Source Code
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These source-code files are part of a reconstructed copy of Luminary 173, the
second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 178. Changes
between revision 173 and 178 were backed out, as described by Luminary memo 167
(revision 1). 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 173 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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039950,000002: ## Copyright: Public domain.
039951,000003: ## Filename: P51-P53.agc
039952,000004: ## Purpose: A section of Luminary revision 173.
039953,000005: ## It is part of the reconstructed source code for the second
039954,000006: ## (unflown) release of the flight software for the Lunar
039955,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
039956,000008: ## The code has been recreated from a reconstructed copy of
039957,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
039958,000010: ## It has been adapted such that the resulting bugger words
039959,000011: ## exactly match those specified for Luminary 173 in NASA
039960,000012: ## drawing 2021152N, which gives relatively high confidence
039961,000013: ## that the reconstruction is correct.
039962,000014: ## Reference: pp. 918-974
039963,000015: ## Assembler: yaYUL
039964,000016: ## Contact: Ron Burkey <info@sandroid.org>.
039965,000017: ## Website: www.ibiblio.org/apollo/index.html
039966,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
039967,000019:
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Page 918
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039969,000021: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
039970,000022: # MOD NO- 0 LOG SECTION- P51-P53
039971,000023: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
039972,000024:
039973,000025: # FUNCTIONAL DESCRIPTION-
039974,000026:
039975,000027: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039976,000028: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039977,000029:
039978,000030: # (A) PREFERRED ORIENTATION
039979,000031:
039980,000032: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039981,000033: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039982,000034:
039983,000035: # (B) NOMINAL ORIENTATION
039984,000036:
039985,000037: # X = UNIT ( R )
039986,000038: # -SM
039987,000039:
039988,000040: # Y = UNIT (V X R)
039989,000041: # SM
039990,000042:
039991,000043: # Z = UNIT (X X Y )
039992,000044: # SM SM SM
039993,000045:
039994,000046: # WHERE_
039995,000047: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039996,000048: # -
039997,000049:
039998,000050: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039999,000051: # -
040000,000052:
040001,000053: # (C) REFSMMAT ORIENTATION
040002,000054:
040003,000055: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040004,000056:
040005,000057: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040006,000058: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040007,000059: # SINCE THE LAST ALIGNMENT).
040008,000060:
040009,000061: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040010,000062: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040011,000063: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040012,000064: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040013,000065: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040014,000066: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040015,000067: # REQUESTED.
040016,000068:
040017,000069: # CALLING SEQUENCE-
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Page 919
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040019,000071: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040020,000072:
040021,000073: # SUBROUTINES CALLED-
040022,000074:
040023,000075: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040024,000076: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040025,000077: # 3. GOPERF4 9. FLAGUP
040026,000078: # 4. MATMOVE 10. R56
040027,000079: # 5. GOFLASH 11. R51
040028,000080: # 6. S52.3 12. GOPERF3
040029,000081:
040030,000082: # NORMAL EXIT MODES-
040031,000083:
040032,000084: # EXITS TO ENDOFJOB
040033,000085:
040034,000086: # ALARM OR ABORT EXIT MODES-
040035,000087:
040036,000088: # NONE
040037,000089:
040038,000090: # OUTPUT-
040039,000091:
040040,000092: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040041,000093: # 1. IMU ORIENTATION CODE
040042,000094: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
040043,000095: # 3. TIME OF NEXT IGNITION
040044,000096: # 4. GIMBAL ANGLES
040045,000097: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
040046,000098: # 6. PLEASE PERFORM P00
040047,000099: # THE MODE DISPLAY MAY BE CHANGED TO 20
040048,000100:
040049,000101: # ERASABLE INITIALIZATION REQUIRED-
040050,000102:
040051,000103: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
040052,000104: # XSMD,YSMD,ZSMD.
040053,000105: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040054,000106:
040055,000107: # DEBRIS-
040056,000108:
040057,000109: # WORK AREA
040058,000110: 33,3530 BANK 33
040059,000111: 15,2000 SETLOC P50S
040060,000112: 15,2000 BANK
040061,000113:
040062,000114: 15,2067 E5,1755 EBANK= BESTI
040063,000115: 15,2067 COUNT* $$/P52
040064,000116: 15,2067 04616 PROG52 TC BANKCALL
040065,000117: 15,2070 11241 CADR R02BOTH # IMU STATUS CHECK
040066,000118: 15,2071 34750 CAF PFRATBIT
040067,000119: 15,2072 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040068,000120: 15,2073 10000 CCS A
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Page 920
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040070,000122: 15,2074 02077 TC P52A # YES
040071,000123: 15,2075 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
040072,000124: 15,2076 02100 TC P52A +1
040073,000125: 15,2077 34753 P52A CAF BIT1
040074,000126: 15,2100 55144 TS OPTION2
040075,000127: 15,2101 34753 P52B CAF BIT1
040076,000128: 15,2102 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040077,000129: 15,2103 20714 CADR GOPERF4R # FLASH V04N06
040078,000130: 15,2104 06001 TC GOTOPOOH
040079,000131: 15,2105 12112 TCF +5 # V33-PROCEED
040080,000132: 15,2106 02101 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040081,000133: 15,2107 05364 TC PHASCHNG # DISPLAY RETURN
040082,000134: 15,2110 00014 OCT 00014
040083,000135: 15,2111 05155 TC ENDOFJOB
040084,000136:
040085,000137: 15,2112 31144 CA OPTION2
040086,000138: 15,2113 76250 MASK THREE
040087,000139: 15,2114 50000 INDEX A
040088,000140: 15,2115 02116 TC +1
040089,000141: 15,2116 12124 TCF OPT4 # OPTION 4 LANDING SITE
040090,000142: 15,2117 12176 TCF P52H # OPTION 1 PREFERRED
040091,000143: 15,2120 12131 TCF P52T # OPTION 2 NOMINAL
040092,000144: 15,2121 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
040093,000145: 15,2122 77650 GOTO
040094,000146: 15,2123 32207 P52F # GO DO R51
040095,000147:
040096,000148: 15,2124 34741 OPT4 CAF EBANK4 # SET EBANK TO USE TLAND
040097,000149: 15,2125 54003 TS EBANK
040098,000150: 15,2126 E4,1426 EBANK= TLAND
040099,000151: 15,2126 00006 EXTEND
040100,000152: 15,2127 31427 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040101,000153: 15,2130 12133 TCF P52T +2
040102,000154:
040103,000155: 15,2131 00006 P52T EXTEND
040104,000156: 15,2132 34755 DCA NEG0
040105,000157: 15,2133 53045 DXCH DSPTEM1
040106,000158: 15,2134 35014 CAF EBANK5 # RESTORE EBANK AFTER USE OF TLAND
040107,000159: 15,2135 54003 TS EBANK
040108,000160: 15,2136 E5,1774 EBANK= TALIGN
040109,000161: 15,2136 32213 CAF V06N34*
040110,000162: 15,2137 04616 TC BANKCALL
040111,000163: 15,2140 20477 CADR GOFLASH
040112,000164: 15,2141 06001 TC GOTOPOOH
040113,000165: 15,2142 02144 TC +2
040114,000166: 15,2143 02136 TC -5
040115,000167: 15,2144 53045 DXCH DSPTEM1
040116,000168: 15,2145 00006 EXTEND
040117,000169: 15,2146 62150 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040118,000170: 15,2147 12152 TCF +3
040119,000171: 15,2150 00006 EXTEND
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Page 921
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040121,000173: 15,2151 30025 DCA TIME2
040122,000174: 15,2152 53775 DXCH TALIGN
040123,000175: 15,2153 31144 P52V CA OPTION2
040124,000176: 15,2154 74752 MASK BIT2
040125,000177: 15,2155 10000 CCS A
040126,000178: 15,2156 02162 TC P52W
040127,000179: 15,2157 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040128,000180: 15,2160 77650 GOTO
040129,000181: 15,2161 32243 P52LS
040130,000182:
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Page 922
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040132,000184: # START ALIGNMENT
040133,000185:
040134,000186: 15,2162 06042 P52W TC INTPRET
040135,000187: 15,2163 45145 DLOAD CALL # PICK UP ALIGN TIME
040136,000188: 15,2164 02775 TALIGN # COMPUTE NOMINAL IMU
040137,000189: 15,2165 31651 S52.3 # ORIENTATION
040138,000190: 15,2166 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040139,000191: 15,2167 31620 S52.2 # COMPUTE GIMBAL ANGLES
040140,000192: 15,2170 77776 EXIT
040141,000193: 15,2171 35010 CAF V06N22
040142,000194: 15,2172 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040143,000195: 15,2173 20477 CADR GOFLASH
040144,000196: 15,2174 06001 TC GOTOPOOH
040145,000197: 15,2175 12214 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
040146,000198: 15,2176 06042 P52H TC INTPRET
040147,000199: 15,2177 77650 GOTO
040148,000200: 15,2200 32166 P52D
040149,000201: 15,2201 06042 REGCOARS TC INTPRET
040150,000202: 15,2202 77624 CALL # DO COARSE ALIGN
040151,000203: 15,2203 31321 CAL53A # ROUTINE
040152,000204: 15,2204 43014 COARSRET SET CLEAR
040153,000205: 15,2205 01462 REFSMFLG
040154,000206: 15,2206 01273 PFRATFLG
040155,000207: 15,2207 77624 P52F CALL
040156,000208: 15,2210 31007 R51
040157,000209: 15,2211 77776 P52OUT EXIT
040158,000210: 15,2212 06001 TC GOTOPOOH
040159,000211: 15,2213 5006 VB05N09 = V05N09
040160,000212: 15,2213 01442 V06N34* VN 634
040161,000213:
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Page 923
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040163,000215: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040164,000216: 15,2214 32242 COARSTYP CAF OCT13
040165,000217: 15,2215 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040166,000218: 15,2216 20624 CADR GOPERF1
040167,000219: 15,2217 16001 TCF GOTOPOOH # V34-TERMIN&OE
040168,000220: 15,2220 12201 TCF REGCOARS # V33-NORMAL COARSE
040169,000221: 15,2221 06042 TC INTPRET # V32-GYRO TORQUE COARSE
040170,000222: 15,2222 64375 VLOAD MXV
040171,000223: 15,2223 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040172,000224: 15,2224 01732 REFSMMAT
040173,000225: 15,2225 77656 UNIT
040174,000226: 15,2226 26665 STOVL XDC
040175,000227: 15,2227 03615 YSMD
040176,000228: 15,2230 53521 MXV UNIT
040177,000229: 15,2231 01732 REFSMMAT
040178,000230: 15,2232 26673 STOVL YDC
040179,000231: 15,2233 03623 ZSMD
040180,000232: 15,2234 53521 MXV UNIT
040181,000233: 15,2235 01732 REFSMMAT
040182,000234: 15,2236 36701 STCALL ZDC
040183,000235: 15,2237 31156 GYCOARS
040184,000236: 15,2240 77650 GOTO
040185,000237: 15,2241 32211 P52OUT
040186,000238: 15,2242 00013 OCT13 OCT 13
040187,000239:
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Page 924
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040189,000241: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040190,000242: 15,2243 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040191,000243: 15,2244 01463 LUNAFLAG
040192,000244: 15,2245 00662 ERADFLAG # TO PICK UP RLS
040193,000245: 15,2246 77201 SETPD VLOAD
040194,000246: 15,2247 00001 0
040195,000247: 15,2250 02021 RLS # PICK UP LANDING SITE VEC IN MF
040196,000248: 15,2251 41525 PDDL PUSH # RLS PD 0-5
040197,000249: 15,2252 02775 TALIGN
040198,000250: 15,2253 36027 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040199,000251:
040200,000252: 15,2254 55720 RP-TO-R # TRANS RLS TO REF
040201,000253: 15,2255 77742 VSR2
040202,000254: 15,2256 16032 STODL ALPHAV # INPUT TO LAT-LONG
040203,000255: 15,2257 02775 TALIGN
040204,000256: 15,2260 77624 CALL
040205,000257: 15,2261 30440 N89DISP
040206,000258: 15,2262 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040207,000259: 15,2263 02032 ALPHAV
040208,000260: 15,2264 37607 STCALL XSMD
040209,000261: 15,2265 10765 LSORIENT
040210,000262: 15,2266 77650 GOTO
040211,000263: 15,2267 32166 P52D # NOW GO COMPUTE GIMBAL ANGLES
040212,000264:
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Page 925
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040214,000266: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040215,000267:
040216,000268: 14,2000 SETLOC P50S1
040217,000269: 14,2000 BANK
040218,000270: 14,2440 E5,1642 EBANK= XSM
040219,000271:
040220,000272: 14,2440 77620 N89DISP STQ
040221,000273: 14,2441 02746 QMAJ
040222,000274: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040223,000275: 14,2443 26347 LAT-LONG
040224,000276: 14,2444 70545 DLOAD SR1
040225,000277: 14,2445 01122 LONG
040226,000278: 14,2446 16711 STODL LANDLONG
040227,000279: 14,2447 01124 ALT
040228,000280: 14,2450 16713 STODL LANDALT
040229,000281: 14,2451 01120 LAT
040230,000282: 14,2452 02707 STORE LANDLAT
040231,000283: 14,2453 77776 EXIT
040232,000284:
040233,000285: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040234,000286: 14,2455 04616 TC BANKCALL
040235,000287: 14,2456 20477 CADR GOFLASH
040236,000288: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
040237,000289: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
040238,000290: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040239,000291:
040240,000292: 14,2462 06042 TC INTPRET
040241,000293: 14,2463 72545 DLOAD SL1
040242,000294: 14,2464 02711 LANDLONG
040243,000295: 14,2465 15122 STODL LONG
040244,000296: 14,2466 02713 LANDALT
040245,000297: 14,2467 15124 STODL ALT
040246,000298: 14,2470 02707 LANDLAT
040247,000299: 14,2471 15120 STODL LAT
040248,000300: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040249,000301: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG, ALT
040250,000302: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040251,000303: 14,2475 77650 GOTO
040252,000304: 14,2476 02746 QMAJ
040253,000305: 14,2477 01531 V06N89* VN 689
040254,000306:
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Page 926
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040256,000308: # NAME -S50 ALIAS LOCSAM
040257,000309: # BY
040258,000310: # VINCENT
040259,000311: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040260,000312:
040261,000313: # DEFINE
040262,000314:
040263,000315:
040264,000316: # U = UNIT( SUN WRT EARTH)
040265,000317: # ES
040266,000318:
040267,000319: # U =UNIT( MOON WRT EARTH)
040268,000320: # EM
040269,000321:
040270,000322: # R =POSITION VECTOR OF LEM
040271,000323: # L
040272,000324:
040273,000325: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040274,000326: # EM
040275,000327:
040276,000328: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
040277,000329: # EM
040278,000330:
040279,000331: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040280,000332: # E
040281,000333:
040282,000334: # LOCSAM COMPUTES IN EARTH INFLUENCE
040283,000335:
040284,000336: # VSUN = U
040285,000337: # ES
040286,000338:
040287,000339: # VEARTH = -UNIT( R )
040288,000340: # L
040289,000341:
040290,000342: # VMOON = UNIT(R .U - R )
040291,000343: # EM EM L
040292,000344:
040293,000345: # CSUN = COS 90
040294,000346:
040295,000347: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040296,000348: # E L
040297,000349:
040298,000350: # CMOON = COS 5
040299,000351:
040300,000352:
040301,000353: # INPUT - TIME IN MPAC
040302,000354: # OUTPUT - LISTED ABOVE
040303,000355: # SUBROUTINES -LSPOS,LEMPREC
040304,000356: # DEBRIS - VAC AREA ,TSIGHT
040305,000357:
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Page 927
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040307,000359: 14,2500 COUNT* $$/LOSAM
040308,000360:
040309,000361: 14,2500 14,2500 S50 = LOCSAM
040310,000362: 14,2500 77620 LOCSAM STQ
040311,000363: 14,2501 02745 QMIN
040312,000364: 14,2502 37562 STCALL TSIGHT
040313,000365: 14,2503 33660 LSPOS
040314,000366: 14,2504 77745 DLOAD
040315,000367: 14,2505 03562 TSIGHT
040316,000368: 14,2506 34041 STCALL TDEC1
040317,000369: 14,2507 27056 LEMPREC
040318,000370: 14,2510 61131 SSP TIX,2
040319,000371: 14,2511 00052 S2
040320,000372: 14,2512 00000 0
040321,000373: 14,2513 30535 MOONCNTR
040322,000374: 14,2514 74375 EARTCNTR VLOAD VXSC
040323,000375: 14,2515 02723 VMOON
040324,000376: 14,2516 30001 RSUBEM
040325,000377: 14,2517 52372 VSL1 VSU
040326,000378: 14,2520 00001 RATT
040327,000379: 14,2521 77656 UNIT
040328,000380: 14,2522 26723 STOVL VMOON
040329,000381: 14,2523 00001 RATT
040330,000382: 14,2524 57456 UNIT VCOMP
040331,000383: 14,2525 16707 STODL VEARTH
040332,000384: 14,2526 30005 RSUBE
040333,000385: 14,2527 77624 CALL
040334,000386: 14,2530 30567 OCCOS
040335,000387: 14,2531 14017 STODL CEARTH
040336,000388: 14,2532 30576 CSS5
040337,000389: 14,2533 34023 STCALL CMOON
040338,000390: 14,2534 30562 ENDSAM
040339,000391: 14,2535 74375 MOONCNTR VLOAD VXSC
040340,000392: 14,2536 02723 VMOON
040341,000393: 14,2537 30007 ROE
040342,000394: 14,2540 53445 BVSU UNIT
040343,000395: 14,2541 02715 VSUN
040344,000396: 14,2542 26715 STOVL VSUN
040345,000397: 14,2543 02723 VMOON
040346,000398: 14,2544 53361 VXSC VAD
040347,000399: 14,2545 30001 RSUBEM
040348,000400: 14,2546 00001 RATT
040349,000401: 14,2547 57456 UNIT VCOMP
040350,000402: 14,2550 26707 STOVL VEARTH
040351,000403: 14,2551 00001 RATT
040352,000404: 14,2552 57456 UNIT VCOMP
040353,000405: 14,2553 16723 STODL VMOON
040354,000406: 14,2554 30003 RSUBM
040355,000407: 14,2555 77624 CALL
040356,000408: 14,2556 30567 OCCOS
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Page 928
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040358,000410: 14,2557 14023 STODL CMOON
040359,000411: 14,2560 30576 CSS5
040360,000412: 14,2561 00017 STORE CEARTH
040361,000413: 14,2562 77745 ENDSAM DLOAD
040362,000414: 14,2563 30600 CSSUN
040363,000415: 14,2564 00021 STORE CSUN
040364,000416: 14,2565 77650 GOTO
040365,000417: 14,2566 02745 QMIN
040366,000418: 14,2567 70471 OCCOS DDV SR1
040367,000419: 14,2570 00045 36D
040368,000420: 14,2571 43336 ASIN DAD
040369,000421: 14,2572 30602 5DEGREES
040370,000422: 14,2573 70546 COS SR1
040371,000423: 14,2574 77616 RVQ
040372,000424: 14,2575 CEARTH = 14D
040373,000425: 14,2575 CSUN = 16D
040374,000426: 14,2575 CMOON = 18D
040375,000427: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040376,000428:
040377,000429: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
040378,000430:
040379,000431: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040380,000432:
|
|
Page 929
|
040382,000434: # PROGRAM NAME - R56 DATE DEC 20 66
040383,000435: # MOD 1 LOG SECTION P51-P53
040384,000436: # ASSEMBLY SUNDISK REV40
040385,000437: # BY KEN VINCENT
040386,000438:
040387,000439: # FUNCTION
040388,000440: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040389,000441: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040390,000442: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040391,000443: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040392,000444: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040393,000445: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040394,000446: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040395,000447: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040396,000448: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040397,000449: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040398,000450: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040399,000451: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
040400,000452:
040401,000453: # CALLING SEQUENCE
040402,000454: # L TC BANKCALL
040403,000455: # L+1 CADR R56
040404,000456: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040405,000457: # L+3 NORMAL RETURN
040406,000458:
040407,000459: # OUTPUT
040408,000460: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040409,000461: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040410,000462:
040411,000463: # INITIALIZATION
040412,000464: # 1)A CALL TO LOCSAM MUST BE MADE
040413,000465:
040414,000466: # DEBRIS
040415,000467: # WORK AREA
040416,000468: # X,Y,ZNB
040417,000469: # SINCDU,COSCDU
040418,000470: # STARAD - STAR +5
040419,000471:
040420,000472: 14,2603 14,2603 R56 = PICAPAR
040421,000473: 14,2603 COUNT* $$/R56
040422,000474: 14,2603 04645 PICAPAR TC MAKECADR
040423,000475: 14,2604 55745 TS QMIN
040424,000476: 14,2605 06042 TC INTPRET
040425,000477: 14,2606 77624 CALL
040426,000478: 14,2607 47535 CDUTRIG
040427,000479: 14,2610 77624 CALL
040428,000480: 14,2611 20030 CALCSMSC
040429,000481: 14,2612 77601 SETPD
040430,000482: 14,2613 00001 0
040431,000483: 14,2614 71214 SET DLOAD # VFLAG = 1
040432,000484: 14,2615 01465 VFLAG
|
|
Page 930
|
040434,000486: 14,2616 24007 DPZERO
040435,000487: 14,2617 26756 STOVL BESTI
040436,000488: 14,2620 02665 XNB
040437,000489: 14,2621 63361 VXSC PDVL
040438,000490: 14,2622 24005 HALFDP
040439,000491: 14,2623 02701 ZNB
040440,000492: 14,2624 74370 AXT,1 VXSC
040441,000493: 14,2625 00344 228D # X1 = 37 X 6 +6
040442,000494: 14,2626 24005 HALFDP
040443,000495: 14,2627 77655 VAD
040444,000496: 14,2630 53505 VXM UNIT
040445,000497: 14,2631 01732 REFSMMAT
040446,000498: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040447,000499: 14,2633 66331 SSP SSP # S1=S2=6
040448,000500: 14,2634 00051 S1
040449,000501: 14,2635 00006 6
040450,000502: 14,2636 00052 S2
040451,000503: 14,2637 00006 6
040452,000504: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040453,000505: 14,2641 30643 PIC2
040454,000506: 14,2642 30760 PICEND
040455,000507: 14,2643 50373 PIC2 VLOAD* DOT
040456,000508: 14,2644 30347 CATLOG,1
040457,000509: 14,2645 02731 SAX
040458,000510: 14,2646 50025 DSU BMN
040459,000511: 14,2647 30757 CSS33
040460,000512: 14,2650 30640 PIC1
040461,000513: 14,2651 77754 LXA,2
040462,000514: 14,2652 00046 X1
040463,000515: 14,2653 52104 PIC3 TIX,2 GOTO
040464,000516: 14,2654 30656 PIC4
040465,000517: 14,2655 30640 PIC1
040466,000518: 14,2656 50373 PIC4 VLOAD* DOT
040467,000519: 14,2657 47430 CATLOG,2
040468,000520: 14,2660 02731 SAX
040469,000521: 14,2661 50025 DSU BMN
040470,000522: 14,2662 30757 CSS33
040471,000523: 14,2663 30653 PIC3
040472,000524: 14,2664 47773 VLOAD* DOT*
040473,000525: 14,2665 30347 CATLOG,1
040474,000526: 14,2666 47430 CATLOG,2
040475,000527: 14,2667 51025 DSU BPL
040476,000528: 14,2670 30755 CSS40
040477,000529: 14,2671 30653 PIC3
040478,000530: 14,2672 45173 VLOAD* CALL
040479,000531: 14,2673 30347 CATLOG,1
040480,000532: 14,2674 30732 OCCULT
040481,000533: 14,2675 77614 BON
040482,000534: 14,2676 01710 CULTFLAG
040483,000535: 14,2677 30640 PIC1
|
|
Page 931
|
040485,000537: 14,2700 45173 VLOAD* CALL
040486,000538: 14,2701 47430 CATLOG,2
040487,000539: 14,2702 30732 OCCULT
040488,000540: 14,2703 77614 BON
040489,000541: 14,2704 01710 CULTFLAG
040490,000542: 14,2705 30653 PIC3
040491,000543: 14,2706 77614 STRATGY BONCLR
040492,000544: 14,2707 01605 VFLAG
040493,000545: 14,2710 30725 NEWPAR
040494,000546: 14,2711 65120 XCHX,1 XCHX,2
040495,000547: 14,2712 02755 BESTI
040496,000548: 14,2713 02756 BESTJ
040497,000549: 14,2714 47773 STRAT VLOAD* DOT*
040498,000550: 14,2715 30347 CATLOG,1
040499,000551: 14,2716 47430 CATLOG,2
040500,000552: 14,2717 43006 PUSH BOFINV
040501,000553: 14,2720 01545 VFLAG
040502,000554: 14,2721 30711 STRAT -3
040503,000555: 14,2722 45345 DLOAD DSU
040504,000556: 14,2723 77644 BPL
040505,000557: 14,2724 30653 PIC3
040506,000558: 14,2725 67130 NEWPAR SXA,1 SXA,2
040507,000559: 14,2726 02755 BESTI
040508,000560: 14,2727 02756 BESTJ
040509,000561: 14,2730 77650 GOTO
040510,000562: 14,2731 30653 PIC3
040511,000563: 14,2732 51321 OCCULT MXV BVSU
040512,000564: 14,2733 02707 CULTRIX
040513,000565: 14,2734 00017 CSS
040514,000566: 14,2735 77654 BZE
040515,000567: 14,2736 30751 CULTED
040516,000568: 14,2737 75240 BMN SIGN
040517,000569: 14,2740 30751 CULTED
040518,000570: 14,2741 00160 MPAC +3
040519,000571: 14,2742 75240 BMN SIGN
040520,000572: 14,2743 30751 CULTED
040521,000573: 14,2744 00162 MPAC +5
040522,000574: 14,2745 43040 BMN CLRGO
040523,000575: 14,2746 30751 CULTED
040524,000576: 14,2747 01630 CULTFLAG
040525,000577: 14,2750 00052 QPRET
040526,000578: 14,2751 77614 CULTED SETGO
040527,000579: 14,2752 01430 CULTFLAG
040528,000580: 14,2753 00052 QPRET
040529,000581: 14,2754 0000016 CSS = CEARTH
040530,000582: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 /4
040531,000583:
040532,000584: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 /4
040533,000585:
040534,000586: 14,2760 77414 PICEND BOFF EXIT
|
|
Page 932
|
040536,000588: 14,2761 01745 VFLAG
040537,000589: 14,2762 30764 PICGXT
040538,000590: 14,2763 03005 TC PICBXT
040539,000591: 14,2764 73150 PICGXT LXA,1 LXA,2
040540,000592: 14,2765 02755 BESTI
040541,000593: 14,2766 02756 BESTJ
040542,000594: 14,2767 47775 VLOAD DOT*
040543,000595: 14,2770 02731 SAX
040544,000596: 14,2771 30347 CATLOG,1
040545,000597: 14,2772 47715 PDVL DOT*
040546,000598: 14,2773 02731 SAX
040547,000599: 14,2774 47430 CATLOG,2
040548,000600: 14,2775 77625 DSU
040549,000601: 14,2776 66044 BPL SXA,1
040550,000602: 14,2777 31003 PICNSWP
040551,000603: 14,3000 02756 BESTJ
040552,000604: 14,3001 77734 SXA,2
040553,000605: 14,3002 02755 BESTI
040554,000606: 14,3003 77776 PICNSWP EXIT
040555,000607: 14,3004 25745 INCR QMIN
040556,000608: 14,3005 31745 PICBXT CA QMIN
040557,000609: 14,3006 04622 TC SWCALL
040558,000610: 14,3007 VPD = 0D
040559,000611: 14,3007 V0 = 6D
040560,000612: 14,3007 V1 = 12D
040561,000613: 14,3007 V2 = 18D
040562,000614: 14,3007 V3 = 24D
040563,000615: 14,3007 DP0 = 30D
040564,000616: 14,3007 DP1 = 32D
040565,000617:
|
|
Page 933
|
040567,000619: # NAME-R51 FINE ALIGN
040568,000620: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040569,000621: # CALLING SEQ- CALL R51
040570,000622: # INPUT - REFSMMAT
040571,000623: # OUTPUT- GYRO TORQUE PULSES
040572,000624: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040573,000625: 14,3007 COUNT* $$/R51
040574,000626: 14,3007 77620 R51 STQ
040575,000627: 14,3010 02746 QMAJ
040576,000628: 14,3011 77776 R51.1 EXIT
040577,000629: 14,3012 05364 TC PHASCHNG
040578,000630: 14,3013 04024 OCT 04024
040579,000631:
040580,000632: 14,3014 34761 R51C CAF OCT15
040581,000633: 14,3015 04616 TC BANKCALL
040582,000634: 14,3016 20624 CADR GOPERF1
040583,000635: 14,3017 06001 TC GOTOPOOH
040584,000636: 14,3020 03022 TC +2 # V33E
040585,000637: 14,3021 03045 TC R51E # ENTER
040586,000638: 14,3022 06042 TC INTPRET
040587,000639: 14,3023 43234 RTB DAD
040588,000640: 14,3024 21574 LOADTIME
040589,000641: 14,3025 31155 TSIGHT1
040590,000642: 14,3026 77624 CALL
040591,000643: 14,3027 30500 LOCSAM
040592,000644: 14,3030 77776 EXIT
040593,000645: 14,3031 04616 TC BANKCALL
040594,000646: 14,3032 30603 CADR R56
040595,000647: 14,3033 03035 TC R51I
040596,000648: 14,3034 03045 R51F TC R51E
040597,000649: 14,3035 05600 R51I TC ALARM
040598,000650: 14,3036 00405 OCT 405
040599,000651: 14,3037 35006 CAF VB05N09
040600,000652: 14,3040 04616 TC BANKCALL
040601,000653: 14,3041 20477 CADR GOFLASH
040602,000654: 14,3042 06001 TC GOTOPOOH
040603,000655: 14,3043 03045 TC R51E
040604,000656: 14,3044 03014 TC R51C
040605,000657: 14,3045 34755 R51E CAF ZERO
040606,000658: 14,3046 55757 TS STARIND
040607,000659: 14,3047 06042 R51.2 TC INTPRET
040608,000660: 14,3050 77776 R51.3 EXIT
040609,000661: 14,3051 05364 TC PHASCHNG
040610,000662: 14,3052 04024 OCT 04024
040611,000663:
040612,000664: 14,3053 06042 TC INTPRET
040613,000665: 14,3054 77624 CALL
040614,000666: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040615,000667: 14,3056 77776 EXIT
040616,000668: 14,3057 04616 TC BANKCALL
|
|
Page 934
|
040618,000670: 14,3060 16000 CADR AOTMARK
040619,000671: 14,3061 04616 TC BANKCALL
040620,000672: 14,3062 17716 CADR OPTSTALL
040621,000673: 14,3063 05712 TC CURTAINS
040622,000674: 14,3064 11757 CCS STARIND
040623,000675: 14,3065 13067 TCF +2
040624,000676: 14,3066 03137 TC R51.4
040625,000677: 14,3067 06042 TC INTPRET
040626,000678: 14,3070 77775 VLOAD
040627,000679: 14,3071 02715 STARAD +6
040628,000680: 14,3072 02767 STORE STARSAV2
040629,000681: 14,3073 77776 EXIT
040630,000682: 14,3074 05364 TC PHASCHNG
040631,000683: 14,3075 04024 OCT 04024
040632,000684:
040633,000685: 14,3076 06042 TC INTPRET
040634,000686: 14,3077 45145 DLOAD CALL
040635,000687: 14,3100 03562 TSIGHT
040636,000688: 14,3101 32500 PLANET
040637,000689: 14,3102 53521 MXV UNIT
040638,000690: 14,3103 01732 REFSMMAT
040639,000691: 14,3104 26715 STOVL STARAD +6
040640,000692: 14,3105 03554 PLANVEC
040641,000693: 14,3106 53521 MXV UNIT
040642,000694: 14,3107 01732 REFSMMAT
040643,000695: 14,3110 26707 STOVL STARAD
040644,000696: 14,3111 02761 STARSAV1
040645,000697: 14,3112 24007 STOVL 6D
040646,000698: 14,3113 02767 STARSAV2
040647,000699: 14,3114 34015 STCALL 12D
040648,000700: 14,3115 31250 R54 # STAR DATA TEST
040649,000701: 14,3116 45014 BOFF CALL
040650,000702: 14,3117 00354 FREEFLAG
040651,000703: 14,3120 31126 R51K
040652,000704: 14,3121 47437 AXISGEN
040653,000705: 14,3122 77624 CALL
040654,000706: 14,3123 31216 R55 # GYRO TORQUE
040655,000707: 14,3124 77614 CLEAR
040656,000708: 14,3125 01273 PFRATFLG
040657,000709: 14,3126 77776 R51K EXIT
040658,000710: 14,3127 35752 R51P63 CAF OCT14
040659,000711: 14,3130 04616 TC BANKCALL
040660,000712: 14,3131 20624 CADR GOPERF1
040661,000713: 14,3132 06001 TC GOTOPOOH
040662,000714: 14,3133 03014 TC R51C
040663,000715: 14,3134 06042 TC INTPRET
040664,000716: 14,3135 77650 GOTO
040665,000717: 14,3136 02746 QMAJ
040666,000718: 14,3137 06042 R51.4 TC INTPRET
040667,000719: 14,3140 77775 VLOAD
|
|
Page 935
|
040669,000721: 14,3141 02715 STARAD +6
040670,000722: 14,3142 02761 STORE STARSAV1
040671,000723: 14,3143 45145 DLOAD CALL
040672,000724: 14,3144 03562 TSIGHT
040673,000725: 14,3145 32500 PLANET
040674,000726: 14,3146 03554 STORE PLANVEC
040675,000727: 14,3147 77731 SSP
040676,000728: 14,3150 02760 STARIND
040677,000729: 14,3151 00001 1
040678,000730: 14,3152 77650 GOTO
040679,000731: 14,3153 31050 R51.3
040680,000732: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040681,000733:
|
|
Page 936
|
040683,000735: # GYRO TORQUE COARSE ALIGNMENT
040684,000736: 14,3156 45020 GYCOARS STQ CALL
040685,000737: 14,3157 02746 QMAJ
040686,000738: 14,3160 47245 CALCGTA
040687,000739: 14,3161 43014 CLEAR CLEAR
040688,000740: 14,3162 01260 DRIFTFLG
040689,000741: 14,3163 01662 REFSMFLG
040690,000742: 14,3164 77776 EXIT
040691,000743: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040692,000744: 14,3166 04616 TC BANKCALL
040693,000745: 14,3167 20452 CADR GODSPR
040694,000746: 14,3170 33247 CA R55CDR
040695,000747: 14,3171 04616 TC BANKCALL
040696,000748: 14,3172 17307 CADR IMUPULSE
040697,000749: 14,3173 04616 TC BANKCALL
040698,000750: 14,3174 17722 CADR IMUSTALL
040699,000751: 14,3175 05712 TC CURTAINS
040700,000752: 14,3176 05364 TC PHASCHNG
040701,000753: 14,3177 04024 OCT 04024
040702,000754:
040703,000755: 14,3200 06042 TC INTPRET
040704,000756: 14,3201 75160 AXC,1 AXC,2
040705,000757: 14,3202 03606 XSMD
040706,000758: 14,3203 01731 REFSMMAT
040707,000759: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040708,000760: 14,3205 31371 MATMOVE
040709,000761: 14,3206 43014 CLEAR SET
040710,000762: 14,3207 01273 PFRATFLG
040711,000763: 14,3210 01462 REFSMFLG
040712,000764: 14,3211 77624 CALL
040713,000765: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040714,000766: 14,3213 77650 GOTO
040715,000767: 14,3214 31126 R51K
040716,000768: 14,3215 04024 V16N20 VN 1620
040717,000769:
|
|
Page 937
|
040719,000771: # R55 GYRO TORQUE
040720,000772: # FUNCTION-COMPUTE AND SEND GYRO PULSES
040721,000773: # CALLING SEQ- CALL R55
040722,000774: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040723,000775: # OUTPUT- GYRO PULSES
040724,000776: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040725,000777: 14,3216 COUNT* $$/R55
040726,000778: 14,3216 77620 R55 STQ
040727,000779: 14,3217 02745 QMIN
040728,000780: 14,3220 77624 CALL
040729,000781: 14,3221 47245 CALCGTA
040730,000782: 14,3222 77776 PULSEM EXIT
040731,000783: 14,3223 33246 R55.1 CAF V06N93
040732,000784: 14,3224 04616 TC BANKCALL
040733,000785: 14,3225 20477 CADR GOFLASH
040734,000786: 14,3226 06001 TC GOTOPOOH
040735,000787: 14,3227 03231 TC R55.2
040736,000788: 14,3230 03243 TC R55RET
040737,000789: 14,3231 05364 R55.2 TC PHASCHNG
040738,000790: 14,3232 00214 OCT 00214
040739,000791: 14,3233 33247 CA R55CDR
040740,000792: 14,3234 04616 TC BANKCALL
040741,000793: 14,3235 17307 CADR IMUPULSE
040742,000794: 14,3236 04616 TC BANKCALL
040743,000795: 14,3237 17722 CADR IMUSTALL
040744,000796: 14,3240 05712 TC CURTAINS
040745,000797: 14,3241 05364 TC PHASCHNG
040746,000798: 14,3242 04024 OCT 04024
040747,000799:
040748,000800: 14,3243 06042 R55RET TC INTPRET
040749,000801: 14,3244 77650 GOTO
040750,000802: 14,3245 02745 QMIN
040751,000803: 14,3246 01535 V06N93 VN 0693
040752,000804: 14,3247 02737 R55CDR ECADR OGC
040753,000805: 14,3250 14,3250 R54 = CHKSDATA
040754,000806: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
040755,000807: # MOD NO- 0 LOG SECTION- P51-P53
040756,000808: # MODIFICATION BY- LONSKE ASSEMBLY-
040757,000809:
040758,000810: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040759,000811: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040760,000812: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040761,000813:
040762,000814: # OS1 = OBSERVED STAR 1 VECTOR
040763,000815: # OS2 = OBSERVED STAR 2 VECTOR
040764,000816: # SS1 = STORED STAR 1 VECTOR
040765,000817: # SS2 = STORED STAR 2 VECTOR
040766,000818: # A1 = ARCCOS(OS1 - OS2)
040767,000819: # A2 = ARCCOS(SS1 - SS2)
040768,000820: # A = ABS(2(A1 - A2))
|
|
Page 938
|
040770,000822: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040771,000823: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040772,000824: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040773,000825: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040774,000826: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040775,000827:
040776,000828: # ERASABLE INITIALIZATION REQUIRED -
040777,000829: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040778,000830: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040779,000831: # DEBRIS -
040780,000832: 14,3250 COUNT* $$/R54
040781,000833: 14,3250 43020 CHKSDATA STQ SET
040782,000834: 14,3251 02745 QMIN
040783,000835: 14,3252 00074 FREEFLAG
040784,000836: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040785,000837: 14,3254 02706 STARAD
040786,000838:
040787,000839: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040788,000840: 14,3256 00001 0,1
040789,000841: 14,3257 00007 6,1
040790,000842: 14,3260 65552 SL1 ACOS
040791,000843: 14,3261 00025 STORE THETA
040792,000844: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040793,000845: 14,3263 00354 FREEFLAG
040794,000846: 14,3264 31274 CHKSD
040795,000847: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040796,000848: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040797,000849: 14,3267 00006 6D
040798,000850: 14,3270 00025 THETA
040799,000851: 14,3271 00023 STORE 18D
040800,000852: 14,3272 77650 GOTO
040801,000853: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040802,000854: 14,3274 45345 CHKSD DLOAD DSU
040803,000855: 14,3275 00025 THETA
040804,000856: 14,3276 00023 18D
040805,000857: 14,3277 77634 RTB # COMPUTE POS DIFF
040806,000858: 14,3300 21613 SGNAGREE
040807,000859: 14,3301 01045 STORE NORMTEM1
040808,000860: 14,3302 77414 SET EXIT
040809,000861: 14,3303 00074 FREEFLAG
040810,000862: 14,3304 33320 CAF VB6N5
040811,000863: 14,3305 04616 TC BANKCALL
040812,000864: 14,3306 20477 CADR GOFLASH
040813,000865: 14,3307 16001 TCF GOTOPOOH
040814,000866: 14,3310 03315 TC CHKSDA # PROCEED
040815,000867: 14,3311 06042 TC INTPRET
040816,000868: 14,3312 52014 CLEAR GOTO
040817,000869: 14,3313 00274 FREEFLAG
040818,000870: 14,3314 02745 QMIN
040819,000871: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 939
|
040821,000873: 14,3316 77650 GOTO
040822,000874: 14,3317 02745 QMIN
040823,000875: 14,3320 01405 VB6N5 VN 605
040824,000876: # NAME - CAL53A
040825,000877: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040826,000878: # CALLING SEQUENCE - CALL CAL53A
040827,000879: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
040828,000880: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040829,000881: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040830,000882: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040831,000883: 14,3321 COUNT* $$/R50
040832,000884: 14,3321 77624 CAL53A CALL
040833,000885: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040834,000886: 14,3323 66234 RTB SSP
040835,000887: 14,3324 31405 RDCDUS # READ CDUS
040836,000888: 14,3325 00051 S1
040837,000889: 14,3326 00001 1
040838,000890: 14,3327 40370 AXT,1 SETPD
040839,000891: 14,3330 00003 3
040840,000892: 14,3331 00005 4
040841,000893: 14,3332 70543 CALOOP DLOAD* SR1
040842,000894: 14,3333 00325 THETAD +3D,1
040843,000895: 14,3334 70523 PDDL* SR1
040844,000896: 14,3335 00005 4,1
040845,000897: 14,3336 51425 DSU ABS
040846,000898: 14,3337 45206 PUSH DSU
040847,000899: 14,3340 31404 DEGREE1
040848,000900: 14,3341 71240 BMN DLOAD
040849,000901: 14,3342 31360 CALOOP1
040850,000902: 14,3343 51025 DSU BPL
040851,000903: 14,3344 31405 DEG359
040852,000904: 14,3345 31360 CALOOP1
040853,000905: 14,3346 77776 EXIT
040854,000906: 14,3347 05364 TC PHASCHNG
040855,000907: 14,3350 04024 OCT 04024
040856,000908:
040857,000909: 14,3351 06042 TC INTPRET
040858,000910: 14,3352 77624 COARFINE CALL
040859,000911: 14,3353 31557 COARSE
040860,000912: 14,3354 77624 CALL
040861,000913: 14,3355 31603 NCOARSE
040862,000914: 14,3356 77650 GOTO
040863,000915: 14,3357 31362 FINEONLY
040864,000916: 14,3360 77700 CALOOP1 TIX,1
040865,000917: 14,3361 31332 CALOOP
040866,000918: 14,3362 75160 FINEONLY AXC,1 AXC,2
040867,000919: 14,3363 02642 XSM
040868,000920: 14,3364 01731 REFSMMAT
040869,000921: 14,3365 77624 CALL
040870,000922: 14,3366 31371 MATMOVE
|
|
Page 940
|
040872,000924: 14,3367 77650 GOTO
040873,000925: 14,3370 32204 COARSRET
040874,000926: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040875,000927: 14,3372 00001 0,1
040876,000928: 14,3373 10001 STORE 0,2
040877,000929: 14,3374 77773 VLOAD*
040878,000930: 14,3375 00007 6D,1
040879,000931: 14,3376 10007 STORE 6D,2
040880,000932: 14,3377 77773 VLOAD*
040881,000933: 14,3400 00015 12D,1
040882,000934: 14,3401 10015 STORE 12D,2
040883,000935: 14,3402 77616 RVQ
040884,000936: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040885,000937: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040886,000938: 14,3405 00004 RDCDUS INHINT # READ CDUS
040887,000939: 14,3406 30032 CA CDUX
040888,000940: 14,3407 50120 INDEX FIXLOC
040889,000941: 14,3410 54001 TS 1
040890,000942: 14,3411 30033 CA CDUY
040891,000943: 14,3412 50120 INDEX FIXLOC
040892,000944: 14,3413 54002 TS 2
040893,000945: 14,3414 30034 CA CDUZ
040894,000946: 14,3415 50120 INDEX FIXLOC
040895,000947: 14,3416 54003 TS 3
040896,000948: 14,3417 00003 RELINT
040897,000949: 14,3420 06064 TC DANZIG # +
040898,000950: 14,3421 COUNT* $$/INFLT
040899,000951:
|
|
Page 941
|
040901,000953: # NAME - P51 - IMU ORIENTATION DETERMINATION
040902,000954: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
040903,000955: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040904,000956:
040905,000957: # FUNCTIONAL DESCRIPTION
040906,000958:
040907,000959: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040908,000960: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
040909,000961: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040910,000962: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040911,000963:
040912,000964: # CALLING SEQUENCE
040913,000965:
040914,000966: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040915,000967:
040916,000968: # SUBROUTINES CALLED.
040917,000969:
040918,000970: # GOPERF3
040919,000971: # GOPERF1
040920,000972: # GODSPR
040921,000973: # IMUCOARS
040922,000974: # IMUFIN20
040923,000975: # AOTMARK(R53)
040924,000976: # CHKSDATA(R54)
040925,000977: # MKRELEAS
040926,000978: # AXISGEN
040927,000979: # MATMOVE
040928,000980:
040929,000981: # ALARMS
040930,000982:
040931,000983: # NONE.
040932,000984:
040933,000985: # ERASABLE INITIALIZATION
040934,000986:
040935,000987: # IMU ZERO FLAG SHOULD BE SET.
040936,000988:
040937,000989: # OUTPUT
040938,000990:
040939,000991: # REFSMMAT
040940,000992: # REFSMFLG
040941,000993:
040942,000994: # DEBRIS
040943,000995:
040944,000996: # WORK AREA
040945,000997: # STARAD
040946,000998: # STARIND
040947,000999: # BESTI
040948,001000: # BESTJ
040949,001001:
040950,001002: 14,3421 COUNT* $$/P51
|
|
Page 942
|
040952,001004: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040953,001005: 14,3422 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040954,001006:
040955,001007: 14,3423 34761 CAF OCT15
040956,001008: 14,3424 04616 TC BANKCALL
040957,001009: 14,3425 20624 CADR GOPERF1
040958,001010: 14,3426 06001 TC GOTOPOOH # TERM.
040959,001011: 14,3427 13453 TCF P51B # V33
040960,001012: 14,3430 05364 TC PHASCHNG
040961,001013: 14,3431 04024 OCT 04024
040962,001014:
040963,001015: 14,3432 34755 CAF ZERO
040964,001016: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040965,001017: 14,3434 54322 TS THETAD +1
040966,001018: 14,3435 54323 TS THETAD +2
040967,001019: 14,3436 35010 CAF V06N22
040968,001020: 14,3437 04616 TC BANKCALL
040969,001021: 14,3440 20447 CADR GODSPRET
040970,001022: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040971,001023: 14,3442 04616 TC BANKCALL
040972,001024: 14,3443 20447 CADR GODSPRET
040973,001025: 14,3444 06042 TC INTPRET
040974,001026: 14,3445 77624 CALL
040975,001027: 14,3446 31557 COARSE
040976,001028: 14,3447 77776 EXIT
040977,001029: 14,3450 05364 TC PHASCHNG
040978,001030: 14,3451 04024 OCT 04024
040979,001031: 14,3452 13423 TCF P51 +2
040980,001032:
040981,001033: 14,3453 05364 P51B TC PHASCHNG
040982,001034: 14,3454 00014 OCT 00014
040983,001035: 14,3455 06042 TC INTPRET
040984,001036: 14,3456 77624 CALL
040985,001037: 14,3457 31603 NCOARSE
040986,001038: 14,3460 40331 SSP SETPD
040987,001039: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
040988,001040: 14,3462 00000 0
040989,001041: 14,3463 00001 0
040990,001042: 14,3464 77776 P51C EXIT
040991,001043: 14,3465 05364 TC PHASCHNG
040992,001044: 14,3466 04024 OCT 04024
040993,001045:
040994,001046: 14,3467 04616 TC BANKCALL
040995,001047: 14,3470 16000 CADR AOTMARK # R53
040996,001048: 14,3471 04616 TC BANKCALL
040997,001049: 14,3472 17716 CADR AOTSTALL
040998,001050: 14,3473 05712 TC CURTAINS
040999,001051: 14,3474 11757 CCS STARIND
041000,001052: 14,3475 13503 TCF P51D +1
041001,001053: 14,3476 06042 TC INTPRET
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|
Page 943
|
041003,001055: 14,3477 77775 VLOAD
041004,001056: 14,3500 02715 STARAD +6
041005,001057: 14,3501 02761 STORE STARSAV1
041006,001058: 14,3502 77776 P51D EXIT
041007,001059: 14,3503 05364 TC PHASCHNG
041008,001060: 14,3504 04024 OCT 04024
041009,001061:
041010,001062: 14,3505 11757 CCS STARIND
041011,001063: 14,3506 13522 TCF P51E
041012,001064: 14,3507 05364 TC PHASCHNG
041013,001065: 14,3510 04024 OCT 04024
041014,001066:
041015,001067: 14,3511 06042 TC INTPRET
041016,001068: 14,3512 45145 DLOAD CALL
041017,001069: 14,3513 03562 TSIGHT
041018,001070: 14,3514 32500 PLANET
041019,001071: 14,3515 03554 STORE PLANVEC
041020,001072: 14,3516 77776 EXIT
041021,001073: 14,3517 34753 CAF BIT1
041022,001074: 14,3520 55757 TS STARIND
041023,001075: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
041024,001076: 14,3522 05364 P51E TC PHASCHNG
041025,001077: 14,3523 04024 OCT 04024
041026,001078:
041027,001079: 14,3524 06042 TC INTPRET
041028,001080: 14,3525 45145 DLOAD CALL
041029,001081: 14,3526 03562 TSIGHT
041030,001082: 14,3527 32500 PLANET
041031,001083: 14,3530 24015 STOVL 12D
041032,001084: 14,3531 03554 PLANVEC
041033,001085: 14,3532 24007 STOVL 6D
041034,001086: 14,3533 02761 STARSAV1
041035,001087: 14,3534 26707 STOVL STARAD
041036,001088: 14,3535 02767 STARSAV2
041037,001089: 14,3536 36715 STCALL STARAD +6
041038,001090: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041039,001091: 14,3540 77414 BON EXIT
041040,001092: 14,3541 00314 FREEFLAG
041041,001093: 14,3542 31544 P51G
041042,001094: 14,3543 03423 TC P51 +2
041043,001095: 14,3544 77624 P51G CALL
041044,001096: 14,3545 47437 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041045,001097: 14,3546 75160 AXC,1 AXC,2
041046,001098: 14,3547 02664 XDC
041047,001099: 14,3550 01731 REFSMMAT
041048,001100: 14,3551 77624 CALL
041049,001101: 14,3552 31371 MATMOVE
041050,001102: 14,3553 77414 SET EXIT
041051,001103: 14,3554 01462 REFSMFLG
041052,001104: 14,3555 06001 TC GOTOPOOH # FINIS
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|
Page 944
|
041054,001106: 14,3556 12200 V41K VN 4100
041055,001107: 14,3557 77776 COARSE EXIT
041056,001108: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
041057,001109: 14,3561 00006 EXTEND
041058,001110: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
041059,001111: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
041060,001112: 14,3564 04616 TC BANKCALL
041061,001113: 14,3565 01736 CADR DELAYJOB
041062,001114: 14,3566 13560 TCF COARSE +1
041063,001115: 14,3567 04616 DOCORS TC BANKCALL
041064,001116: 14,3570 16764 CADR IMUCOARS
041065,001117: 14,3571 04616 TC BANKCALL
041066,001118: 14,3572 17722 CADR IMUSTALL
041067,001119: 14,3573 05712 TC CURTAINS
041068,001120: 14,3574 04616 TC BANKCALL
041069,001121: 14,3575 17174 CADR IMUFINE
041070,001122: 14,3576 04616 TC BANKCALL
041071,001123: 14,3577 17722 CADR IMUSTALL
041072,001124: 14,3600 05712 TC CURTAINS
041073,001125: 14,3601 06042 TC INTPRET
041074,001126: 14,3602 77616 RVQ
041075,001127: 14,3603 77776 NCOARSE EXIT
041076,001128: 14,3604 30025 CA TIME1
041077,001129: 14,3605 55074 TS 1/PIPADT
041078,001130: 14,3606 44755 CS ZERO
041079,001131: 14,3607 54037 TS PIPAX
041080,001132: 14,3610 54040 TS PIPAY
041081,001133: 14,3611 54041 TS PIPAZ
041082,001134: 14,3612 06042 TC INTPRET
041083,001135: 14,3613 77775 VLOAD
041084,001136: 14,3614 24007 ZEROVEC
041085,001137: 14,3615 01472 STORE GCOMP
041086,001138: 14,3616 43414 SET RVQ
041087,001139: 14,3617 01060 DRIFTFLG
041088,001140:
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|
Page 945
|
041090,001142: # NAME-S52.2
041091,001143: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041092,001144: # CALL- CALL S52.2
041093,001145: # INPUT- X,Y,ZSMD
041094,001146: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
041095,001147: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
041096,001148: 14,3620 COUNT* $$/S52.1
041097,001149: 14,3620 45020 S52.2 STQ CALL
041098,001150: 14,3621 02746 QMAJ
041099,001151: 14,3622 47535 CDUTRIG
041100,001152: 14,3623 77624 CALL
041101,001153: 14,3624 20030 CALCSMSC
041102,001154: 14,3625 66370 AXT,1 SSP
041103,001155: 14,3626 00022 18D
041104,001156: 14,3627 00051 S1
041105,001157: 14,3630 00006 6D
041106,001158: 14,3631 61373 S52.2A VLOAD* VXM
041107,001159: 14,3632 02707 XNB +18D,1
041108,001160: 14,3633 01732 REFSMMAT
041109,001161: 14,3634 77656 UNIT
041110,001162: 14,3635 06707 STORE XNB +18D,1
041111,001163: 14,3636 77700 TIX,1
041112,001164: 14,3637 31631 S52.2A
041113,001165: 14,3640 75160 S52.2.1 AXC,1 AXC,2
041114,001166: 14,3641 03606 XSMD
041115,001167: 14,3642 02642 XSM
041116,001168: 14,3643 77624 CALL
041117,001169: 14,3644 31371 MATMOVE
041118,001170: 14,3645 77624 CALL
041119,001171: 14,3646 47351 CALCGA
041120,001172: 14,3647 77650 GOTO
041121,001173: 14,3650 02746 QMAJ
041122,001174:
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|
Page 946
|
041124,001176: # NAME-S52.3
041125,001177: # FUNCTION XSMD= UNIT R
041126,001178: # YSMD= UNIT(V X R)
041127,001179: # ZSMD= UNIT(XSMD X YSMD)
041128,001180: # CALL DLOAD CALL
041129,001181: # TALIGN
041130,001182: # S52.3
041131,001183: # INPUT- TIME OF ALIGNMENT IN MPAC
041132,001184: # OUTPUT- X,Y,ZSMD
041133,001185: # SUBROUTINES- CSMCONIC
041134,001186: 14,3651 COUNT* $$/S52.3
041135,001187: 14,3651 77620 S52.3 STQ
041136,001188: 14,3652 02746 QMAJ
041137,001189: 14,3653 34041 STCALL TDEC1
041138,001190: 14,3654 27077 LEMCONIC
041139,001191: 14,3655 53575 VLOAD UNIT
041140,001192: 14,3656 00001 RATT
041141,001193: 14,3657 27607 STOVL XSMD
041142,001194: 14,3660 00007 VATT
041143,001195: 14,3661 53435 VXV UNIT
041144,001196: 14,3662 00001 RATT
041145,001197: 14,3663 27615 STOVL YSMD
041146,001198: 14,3664 03607 XSMD
041147,001199: 14,3665 53435 VXV UNIT
041148,001200: 14,3666 03615 YSMD
041149,001201: 14,3667 37623 STCALL ZSMD
041150,001202: 14,3670 02746 QMAJ
041151,001203:
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|
Page 947
|
041153,001205: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041154,001206:
041155,001207: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041156,001208: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041157,001209:
041158,001210: # CALLING -CALL R52
041159,001211:
041160,001212: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
041161,001213: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
041162,001214: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041163,001215: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041164,001216: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041165,001217:
041166,001218: # SUBROUT -R60LEM
041167,001219:
041168,001220: 14,3671 COUNT* $$/R52
041169,001221: 14,3671 77420 R52 STQ EXIT
041170,001222: 14,3672 03665 SAVQR52
041171,001223: 14,3673 51757 INDEX STARIND
041172,001224: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041173,001225: 14,3675 00006 EXTEND
041174,001226: 14,3676 73772 MP 1/6TH
041175,001227: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
041176,001228: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
041177,001229:
041178,001230: 14,3701 33773 R52A CAF V01N70
041179,001231: 14,3702 04616 TC BANKCALL
041180,001232: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041181,001233: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
041182,001234: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
041183,001235: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041184,001236:
041185,001237: 14,3707 05527 R52B TC DOWNFLAG
041186,001238: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041187,001239: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041188,001240: 14,3712 77747 MASK HIGH9
041189,001241: 14,3713 00006 EXTEND
041190,001242: 14,3714 74743 MP BIT9
041191,001243: 14,3715 54001 TS L # TEMP STORE DETENT
041192,001244:
041193,001245: 14,3716 00006 EXTEND
041194,001246: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041195,001247:
041196,001248: 14,3720 65661 AD NEG7
041197,001249: 14,3721 00006 EXTEND
041198,001250: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041199,001251:
041200,001252: 14,3723 E7,1551 EBANK= XYMARK
041201,001253: 14,3723 35016 CA EBANK7
041202,001254: 14,3724 54003 TS EBANK
041203,001255:
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|
Page 948
|
041205,001257: 14,3725 50001 INDEX L
041206,001258: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041207,001259: 14,3727 54001 TS L
041208,001260: 14,3730 E5,1642 EBANK= XSM
041209,001261: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041210,001262: 14,3731 54003 TS EBANK
041211,001263: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041212,001264: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041213,001265: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041214,001266:
041215,001267: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041216,001268: 14,3736 04616 TC BANKCALL
041217,001269: 14,3737 20477 CADR GOFLASH
041218,001270: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
041219,001271: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
041220,001272: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
041221,001273:
041222,001274: 14,3743 00006 EXTEND
041223,001275: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041224,001276: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041225,001277: 14,3746 52011 DXCH 8D
041226,001278: 14,3747 06042 TC INTPRET
041227,001279: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041228,001280: 14,3751 10530 OANB # SCAXIS IN NB COORDS
041229,001281: 14,3752 45034 RTB CALL
041230,001282: 14,3753 21574 LOADTIME
041231,001283: 14,3754 32500 PLANET
041232,001284: 14,3755 53521 MXV UNIT
041233,001285: 14,3756 01732 REFSMMAT
041234,001286: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041235,001287:
041236,001288: 14,3760 77776 EXIT
041237,001289: 14,3761 04616 TC BANKCALL
041238,001290: 14,3762 54125 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041239,001291:
041240,001292: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041241,001293: 14,3764 70734 MASK STARCODE
041242,001294: 14,3765 00006 EXTEND
041243,001295: 14,3766 13701 BZF R52A
041244,001296:
041245,001297: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041246,001298: 14,3770 77650 GOTO
041247,001299: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041248,001300:
041249,001301: 14,3772 05253 1/6TH DEC .1666667
041250,001302: 14,3773 00306 V01N70 VN 0170
041251,001303: 14,3774 01527 V06N87 VN 687
041252,001304:
|
|
Page 949
|
041254,001306: # LUNAR SURFACE STAR AQUISITION
041255,001307:
041256,001308: 15,2270 BANK 15
041257,001309: 15,2000 SETLOC P50S
041258,001310: 15,2000 BANK
041259,001311: 15,2270 COUNT* $$/R59
041260,001312:
041261,001313: 15,2270 40077 R59 CS FLAGWRD3
041262,001314: 15,2271 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041263,001315: 15,2272 10000 CCS A
041264,001316: 15,2273 12463 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041265,001317:
041266,001318: 15,2274 32471 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041267,001319: 15,2275 04616 TC BANKCALL
041268,001320: 15,2276 20477 CADR GOFLASH
041269,001321: 15,2277 06001 TC GOTOPOOH # V34-TERMINATE
041270,001322: 15,2300 12302 TCF R59A # V33-PROCEED
041271,001323: 15,2301 12270 TCF R59 # V32-RECYCLE
041272,001324:
041273,001325: 15,2302 06042 R59A TC INTPRET
041274,001326: 15,2303 45034 RTB CALL
041275,001327: 15,2304 21574 LOADTIME
041276,001328: 15,2305 32500 PLANET # GO GET CELESTRIAL BODY IN REF COORDS.
041277,001329: 15,2306 53521 MXV UNIT
041278,001330: 15,2307 01732 REFSMMAT # TRANSFORM TO NB COORDS.
041279,001331: 15,2310 77624 CALL
041280,001332: 15,2311 47653 CDU*SMNB
041281,001333: 15,2312 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041282,001334: 15,2313 77776 EXIT
041283,001335:
041284,001336: 15,2314 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041285,001337: 15,2315 55241 TS POSCODE
041286,001338:
041287,001339: 15,2316 E7,1551 EBANK= XYMARK
041288,001340: 15,2316 35016 INCAZ CA EBANK7
041289,001341: 15,2317 54003 TS EBANK
041290,001342:
041291,001343: 15,2320 51241 INDEX POSCODE
041292,001344: 15,2321 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041293,001345: 15,2322 54001 TS L
041294,001346:
041295,001347: 15,2323 E5,1642 EBANK= XSM
041296,001348: 15,2323 35014 CA EBANK5
041297,001349: 15,2324 54003 TS EBANK
041298,001350:
041299,001351: 15,2325 34737 CA BIT13 # SET ELV TO 45 DEG
041300,001352: 15,2326 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041301,001353: 15,2327 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041302,001354: 15,2330 50120 INDEX FIXLOC
041303,001355: 15,2331 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041304,001356:
|
|
Page 950
|
041306,001358: 15,2332 06042 TC INTPRET
041307,001359: 15,2333 77624 CALL
041308,001360: 15,2334 10530 OANB # GO CALC OPTIC AXIS WRT NB
041309,001361: 15,2335 50375 VLOAD DOT
041310,001362: 15,2336 02731 STAR # DOT STAR WITH OA
041311,001363: 15,2337 03765 SCAXIS
041312,001364: 15,2340 65552 SL1 ARCCOS
041313,001365: 15,2341 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041314,001366:
041315,001367: 15,2342 51025 DSU BPL
041316,001368: 15,2343 32474 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041317,001369: 15,2344 32426 NXAX # NOT IN FIELD - TRY NEXT POSITION
041318,001370: 15,2345 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041319,001371: 15,2346 00031 24D
041320,001372: 15,2347 32476 DEG.5
041321,001373: 15,2350 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041322,001374: 15,2351 32421 ZSPCR # GO ZERO CURSOR AND SPIRAL
041323,001375: 15,2352 00031 24D # GET SPIRAL
041324,001376: 15,2353 42405 DMP SL4
041325,001377: 15,2354 11226 3/4 # 12 SCALED AT 16
041326,001378: 15,2355 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041327,001379:
041328,001380: 15,2356 03765 SCAXIS # OA
041329,001381: 15,2357 53435 VXV UNIT
041330,001382: 15,2360 24005 XUNIT
041331,001383: 15,2361 47206 PUSH VXV # OA X UNITX PD 0-5
041332,001384: 15,2362 03765 SCAXIS
041333,001385: 15,2363 77676 VCOMP
041334,001386: 15,2364 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
041335,001387: 15,2365 03765 SCAXIS
041336,001388: 15,2366 53435 VXV UNIT
041337,001389: 15,2367 02731 STAR
041338,001390: 15,2370 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041339,001391: 15,2371 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041340,001392: 15,2372 65552 SL1 ARCCOS
041341,001393: 15,2373 24033 STOVL 26D # STORE THET SCALED IN REVS
041342,001394:
041343,001395: 15,2374 77641 DOT # UP 12-17, UP 6-11 FOR C2
041344,001396: 15,2375 71244 BPL DLOAD # IF THET NEG-GET 360-THET
041345,001397: 15,2376 32403 R59D
041346,001398: 15,2377 32047 ABOUTONE
041347,001399: 15,2400 77625 DSU
041348,001400: 15,2401 00033 26D
041349,001401: 15,2402 00033 STORE 26D # 360-THET SCALED IN REVS
041350,001402:
041351,001403: 15,2403 70535 R59D SLOAD SR1
041352,001404: 15,2404 02746 QMIN # RESCALE AZ(N) TO REVS
041353,001405: 15,2405 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041354,001406: 15,2406 00033 26D
041355,001407: 15,2407 77634 RTB
|
|
Page 951
|
041357,001409: 15,2410 21615 1STO2S
041358,001410: 15,2411 15236 STODL CURSOR # YROT IN 1/2 REVS
041359,001411: 15,2412 00031 24D # LOAD SROT IN REVS
041360,001412: 15,2413 77615 DAD # 12(SEP) + YROT
041361,001413: 15,2414 77634 RTB
041362,001414: 15,2415 21615 1STO2S
041363,001415: 15,2416 01237 STORE SPIRAL # SROT IN 1/2 REVS
041364,001416: 15,2417 77776 EXIT
041365,001417: 15,2420 12445 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041366,001418:
041367,001419: 15,2421 77776 ZSPCR EXIT
041368,001420: 15,2422 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
041369,001421: 15,2423 55235 TS CURSOR # AND SPIRAL ANGLES
041370,001422: 15,2424 55236 TS SPIRAL
041371,001423: 15,2425 12445 TCF 79DISP
041372,001424:
041373,001425: 15,2426 77776 NXAX EXIT
041374,001426: 15,2427 25241 INCR POSCODE
041375,001427: 15,2430 41241 CS POSCODE
041376,001428: 15,2431 64757 AD SEVEN
041377,001429: 15,2432 00006 EXTEND
041378,001430: 15,2433 62435 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041379,001431: 15,2434 12316 TCF INCAZ
041380,001432:
041381,001433: 15,2435 05600 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041382,001434: 15,2436 00404 OCT 404
041383,001435: 15,2437 35006 CAF VB05N09 # DISPLAY ALARM
041384,001436: 15,2440 04616 TC BANKCALL
041385,001437: 15,2441 20477 CADR GOFLASH
041386,001438: 15,2442 16001 TCF GOTOPOOH # VB34-TERMINATE
041387,001439: 15,2443 12463 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
041388,001440: 15,2444 12270 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
041389,001441:
041390,001442: 15,2445 32472 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041391,001443: 15,2446 04616 TC BANKCALL
041392,001444: 15,2447 20477 CADR GOFLASH
041393,001445: 15,2450 16001 TCF GOTOPOOH # V34-TERMINATE
041394,001446: 15,2451 12453 TCF R59E # V33-PROCEED TO MARK ROUTINE
041395,001447: 15,2452 12270 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
041396,001448:
041397,001449: 15,2453 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041398,001450: 15,2454 71241 MASK POSCODE
041399,001451: 15,2455 00006 EXTEND
041400,001452: 15,2456 74745 MP BIT7 # DETENT CODE NOW IN L
041401,001453: 15,2457 47747 CS HIGH9
041402,001454: 15,2460 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041403,001455: 15,2461 60001 AD L
041404,001456: 15,2462 54734 TS AOTCODE # STORE DETENT 7-9
041405,001457:
041406,001458: 15,2463 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
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|
Page 952
|
041408,001460: 15,2464 16000 CADR AOTMARK
041409,001461: 15,2465 04616 TC BANKCALL
041410,001462: 15,2466 17716 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041411,001463: 15,2467 05712 TC CURTAINS # BADEND RETURN FROM AOTMARK
041412,001464: 15,2470 13050 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041413,001465:
041414,001466: 15,2471 00306 V01N70* VN 170
041415,001467: 15,2472 01517 V06N79 VN 679
041416,001468: 15,2473 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041417,001469:
041418,001470: 15,2475 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041419,001471:
041420,001472: 15,2477 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041421,001473:
041422,001474: 15,2500 1235 CURSOR EQUALS GDT/2
041423,001475: 15,2500 1236 SPIRAL EQUALS GDT/2 +1
041424,001476: 15,2500 1241 POSCODE EQUALS GDT/2 +4
041425,001477:
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|
Page 953
|
041427,001479: # NAME - PLANET
041428,001480: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041429,001481: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041430,001482: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041431,001483: # BY DSDY INPUT
041432,001484: # CALL - CALL
041433,001485: # PLANET
041434,001486: # INPUT - TIME IN MPAC
041435,001487: # OUTPUT - VECTOR IN MPAC
041436,001488: # SUBROUTINES - LOCSAM
041437,001489: # DEBRIS - VAC ,STARAD - STARAD +17
041438,001490:
041439,001491: 15,2000 SETLOC P50S
041440,001492: 15,2000 BANK
041441,001493: 15,2500 COUNT* $$/R58
041442,001494:
041443,001495: 15,2500 03562 PLANET STORE TSIGHT
041444,001496: 15,2501 77420 STQ EXIT
041445,001497: 15,2502 02736 GCTR
041446,001498: 15,2503 47747 CS HIGH9
041447,001499: 15,2504 70734 MASK AOTCODE
041448,001500: 15,2505 00006 EXTEND
041449,001501: 15,2506 76245 MP REVCNT
041450,001502: 15,2507 56001 XCH L
041451,001503: 15,2510 51757 INDEX STARIND
041452,001504: 15,2511 55755 TS BESTI
041453,001505: 15,2512 10000 CCS A
041454,001506: 15,2513 12530 TCF NOTPLAN
041455,001507: 15,2514 32567 CAF VNPLANV
041456,001508: 15,2515 04616 TC BANKCALL
041457,001509: 15,2516 20477 CADR GOFLASH
041458,001510: 15,2517 02514 TC -3
041459,001511: 15,2520 02522 TC +2
041460,001512: 15,2521 02514 TC -5
041461,001513: 15,2522 06042 TC INTPRET
041462,001514: 15,2523 74375 VLOAD VXSC
041463,001515: 15,2524 02707 STARAD
041464,001516: 15,2525 32571 1/SQR3
041465,001517: 15,2526 52056 UNIT GOTO
041466,001518: 15,2527 02736 GCTR
041467,001519:
041468,001520: 15,2530 40000 NOTPLAN CS A
041469,001521: 15,2531 62566 AD DEC227
041470,001522: 15,2532 00006 EXTEND
041471,001523: 15,2533 62544 BZMF CALSAM1
041472,001524: 15,2534 51757 INDEX STARIND
041473,001525: 15,2535 31755 CA BESTI
041474,001526: 15,2536 50120 INDEX FIXLOC
041475,001527: 15,2537 54046 TS X1
041476,001528: 15,2540 06042 TC INTPRET
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|
Page 954
|
041478,001530: 15,2541 52173 VLOAD* GOTO
041479,001531: 15,2542 30347 CATLOG,1
041480,001532: 15,2543 02736 GCTR
041481,001533: 15,2544 06042 CALSAM1 TC INTPRET
041482,001534: 15,2545 45145 CALSAM DLOAD CALL
041483,001535: 15,2546 03562 TSIGHT
041484,001536: 15,2547 30500 LOCSAM
041485,001537: 15,2550 77340 LXC,1 VLOAD
041486,001538: 15,2551 02757 STARIND
041487,001539: 15,2552 02707 VEARTH
041488,001540: 15,2553 24001 STOVL 0D
041489,001541: 15,2554 02715 VSUN
041490,001542: 15,2555 26707 STOVL VEARTH
041491,001543: 15,2556 00001 0D
041492,001544: 15,2557 02715 STORE VSUN
041493,001545: 15,2560 70143 DLOAD* LXC,1
041494,001546: 15,2561 02756 BESTI,1
041495,001547: 15,2562 00154 MPAC
041496,001548: 15,2563 52173 VLOAD* GOTO
041497,001549: 15,2564 02343 STARAD -228D,1
041498,001550: 15,2565 02736 GCTR
041499,001551: 15,2566 00343 DEC227 DEC 227 B-14
041500,001552: 15,2567 01530 VNPLANV VN 0688
041501,001553: 15,2570 37,3543 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041502,001554: 15,2570 22363 11623 1/SQR3 2DEC .57735021
041503,001555:
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|
Page 955
|
041505,001557: # GRAVITY VECTOR DETERMINATION ROUTINE
041506,001558: # BY KEN VINCENT
041507,001559: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041508,001560: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041509,001561: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041510,001562: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041511,001563: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041512,001564: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041513,001565: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041514,001566: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041515,001567: # READINGS.
041516,001568:
041517,001569: # CALL-
041518,001570: # TC BANKCALL
041519,001571: # CADR GVDETER
041520,001572: # INPUTS-
041521,001573: # PIPAS,CDUS
041522,001574: # OUTPUTS-
041523,001575: # STARSAV1 = UNIT GRAVITY
041524,001576: # GSAV = DITTO
041525,001577: # GRAVBIT = 1
041526,001578: # SUBROUTINES-
041527,001579: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041528,001580: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
041529,001581: # DEBRIS-
041530,001582: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041531,001583: 15,2572 32773 GVDETER CAF 42DEG
041532,001584: 15,2573 54321 TS THETAD
041533,001585: 15,2574 40000 COM
041534,001586: 15,2575 54322 TS THETAD +1
041535,001587: 15,2576 32774 CAF 35DEG
041536,001588: 15,2577 54323 TS THETAD +2
041537,001589: 15,2600 06042 TC INTPRET
041538,001590: 15,2601 45014 CLEAR CALL
041539,001591: 15,2602 01662 REFSMFLG
041540,001592: 15,2603 32677 LUNG
041541,001593: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
041542,001594:
041543,001595: # DEFINE G COOR SYS
041544,001596: # -
041545,001597: # X UNIT G
041546,001598: # * - -
041547,001599: # M= Y = UNITEZSM * X )
041548,001600: # - - -
041549,001601: # Z UNIT(X * Y )
041550,001602: # THEN ROTATED SM WRT PRESENT IS
041551,001603:
041552,001604:
041553,001605: # 1, 0 , 0
041554,001606: # * *T * * *
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|
Page 956
|
041556,001608: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041557,001609: # I J
041558,001610: # 0, 0 ,-1
041559,001611:
041560,001612: # ALSO NB WRT PRES SM IS
041561,001613:
041562,001614: # * * *
041563,001615: # XNB = NBSM I
041564,001616: # * *
041565,001617: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041566,001618:
041567,001619: 15,2000 SETLOC P50S
041568,001620: 15,2000 BANK
041569,001621: 15,2604 COUNT* $$/P57
041570,001622: 15,2604 66370 AXT,1 SSP # X1=18
041571,001623: 15,2605 00022 18D # S1= 6
041572,001624: 15,2606 00051 S1 # X2, -2
041573,001625: 15,2607 00006 6D
041574,001626: 15,2610 77744 LXC,2
041575,001627: 15,2611 00050 S1
041576,001628: 15,2612 45173 GRAVEL VLOAD* CALL
041577,001629: 15,2613 54000 XUNIT -6,2
041578,001630: 15,2614 47700 *NBSM* # SIN AND COS COMPUTED IN LUNG
041579,001631: 15,2615 06707 STORE XNB +18D,1
041580,001632: 15,2616 77775 VLOAD
041581,001633: 15,2617 02731 STAR
041582,001634: 15,2620 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
041583,001635: 15,2621 00047 X2
041584,001636: 15,2622 75040 STAR +6,2 # OUTER PRODUCT
041585,001637: 15,2623 71152 VSL2 LXC,2
041586,001638: 15,2624 00047 X2
041587,001639: 15,2625 63047 VSU* INCR,2
041588,001640: 15,2626 54000 XUNIT -6,2
041589,001641: 15,2627 00002 2D
041590,001642: 15,2630 06665 STORE XSM +18D,1
041591,001643: 15,2631 45100 TIX,1 CALL
041592,001644: 15,2632 32612 GRAVEL
041593,001645: 15,2633 47351 CALCGA
041594,001646: 15,2634 74575 VLOAD VSR1
041595,001647: 15,2635 02715 GOUT
041596,001648: 15,2636 36723 STCALL STARAD +12D
041597,001649: 15,2637 32677 LUNG
041598,001650: 15,2640 74575 VLOAD VSR1
041599,001651: 15,2641 02715 GOUT
041600,001652: 15,2642 53455 VAD UNIT
041601,001653: 15,2643 02723 STARAD +12D
041602,001654: 15,2644 02761 STORE STARSAV1
041603,001655: 15,2645 77641 DOT
041604,001656: 15,2646 02231 GSAV
041605,001657: 15,2647 65552 SL1 ACOS
|
|
Page 957
|
041607,001659: 15,2650 01045 STORE DSPTEM1
041608,001660: 15,2651 77776 EXIT
041609,001661: 15,2652 05527 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041610,001662: 15,2653 00014 ADRES FREEFLAG
041611,001663:
041612,001664: 15,2654 32772 CA DISGRVER
041613,001665: 15,2655 04616 TC BANKCALL
041614,001666: 15,2656 20477 CADR GOFLASH
041615,001667: 15,2657 06001 TC GOTOPOOH
041616,001668: 15,2660 12663 TCF PROGRAV # VB33-PROCEED
041617,001669: 15,2661 05515 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041618,001670: 15,2662 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041619,001671:
041620,001672: 15,2663 05364 PROGRAV TC PHASCHNG
041621,001673: 15,2664 04024 OCT 04024
041622,001674:
041623,001675: 15,2665 06042 TC INTPRET
041624,001676: 15,2666 77775 VLOAD
041625,001677: 15,2667 02761 STARSAV1
041626,001678: 15,2670 02231 STORE GSAV
041627,001679: 15,2671 77776 EXIT
041628,001680: 15,2672 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041629,001681: 15,2673 70074 MASK FLAGWRD0
041630,001682: 15,2674 10000 CCS A
041631,001683: 15,2675 12572 TCF GVDETER # SET
041632,001684: 15,2676 13547 TCF ATTCHK # EXIT FROM GVDETER
041633,001685:
041634,001686: 15,2677 77220 LUNG STQ VLOAD
041635,001687: 15,2700 02745 QMIN
041636,001688: 15,2701 24007 ZEROVEC
041637,001689: 15,2702 02707 STORE GACC
041638,001690: 15,2703 77776 EXIT
041639,001691: 15,2704 05364 TC PHASCHNG
041640,001692: 15,2705 04024 OCT 04024
041641,001693:
041642,001694: 15,2706 06042 TC INTPRET
041643,001695: 15,2707 77624 CALL
041644,001696: 15,2710 31557 COARSE
041645,001697: 15,2711 77776 EXIT
041646,001698: 15,2712 32771 CA T/2SEC
041647,001699: 15,2713 55736 TS GCTR
041648,001700: 15,2714 37721 CA PRIO31
041649,001701: 15,2715 55074 TS 1/PIPADT
041650,001702: 15,2716 04616 TC BANKCALL
041651,001703: 15,2717 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041652,001704: 15,2720 05364 TC PHASCHNG
041653,001705: 15,2721 04024 OCT 04024
041654,001706:
041655,001707: 15,2722 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041656,001708: 15,2723 77543 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 958
|
041658,001710: 15,2724 06042 TC INTPRET
041659,001711: 15,2725 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041660,001712: 15,2726 35000 CAF 2SECS
041661,001713: 15,2727 05204 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041662,001714: 15,2730 02732 ADRES GRABGRAV
041663,001715:
041664,001716: 15,2731 05155 TC ENDOFJOB
041665,001717:
041666,001718: 15,2732 04674 GRABGRAV TC IBNKCALL
041667,001719: 15,2733 77543 CADR PIPSRINE
041668,001720: 15,2734 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041669,001721: 15,2735 05105 TC FINDVAC
041670,001722: 15,2736 E5,1706 EBANK= STARAD
041671,001723: 15,2736 02741 32065 2CADR ADDGRAV
041672,001724:
041673,001725:
041674,001726: 15,2740 05272 TC TASKOVER
041675,001727:
041676,001728: 15,2741 04616 ADDGRAV TC BANKCALL
041677,001729: 15,2742 15271 CADR 1/PIPA
041678,001730: 15,2743 25736 INCR GCTR
041679,001731: 15,2744 06042 TC INTPRET
041680,001732: 15,2745 53375 VLOAD VAD
041681,001733: 15,2746 00325 DELV
041682,001734: 15,2747 02707 GACC
041683,001735: 15,2750 02707 STORE GACC # ACCUMULATE G VECTOR
041684,001736: 15,2751 50135 SLOAD BMN
041685,001737: 15,2752 02737 GCTR
041686,001738: 15,2753 32725 GREED
041687,001739: 15,2754 53575 VLOAD UNIT
041688,001740: 15,2755 02707 GACC
041689,001741: 15,2756 36731 STCALL STAR
041690,001742: 15,2757 47535 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041691,001743: 15,2760 77624 CALL # IN OUTPUT
041692,001744: 15,2761 47676 *SMNB*
041693,001745: 15,2762 02715 STORE GOUT
041694,001746: 15,2763 77776 EXIT
041695,001747: 15,2764 05364 TC PHASCHNG
041696,001748: 15,2765 04024 OCT 04024
041697,001749:
041698,001750: 15,2766 06042 QMINEXIT TC INTPRET
041699,001751: 15,2767 77650 GOTO
041700,001752: 15,2770 02745 QMIN
041701,001753: 15,2771 77753 T/2SEC DEC -20 B-14
041702,001754: 15,2772 01404 DISGRVER VN 0604
041703,001755: 15,2773 07357 42DEG OCT 07357
041704,001756: 15,2774 06211 35DEG OCT 06211
041705,001757:
|
|
Page 959
|
041707,001759: # NAME GYROTRIM
041708,001760:
041709,001761: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041710,001762: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041711,001763: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041712,001764:
041713,001765: # CALL CALL
041714,001766: # GYROTRIM
041715,001767:
041716,001768: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041717,001769: # CDUX,CDUY,CDUZ
041718,001770:
041719,001771: # OUTPUT - GYRO TORQUE PULSES
041720,001772:
041721,001773: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041722,001774: # IMPULSE,IMUSTALL
041723,001775: # - - - * * -
041724,001776: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
041725,001777: 15,2775 COUNT* $$/P57
041726,001778: 15,2775 71220 GYROTRIM STQ DLOAD
041727,001779: 15,2776 02745 QMIN
041728,001780: 15,2777 00322 THETAD
041729,001781: 15,3000 65325 PDDL PDDL
041730,001782: 15,3001 00324 THETAD +2
041731,001783: 15,3002 00323 THETAD +1
041732,001784: 15,3003 77666 VDEF
041733,001785: 15,3004 24766 STOVL CDUSPOT
041734,001786: 15,3005 24005 XUNIT
041735,001787: 15,3006 77624 CALL
041736,001788: 15,3007 47671 TRG*NBSM
041737,001789: 15,3010 26707 STOVL STARAD
041738,001790: 15,3011 24003 YUNIT
041739,001791: 15,3012 77624 CALL
041740,001792: 15,3013 47700 *NBSM*
041741,001793: 15,3014 36715 STCALL STARAD +6
041742,001794: 15,3015 47535 CDUTRIG
041743,001795: 15,3016 77624 CALL
041744,001796: 15,3017 20030 CALCSMSC
041745,001797: 15,3020 77775 VLOAD
041746,001798: 15,3021 02665 XNB
041747,001799: 15,3022 24007 STOVL 6D
041748,001800: 15,3023 02673 YNB
041749,001801: 15,3024 34015 STCALL 12D
041750,001802: 15,3025 47437 AXISGEN
041751,001803: 15,3026 77624 CALL
041752,001804: 15,3027 47245 CALCGTA
041753,001805: 15,3030 77776 JUSTTRIM EXIT
041754,001806: 15,3031 33040 CA GYRCDR
041755,001807: 15,3032 04616 TC BANKCALL
041756,001808: 15,3033 17307 CADR IMUPULSE
|
|
Page 960
|
041758,001810: 15,3034 04616 TC BANKCALL
041759,001811: 15,3035 17722 CADR IMUSTALL
041760,001812: 15,3036 05712 TC CURTAINS
041761,001813: 15,3037 12766 TCF QMINEXIT
041762,001814:
041763,001815: 15,3040 02737 GYRCDR ECADR OGC
041764,001816:
|
|
Page 961
|
041766,001818: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041767,001819:
041768,001820: 15,3041 34755 2STARS CAF ZERO # INITALIZE STARIND
041769,001821: 15,3042 13044 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041770,001822: 15,3043 34753 1STAR CAF BIT1
041771,001823: 15,3044 55757 TS STARIND
041772,001824:
041773,001825: 15,3045 05364 TC PHASCHNG
041774,001826: 15,3046 04024 OCT 04024
041775,001827:
041776,001828: 15,3047 12270 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041777,001829:
041778,001830: 15,3050 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041779,001831: 15,3051 00006 EXTEND
041780,001832: 15,3052 13063 BZF ASTAR # 1ST STAR MARKED
041781,001833:
041782,001834: 15,3053 05364 TC PHASCHNG
041783,001835: 15,3054 04024 OCT 04024
041784,001836:
041785,001837: 15,3055 06042 TC INTPRET
041786,001838: 15,3056 45145 DLOAD CALL
041787,001839: 15,3057 03562 TSIGHT # TIME OF 2ND MARK
041788,001840: 15,3060 32500 PLANET
041789,001841: 15,3061 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041790,001842: 15,3062 33075 SURFLINE
041791,001843:
041792,001844: 15,3063 06042 ASTAR TC INTPRET
041793,001845: 15,3064 77775 VLOAD
041794,001846: 15,3065 02715 STARAD +6
041795,001847: 15,3066 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041796,001848: 15,3067 45145 DLOAD CALL
041797,001849: 15,3070 03562 TSIGHT # TIME OF 1ST MARK
041798,001850: 15,3071 32500 PLANET
041799,001851: 15,3072 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041800,001852: 15,3073 77776 EXIT
041801,001853: 15,3074 13043 TCF 1STAR # GO GET 2ND STAR SIGHTING
041802,001854:
|
|
Page 962
|
041804,001856: # DO FINE OR COARSE ALIGNMENT OF IMU
041805,001857:
041806,001858: 15,3075 77131 SURFLINE SSP AXT,2
041807,001859: 15,3076 00052 S2
041808,001860: 15,3077 00006 6
041809,001861: 15,3100 00014 12D
041810,001862: 15,3101 64373 WRTDESIR VLOAD* MXV
041811,001863: 15,3102 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041812,001864: 15,3103 03607 XSMD
041813,001865: 15,3104 77656 UNIT
041814,001866: 15,3105 12723 STORE STARAD +12D,2 # VEC IN SM
041815,001867: 15,3106 77773 VLOAD*
041816,001868: 15,3107 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041817,001869: 15,3110 10023 STORE 18D,2
041818,001870: 15,3111 43104 TIX,2 BON
041819,001871: 15,3112 33101 WRTDESIR
041820,001872: 15,3113 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041821,001873: 15,3114 33122 INITBY
041822,001874: 15,3115 77624 DOALIGN CALL
041823,001875: 15,3116 31250 R54 # DO CHKSDATA
041824,001876: 15,3117 77614 BOFF
041825,001877: 15,3120 00354 FREEFLAG
041826,001878: 15,3121 33202 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041827,001879: 15,3122 77624 INITBY CALL
041828,001880: 15,3123 47437 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041829,001881: 15,3124 77624 CALL
041830,001882: 15,3125 47245 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041831,001883: 15,3126 77776 EXIT
041832,001884: 15,3127 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041833,001885: 15,3130 70104 MASK FLAGWRD8
041834,001886: 15,3131 10000 CCS A
041835,001887: 15,3132 13141 TCF 5DEGTEST
041836,001888: 15,3133 33307 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041837,001889: 15,3134 04616 TC BANKCALL
041838,001890: 15,3135 20477 CADR GOFLASH
041839,001891: 15,3136 06001 TC GOTOPOOH # V34-TERMINATE
041840,001892: 15,3137 13141 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
041841,001893: 15,3140 13203 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
041842,001894:
041843,001895: 15,3141 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041844,001896: 15,3142 40175 VLOAD BOV
041845,001897: 15,3143 02740 OGC
041846,001898: 15,3144 33145 SURFSUP
041847,001899: 15,3145 02750 SURFSUP STORE OGCT
041848,001900: 15,3146 40141 V/SC BOV
041849,001901: 15,3147 30602 5DEGREES
041850,001902: 15,3150 33250 COATRIM
041851,001903: 15,3151 52131 SSP GOTO
041852,001904: 15,3152 02746 QMIN
041853,001905: 15,3153 33155 SURFDISP
|
|
Page 963
|
041855,001907: 15,3154 33030 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041856,001908:
041857,001909: 15,3155 77776 SURFDISP EXIT
041858,001910: 15,3156 05364 TC PHASCHNG
041859,001911: 15,3157 04024 OCT 04024
041860,001912:
041861,001913: 15,3160 06042 TC INTPRET
041862,001914: 15,3161 75160 AXC,1 AXC,2
041863,001915: 15,3162 03606 XSMD
041864,001916: 15,3163 01731 REFSMMAT
041865,001917: 15,3164 45014 SET CALL
041866,001918: 15,3165 01462 REFSMFLG
041867,001919: 15,3166 31371 MATMOVE
041868,001920: 15,3167 77776 EXIT
041869,001921: 15,3170 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041870,001922: 15,3171 13173 TCF B2F8
041871,001923: 15,3172 13203 TCF P57POST +1
041872,001924:
041873,001925: 15,3173 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041874,001926: 15,3174 70104 MASK FLAGWRD8
041875,001927: 15,3175 10000 CCS A
041876,001928: 15,3176 13555 TCF P57JUMP # ITS SET
041877,001929: 15,3177 06042 TC INTPRET
041878,001930: 15,3200 77624 CALL
041879,001931: 15,3201 33502 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041880,001932: 15,3202 77776 P57POST EXIT
041881,001933: 15,3203 35752 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041882,001934: 15,3204 04616 TC BANKCALL
041883,001935: 15,3205 20624 CADR GOPERF1
041884,001936: 15,3206 16001 TCF GOTOPOOH # VB34-TERMINATE
041885,001937: 15,3207 13555 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
041886,001938: 15,3210 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041887,001939: 15,3211 61144 AD OPTION2
041888,001940: 15,3212 00006 EXTEND
041889,001941: 15,3213 13215 BZF +2 # YES-GO CALCULATE LANDING SITE
041890,001942: 15,3214 16001 TCF GOTOPOOH # NO-EXIT P57
041891,001943: 15,3215 05364 TC PHASCHNG # RESTART PLACE
041892,001944: 15,3216 04024 OCT 04024
041893,001945: 15,3217 06042 TC INTPRET
041894,001946: 15,3220 45175 VLOAD CALL # USE GNB
041895,001947: 15,3221 02231 GSAV
041896,001948: 15,3222 47666 CDU*NBSM # GO TO SM COORDS
041897,001949: 15,3223 43105 VXM SET # ON MOON SO SET LUNAFLAG
041898,001950: 15,3224 01732 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041899,001951: 15,3225 01463 LUNAFLAG
041900,001952: 15,3226 51515 PDVL ABVAL
041901,001953: 15,3227 02021 RLS
041902,001954: 15,3230 45561 VXSC STADR
041903,001955: 15,3231 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041904,001956: 15,3232 47014 CLEAR RTB
|
|
Page 964
|
041906,001958: 15,3233 00662 ERADFLAG
041907,001959: 15,3234 21574 LOADTIME
041908,001960: 15,3235 77624 CALL
041909,001961: 15,3236 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041910,001962: 15,3237 01220 STORE RN # RN=RLS B-29 = LM POSITION
041911,001963: 15,3240 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041912,001964: 15,3241 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041913,001965: 15,3242 77606 PUSH # TIME AT 6-7 IN PDLIST
041914,001966: 15,3243 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041915,001967: 15,3244 51642 R-TO-RP
041916,001968: 15,3245 02021 STORE RLS # RLS IN MOON-FIXED COORDS
041917,001969: 15,3246 77776 EXIT
041918,001970: 15,3247 16001 TCF GOTOPOOH # EXIT P57
041919,001971:
|
|
Page 965
|
041921,001973: # COARSE AND FINE ALIGN IMU
041922,001974: 15,3250 75160 COATRIM AXC,1 AXC,2
041923,001975: 15,3251 02664 XDC
041924,001976: 15,3252 02642 XSM
041925,001977: 15,3253 77624 CALL
041926,001978: 15,3254 31371 MATMOVE
041927,001979: 15,3255 77624 CALL
041928,001980: 15,3256 47535 CDUTRIG
041929,001981: 15,3257 77624 CALL
041930,001982: 15,3260 20030 CALCSMSC
041931,001983: 15,3261 77624 CALL
041932,001984: 15,3262 47351 CALCGA
041933,001985: 15,3263 77414 BOFF EXIT
041934,001986: 15,3264 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041935,001987: 15,3265 33277 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041936,001988: 15,3266 35010 CAF V06N22 # THAN 5 DEGREES
041937,001989: 15,3267 04616 TC BANKCALL
041938,001990: 15,3270 20477 CADR GOFLASH
041939,001991: 15,3271 06001 TC GOTOPOOH
041940,001992: 15,3272 13274 TCF +2
041941,001993: 15,3273 13266 TCF -5
041942,001994: 15,3274 05364 TC PHASCHNG
041943,001995: 15,3275 04024 OCT 04024
041944,001996:
041945,001997: 15,3276 06042 TC INTPRET
041946,001998: 15,3277 77624 CORSIT CALL
041947,001999: 15,3300 31557 COARSE
041948,002000: 15,3301 77624 CALL
041949,002001: 15,3302 31603 NCOARSE
041950,002002: 15,3303 77624 CALL
041951,002003: 15,3304 32775 GYROTRIM
041952,002004: 15,3305 77650 GOTO
041953,002005: 15,3306 33155 SURFDISP
041954,002006: 15,3307 01535 DISPGYRO VN 0693
041955,002007:
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|
Page 966
|
041957,002009: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041958,002010:
041959,002011: 15,3310 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041960,002012: 15,3311 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041961,002013:
041962,002014: 15,3312 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041963,002015: 15,3313 55144 TS OPTION2
041964,002016: 15,3314 34753 P57OPT CAF BIT1
041965,002017: 15,3315 04616 TC BANKCALL
041966,002018: 15,3316 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041967,002019: 15,3317 06001 TC GOTOPOOH # V34 TERMINATE
041968,002020: 15,3320 13325 TCF ALIGNOPT # V33 PROCEED
041969,002021: 15,3321 13314 TCF P57OPT # V32 RECYCLE
041970,002022:
041971,002023: 15,3322 05364 TC PHASCHNG
041972,002024: 15,3323 00014 OCT 00014
041973,002025: 15,3324 05155 TC ENDOFJOB
041974,002026:
041975,002027: 15,3325 31144 ALIGNOPT CA OPTION2
041976,002028: 15,3326 76250 MASK THREE
041977,002029: 15,3327 50000 INDEX A
041978,002030: 15,3330 13331 TCF +1
041979,002031: 15,3331 13344 TCF TDISP # OPTION 4 LS ORIENTATION
041980,002032: 15,3332 13405 TCF PACKOPTN # OPTION 1 PREFERRED
041981,002033: 15,3333 13314 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041982,002034: 15,3334 06042 TC INTPRET # OPTION 3 REFSMMAT
041983,002035: 15,3335 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041984,002036: 15,3336 01731 REFSMMAT
041985,002037: 15,3337 03606 XSMD
041986,002038: 15,3340 77624 CALL
041987,002039: 15,3341 31371 MATMOVE
041988,002040: 15,3342 77650 GOTO
041989,002041: 15,3343 33404 PACKOPTN -1
041990,002042:
041991,002043: 15,3344 06042 TDISP TC INTPRET
041992,002044: 15,3345 77745 DLOAD
041993,002045: 15,3346 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041994,002046: 15,3347 01045 P57A STORE DSPTEM1
041995,002047: 15,3350 77776 EXIT
041996,002048: 15,3351 32213 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041997,002049: 15,3352 04616 TC BANKCALL
041998,002050: 15,3353 20477 CADR GOFLASH
041999,002051: 15,3354 16001 TCF GOTOPOOH # V34-TERMINATE
042000,002052: 15,3355 13357 TCF +2
042001,002053: 15,3356 13351 TCF P57AA # VB32-RECYCLE
042002,002054:
042003,002055: 15,3357 06042 TC INTPRET
042004,002056: 15,3360 65234 RTB PDDL
042005,002057: 15,3361 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042006,002058: 15,3362 01045 DSPTEM1
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|
Page 967
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042008,002060: 15,3363 65254 BZE PDDL
042009,002061: 15,3364 33374 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
042010,002062: 15,3365 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042011,002063: 15,3366 01045 DSPTEM1
042012,002064: 15,3367 33374 P57C
042013,002065: 15,3370 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042014,002066: 15,3371 74335 STORE TIG # STORE IT IN TIG
042015,002067: 15,3372 36775 STCALL TALIGN
042016,002068: 15,3373 33376 P57D
042017,002069: 15,3374 45545 P57C DLOAD STADR
042018,002070: 15,3375 75002 STORE TALIGN
042019,002071: 15,3376 34041 P57D STCALL TDEC1
042020,002072: 15,3377 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042021,002073: 15,3400 53575 VLOAD UNIT # IN X,Y,ZSMD
042022,002074: 15,3401 00001 RATT
042023,002075: 15,3402 37607 STCALL XSMD
042024,002076: 15,3403 10765 LSORIENT
042025,002077: 15,3404 77776 EXIT
042026,002078: 15,3405 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042027,002079: 15,3406 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042028,002080: 15,3407 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042029,002081: 15,3410 34737 CAF REFSMBIT
042030,002082: 15,3411 70077 MASK FLAGWRD3 # REFSMFLG
042031,002083: 15,3412 10000 CCS A
042032,002084: 15,3413 34745 CAF BIT7 # SET
042033,002085: 15,3414 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
042034,002086: 15,3415 34753 CAF ATTFLBIT
042035,002087: 15,3416 70102 MASK FLAGWRD6 # ATTFLG
042036,002088: 15,3417 10000 CCS A
042037,002089: 15,3420 34750 CAF BIT4 # SET
042038,002090: 15,3421 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
042039,002091: 15,3422 34750 CAF BIT4
042040,002092: 15,3423 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042041,002093:
042042,002094: 15,3424 33645 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042043,002095: 15,3425 04616 TC BANKCALL
042044,002096: 15,3426 20477 CADR GOFLASH
042045,002097: 15,3427 16001 TCF GOTOPOOH # VB34-TERMINATE
042046,002098: 15,3430 13432 TCF +2 # V33-PROCEED
042047,002099: 15,3431 13424 TCF DSPOPTN # V32-RECYCLE
042048,002100:
042049,002101: 15,3432 34737 CAF REFSMBIT
042050,002102: 15,3433 70077 MASK FLAGWRD3
042051,002103: 15,3434 10000 CCS A
042052,002104: 15,3435 13535 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042053,002105: 15,3436 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
042054,002106: 15,3437 70102 MASK FLAGWRD6
042055,002107: 15,3440 10000 CCS A
042056,002108: 15,3441 13541 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042057,002109: 15,3442 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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Page 968
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042059,002111: 15,3443 71144 MASK OPTION2
042060,002112: 15,3444 10000 CCS A
042061,002113: 15,3445 13541 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042062,002114: 15,3446 05600 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
042063,002115: 15,3447 00701 OCT 701
042064,002116: 15,3450 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042065,002117: 15,3451 04616 TC BANKCALL
042066,002118: 15,3452 20477 CADR GOFLASH
042067,002119: 15,3453 16001 TCF GOTOPOOH # VB34-TERMINATE
042068,002120: 15,3454 13424 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
042069,002121: 15,3455 13424 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
042070,002122:
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|
Page 969
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042072,002124: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042073,002125:
042074,002126: 15,3456 40220 MFREF STQ SETPD
042075,002127: 15,3457 02746 QMAJ
042076,002128: 15,3460 00001 0
042077,002129: 15,3461 77634 RTB
042078,002130: 15,3462 21574 LOADTIME
042079,002131: 15,3463 27562 STOVL TSIGHT
042080,002132: 15,3464 03246 VEC1
042081,002133: 15,3465 41525 PDDL PUSH
042082,002134: 15,3466 03562 TSIGHT
042083,002135: 15,3467 77624 CALL
042084,002136: 15,3470 55720 RP-TO-R
042085,002137: 15,3471 27246 STOVL VEC1
042086,002138: 15,3472 03254 VEC2
042087,002139: 15,3473 65201 SETPD PDDL
042088,002140: 15,3474 00001 0
042089,002141: 15,3475 03562 TSIGHT
042090,002142: 15,3476 45006 PUSH CALL
042091,002143: 15,3477 55720 RP-TO-R
042092,002144: 15,3500 37254 STCALL VEC2
042093,002145: 15,3501 02746 QMAJ
042094,002146:
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Page 970
|
042096,002148: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042097,002149: # STORE IN YNBSAV AND ZNBSAV
042098,002150:
042099,002151: 15,3502 45020 REFMF STQ CALL
042100,002152: 15,3503 02746 QMAJ
042101,002153: 15,3504 47535 CDUTRIG # GET SIN AND COS OF CDUS
042102,002154: 15,3505 40234 RTB SETPD
042103,002155: 15,3506 21574 LOADTIME
042104,002156: 15,3507 00001 0
042105,002157: 15,3510 37562 STCALL TSIGHT
042106,002158: 15,3511 20030 CALCSMSC # GET YNB IN SM
042107,002159: 15,3512 61375 VLOAD VXM
042108,002160: 15,3513 02673 YNB
042109,002161: 15,3514 01732 REFSMMAT # YNB TO REF
042110,002162: 15,3515 65256 UNIT PDDL
042111,002163: 15,3516 03562 TSIGHT
042112,002164: 15,3517 45006 PUSH CALL
042113,002165: 15,3520 51642 R-TO-RP
042114,002166: 15,3521 26237 STOVL YNBSAV # YNB TO MF
042115,002167: 15,3522 02701 ZNB
042116,002168: 15,3523 53505 VXM UNIT
042117,002169: 15,3524 01732 REFSMMAT # ZNB TO REF
042118,002170: 15,3525 41525 PDDL PUSH
042119,002171: 15,3526 03562 TSIGHT
042120,002172: 15,3527 77624 CALL
042121,002173: 15,3530 51642 R-TO-RP # ZNB TO MF
042122,002174: 15,3531 02245 STORE ZNBSAV
042123,002175: 15,3532 77614 SETGO
042124,002176: 15,3533 03036 ATTFLAG
042125,002177: 15,3534 02746 QMAJ
042126,002178:
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Page 971
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042128,002180: # BRANCH TO ALIGNMENT OPTION
042129,002181:
042130,002182: 15,3535 06042 GETLMATT TC INTPRET
042131,002183: 15,3536 77624 CALL
042132,002184: 15,3537 33502 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
042133,002185: 15,3540 77776 EXIT
042134,002186:
042135,002187: 15,3541 05515 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042136,002188: 15,3542 00205 ADRES INITALGN
042137,002189: 15,3543 34753 CAF BIT1
042138,002190: 15,3544 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
042139,002191: 15,3545 10000 CCS A
042140,002192: 15,3546 12572 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042141,002193:
042142,002194: 15,3547 05364 ATTCHK TC PHASCHNG
042143,002195: 15,3550 04024 OCT 04024
042144,002196:
042145,002197: 15,3551 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042146,002198: 15,3552 70102 MASK FLAGWRD6
042147,002199: 15,3553 10000 CCS A
042148,002200: 15,3554 13571 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042149,002201: 15,3555 05364 P57JUMP TC PHASCHNG
042150,002202: 15,3556 04024 OCT 04024
042151,002203:
042152,002204: 15,3557 05527 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
042153,002205: 15,3560 00205 ADRES INITALGN
042154,002206: 15,3561 36250 CAF THREE
042155,002207: 15,3562 71144 MASK OPTION2 # BRANCH ON OPTION CODE
042156,002208: 15,3563 50000 INDEX A
042157,002209: 15,3564 13565 TCF +1
042158,002210: 15,3565 13571 TCF P57OPT0 # OPTION IS 0
042159,002211: 15,3566 13612 TCF P57OPT1 # OPTION IS 1
042160,002212: 15,3567 13630 TCF P57OPT2 # OPTION IS 2
042161,002213: 15,3570 13631 TCF P57OPT3 # OPTION IS 3
042162,002214:
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Page 972
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042164,002216: # OPTION 0, GET TWO ATTITUDE VECS
042165,002217:
042166,002218: 15,3571 06042 P57OPT0 TC INTPRET
042167,002219: 15,3572 77775 VLOAD
042168,002220: 15,3573 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042169,002221: 15,3574 27246 STOVL VEC1
042170,002222: 15,3575 02245 ZNBSAV
042171,002223: 15,3576 37254 STCALL VEC2
042172,002224: 15,3577 47535 CDUTRIG
042173,002225: 15,3600 77624 CALL
042174,002226: 15,3601 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042175,002227: 15,3602 77775 VLOAD
042176,002228: 15,3603 02673 YNB
042177,002229: 15,3604 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042178,002230: 15,3605 02701 ZNB
042179,002231: 15,3606 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042180,002232: 15,3607 33456 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042181,002233: 15,3610 77650 GOTO
042182,002234: 15,3611 33075 SURFLINE
042183,002235:
042184,002236: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042185,002237:
042186,002238: 15,3612 06042 P57OPT1 TC INTPRET
042187,002239: 15,3613 53575 VLOAD UNIT
042188,002240: 15,3614 02021 RLS # LANDING SITE VEC
042189,002241: 15,3615 27246 STOVL VEC1
042190,002242: 15,3616 02245 ZNBSAV # Z ATTITUDE VEC
042191,002243: 15,3617 37254 STCALL VEC2
042192,002244: 15,3620 47535 CDUTRIG
042193,002245: 15,3621 77624 CALL
042194,002246: 15,3622 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042195,002247: 15,3623 45175 VLOAD CALL
042196,002248: 15,3624 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042197,002249: 15,3625 47666 CDU*NBSM
042198,002250: 15,3626 77650 GOTO
042199,002251: 15,3627 33604 SAMETYP # NOW DO SAME AS OPTION 0
042200,002252:
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Page 973
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042202,002254: # OPTION 2, GET TWO STAR SIGHTINGS
042203,002255:
042204,002256: 15,3630 13041 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042205,002257:
042206,002258: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042207,002259:
042208,002260: 15,3631 06042 P57OPT3 TC INTPRET
042209,002261: 15,3632 53575 VLOAD UNIT
042210,002262: 15,3633 02021 RLS # LANDING SITE VEC
042211,002263: 15,3634 03246 STORE VEC1
042212,002264: 15,3635 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042213,002265: 15,3636 02231 GSAV # GRAVITY VEC NB
042214,002266: 15,3637 77624 CALL
042215,002267: 15,3640 47666 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042216,002268: 15,3641 36761 STCALL STARSAV1
042217,002269: 15,3642 33456 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042218,002270: 15,3643 77776 EXIT
042219,002271: 15,3644 13043 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042220,002272:
042221,002273: 15,3645 01206 VB05N06 VN 506
042222,002274:
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|
Page 974
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042224,002276: # CHECK IMODES30 TO VARIFY IMU IS ON
042225,002277:
042226,002278: 15,3646 41277 IMUCHK CS IMODES30
042227,002279: 15,3647 74743 MASK BIT9
042228,002280: 15,3650 10000 CCS A # IS IMU ON
042229,002281: 15,3651 13655 TCF +4 # YES
042230,002282:
042231,002283: 15,3652 05600 TC ALARM # NO, SEND ALARM AND EXIT
042232,002284: 15,3653 00210 OCT 210
042233,002285: 15,3654 06001 TC GOTOPOOH
042234,002286:
042235,002287: 15,3655 05515 TC UPFLAG
042236,002288: 15,3656 00007 ADRES IMUSE # SET IMUSE FLAG
042237,002289:
042238,002290: 15,3657 04631 TC SWRETURN
042239,002291:
042240,002292: 04,2765 BANK 04
042241,002293: 04,2000 SETLOC AOTMARK2
042242,002294: 04,2000 BANK
042243,002295: 04,2765 COUNT* $$/P57
042244,002296:
042245,002297: 04,2765 77220 LSORIENT STQ VLOAD
042246,002298: 04,2766 02746 QMAJ
042247,002299: 04,2767 01555 RRECTCSM
042248,002300: 04,2770 47235 VXV VXV
042249,002301: 04,2771 01563 VRECTCSM
042250,002302: 04,2772 03607 XSMD
042251,002303: 04,2773 77656 UNIT
042252,002304: 04,2774 03623 STORE ZSMD
042253,002305: 04,2775 53435 VXV UNIT
042254,002306: 04,2776 03607 XSMD
042255,002307: 04,2777 37615 STCALL YSMD
042256,002308: 04,3000 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc