041370,001490:
041371,001491: 15,2000 SETLOC P50S
041372,001492: 15,2000 BANK
041373,001493: 15,2461 COUNT* $$/R58
041374,001494:
041375,001495: 15,2461 03562 PLANET STORE TSIGHT
041376,001496: 15,2462 77420 STQ EXIT
041377,001497: 15,2463 02736 GCTR
041378,001498: 15,2464 47747 CS HIGH9
041379,001499: 15,2465 70734 MASK AOTCODE
041380,001500: 15,2466 00006 EXTEND
041381,001501: 15,2467 76245 MP REVCNT
041382,001502: 15,2470 56001 XCH L
041383,001503: 15,2471 51757 INDEX STARIND
041384,001504: 15,2472 55755 TS BESTI
041385,001505: 15,2473 10000 CCS A
041386,001506: 15,2474 12511 TCF NOTPLAN
041387,001507: 15,2475 32550 CAF VNPLANV
041388,001508: 15,2476 04616 TC BANKCALL
041389,001509: 15,2477 20477 CADR GOFLASH
041390,001510: 15,2500 02475 TC -3
041391,001511: 15,2501 02503 TC +2
041392,001512: 15,2502 02475 TC -5
041393,001513: 15,2503 06042 TC INTPRET
041394,001514: 15,2504 74375 VLOAD VXSC
041395,001515: 15,2505 02707 STARAD
041396,001516: 15,2506 32552 1/SQR3
041397,001517: 15,2507 52056 UNIT GOTO
041398,001518: 15,2510 02736 GCTR
041399,001519:
041400,001520: 15,2511 40000 NOTPLAN CS A
041401,001521: 15,2512 62547 AD DEC227
041402,001522: 15,2513 00006 EXTEND
041403,001523: 15,2514 62525 BZMF CALSAM1
041404,001524: 15,2515 51757 INDEX STARIND
041405,001525: 15,2516 31755 CA BESTI
041406,001526: 15,2517 50120 INDEX FIXLOC
041407,001527: 15,2520 54046 TS X1
041408,001528: 15,2521 06042 TC INTPRET
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|
Page 954
|
041410,001530: 15,2522 52173 VLOAD* GOTO
041411,001531: 15,2523 30347 CATLOG,1
041412,001532: 15,2524 02736 GCTR
041413,001533: 15,2525 06042 CALSAM1 TC INTPRET
041414,001534: 15,2526 45145 CALSAM DLOAD CALL
041415,001535: 15,2527 03562 TSIGHT
041416,001536: 15,2530 30500 LOCSAM
041417,001537: 15,2531 77340 LXC,1 VLOAD
041418,001538: 15,2532 02757 STARIND
041419,001539: 15,2533 02707 VEARTH
041420,001540: 15,2534 24001 STOVL 0D
041421,001541: 15,2535 02715 VSUN
041422,001542: 15,2536 26707 STOVL VEARTH
041423,001543: 15,2537 00001 0D
041424,001544: 15,2540 02715 STORE VSUN
041425,001545: 15,2541 70143 DLOAD* LXC,1
041426,001546: 15,2542 02756 BESTI,1
041427,001547: 15,2543 00154 MPAC
041428,001548: 15,2544 52173 VLOAD* GOTO
041429,001549: 15,2545 02343 STARAD -228D,1
041430,001550: 15,2546 02736 GCTR
041431,001551: 15,2547 00343 DEC227 DEC 227 B-14
041432,001552: 15,2550 01530 VNPLANV VN 0688
041433,001553: 15,2551 37,3543 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041434,001554: 15,2551 22363 11623 1/SQR3 2DEC .57735021
041435,001555:
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|
Page 955
|
041437,001557: # GRAVITY VECTOR DETERMINATION ROUTINE
041438,001558: # BY KEN VINCENT
041439,001559: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041440,001560: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041441,001561: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041442,001562: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041443,001563: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041444,001564: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041445,001565: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041446,001566: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041447,001567: # READINGS.
041448,001568:
041449,001569: # CALL-
041450,001570: # TC BANKCALL
041451,001571: # CADR GVDETER
041452,001572: # INPUTS-
041453,001573: # PIPAS,CDUS
041454,001574: # OUTPUTS-
041455,001575: # STARSAV1 = UNIT GRAVITY
041456,001576: # GSAV = DITTO
041457,001577: # GRAVBIT = 1
041458,001578: # SUBROUTINES-
041459,001579: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041460,001580: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
041461,001581: # DEBRIS-
041462,001582: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041463,001583: 15,2553 32754 GVDETER CAF 42DEG
041464,001584: 15,2554 54321 TS THETAD
041465,001585: 15,2555 40000 COM
041466,001586: 15,2556 54322 TS THETAD +1
041467,001587: 15,2557 32755 CAF 35DEG
041468,001588: 15,2560 54323 TS THETAD +2
041469,001589: 15,2561 06042 TC INTPRET
041470,001590: 15,2562 45014 CLEAR CALL
041471,001591: 15,2563 01662 REFSMFLG
041472,001592: 15,2564 32660 LUNG
041473,001593: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
041474,001594:
041475,001595: # DEFINE G COOR SYS
041476,001596: # -
041477,001597: # X UNIT G
041478,001598: # * - -
041479,001599: # M= Y = UNITEZSM * X )
041480,001600: # - - -
041481,001601: # Z UNIT(X * Y )
041482,001602: # THEN ROTATED SM WRT PRESENT IS
041483,001603:
041484,001604:
041485,001605: # 1, 0 , 0
041486,001606: # * *T * * *
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|
Page 956
|
041488,001608: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041489,001609: # I J
041490,001610: # 0, 0 ,-1
041491,001611:
041492,001612: # ALSO NB WRT PRES SM IS
041493,001613:
041494,001614: # * * *
041495,001615: # XNB = NBSM I
041496,001616: # * *
041497,001617: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041498,001618:
041499,001619: 15,2000 SETLOC P50S
041500,001620: 15,2000 BANK
041501,001621: 15,2565 COUNT* $$/P57
041502,001622: 15,2565 66370 AXT,1 SSP # X1=18
041503,001623: 15,2566 00022 18D # S1= 6
041504,001624: 15,2567 00051 S1 # X2, -2
041505,001625: 15,2570 00006 6D
041506,001626: 15,2571 77744 LXC,2
041507,001627: 15,2572 00050 S1
041508,001628: 15,2573 45173 GRAVEL VLOAD* CALL
041509,001629: 15,2574 54000 XUNIT -6,2
041510,001630: 15,2575 47700 *NBSM* # SIN AND COS COMPUTED IN LUNG
041511,001631: 15,2576 06707 STORE XNB +18D,1
041512,001632: 15,2577 77775 VLOAD
041513,001633: 15,2600 02731 STAR
041514,001634: 15,2601 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
041515,001635: 15,2602 00047 X2
041516,001636: 15,2603 75040 STAR +6,2 # OUTER PRODUCT
041517,001637: 15,2604 71152 VSL2 LXC,2
041518,001638: 15,2605 00047 X2
041519,001639: 15,2606 63047 VSU* INCR,2
041520,001640: 15,2607 54000 XUNIT -6,2
041521,001641: 15,2610 00002 2D
041522,001642: 15,2611 06665 STORE XSM +18D,1
041523,001643: 15,2612 45100 TIX,1 CALL
041524,001644: 15,2613 32573 GRAVEL
041525,001645: 15,2614 47351 CALCGA
041526,001646: 15,2615 74575 VLOAD VSR1
041527,001647: 15,2616 02715 GOUT
041528,001648: 15,2617 36723 STCALL STARAD +12D
041529,001649: 15,2620 32660 LUNG
041530,001650: 15,2621 74575 VLOAD VSR1
041531,001651: 15,2622 02715 GOUT
041532,001652: 15,2623 53455 VAD UNIT
041533,001653: 15,2624 02723 STARAD +12D
041534,001654: 15,2625 02761 STORE STARSAV1
041535,001655: 15,2626 77641 DOT
041536,001656: 15,2627 02231 GSAV
041537,001657: 15,2630 65552 SL1 ACOS
|
|
Page 957
|
041539,001659: 15,2631 01045 STORE DSPTEM1
041540,001660: 15,2632 77776 EXIT
041541,001661: 15,2633 05527 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041542,001662: 15,2634 00014 ADRES FREEFLAG
041543,001663:
041544,001664: 15,2635 32753 CA DISGRVER
041545,001665: 15,2636 04616 TC BANKCALL
041546,001666: 15,2637 20477 CADR GOFLASH
041547,001667: 15,2640 06001 TC GOTOPOOH
041548,001668: 15,2641 12644 TCF PROGRAV # VB33-PROCEED
041549,001669: 15,2642 05515 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041550,001670: 15,2643 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041551,001671:
041552,001672: 15,2644 05364 PROGRAV TC PHASCHNG
041553,001673: 15,2645 04024 OCT 04024
041554,001674:
041555,001675: 15,2646 06042 TC INTPRET
041556,001676: 15,2647 77775 VLOAD
041557,001677: 15,2650 02761 STARSAV1
041558,001678: 15,2651 02231 STORE GSAV
041559,001679: 15,2652 77776 EXIT
041560,001680: 15,2653 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041561,001681: 15,2654 70074 MASK FLAGWRD0
041562,001682: 15,2655 10000 CCS A
041563,001683: 15,2656 12553 TCF GVDETER # SET
041564,001684: 15,2657 13530 TCF ATTCHK # EXIT FROM GVDETER
041565,001685:
041566,001686: 15,2660 77220 LUNG STQ VLOAD
041567,001687: 15,2661 02745 QMIN
041568,001688: 15,2662 24007 ZEROVEC
041569,001689: 15,2663 02707 STORE GACC
041570,001690: 15,2664 77776 EXIT
041571,001691: 15,2665 05364 TC PHASCHNG
041572,001692: 15,2666 04024 OCT 04024
041573,001693:
041574,001694: 15,2667 06042 TC INTPRET
041575,001695: 15,2670 77624 CALL
041576,001696: 15,2671 31557 COARSE
041577,001697: 15,2672 77776 EXIT
041578,001698: 15,2673 32752 CA T/2SEC
041579,001699: 15,2674 55736 TS GCTR
041580,001700: 15,2675 37721 CA PRIO31
041581,001701: 15,2676 55074 TS 1/PIPADT
041582,001702: 15,2677 04616 TC BANKCALL
041583,001703: 15,2700 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041584,001704: 15,2701 05364 TC PHASCHNG
041585,001705: 15,2702 04024 OCT 04024
041586,001706:
041587,001707: 15,2703 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041588,001708: 15,2704 77543 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 958
|
041590,001710: 15,2705 06042 TC INTPRET
041591,001711: 15,2706 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041592,001712: 15,2707 35000 CAF 2SECS
041593,001713: 15,2710 05204 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041594,001714: 15,2711 02713 ADRES GRABGRAV
041595,001715:
041596,001716: 15,2712 05155 TC ENDOFJOB
041597,001717:
041598,001718: 15,2713 04674 GRABGRAV TC IBNKCALL
041599,001719: 15,2714 77543 CADR PIPSRINE
041600,001720: 15,2715 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041601,001721: 15,2716 05105 TC FINDVAC
041602,001722: 15,2717 E5,1706 EBANK= STARAD
041603,001723: 15,2717 02722 32065 2CADR ADDGRAV
041604,001724:
041605,001725:
041606,001726: 15,2721 05272 TC TASKOVER
041607,001727:
041608,001728: 15,2722 04616 ADDGRAV TC BANKCALL
041609,001729: 15,2723 15271 CADR 1/PIPA
041610,001730: 15,2724 25736 INCR GCTR
041611,001731: 15,2725 06042 TC INTPRET
041612,001732: 15,2726 53375 VLOAD VAD
041613,001733: 15,2727 00325 DELV
041614,001734: 15,2730 02707 GACC
041615,001735: 15,2731 02707 STORE GACC # ACCUMULATE G VECTOR
041616,001736: 15,2732 50135 SLOAD BMN
041617,001737: 15,2733 02737 GCTR
041618,001738: 15,2734 32706 GREED
041619,001739: 15,2735 53575 VLOAD UNIT
041620,001740: 15,2736 02707 GACC
041621,001741: 15,2737 36731 STCALL STAR
041622,001742: 15,2740 47535 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041623,001743: 15,2741 77624 CALL # IN OUTPUT
041624,001744: 15,2742 47676 *SMNB*
041625,001745: 15,2743 02715 STORE GOUT
041626,001746: 15,2744 77776 EXIT
041627,001747: 15,2745 05364 TC PHASCHNG
041628,001748: 15,2746 04024 OCT 04024
041629,001749:
041630,001750: 15,2747 06042 QMINEXIT TC INTPRET
041631,001751: 15,2750 77650 GOTO
041632,001752: 15,2751 02745 QMIN
041633,001753: 15,2752 77753 T/2SEC DEC -20 B-14
041634,001754: 15,2753 01404 DISGRVER VN 0604
041635,001755: 15,2754 07357 42DEG OCT 07357
041636,001756: 15,2755 06211 35DEG OCT 06211
041637,001757:
|
|
Page 959
|
041639,001759: # NAME GYROTRIM
041640,001760:
041641,001761: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041642,001762: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041643,001763: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041644,001764:
041645,001765: # CALL CALL
041646,001766: # GYROTRIM
041647,001767:
041648,001768: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041649,001769: # CDUX,CDUY,CDUZ
041650,001770:
041651,001771: # OUTPUT - GYRO TORQUE PULSES
041652,001772:
041653,001773: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041654,001774: # IMPULSE,IMUSTALL
041655,001775: # - - - * * -
041656,001776: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
041657,001777: 15,2756 COUNT* $$/P57
041658,001778: 15,2756 71220 GYROTRIM STQ DLOAD
041659,001779: 15,2757 02745 QMIN
041660,001780: 15,2760 00322 THETAD
041661,001781: 15,2761 65325 PDDL PDDL
041662,001782: 15,2762 00324 THETAD +2
041663,001783: 15,2763 00323 THETAD +1
041664,001784: 15,2764 77666 VDEF
041665,001785: 15,2765 24766 STOVL CDUSPOT
041666,001786: 15,2766 24005 XUNIT
041667,001787: 15,2767 77624 CALL
041668,001788: 15,2770 47671 TRG*NBSM
041669,001789: 15,2771 26707 STOVL STARAD
041670,001790: 15,2772 24003 YUNIT
041671,001791: 15,2773 77624 CALL
041672,001792: 15,2774 47700 *NBSM*
041673,001793: 15,2775 36715 STCALL STARAD +6
041674,001794: 15,2776 47535 CDUTRIG
041675,001795: 15,2777 77624 CALL
041676,001796: 15,3000 20030 CALCSMSC
041677,001797: 15,3001 77775 VLOAD
041678,001798: 15,3002 02665 XNB
041679,001799: 15,3003 24007 STOVL 6D
041680,001800: 15,3004 02673 YNB
041681,001801: 15,3005 34015 STCALL 12D
041682,001802: 15,3006 47437 AXISGEN
041683,001803: 15,3007 77624 CALL
041684,001804: 15,3010 47245 CALCGTA
041685,001805: 15,3011 77776 JUSTTRIM EXIT
041686,001806: 15,3012 33021 CA GYRCDR
041687,001807: 15,3013 04616 TC BANKCALL
041688,001808: 15,3014 17307 CADR IMUPULSE
|
|
Page 960
|
041690,001810: 15,3015 04616 TC BANKCALL
041691,001811: 15,3016 17722 CADR IMUSTALL
041692,001812: 15,3017 05712 TC CURTAINS
041693,001813: 15,3020 12747 TCF QMINEXIT
041694,001814:
041695,001815: 15,3021 02737 GYRCDR ECADR OGC
041696,001816:
|
|
Page 961
|
041698,001818: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041699,001819:
041700,001820: 15,3022 34755 2STARS CAF ZERO # INITALIZE STARIND
041701,001821: 15,3023 13025 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041702,001822: 15,3024 34753 1STAR CAF BIT1
041703,001823: 15,3025 55757 TS STARIND
041704,001824:
041705,001825: 15,3026 05364 TC PHASCHNG
041706,001826: 15,3027 04024 OCT 04024
041707,001827:
041708,001828: 15,3030 12251 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041709,001829:
041710,001830: 15,3031 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041711,001831: 15,3032 00006 EXTEND
041712,001832: 15,3033 13044 BZF ASTAR # 1ST STAR MARKED
041713,001833:
041714,001834: 15,3034 05364 TC PHASCHNG
041715,001835: 15,3035 04024 OCT 04024
041716,001836:
041717,001837: 15,3036 06042 TC INTPRET
041718,001838: 15,3037 45145 DLOAD CALL
041719,001839: 15,3040 03562 TSIGHT # TIME OF 2ND MARK
041720,001840: 15,3041 32461 PLANET
041721,001841: 15,3042 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041722,001842: 15,3043 33056 SURFLINE
041723,001843:
041724,001844: 15,3044 06042 ASTAR TC INTPRET
041725,001845: 15,3045 77775 VLOAD
041726,001846: 15,3046 02715 STARAD +6
041727,001847: 15,3047 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041728,001848: 15,3050 45145 DLOAD CALL
041729,001849: 15,3051 03562 TSIGHT # TIME OF 1ST MARK
041730,001850: 15,3052 32461 PLANET
041731,001851: 15,3053 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041732,001852: 15,3054 77776 EXIT
041733,001853: 15,3055 13024 TCF 1STAR # GO GET 2ND STAR SIGHTING
041734,001854:
|
|
Page 962
|
041736,001856: # DO FINE OR COARSE ALIGNMENT OF IMU
041737,001857:
041738,001858: 15,3056 77131 SURFLINE SSP AXT,2
041739,001859: 15,3057 00052 S2
041740,001860: 15,3060 00006 6
041741,001861: 15,3061 00014 12D
041742,001862: 15,3062 64373 WRTDESIR VLOAD* MXV
041743,001863: 15,3063 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041744,001864: 15,3064 03607 XSMD
041745,001865: 15,3065 77656 UNIT
041746,001866: 15,3066 12723 STORE STARAD +12D,2 # VEC IN SM
041747,001867: 15,3067 77773 VLOAD*
041748,001868: 15,3070 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041749,001869: 15,3071 10023 STORE 18D,2
041750,001870: 15,3072 43104 TIX,2 BON
041751,001871: 15,3073 33062 WRTDESIR
041752,001872: 15,3074 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041753,001873: 15,3075 33103 INITBY
041754,001874: 15,3076 77624 DOALIGN CALL
041755,001875: 15,3077 31250 R54 # DO CHKSDATA
041756,001876: 15,3100 77614 BOFF
041757,001877: 15,3101 00354 FREEFLAG
041758,001878: 15,3102 33163 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041759,001879: 15,3103 77624 INITBY CALL
041760,001880: 15,3104 47437 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041761,001881: 15,3105 77624 CALL
041762,001882: 15,3106 47245 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041763,001883: 15,3107 77776 EXIT
041764,001884: 15,3110 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041765,001885: 15,3111 70104 MASK FLAGWRD8
041766,001886: 15,3112 10000 CCS A
041767,001887: 15,3113 13122 TCF 5DEGTEST
041768,001888: 15,3114 33270 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041769,001889: 15,3115 04616 TC BANKCALL
041770,001890: 15,3116 20477 CADR GOFLASH
041771,001891: 15,3117 06001 TC GOTOPOOH # V34-TERMINATE
041772,001892: 15,3120 13122 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
041773,001893: 15,3121 13164 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
041774,001894:
041775,001895: 15,3122 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041776,001896: 15,3123 40175 VLOAD BOV
041777,001897: 15,3124 02740 OGC
041778,001898: 15,3125 33126 SURFSUP
041779,001899: 15,3126 02750 SURFSUP STORE OGCT
041780,001900: 15,3127 40141 V/SC BOV
041781,001901: 15,3130 30602 5DEGREES
041782,001902: 15,3131 33231 COATRIM
041783,001903: 15,3132 52131 SSP GOTO
041784,001904: 15,3133 02746 QMIN
041785,001905: 15,3134 33136 SURFDISP
|
|
Page 963
|
041787,001907: 15,3135 33011 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041788,001908:
041789,001909: 15,3136 77776 SURFDISP EXIT
041790,001910: 15,3137 05364 TC PHASCHNG
041791,001911: 15,3140 04024 OCT 04024
041792,001912:
041793,001913: 15,3141 06042 TC INTPRET
041794,001914: 15,3142 75160 AXC,1 AXC,2
041795,001915: 15,3143 03606 XSMD
041796,001916: 15,3144 01731 REFSMMAT
041797,001917: 15,3145 45014 SET CALL
041798,001918: 15,3146 01462 REFSMFLG
041799,001919: 15,3147 31371 MATMOVE
041800,001920: 15,3150 77776 EXIT
041801,001921: 15,3151 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041802,001922: 15,3152 13154 TCF B2F8
041803,001923: 15,3153 13164 TCF P57POST +1
041804,001924:
041805,001925: 15,3154 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041806,001926: 15,3155 70104 MASK FLAGWRD8
041807,001927: 15,3156 10000 CCS A
041808,001928: 15,3157 13536 TCF P57JUMP # ITS SET
041809,001929: 15,3160 06042 TC INTPRET
041810,001930: 15,3161 77624 CALL
041811,001931: 15,3162 33463 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041812,001932: 15,3163 77776 P57POST EXIT
041813,001933: 15,3164 35752 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041814,001934: 15,3165 04616 TC BANKCALL
041815,001935: 15,3166 20624 CADR GOPERF1
041816,001936: 15,3167 16001 TCF GOTOPOOH # VB34-TERMINATE
041817,001937: 15,3170 13536 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
041818,001938: 15,3171 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041819,001939: 15,3172 61144 AD OPTION2
041820,001940: 15,3173 00006 EXTEND
041821,001941: 15,3174 13176 BZF +2 # YES-GO CALCULATE LANDING SITE
041822,001942: 15,3175 16001 TCF GOTOPOOH # NO-EXIT P57
041823,001943: 15,3176 05364 TC PHASCHNG # RESTART PLACE
041824,001944: 15,3177 04024 OCT 04024
041825,001945: 15,3200 06042 TC INTPRET
041826,001946: 15,3201 45175 VLOAD CALL # USE GNB
041827,001947: 15,3202 02231 GSAV
041828,001948: 15,3203 47666 CDU*NBSM # GO TO SM COORDS
041829,001949: 15,3204 43105 VXM SET # ON MOON SO SET LUNAFLAG
041830,001950: 15,3205 01732 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041831,001951: 15,3206 01463 LUNAFLAG
041832,001952: 15,3207 51515 PDVL ABVAL
041833,001953: 15,3210 02021 RLS
041834,001954: 15,3211 45561 VXSC STADR
041835,001955: 15,3212 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041836,001956: 15,3213 47014 CLEAR RTB
|
|
Page 964
|
041838,001958: 15,3214 00662 ERADFLAG
041839,001959: 15,3215 21574 LOADTIME
041840,001960: 15,3216 77624 CALL
041841,001961: 15,3217 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041842,001962: 15,3220 01220 STORE RN # RN=RLS B-29 = LM POSITION
041843,001963: 15,3221 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041844,001964: 15,3222 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041845,001965: 15,3223 77606 PUSH # TIME AT 6-7 IN PDLIST
041846,001966: 15,3224 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041847,001967: 15,3225 51632 R-TO-RP
041848,001968: 15,3226 02021 STORE RLS # RLS IN MOON-FIXED COORDS
041849,001969: 15,3227 77776 EXIT
041850,001970: 15,3230 16001 TCF GOTOPOOH # EXIT P57
041851,001971:
|
|
Page 965
|
041853,001973: # COARSE AND FINE ALIGN IMU
041854,001974: 15,3231 75160 COATRIM AXC,1 AXC,2
041855,001975: 15,3232 02664 XDC
041856,001976: 15,3233 02642 XSM
041857,001977: 15,3234 77624 CALL
041858,001978: 15,3235 31371 MATMOVE
041859,001979: 15,3236 77624 CALL
041860,001980: 15,3237 47535 CDUTRIG
041861,001981: 15,3240 77624 CALL
041862,001982: 15,3241 20030 CALCSMSC
041863,001983: 15,3242 77624 CALL
041864,001984: 15,3243 47351 CALCGA
041865,001985: 15,3244 77414 BOFF EXIT
041866,001986: 15,3245 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041867,001987: 15,3246 33260 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041868,001988: 15,3247 35010 CAF V06N22 # THAN 5 DEGREES
041869,001989: 15,3250 04616 TC BANKCALL
041870,001990: 15,3251 20477 CADR GOFLASH
041871,001991: 15,3252 06001 TC GOTOPOOH
041872,001992: 15,3253 13255 TCF +2
041873,001993: 15,3254 13247 TCF -5
041874,001994: 15,3255 05364 TC PHASCHNG
041875,001995: 15,3256 04024 OCT 04024
041876,001996:
041877,001997: 15,3257 06042 TC INTPRET
041878,001998: 15,3260 77624 CORSIT CALL
041879,001999: 15,3261 31557 COARSE
041880,002000: 15,3262 77624 CALL
041881,002001: 15,3263 31603 NCOARSE
041882,002002: 15,3264 77624 CALL
041883,002003: 15,3265 32756 GYROTRIM
041884,002004: 15,3266 77650 GOTO
041885,002005: 15,3267 33136 SURFDISP
041886,002006: 15,3270 01535 DISPGYRO VN 0693
041887,002007:
|
|
Page 966
|
041889,002009: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041890,002010:
041891,002011: 15,3271 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041892,002012: 15,3272 33627 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041893,002013:
041894,002014: 15,3273 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041895,002015: 15,3274 55144 TS OPTION2
041896,002016: 15,3275 34753 P57OPT CAF BIT1
041897,002017: 15,3276 04616 TC BANKCALL
041898,002018: 15,3277 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041899,002019: 15,3300 06001 TC GOTOPOOH # V34 TERMINATE
041900,002020: 15,3301 13306 TCF ALIGNOPT # V33 PROCEED
041901,002021: 15,3302 13275 TCF P57OPT # V32 RECYCLE
041902,002022:
041903,002023: 15,3303 05364 TC PHASCHNG
041904,002024: 15,3304 00014 OCT 00014
041905,002025: 15,3305 05155 TC ENDOFJOB
041906,002026:
041907,002027: 15,3306 31144 ALIGNOPT CA OPTION2
041908,002028: 15,3307 76250 MASK THREE
041909,002029: 15,3310 50000 INDEX A
041910,002030: 15,3311 13312 TCF +1
041911,002031: 15,3312 13325 TCF TDISP # OPTION 4 LS ORIENTATION
041912,002032: 15,3313 13366 TCF PACKOPTN # OPTION 1 PREFERRED
041913,002033: 15,3314 13275 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041914,002034: 15,3315 06042 TC INTPRET # OPTION 3 REFSMMAT
041915,002035: 15,3316 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041916,002036: 15,3317 01731 REFSMMAT
041917,002037: 15,3320 03606 XSMD
041918,002038: 15,3321 77624 CALL
041919,002039: 15,3322 31371 MATMOVE
041920,002040: 15,3323 77650 GOTO
041921,002041: 15,3324 33365 PACKOPTN -1
041922,002042:
041923,002043: 15,3325 06042 TDISP TC INTPRET
041924,002044: 15,3326 77745 DLOAD
041925,002045: 15,3327 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041926,002046: 15,3330 01045 P57A STORE DSPTEM1
041927,002047: 15,3331 77776 EXIT
041928,002048: 15,3332 32174 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041929,002049: 15,3333 04616 TC BANKCALL
041930,002050: 15,3334 20477 CADR GOFLASH
041931,002051: 15,3335 16001 TCF GOTOPOOH # V34-TERMINATE
041932,002052: 15,3336 13340 TCF +2
041933,002053: 15,3337 13332 TCF P57AA # VB32-RECYCLE
041934,002054:
041935,002055: 15,3340 06042 TC INTPRET
041936,002056: 15,3341 65234 RTB PDDL
041937,002057: 15,3342 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041938,002058: 15,3343 01045 DSPTEM1
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|
Page 967
|
041940,002060: 15,3344 65254 BZE PDDL
041941,002061: 15,3345 33355 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
041942,002062: 15,3346 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041943,002063: 15,3347 01045 DSPTEM1
041944,002064: 15,3350 33355 P57C
041945,002065: 15,3351 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041946,002066: 15,3352 74335 STORE TIG # STORE IT IN TIG
041947,002067: 15,3353 36775 STCALL TALIGN
041948,002068: 15,3354 33357 P57D
041949,002069: 15,3355 45545 P57C DLOAD STADR
041950,002070: 15,3356 75002 STORE TALIGN
041951,002071: 15,3357 34041 P57D STCALL TDEC1
041952,002072: 15,3360 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041953,002073: 15,3361 53575 VLOAD UNIT # IN X,Y,ZSMD
041954,002074: 15,3362 00001 RATT
041955,002075: 15,3363 37607 STCALL XSMD
041956,002076: 15,3364 10765 LSORIENT
041957,002077: 15,3365 77776 EXIT
041958,002078: 15,3366 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041959,002079: 15,3367 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041960,002080: 15,3370 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041961,002081: 15,3371 34737 CAF REFSMBIT
041962,002082: 15,3372 70077 MASK FLAGWRD3 # REFSMFLG
041963,002083: 15,3373 10000 CCS A
041964,002084: 15,3374 34745 CAF BIT7 # SET
041965,002085: 15,3375 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
041966,002086: 15,3376 34753 CAF ATTFLBIT
041967,002087: 15,3377 70102 MASK FLAGWRD6 # ATTFLG
041968,002088: 15,3400 10000 CCS A
041969,002089: 15,3401 34750 CAF BIT4 # SET
041970,002090: 15,3402 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
041971,002091: 15,3403 34750 CAF BIT4
041972,002092: 15,3404 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041973,002093:
041974,002094: 15,3405 33626 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041975,002095: 15,3406 04616 TC BANKCALL
041976,002096: 15,3407 20477 CADR GOFLASH
041977,002097: 15,3410 16001 TCF GOTOPOOH # VB34-TERMINATE
041978,002098: 15,3411 13413 TCF +2 # V33-PROCEED
041979,002099: 15,3412 13405 TCF DSPOPTN # V32-RECYCLE
041980,002100:
041981,002101: 15,3413 34737 CAF REFSMBIT
041982,002102: 15,3414 70077 MASK FLAGWRD3
041983,002103: 15,3415 10000 CCS A
041984,002104: 15,3416 13516 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041985,002105: 15,3417 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
041986,002106: 15,3420 70102 MASK FLAGWRD6
041987,002107: 15,3421 10000 CCS A
041988,002108: 15,3422 13522 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041989,002109: 15,3423 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 968
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041991,002111: 15,3424 71144 MASK OPTION2
041992,002112: 15,3425 10000 CCS A
041993,002113: 15,3426 13522 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041994,002114: 15,3427 05600 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
041995,002115: 15,3430 00701 OCT 701
041996,002116: 15,3431 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041997,002117: 15,3432 04616 TC BANKCALL
041998,002118: 15,3433 20477 CADR GOFLASH
041999,002119: 15,3434 16001 TCF GOTOPOOH # VB34-TERMINATE
042000,002120: 15,3435 13405 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
042001,002121: 15,3436 13405 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
042002,002122:
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|
Page 969
|
042004,002124: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042005,002125:
042006,002126: 15,3437 40220 MFREF STQ SETPD
042007,002127: 15,3440 02746 QMAJ
042008,002128: 15,3441 00001 0
042009,002129: 15,3442 77634 RTB
042010,002130: 15,3443 21574 LOADTIME
042011,002131: 15,3444 27562 STOVL TSIGHT
042012,002132: 15,3445 03246 VEC1
042013,002133: 15,3446 41525 PDDL PUSH
042014,002134: 15,3447 03562 TSIGHT
042015,002135: 15,3450 77624 CALL
042016,002136: 15,3451 55720 RP-TO-R
042017,002137: 15,3452 27246 STOVL VEC1
042018,002138: 15,3453 03254 VEC2
042019,002139: 15,3454 65201 SETPD PDDL
042020,002140: 15,3455 00001 0
042021,002141: 15,3456 03562 TSIGHT
042022,002142: 15,3457 45006 PUSH CALL
042023,002143: 15,3460 55720 RP-TO-R
042024,002144: 15,3461 37254 STCALL VEC2
042025,002145: 15,3462 02746 QMAJ
042026,002146:
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|
Page 970
|
042028,002148: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042029,002149: # STORE IN YNBSAV AND ZNBSAV
042030,002150:
042031,002151: 15,3463 45020 REFMF STQ CALL
042032,002152: 15,3464 02746 QMAJ
042033,002153: 15,3465 47535 CDUTRIG # GET SIN AND COS OF CDUS
042034,002154: 15,3466 40234 RTB SETPD
042035,002155: 15,3467 21574 LOADTIME
042036,002156: 15,3470 00001 0
042037,002157: 15,3471 37562 STCALL TSIGHT
042038,002158: 15,3472 20030 CALCSMSC # GET YNB IN SM
042039,002159: 15,3473 61375 VLOAD VXM
042040,002160: 15,3474 02673 YNB
042041,002161: 15,3475 01732 REFSMMAT # YNB TO REF
042042,002162: 15,3476 65256 UNIT PDDL
042043,002163: 15,3477 03562 TSIGHT
042044,002164: 15,3500 45006 PUSH CALL
042045,002165: 15,3501 51632 R-TO-RP
042046,002166: 15,3502 26237 STOVL YNBSAV # YNB TO MF
042047,002167: 15,3503 02701 ZNB
042048,002168: 15,3504 53505 VXM UNIT
042049,002169: 15,3505 01732 REFSMMAT # ZNB TO REF
042050,002170: 15,3506 41525 PDDL PUSH
042051,002171: 15,3507 03562 TSIGHT
042052,002172: 15,3510 77624 CALL
042053,002173: 15,3511 51632 R-TO-RP # ZNB TO MF
042054,002174: 15,3512 02245 STORE ZNBSAV
042055,002175: 15,3513 77614 SETGO
042056,002176: 15,3514 03036 ATTFLAG
042057,002177: 15,3515 02746 QMAJ
042058,002178:
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|
Page 971
|
042060,002180: # BRANCH TO ALIGNMENT OPTION
042061,002181:
042062,002182: 15,3516 06042 GETLMATT TC INTPRET
042063,002183: 15,3517 77624 CALL
042064,002184: 15,3520 33463 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
042065,002185: 15,3521 77776 EXIT
042066,002186:
042067,002187: 15,3522 05515 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042068,002188: 15,3523 00205 ADRES INITALGN
042069,002189: 15,3524 34753 CAF BIT1
042070,002190: 15,3525 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
042071,002191: 15,3526 10000 CCS A
042072,002192: 15,3527 12553 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042073,002193:
042074,002194: 15,3530 05364 ATTCHK TC PHASCHNG
042075,002195: 15,3531 04024 OCT 04024
042076,002196:
042077,002197: 15,3532 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042078,002198: 15,3533 70102 MASK FLAGWRD6
042079,002199: 15,3534 10000 CCS A
042080,002200: 15,3535 13552 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042081,002201: 15,3536 05364 P57JUMP TC PHASCHNG
042082,002202: 15,3537 04024 OCT 04024
042083,002203:
042084,002204: 15,3540 05527 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
042085,002205: 15,3541 00205 ADRES INITALGN
042086,002206: 15,3542 36250 CAF THREE
042087,002207: 15,3543 71144 MASK OPTION2 # BRANCH ON OPTION CODE
042088,002208: 15,3544 50000 INDEX A
042089,002209: 15,3545 13546 TCF +1
042090,002210: 15,3546 13552 TCF P57OPT0 # OPTION IS 0
042091,002211: 15,3547 13573 TCF P57OPT1 # OPTION IS 1
042092,002212: 15,3550 13611 TCF P57OPT2 # OPTION IS 2
042093,002213: 15,3551 13612 TCF P57OPT3 # OPTION IS 3
042094,002214:
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Page 972
|
042096,002216: # OPTION 0, GET TWO ATTITUDE VECS
042097,002217:
042098,002218: 15,3552 06042 P57OPT0 TC INTPRET
042099,002219: 15,3553 77775 VLOAD
042100,002220: 15,3554 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042101,002221: 15,3555 27246 STOVL VEC1
042102,002222: 15,3556 02245 ZNBSAV
042103,002223: 15,3557 37254 STCALL VEC2
042104,002224: 15,3560 47535 CDUTRIG
042105,002225: 15,3561 77624 CALL
042106,002226: 15,3562 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042107,002227: 15,3563 77775 VLOAD
042108,002228: 15,3564 02673 YNB
042109,002229: 15,3565 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042110,002230: 15,3566 02701 ZNB
042111,002231: 15,3567 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042112,002232: 15,3570 33437 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042113,002233: 15,3571 77650 GOTO
042114,002234: 15,3572 33056 SURFLINE
042115,002235:
042116,002236: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042117,002237:
042118,002238: 15,3573 06042 P57OPT1 TC INTPRET
042119,002239: 15,3574 53575 VLOAD UNIT
042120,002240: 15,3575 02021 RLS # LANDING SITE VEC
042121,002241: 15,3576 27246 STOVL VEC1
042122,002242: 15,3577 02245 ZNBSAV # Z ATTITUDE VEC
042123,002243: 15,3600 37254 STCALL VEC2
042124,002244: 15,3601 47535 CDUTRIG
042125,002245: 15,3602 77624 CALL
042126,002246: 15,3603 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042127,002247: 15,3604 45175 VLOAD CALL
042128,002248: 15,3605 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042129,002249: 15,3606 47666 CDU*NBSM
042130,002250: 15,3607 77650 GOTO
042131,002251: 15,3610 33565 SAMETYP # NOW DO SAME AS OPTION 0
042132,002252:
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|
Page 973
|
042134,002254: # OPTION 2, GET TWO STAR SIGHTINGS
042135,002255:
042136,002256: 15,3611 13022 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042137,002257:
042138,002258: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042139,002259:
042140,002260: 15,3612 06042 P57OPT3 TC INTPRET
042141,002261: 15,3613 53575 VLOAD UNIT
042142,002262: 15,3614 02021 RLS # LANDING SITE VEC
042143,002263: 15,3615 03246 STORE VEC1
042144,002264: 15,3616 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042145,002265: 15,3617 02231 GSAV # GRAVITY VEC NB
042146,002266: 15,3620 77624 CALL
042147,002267: 15,3621 47666 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042148,002268: 15,3622 36761 STCALL STARSAV1
042149,002269: 15,3623 33437 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042150,002270: 15,3624 77776 EXIT
042151,002271: 15,3625 13024 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042152,002272:
042153,002273: 15,3626 01206 VB05N06 VN 506
042154,002274:
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|
Page 974
|
042156,002276: # CHECK IMODES30 TO VARIFY IMU IS ON
042157,002277:
042158,002278: 15,3627 41277 IMUCHK CS IMODES30
042159,002279: 15,3630 74743 MASK BIT9
042160,002280: 15,3631 10000 CCS A # IS IMU ON
042161,002281: 15,3632 13636 TCF +4 # YES
042162,002282:
042163,002283: 15,3633 05600 TC ALARM # NO, SEND ALARM AND EXIT
042164,002284: 15,3634 00210 OCT 210
042165,002285: 15,3635 06001 TC GOTOPOOH
042166,002286:
042167,002287: 15,3636 05515 TC UPFLAG
042168,002288: 15,3637 00007 ADRES IMUSE # SET IMUSE FLAG
042169,002289:
042170,002290: 15,3640 04631 TC SWRETURN
042171,002291:
042172,002292: 04,2765 BANK 04
042173,002293: 04,2000 SETLOC AOTMARK2
042174,002294: 04,2000 BANK
042175,002295: 04,2765 COUNT* $$/P57
042176,002296:
042177,002297: 04,2765 77220 LSORIENT STQ VLOAD
042178,002298: 04,2766 02746 QMAJ
042179,002299: 04,2767 01555 RRECTCSM
042180,002300: 04,2770 47235 VXV VXV
042181,002301: 04,2771 01563 VRECTCSM
042182,002302: 04,2772 03607 XSMD
042183,002303: 04,2773 77656 UNIT
042184,002304: 04,2774 03623 STORE ZSMD
042185,002305: 04,2775 53435 VXV UNIT
042186,002306: 04,2776 03607 XSMD
042187,002307: 04,2777 37615 STCALL YSMD
042188,002308: 04,3000 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc